Index: sources/canbus/messagehandler.cpp
===================================================================
diff -u -rd6c7d6c382fe56e19d132f6ba0bcbbc1e6b2060f -r212de04bcfd9c0ec4c13faca1d4227a8ae30e978
--- sources/canbus/messagehandler.cpp	(.../messagehandler.cpp)	(revision d6c7d6c382fe56e19d132f6ba0bcbbc1e6b2060f)
+++ sources/canbus/messagehandler.cpp	(.../messagehandler.cpp)	(revision 212de04bcfd9c0ec4c13faca1d4227a8ae30e978)
@@ -81,8 +81,8 @@
     addSyncByte (mPayload);
     addActionId (mPayload, vAction );   // Message ID
     addLegth    (mPayload, vAction );   // Payload Length
-    addPayload  (mPayload);             // Adding required Data
-    addChecksum (mPayload);             // Checksum
+    addData     (mPayload, vData   );   // Adding required Data
+    addCRC      (mPayload);             // CRC
     addPadding  (mPayload);             // Padded to 8 byte frame
     return       mPayload ;
 }
@@ -105,7 +105,7 @@
     vPayload.append( payloadLen[vAction]);
 }
 
-void MessageHandler::addPayload(QByteArray &vPayload, GuiActionData vData)
+void MessageHandler::addData(QByteArray &vPayload, GuiActionData vData)
 {
     // if the payload is more than a remaining frame empty bytes
     // then it requires to be chopped.
@@ -114,44 +114,73 @@
 
 void MessageHandler::addPadding(QByteArray &vPayload)
 {
-    vPayload.rightJustified(eCanFrameLen,'\0');
+    vPayload = vPayload.rightJustified(eLenCanFrame, '\0');
 }
 
-quint8 MessageHandler::checksum(QByteArray &vBytes)
+quint8 MessageHandler::calcCRC(const QByteArray &vData)
 {
-    // TODO : has not been used yet
+    // TODO : calcCRC has not been used yet
+    Q_UNUSED(vData)
     return '\0';
 }
 
+bool MessageHandler::checkCRC(const QByteArray &vData, quint8 vCRC)
+{
+    //TODO : enable when the calcCRC implemented
+    Q_UNUSED(vData)
+    Q_UNUSED(vCRC )
+    return true;//calcCRC(vData) == vCRC;
+}
+
 bool MessageHandler::hasSyncByte(QByteArray &vPayload)
 {
-    if (vPayload.left(eLenSync) == ePayload_Sync) {
-        vPayload = vPayload.right(eLenSync);
+    quint8 mSyncByte = vPayload[0];
+    if (mSyncByte == ePayload_Sync) {
+        vPayload = vPayload.mid(eLenSyncByte);
         return true;
     }
     return false;
 }
 
 GuiActionType MessageHandler::getActionId(QByteArray &vPayload)
 {
-    GuiActionType mActionId = vPayload.left(eLenActionId);
-    vPayload = vPayload.right(eLenActionId);
-    return mActionId;
+    quint16 mActionId;
+    mActionId = (vPayload[0] << 8) | vPayload[1];
+
+    //TODO : It needs to be checked that the Action ID is Correct.
+    //return GuiActionType::Unknown;
+
+    vPayload = vPayload.mid(eLenActionId);
+    return static_cast<GuiActionType>(mActionId);
 }
 
 quint8 MessageHandler::getLength(QByteArray &vPayload)
 {
-    quint8 mPayloadLength = vPayload.left(eLenPayload);
-    vPayload = vPayload.right(eLenPayload);
-    return mPayloadLength;
+    quint8 mlen = vPayload[0];
+    vPayload = vPayload.mid(eLenLength);
+    return mlen;
 }
 
-void MessageHandler::addChecksum(QByteArray &vPayload)
+QByteArray MessageHandler::getData(QByteArray &vPayload, quint8 vLen, bool *ok)
 {
-    vPayload += checksum(vPayload);
+    QByteArray mData;
+    if (vLen <= eLenMaxHeaderData) {
+        mData = vPayload.mid(0,vLen);
+        if (ok) {
+           *ok = checkCRC(mData,vPayload[vLen+1]); // CRC is always next byte after Data
+        }
+    } else {
+        mData = vPayload;
+    }
+    return mData;
 }
 
+void MessageHandler::addCRC(QByteArray &vPayload)
+{
+    vPayload += calcCRC(vPayload);
+}
 
+
 /*!
  * \brief Process the requested action
  * \details Processes the requested action
@@ -188,18 +217,12 @@
  */
 void MessageHandler::onRead(const QCanBusFrame &vFrame)
 {
-    // TODO : Test Code
     bool isCommand = true ;
     bool isUnknown = false;
     bool isIgnored = false;
 
-    //// TODO : For test
-    //QString cmd = "     020   [8]  A5 01";
-    //if (vFrame.toString().left(cmd.length()) != cmd) {
-    //    isUnknown = true;
-    //}
-
-    Can_Id mCanId = vFrame.frameId();
+    //TODO : There should be a way to find if the correct CAN ID has been received
+    Can_Id mCanId = static_cast<Can_Id>(vFrame.frameId());
     switch (mCanId) {
     case eChlid_HD_DG:
     case eChlid_DG_HD:
@@ -212,43 +235,39 @@
     }
 
     QByteArray mPayload = vFrame.payload();
-    Message message;
-    if (messages[mCanId].isEmpty()) {
-        // there is no message in the message list for this channel
-        // so we expect to have a new message which starts with Sync
-        // and we are striping out the payload and add to the list
-        if (hasSyncByte(mPayload)) {
-            message.actionId = getActionId(mPayload);
-            message.length   = getLength(mPayload);
 
-            if (message.length <= eMaxHeaderData) { // payload can be fitted in one frame so we have all the payload
-                message.data = getPayload(mPayload);
-            } else {
+    //if (messages[mCanId].isEmpty()) {
+    //    messages[mCanId].append(Message());
+    //}
+    //if (messages[mCanId].last().isComplete()) {
+    //    messages[mCanId].append(Message());
+    //}
+    //
+    //Message message = messages[mCanId].last();
 
-            }
-
-            if (checksum(message.data) != getChecksum(mPayload)) {
-                // ERROR : Checksum error
-            }
-            messages[mCanId].append(message);
-        } else {
-            // ERROR : incomplete message or corrupted without sync byte (without header)
+    Message message;
+    // when we are here the message is new or partial.
+    bool ok = false;
+    if (hasSyncByte(mPayload)) {
+        message.actionId = getActionId(mPayload);
+        message.length   = getLength  (mPayload);
+        message.data     = getData    (mPayload, message.length, &ok);
+        if (!ok) {
+            qDebug() << "ERROR : CRC error";
         }
     } else {
-        if (!messages[mCanId].last().isFull()) {
-
-        }
+        qDebug() << "ERROR : incomplete message or corrupted without sync byte (without header)";
     }
 
+    //messages[mCanId].append(message);
 
     if (isUnknown || isIgnored) return;
 
     if (isCommand) {
-        emit didActionCommand(GuiActions::PowerOff);
+        emit didActionCommand(message.actionId);
+    } else {
+        emit didActionConfirm(message.actionId, GuiActionData::Accepted);
     }
-    else {
-        emit didActionConfirm(GuiActions::PowerOff,GuiActions::Accepted);
-    }
 }
 
 void MessageHandler::timerEvent(QTimerEvent *event)