Used the specific new data event for the rx can ID.

Checked that the number of data available if not 0 before reading to avoid an exception.

include/dynamixel.h

 #ifndef _DYNAMIXEL_H
 #define _DYNAMIXEL_H
 
-//#include "dynamixelserver.h"
+#include "dynamixelserver.h"
 #include "dynamixel_common.h"
 #include "eventserver.h"
 #include "comm.h"
@@ -24,93 +24,93 @@ class CDynamixel
   private:
     friend class CDynamixelServer;
     /**
-     * \brief
-     * 
+     * \brief 
+     *
      */
-    CDynamixelServer *dyn_server;
+    unsigned char id_register;
     /**
-     * \brief Handle to the communications device
+     * \brief 
      *
-     */ 
-    CComm *comm_dev;
-    /**
-     * \brief
-     * 
      */
-    unsigned char node_address;
+    unsigned char baudrate_register;
     /**
-     * \brief mutual exclusion mechanism to access the usb
+     * \brief 
      *
      */
-    CMutex *usb_access; 
+    void set_baudrate(int baudrate);
+
+  protected:
     /**
-     * \brief Handle to the unique event server
+     * \brief 
      *
      */
-    CEventServer *event_server;
+    virtual void send_instruction_packet_v1(dyn_inst_t inst,unsigned char *data=NULL,unsigned char len=0);
     /**
-     * \brief data reception event
-     * 
+     * \brief 
+     *
      */
-    std::string usb_rx_event_id;
+    virtual void send_instruction_packet_v2(dyn_inst_t inst,unsigned char *data=NULL,unsigned short int len=0);
     /**
      * \brief 
      *
      */
-    unsigned char id_register;
+    virtual unsigned char receive_status_packet_v1(unsigned char **data,unsigned char *len);
     /**
      * \brief 
      *
      */
-    unsigned char baudrate_register;
+    virtual unsigned char receive_status_packet_v2(unsigned char **data,unsigned short int *len);
     /**
      * \brief 
      *
      */
-    void set_baudrate(int baudrate);
+    void handle_error(unsigned char error); 
+  public:
     /**
      * \brief
      *
      */
-    void sync_packet_v1(unsigned char *data,unsigned int length,int *start);
+    void sync_packet_v2(unsigned char *data,unsigned int length,int *start);
     /**
      * \brief
      *
      */
-    void sync_packet_v2(unsigned char *data,unsigned int length,int *start);
+    void sync_packet_v1(unsigned char *data,unsigned int length,int *start);
+    /**
+     * \brief data reception event
+     * 
+     */
+    std::string usb_rx_event_id;
     /**
      * \brief
      *
      */
     dyn_version_t version;
-
-  protected:
     /**
-     * \brief 
-     *
+     * \brief
+     * 
      */
-    void send_instruction_packet_v1(dyn_inst_t inst,unsigned char *data=NULL,unsigned char len=0);
+    unsigned char node_address;
     /**
-     * \brief 
+     * \brief mutual exclusion mechanism to access the usb
      *
      */
-    void send_instruction_packet_v2(dyn_inst_t inst,unsigned char *data=NULL,unsigned short int len=0);
+    CMutex *usb_access; 
     /**
-     * \brief 
-     *
+     * \brief
+     * 
      */
-    unsigned char receive_status_packet_v1(unsigned char **data,unsigned char *len);
+    CDynamixelServer *dyn_server;
     /**
-     * \brief 
+     * \brief Handle to the communications device
      *
-     */
-    unsigned char receive_status_packet_v2(unsigned char **data,unsigned short int *len);
+     */ 
+    CComm *comm_dev;
     /**
-     * \brief 
+     * \brief Handle to the unique event server
      *
      */
-    void handle_error(unsigned char error); 
-  public:
+    CEventServer *event_server;
     /**
      * \brief
      *