Index: dialin/protocols/CAN.py
===================================================================
diff -u -r12fc8d4dee213f861ee7645ce83c8b3a79896e10 -r93629045e925eea85b2808a0e7a7b0ea77426f7a
--- dialin/protocols/CAN.py	(.../CAN.py)	(revision 12fc8d4dee213f861ee7645ce83c8b3a79896e10)
+++ dialin/protocols/CAN.py	(.../CAN.py)	(revision 93629045e925eea85b2808a0e7a7b0ea77426f7a)
@@ -26,6 +26,7 @@
 import struct
 from .. import common
 from ..utils import SingletonMeta
+from concurrent.futures import ThreadPoolExecutor
 
 
 class DenaliMessage:
@@ -449,16 +450,17 @@
         self.logger = logger
         self.log_can = log_can
         self.message_queue = deque()
+        self.thread_pool_executor = ThreadPoolExecutor(max_workers=1)
 
         # try to setup can bus and exit if the can bus has not ben setup to use.
         try:
             self.bus = can.interfaces.socketcan.SocketcanBus(channel=can_interface)
             self.loop = asyncio.get_event_loop()
             if self.bus is not None:
-                self.canbus_thread = threading.Thread(target=self.listener, daemon=True)
-                self.message_queue_thread = threading.Thread(target=self.handle_messages, daemon=True)
+                self.thread_canbus = threading.Thread(target=self.listener, daemon=True)
+                self.thread_message_queue = threading.Thread(target=self.handle_messages, daemon=True)
             else:
-                self.canbus_thread = None
+                self.thread_canbus = None
                 s = "Can connection is not valid"
                 self.logger.debug(s)
                 sys.exit(s)
@@ -493,12 +495,12 @@
             return
         else:
             self.run = True
-            if self.message_queue_thread is not None and self.canbus_thread is not None:
-                if not self.canbus_thread.is_alive():
-                    self.canbus_thread.start()
+            if self.thread_message_queue is not None and self.thread_canbus is not None:
+                if not self.thread_canbus.is_alive():
+                    self.thread_canbus.start()
                     self.logger.info("Canbus thread has started.")
-                if not self.message_queue_thread.is_alive():
-                    self.message_queue_thread.start()
+                if not self.thread_message_queue.is_alive():
+                    self.thread_message_queue.start()
                     self.logger.info("Message queue thread has started.")
             else:
                 self.logger.error("Cannot start listener...")
@@ -531,7 +533,6 @@
         else:
             self.loop.create_task(_listener())
 
-
     def handle_messages(self):
         """
         Handles messages added to the dialin canbus message queue
@@ -626,9 +627,11 @@
                             # If it is not, this is a publication message and we need to call it's register function
                             elif dialin_ch_id in self.sync_response_dictionary.keys() and \
                                     dialin_msg_id in self.sync_response_dictionary[channel_id].keys():
+                                self.thread_pool_executor.submit(
+                                    self.sync_response_dictionary[dialin_ch_id][dialin_msg_id],
+                                    complete_dialin_message
+                                )
 
-                                self.sync_response_dictionary[dialin_ch_id][dialin_msg_id](complete_dialin_message)
-
                         # Done with this message, let's get the next one
                         self.messages = None
 
Index: dialin/utils/conversions.py
===================================================================
diff -u -r12fc8d4dee213f861ee7645ce83c8b3a79896e10 -r93629045e925eea85b2808a0e7a7b0ea77426f7a
--- dialin/utils/conversions.py	(.../conversions.py)	(revision 12fc8d4dee213f861ee7645ce83c8b3a79896e10)
+++ dialin/utils/conversions.py	(.../conversions.py)	(revision 93629045e925eea85b2808a0e7a7b0ea77426f7a)
@@ -14,64 +14,77 @@
 #
 ############################################################################
 import struct
+from typing import List
 
 
-def byte_to_bytearray(val):
+def byte_to_bytearray(val: int) -> bytes:
     """
     Converts a byte value into a byte array (little endian)
 
     @param val: (int) integer to convert to byte array
     @return: byte array
     """
+    if type(val) != int:
+        raise ValueError("Expected integer but received {0} with type {1}".format(val, type(val)))
     return struct.pack("<b", val)
 
 
-def short_to_bytearray(val):
+def short_to_bytearray(val: int) -> bytes:
     """
     Converts a short integer (2 bytes) value into a byte array (little endian)
 
     @param val: (int) integer to convert to byte array
     @return: byte array
     """
+    if type(val) != int:
+        raise ValueError("Expected integer but received {0} with type {1}".format(val, type(val)))
     return struct.pack("<h", val)
 
 
-def integer_to_bytearray(val):
+def integer_to_bytearray(val: int) -> bytes:
     """
     Converts an integer value into a byte array (little endian)
 
     @param val: (int) integer to convert to byte array
     @return: byte array
     """
+    if type(val) != int:
+        raise ValueError("Expected integer but received {0} with type {1}".format(val, type(val)))
     return struct.pack("<i", val)
 
 
-def unsigned_to_bytearray(val):
+def unsigned_to_bytearray(val: int) -> bytes:
     """
     Converts an integer value into a byte array (little endian)
 
     @param val: (int) integer to convert to byte array
     @return: byte array
     """
+    if type(val) != int or val < 0:
+        raise ValueError("Expected unsigned integer but received {0} with type {1}".format(val, type(val)))
     return struct.pack("<I", val)
 
 
-def float_to_bytearray(val):
+def float_to_bytearray(val: float) -> bytes:
     """
     Converts a float value into a byte array (little endian)
 
     @param val:  (float) to convert to byte array
     @return:: byte array
     """
+    if type(val) != float:
+        raise ValueError("Expected float but received {0} with type {1}".format(val, type(val)))
     return struct.pack('<f', val)
 
 
-def integer_to_bit_array(val, num_bits: int = 8):
+def integer_to_bit_array(val: int, num_bits: int = 8) -> List[int]:
     """
     Converts an integer to a bit array. For direct conversion to binary please use bin(val),
     as this function has a separate purpose
     @param val: (int) the number to convert
     @param num_bits: (int) the number of bits needed
     @return: (List[int]) The number represented in binary form as a list of 1's and 0's
     """
+    if type(val) != int:
+        raise ValueError("Expected integer but received {0} with type {1}".format(val, type(val)))
     return [(val >> bit) & 1 for bit in range(num_bits - 1, -1, -1)]
\ No newline at end of file
Index: dialin/utils/data_logger.py
===================================================================
diff -u -rca7a00d1584b97eed9471fe4a5f17a7aa3ea62d8 -r93629045e925eea85b2808a0e7a7b0ea77426f7a
--- dialin/utils/data_logger.py	(.../data_logger.py)	(revision ca7a00d1584b97eed9471fe4a5f17a7aa3ea62d8)
+++ dialin/utils/data_logger.py	(.../data_logger.py)	(revision 93629045e925eea85b2808a0e7a7b0ea77426f7a)
@@ -23,7 +23,6 @@
 from typing import Tuple
 from multiprocessing import Process
 from pathlib import Path
-from typing import Union
 import pandas as pd
 
 from dialin.utils.base import _FauxLogger