Index: DialityCoreSerialProtocol.py
===================================================================
diff -u -r5f23b5ca87b6211702df8aa805fa767026862b77 -r085c19600947145ec02a4baccba379bdbf6844af
--- DialityCoreSerialProtocol.py	(.../DialityCoreSerialProtocol.py)	(revision 5f23b5ca87b6211702df8aa805fa767026862b77)
+++ DialityCoreSerialProtocol.py	(.../DialityCoreSerialProtocol.py)	(revision 085c19600947145ec02a4baccba379bdbf6844af)
@@ -55,9 +55,11 @@
         self.__dialityPacketLength = 0
         self.__sendRID = -1
         self.__sendEvent = threading.Event()
-        self.responseFunction = None
         self.__run = False
 
+        self.__async_response_dictionary = {}
+        self.__sync_response_dictionary = {}
+
         if self.__serialConnection is not None:
             self.__serialListenerThread = threading.Thread(target=self.__listener)
         else:
@@ -156,27 +158,35 @@
 
                         #print("Packet CRC: " + str(crc) + ", Calculated CRC:" + str(self.__denaliPacketCRC()))
 
-                        if True:  # crc == self.__denaliPacketCRC():
+                        # Get the Denali Response Request ID
+                        denaliResponseRequestID = self.__getRequestID(self.__dialityPacket)
 
-                            denaliResponseRequestID = self.__getRequestID(self.__dialityPacket)
-                            #print("send: "+str(self.__sendRID)+" rec: "+str(denaliResponseRequestID))
 
-                            if denaliResponseRequestID == self.__sendRID:
-                                self.__dialityResponsePacket = self.__dialityPacket
-                                self.__sendEvent.set()  # Set the "sendEvent", so the "send" command can continue
-                                self.__sendRID = -1
-                            else:
-                                self.__dialityResponsePacket = bytearray()
-                                self.__dialityPacket.clear()  # We didn't get what we were expecting
-                                # We are going to let the command timeout
+                        #if  mot crc == self.__denaliPacketCRC():
+                        # TODO: we need to trash the packet if crc is not correct
+                        #self.__dialityResponsePacket = bytearray()
+                        #self.__dialityPacket.clear()  # We didn't get what we were expecting
 
-                         #   print("Final Denali Message: " + str(self.__dialityPacket))
+                        if denaliResponseRequestID in self.__sync_response_dictionary.keys():
 
-                        else:
+                            # if message is a sync message
+                            self.__sync_response_dictionary[denaliResponseRequestID](self.__dialityPacket)
 
-                            # CRC is corrupted. Drop the packet
-                            self.__dialityPacket.clear()
+                        elif denaliResponseRequestID in self.__async_response_dictionary.keys():
 
+                            # if message is a async message
+                            self.__async_response_dictionary[denaliResponseRequestID](self.__dialityPacket)
+
+                        elif 0 <= self.__sendRID == denaliResponseRequestID:
+
+                            # if message is a response to a command
+                            self.__dialityResponsePacket = self.__dialityPacket
+                            self.__sendEvent.set()  # Set the "sendEvent", so the "send" command can continue
+                            self.__sendRID = -1
+
+
+    # we are waiting for a message...
+
                         self.__dialitySerialByteBuffer = self.__dialitySerialByteBuffer[self.__dialityPacketLength:]
 
                         # If there is more to process
@@ -199,9 +209,27 @@
 
         return sum(self.__dialityPacket[0:self.__dialityPacketLength - 1]) % 256
 
-    def registerResponseFunction(self, function):
-        self.responseFunction = function
+    def registerAsyncFunction(self, request_id, function):
+        """
+            assign a function with message parameter to an async request id, e.g.,
+            def thefunction(msg).
 
+            :param request_id: integer
+            :param function: function reference
+
+        """
+        self.__async_response_dictionary[request_id] = function
+
+    def registerSyncFunction(self, request_id, function):
+        """
+            assign a function with message parameter to an sync request id, e.g.,
+            def thefunction(msg).
+
+            :param request_id: integer
+            :param function: function reference
+        """
+        self.__sync_response_dictionary[request_id] = function
+
     def send(self, message, time_out=1):
 
         # Check message ID