Index: sources/canbus/messagebuilder.cpp
===================================================================
diff -u -r227f28b202f81ab3dd04a81868697025ccab6220 -re58b907a69d4ca7daa77d69791593b886d1b80e8
--- sources/canbus/messagebuilder.cpp	(.../messagebuilder.cpp)	(revision 227f28b202f81ab3dd04a81868697025ccab6220)
+++ sources/canbus/messagebuilder.cpp	(.../messagebuilder.cpp)	(revision e58b907a69d4ca7daa77d69791593b886d1b80e8)
@@ -19,6 +19,7 @@
 #include "logger.h"
 #include "crc.h"
 #include "format.h"
+#include "types.h"
 
 // namespace
 using namespace Can;
@@ -191,6 +192,27 @@
 }
 
 /*!
+ * \brief   MessageBuilder::checkCRC
+ * \details Overloaded CheckCRC which checks the CRC and Log the error if there is.
+ * \param   vMessage
+ * \return
+ */
+bool MessageBuilder::checkCRC(const Message &vMessage)
+{
+    consoleOut("", false, Can_Id::eChlid_NONE);
+    QByteArray crcData = vMessage.head + vMessage.data;
+    quint8 mExpected = 0;
+    quint8 mBeenRead = 0;
+    if ( ! checkCRC(crcData, mExpected, mBeenRead ) ) {  // CRC is always next byte after Data
+        LOG_ERROR(tr("CRC error, expected %1 but got %2")
+                    .arg(Format::toHexString(mExpected, true, eLenCRCDigits))
+                    .arg(Format::toHexString(mBeenRead, true, eLenCRCDigits)));
+        return false;
+    }
+    return true;
+}
+
+/*!
  * \brief   MessageBuilder::buildMessage
  * \details Builds Message out of vPayload of type QByteArray
  *          by adding Sync byte, ActionID(MessageID), data length, data, CANBUS channel id for header
@@ -208,6 +230,9 @@
             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
+#ifndef DISABLE_SEQUENCE
+            vMessage.sequence = getSequence (mPayload);
+#endif
             vMessage.actionId = getActionId (mPayload);
             vMessage.length   = getLength   (mPayload);
             vMessage.data     = getData     (mPayload, vMessage.length);
@@ -226,16 +251,8 @@
     // and when Message model identifies the message is complete
     // will SIGNAL builder to check for crc.
     if (vMessage.isComplete()) {
-        consoleOut("", false, Can_Id::eChlid_NONE);
-        QByteArray crcData = vMessage.head + vMessage.data;
-        quint8 mExpected = 0;
-        quint8 mBeenRead = 0;
-        if ( ! checkCRC(crcData, mExpected, mBeenRead ) ) {  // CRC is always next byte after Data
-            LOG_ERROR(tr("CRC error, expected %1 but got %2")
-                        .arg(Format::toHexString(mExpected, true, eLenCRCDigits))
-                        .arg(Format::toHexString(mBeenRead, true, eLenCRCDigits)));
-            return false;
-        }
+        bool ok = checkCRC(vMessage);
+        if (!ok) return false;
     }
 
     return true;
@@ -261,6 +278,24 @@
 }
 
 /*!
+ * \brief   MessageBuilder::getSequence
+ * \details Extract the 2 bytes of the sequence
+ *          out of the vPayload of type QByteArray
+ * \param   vPayload - The payload of the CANBUS message
+ * \return  Returns ActionId of type GuiActionType
+ * \note    Removes the 2 bytes of ActionID from vPayload
+ *          It starts from the first byte so those 2 bytes should be the first 2 bytes.
+ */
+qint16 MessageBuilder::getSequence(QByteArray &vPayload)
+{
+    Types::S16 mSequence;
+    int index = 0;
+    Types::getValue<>(vPayload, index, mSequence);
+    vPayload = vPayload.mid(eLenSequence);
+    return mSequence.value;
+}
+
+/*!
  * \brief   MessageBuilder::getHeader
  * \details Collect the 3 bytes (Frame_Data::eLenHeaderInfo)
  *          as header portion of the payload
@@ -277,6 +312,10 @@
 QByteArray MessageBuilder::getHeader(const QByteArray &vPayload)
 {
     QByteArray headInfo;
+    if (vPayload.length() < eLenHeaderInfo) {
+        LOG_ERROR("Incorrect Message Header");
+        return headInfo;
+    }
     for (int i = 0; i < eLenHeaderInfo; i++) {
         headInfo += vPayload[i];
     }
@@ -296,10 +335,6 @@
 {
     quint16 mActionId;
     mActionId = (vPayload[0] << 8) | vPayload[1];
-
-    //TODO : It needs to be checked that the ActionID is Correct.
-    //return GuiActionType::Unknown;
-
     vPayload = vPayload.mid(eLenActionId);
     return static_cast<Gui::GuiActionType>(mActionId);
 }