Index: sources/canbus/messagebuilder.cpp
===================================================================
diff -u -r1732e83d2a0308b9c706f37d6d7724a364bbff2a -r460df093c4475816fc25d6b4c3ebfc50424ccca3
--- sources/canbus/messagebuilder.cpp	(.../messagebuilder.cpp)	(revision 1732e83d2a0308b9c706f37d6d7724a364bbff2a)
+++ sources/canbus/messagebuilder.cpp	(.../messagebuilder.cpp)	(revision 460df093c4475816fc25d6b4c3ebfc50424ccca3)
@@ -17,6 +17,8 @@
 #include <QDebug>
 
 // Project
+#include "crc.h"
+
 // namespace
 using namespace Can;
 
@@ -62,8 +64,7 @@
 
 void MessageBuilder::addData(QByteArray &vPayload, GuiActionType vAction, const QByteArray &vData)
 {
-    quint16 i = static_cast<quint16>(vAction);
-    quint8 len = payloadLen[i];
+    quint8 len = payloadLen[vAction];
     // if len has been set to max(255)
     // it means it has no limit and can be as long as 255 bytes
     if (len == eLenMaxData) {
@@ -79,63 +80,73 @@
 
 void MessageBuilder::addCRC(QByteArray &vPayload)
 {
-    vPayload += calcCRC(vPayload);
+    // sync byte should not be passed for crc calculation
+    vPayload += calcCRC(vPayload.mid(1));
 }
 
 void MessageBuilder::addPadding(QByteArray &vPayload)
 {
     vPayload = vPayload.leftJustified(eLenCanFrame, '\0');
 }
 
+// TODO : This section better to be in the MessageModel
 quint8 MessageBuilder::calcCRC(const QByteArray &vData)
 {
-    // TODO : calcCRC has not been used yet
-    Q_UNUSED(vData)
-#ifdef QT_DEBUG
-    return ePayload_Sync;
-#else
-    return '\0';
-#endif
+    quint8 crc = crc8(vData);
+    return crc;
 }
 
 // CRC is always next byte after Data
+// TODO : This section better to be in the MessageModel
 bool MessageBuilder::checkCRC(const QByteArray &vData)
 {
-#ifdef QT_DEBUG
-    //qDebug() << "qChecksum(\"0\",1) : " << qChecksum("\0",1);
-    // TODO : If a Message ID has not data does it still have CRC ?
-    if ( ! vData.length()) return false;
+#ifndef DISABLE_CRC
+    int len = vData.length();
+    if ( ! len ) return false;
     quint8 crc = vData.back();
-    bool ok = calcCRC(vData) == crc;
+    quint8 got = calcCRC(vData.mid(0, len - 1));
+    bool ok = got == crc;
+    // it's very good but I'm not sure if it's correct.
+    //bool ok = calcCRC(vData) == 0;
+    if ( ! ok ) {
+        qDebug() << "ch crc :" << hex << got << crc << vData.toHex('.');
+    }
     return ok;
 #else
-    Q_UNUSED(vData)
     return true;
 #endif
-
-
 }
 
-bool MessageBuilder::buildMessage(const QByteArray &vPayload, Message &vMessage)
+bool MessageBuilder::buildMessage(const QByteArray &vPayload, Message &vMessage, Can_Id vCan_Id)
 {
     QByteArray mPayload = vPayload;
-    if (vMessage.data.isEmpty()) { // message is empty so expected a header
+    if (vMessage.data.isEmpty()) {   // message is empty so expected a header
         if (hasSyncByte(mPayload)) { // Got header
-            vMessage.actionId = getActionId(mPayload);
-            vMessage.length   = getLength  (mPayload);
-            vMessage.data     = getData    (mPayload, vMessage.length);
+            consoleOut(vPayload, true, vCan_Id);
+            vMessage.can_id   = vCan_Id;
+            vMessage.head     = getHeader   (mPayload); // keep header before taking it out of the payload. doesn't affect payload
+            vMessage.actionId = getActionId (mPayload);
+            vMessage.length   = getLength   (mPayload);
+            vMessage.data     = getData     (mPayload, vMessage.length);
             vMessage.initialized = true;
         } else {                     // Expected Header but got pure data
-            qDebug() << "ERROR :" << "Expected Header, got frame without Sync byte";
+            printPayload(vPayload, false ,vCan_Id);
+            qDebug() << "ERROR :" << tr("Expected Header, got frame without Sync byte");
             return false;
         }
     } else {
+        consoleOut(vPayload, false ,vCan_Id);
         vMessage.data += vPayload.mid(0, vMessage.length - vMessage.data.length());
     }
 
+    // TODO : This section better to be in the MessageModel
+    // and when Message model identifies the message is complete
+    // will SIGNAL builder to check for crc.
     if (vMessage.isComplete()) {
-        if ( ! checkCRC(vMessage.data) ) {  // CRC is always next byte after Data
-            qDebug() << "ERROR :" << "CRC error";
+        consoleOut("", false, Can_Id::eChlid_NONE);
+        QByteArray crcData = vMessage.head + vMessage.data;
+        if ( ! checkCRC(crcData) ) {  // CRC is always next byte after Data
+            qDebug() << "ERROR :" << tr("CRC error");
             return false;
         }
     }
@@ -153,6 +164,15 @@
     return false;
 }
 
+QByteArray MessageBuilder::getHeader(const QByteArray &vPayload)
+{
+    QByteArray headInfo;
+    for (int i = 0; i < eLenHeaderInfo; i++) {
+        headInfo += vPayload[i];
+    }
+    return headInfo;
+}
+
 GuiActionType MessageBuilder::getActionId(QByteArray &vPayload)
 {
     quint16 mActionId;
@@ -184,3 +204,42 @@
     return mData;
 }
 
+void MessageBuilder::printPayload(const QByteArray &vPayload, bool vIsHeader, Can_Id vCan_Id, bool vUseColor)
+{
+    if (vCan_Id == Can_Id::eChlid_NONE) {
+        qDebug() << " ";
+        return;
+    }
+    QByteArray view;
+    if (vUseColor) {
+        QList<QByteArray> byteList;
+        byteList = vPayload.toHex('.').split('.');
+        for (int i = 0; i < byteList.length(); i++) {
+            if (vIsHeader) {
+                if(i == 0) {
+                    byteList[i] = QByteArray("\033[32m") + byteList[i].constData();
+                }
+                if (i == 1 || i == 2) {
+                    byteList[i] = QByteArray("\033[33m") + byteList[i].constData();
+                }
+                if (i > 2) {
+                    byteList[i] = QByteArray("\033[36m") + byteList[i].constData() + QByteArray("\033[0m");
+                }
+            } else {
+                byteList[i] = QByteArray("\033[36m") + byteList[i].constData() + QByteArray("\033[0m");
+            }
+        }
+        view = GuiActions::toHexString(vCan_Id, false, 3).toLatin1() + "   " + byteList.join('.');
+        fprintf(stderr, "%s\n", view.constData());
+    } else {
+        view = GuiActions::toHexString(vCan_Id, false, 3).toLatin1() + "   " + vPayload.toHex('.');
+        fprintf(stderr, "%s\n", view.constData());
+    }
+}
+
+void MessageBuilder::consoleOut(const QByteArray &vPayload, bool vIsHeader, Can_Id vCan_Id, bool vUseColor)
+{
+    if ( ! _enableConsoleOut) return;
+    printPayload(vPayload, vIsHeader, vCan_Id, vUseColor);
+
+}