Index: DialityCoreCanProtocol.py
===================================================================
diff -u -r1a9060a8d3ae75f0d65accd7af3705c860373a1e -rdfcbdcb3369e33c0ad90ce17097dd7fddc767dd6
--- DialityCoreCanProtocol.py	(.../DialityCoreCanProtocol.py)	(revision 1a9060a8d3ae75f0d65accd7af3705c860373a1e)
+++ DialityCoreCanProtocol.py	(.../DialityCoreCanProtocol.py)	(revision dfcbdcb3369e33c0ad90ce17097dd7fddc767dd6)
@@ -32,11 +32,13 @@
     PAYLOAD_LENGTH_INDEX = 3
     PAYLOAD_START_INDEX = 4
 
-    PAYLOAD_LENGTH_FIRST_PACKET = 4
+    PAYLOAD_LENGTH_FIRST_PACKET = 3
     HEADER_LENGTH = 4
 
     PACKET_LENGTH = 8
 
+    MAX_MSG_ID_NUMBER = 65535
+
     @staticmethod
     def buildBasicMessage(channel_id=0, message=None):
         """
@@ -65,14 +67,15 @@
             payload = []
         message = [DenaliCanMessenger.START_BYTE]
 
-        if 0 <= message_id <= (2 ** 16 - 1):
+        if 0 <= message_id <= DenaliMessage.MAX_MSG_ID_NUMBER:
             # Make sure an unsigned int was passed
             message_id_in_bytes = message_id.to_bytes(2, byteorder=DenaliMessage.BYTE_ORDER)
 
             message += [message_id_in_bytes[0]]
             message += [message_id_in_bytes[1]]
 
         else:
+
             return []
 
         # Check payload length
@@ -119,6 +122,7 @@
 
         :param message: dictionary with channel_id and message keys
         :return: integer with channel id
+
         """
 
         return message['channel_id']
@@ -131,6 +135,7 @@
         :param message: complete Diality Packet
 
         :return: integer with request ID
+
         """
         msg_id_array = message['message'][DenaliMessage.MSG_ID_INDEX:
                                           DenaliMessage.PAYLOAD_LENGTH_INDEX]
@@ -236,6 +241,7 @@
             self.__message = can_message
             self.__number_of_can_packets_needed = DenaliMessage.getTotalPackets(can_message)
             self.__number_of_can_packets_up_to_now = 1
+
         else:
             self.__message += can_message
             self.__number_of_can_packets_up_to_now += 1
@@ -244,6 +250,7 @@
             return_message = self.__message
             self.__message = None
             return return_message
+
         else:
             return None
 
@@ -280,6 +287,7 @@
 
         if self.__bus is not None:
             self.__serialListenerThread = threading.Thread(target=self.__listener, daemon=True)
+
         else:
             self.__serialListenerThread = None
             print("Can connection is not valid")
@@ -317,43 +325,35 @@
             message = self.__listener_buffer.get_message(0.0)
 
             if message is not None and message.dlc == DenaliMessage.PACKET_LENGTH:
-
                 # We have received a legit can message of 8 bytes
-
                 can_data = [b for b in message.data]
                 channel_id = message.arbitration_id
                 message_length = can_data[3]
 
                 # if we are building a long message, then proceed to push it to the channel dictionary
                 if channel_id in self.__longMsgChannelIDSet:
-
                     self.__dialinMessage = self.__longMessageBuilders[channel_id].push(can_data)
 
                 elif can_data[0] == self.START_BYTE and \
-                        message_length <= DenaliMessage.PAYLOAD_LENGTH_FIRST_PACKET:  # This is a short packet
+                     message_length <= DenaliMessage.PAYLOAD_LENGTH_FIRST_PACKET:  # This is a short packet
                     # This is the first time that we are building a message
-
                     self.__dialinMessage = can_data  # deliver the packet
 
                 elif can_data[0] == self.START_BYTE and \
-                        message_length > DenaliMessage.PAYLOAD_LENGTH_FIRST_PACKET:  # Long packet start
-
+                     message_length > DenaliMessage.PAYLOAD_LENGTH_FIRST_PACKET:  # Long packet start
                     # We are starting to build a long message, include it in the lonMsgChannelIDSet
                     self.__longMsgChannelIDSet.add(channel_id)
 
                     if channel_id not in self.__longMessageBuilders.keys():  # if we don't have a builder.  Create it!
-
                         self.__longMessageBuilders[channel_id] = LongDenaliMessageBuilder(can_data)
                         self.__dialinMessage = None
 
                     else:  # if we do have a builder.  This is the first time
-
                         self.__dialinMessage = self.__longMessageBuilders[channel_id].push(can_data, first_packet=True)
 
                 # At this point we have a complete (long or short) Diality Packet
 
                 if self.__dialinMessage is not None:
-
                     completeDialinMessage = DenaliMessage.buildBasicMessage(channel_id=channel_id,
                                                                             message=self.__dialinMessage)
                     dialin_msg_id = DenaliMessage.getMessageID(completeDialinMessage)
@@ -364,22 +364,19 @@
                         self.__longMsgChannelIDSet.remove(dialin_ch_id)
 
                     # We first check if this is a response to a send request that is pending
-
                     if dialin_msg_id == self.__sendPacketRequestID:
 
                         self.__dialinCommandResponseMessage = completeDialinMessage
                         self.__sendEvent.set()
                         self.__sendPacketRequestID = -1
 
                     # 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.__sync_response_dictionary[dialin_ch_id][dialin_msg_id](completeDialinMessage)
 
                     # Done with this message, let's get the next one
-
                     self.__dialinMessage = None
 
             else:
@@ -399,12 +396,10 @@
 
         # if the channel_id exist, we just update the dictionary for the channel_id
         if channel_id in self.__sync_response_dictionary.keys():
-
             self.__sync_response_dictionary[channel_id].update({message_id: function})
 
         # otherwise, we need to create the dictionary for the channel_id
         else:
-
             self.__sync_response_dictionary[channel_id] = {message_id: function}
 
     def send(self, built_message, time_out=1):
@@ -460,7 +455,6 @@
 def test_print_received_packet(message, sync=False):
     channel_id = message[0]
     message[0] = DenaliMessage.START_BYTE
-
     introduction = "Received: "
 
     if sync: