diff --git a/src/cam.rs b/src/cam.rs
new file mode 100644
index 0000000..af2d89d
--- /dev/null
+++ b/src/cam.rs
@@ -0,0 +1,12 @@
+use satrs_core::tmtc::AddressableId;
+
+pub type CollectionIntervalFactor = u32;
+
+//#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum CameraRequest {
+    OneShot(AddressableId),
+    OneShotWithTimeStamp(AddressableId),
+}
diff --git a/src/can_ids.rs b/src/can_ids.rs
index e00fbec..b7e388b 100644
--- a/src/can_ids.rs
+++ b/src/can_ids.rs
@@ -5,11 +5,11 @@ use std::fs;
 use std::sync::mpsc::Sender;
 use std::thread::Thread;
 
-use crate::device_handler::{DeviceProperties, DeviceState, DeviceType};
-use num_derive::{FromPrimitive, ToPrimitive};
-use num_traits::{FromPrimitive, ToPrimitive};
-use strum::IntoEnumIterator; // 0.17.1
-use strum_macros::EnumIter; // 0.17.1
+
+pub use num_derive::{FromPrimitive, ToPrimitive};
+pub use num_traits::{FromPrimitive, ToPrimitive};
+pub use strum::IntoEnumIterator; // 0.17.1
+pub use strum_macros::EnumIter; // 0.17.1
 
 #[derive(Debug, EnumIter, Eq, Hash, PartialEq, Copy, Clone, FromPrimitive)]
 pub enum ThreadId {
@@ -208,6 +208,7 @@ pub fn load_package_ids() -> HashMap<PackageId, SenderReceiverThread> {
     return package_map;
 }
 
+/*
 pub fn load_device_ids() {
     let mut package_map: HashMap<DeviceId, DeviceProperties> = HashMap::new();
 
@@ -238,6 +239,8 @@ pub fn load_device_ids() {
     }
 }
 
+ */
+
 //TODO: change ids from u32 to embeddedcan ids
 pub fn package_id_to_value(packageid: &PackageId) -> u32 {
     *packageid as u32
diff --git a/src/device_handler.rs b/src/device_handler.rs
index 922d6e5..8af5cfc 100644
--- a/src/device_handler.rs
+++ b/src/device_handler.rs
@@ -1,7 +1,14 @@
+use std::collections::HashMap;
+use log::info;
 use crate::can_ids::DeviceId;
 use socketcan::{errors, frame, socket, CanFrame, Socket};
 
-#[derive(Copy, Clone)]
+pub use num_derive::{FromPrimitive, ToPrimitive};
+pub use num_traits::{FromPrimitive, ToPrimitive};
+pub use strum::IntoEnumIterator; // 0.17.1
+pub use strum_macros::EnumIter; // 0.17.1
+
+#[derive(Copy, Clone, Debug)]
 pub enum DeviceState {
     On,
     Off,
@@ -9,29 +16,66 @@ pub enum DeviceState {
     Unknown,
 }
 
-#[derive(Copy, Clone)]
-pub enum DeviceType {
-    MGM,
-    MGT,
-    RWL,
-    STR,
-    CRS,
-    OBC,
-    PCDU,
-    CAM,
+#[derive(Clone, Debug)]
+pub struct DeviceHandler {
+    device_state_map: HashMap<DeviceId, DeviceState>,
+
 }
 
-#[derive(Copy, Clone)]
-pub struct DeviceProperties {
-    device_type: DeviceType,
-    device_state: DeviceState,
-}
+impl DeviceHandler {
+    pub fn new() -> DeviceHandler {
+        let mut device_state_map:HashMap<DeviceId, DeviceState> = HashMap::new();
 
-impl DeviceProperties {
-    pub fn new(device_type: DeviceType, device_state: DeviceState) -> DeviceProperties {
-        return DeviceProperties {
-            device_type,
-            device_state,
-        };
+        for id in DeviceId::iter() {
+            device_state_map.insert(id, DeviceState::Unknown);
+        }
+        DeviceHandler{ device_state_map }
+    }
+
+    pub fn power_up_seq(&self) {
+        for id in DeviceId::iter() {
+            let power_on_success = self.power_on(id);
+            match power_on_success{
+                Ok(_) => {info!("{:?} powered up successfully.", id)}
+                Err(_) => {info!("{:?} failed to power up.", id)}
+            }
+        }
+    }
+
+    pub fn power_on(&self, id: DeviceId) -> Result<(),()> {
+        match id {
+            DeviceId::OBC => {}
+            DeviceId::PCDU => {}
+            DeviceId::MGM1 => {}
+            DeviceId::MGM2 => {}
+            DeviceId::MGM3 => {}
+            DeviceId::MGM4 => {}
+            DeviceId::SunSensor1 => {}
+            DeviceId::SunSensor2 => {}
+            DeviceId::SunSensor3 => {}
+            DeviceId::SunSensor4 => {}
+            DeviceId::SunSensor5 => {}
+            DeviceId::SunSensor6 => {}
+            DeviceId::StarTracker => {}
+            DeviceId::MGT1 => {}
+            DeviceId::MGT2 => {}
+            DeviceId::MGT3 => {}
+            DeviceId::MGT4 => {}
+            DeviceId::RWL1 => {}
+            DeviceId::RWL2 => {}
+            DeviceId::RWL3 => {}
+            DeviceId::RWL4 => {}
+            DeviceId::Camera => {}
+            DeviceId::All => {}
+        }
+
+        self.get_power_state(id)
+
+    }
+
+    pub fn get_power_state(&self, id: DeviceId) -> Result<(),()> {
+        let power_state:DeviceState = DeviceState::Unknown;
+        Ok(())
     }
 }
+
diff --git a/src/example_main.rs b/src/example_main.rs
index b7c1ec9..a47b568 100644
--- a/src/example_main.rs
+++ b/src/example_main.rs
@@ -213,6 +213,7 @@ fn example_main() {
                             HkRequest::Disable(_) => {}
                             HkRequest::ModifyCollectionInterval(_, _) => {}
                         },
+                        _ => {}
                     }
                     let started_token = reporter_aocs
                         .start_success(request.1, &timestamp)
diff --git a/src/hk.rs b/src/hk.rs
index d27c0f0..6bd07bd 100644
--- a/src/hk.rs
+++ b/src/hk.rs
@@ -13,4 +13,4 @@ pub enum HkRequest {
     Enable(AddressableId),
     Disable(AddressableId),
     ModifyCollectionInterval(AddressableId, CollectionIntervalFactor),
-}
+}
\ No newline at end of file
diff --git a/src/lib.rs b/src/lib.rs
index c958d06..1be8ca2 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -6,7 +6,7 @@ use satrs_mib::resultcode;
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 pub enum RequestTargetId {
     AcsSubsystem = 1,
-    CanTask = 2,
+    PldSubsystem = 2,
 }
 
 #[derive(Debug)]
diff --git a/src/main.rs b/src/main.rs
index 1d479e5..5693721 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -9,6 +9,7 @@ mod pus;
 mod requests;
 mod tmtc;
 mod aocs;
+mod cam;
 
 use crate::hk::{AcsHkIds, HkRequest};
 use crate::requests::{Request, RequestWithToken};
@@ -50,6 +51,7 @@ use std::sync::mpsc::{channel, TryRecvError};
 use std::sync::{mpsc, Arc, RwLock};
 use std::thread;
 use std::time::Duration;
+use crate::cam::CameraRequest;
 
 #[derive(Clone)]
 struct EventTmSender {
@@ -142,8 +144,9 @@ fn main() {
 
     let mut request_map = HashMap::new();
     let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
-    let (can_thread_tx, can_thread_rx) = channel::<RequestWithToken>();
+    let (pld_thread_tx, pld_thread_rx) = channel::<RequestWithToken>();
     request_map.insert(RequestTargetId::AcsSubsystem as u32, acs_thread_tx);
+    request_map.insert(RequestTargetId::PldSubsystem as u32, pld_thread_tx);
     //request_map.insert(RequestTargetId::CanTask as u32, can_thread_tx);
 
     let tc_source = PusTcSource {
@@ -196,7 +199,8 @@ fn main() {
     let socket0 = can::CanRxHandler::new_socket("can0", can_senders, package_ids_rx).unwrap();
 
     info!("Starting TMTC task");
-    let jh0 = thread::spawn(move || {
+    let builder0 = thread::Builder::new().name("TMTCThread".into());
+    let jh0 = builder0.spawn(move || {
         core_tmtc_task(core_args, tc_args, tm_args);
     });
 
@@ -209,16 +213,21 @@ fn main() {
         }
     });
 
+    /*
     let allowed_ids_range = 101..110;
     let mut allowed_ids_aocs = Vec::new();
     for id in allowed_ids_range {
         allowed_ids_aocs.push(Id::Standard(StandardId::new(id).unwrap()));
     }
 
+     */
+
     let package_map_aocs_tx = load_package_ids();
     let aocs_tm_funnel_tx = tm_funnel_tx.clone();
     let mut aocs_tm_store = tm_store.clone();
 
+
+    // AOCS Thread
     let socket1 =
         can::CanTxHandler::new_socket("can0", ThreadId::AOCSThread, package_map_aocs_tx).unwrap();
     info!("Starting AOCS receiving thread");
@@ -299,6 +308,7 @@ fn main() {
                                 HkRequest::ModifyCollectionInterval(_, _) => {}
                             }
                         }
+                        _ => {}
                     }
                 }
                 Err(_) => {}
@@ -306,8 +316,41 @@ fn main() {
         }
     });
 
+    let package_map_pld_tx = load_package_ids();
+    let pld_tm_funnel_tx = tm_funnel_tx.clone();
+    let mut pld_tm_store = tm_store.clone();
+
+    let PLDCanSocket =
+        can::CanTxHandler::new_socket("can0", ThreadId::PLDThread, package_map_pld_tx).unwrap();
+    println!("Starting Payload Handling task");
+    let builder3 = thread::Builder::new().name("PLDThread".into());
+    let jh3 = builder3.spawn(move || {
+        loop {
+            match pld_thread_rx.try_recv() {
+                Ok(request_with_token) => {
+                    match request_with_token.0 {
+                        Request::CameraRequest(cam_req) => {
+                            match cam_req {
+                                CameraRequest::OneShot(id) => {
+
+                                }
+                                CameraRequest::OneShotWithTimeStamp(id) => {}
+                            }
+                        }
+                        _ => {}
+                    }
+                }
+                Err(_) => {}
+            }
+                //let addr = pld_tm_store.add_pus_tm(&hk_tm);
+                //pld_tm_funnel_tx.send(a).expect("sending failed");
+            }
+    });
+
+
     println!("Starting TM funnel task");
-    let jh3 = thread::spawn(move || {
+    let builder4 = thread::Builder::new().name("TMFunnelThread".into());
+    let jh4 = builder4.spawn(move || {
         let tm_funnel = TmFunnel {
             tm_server_tx,
             tm_funnel_rx,
@@ -322,12 +365,13 @@ fn main() {
         }
     });
 
-    jh0.join().expect("Joining UDP TMTC server thread failed");
+    jh0.unwrap().join().expect("Joining UDP TMTC server thread failed");
     jh1.unwrap()
         .join()
         .expect("Joining CAN Bus Listening thread failed");
     jh2.unwrap().join().expect("Joing AOCS thread failed");
-    jh3.join().expect("Joing AOCS thread failed");
+    jh3.unwrap().join().expect("Joing AOCS thread failed");
+    jh4.unwrap().join().expect("Joing AOCS thread failed");
 
     /*
     jh1.join().expect("Joining TM Funnel thread failed");
diff --git a/src/pus.rs b/src/pus.rs
index ee0ada9..b71de50 100644
--- a/src/pus.rs
+++ b/src/pus.rs
@@ -79,6 +79,8 @@ impl PusServiceProvider for PusReceiver {
             self.handle_event_request(pus_tc, accepted_token);
         } else if service == 3 {
             self.handle_hk_request(pus_tc, accepted_token);
+        } else if service == 8 {
+            self.handle_function_request(pus_tc, accepted_token);
         } else {
             self.update_time_stamp();
             self.verif_reporter
@@ -270,4 +272,8 @@ impl PusReceiver {
             }
         }
     }
+
+    fn handle_function_request(&mut self, pus_tc: &PusTc, token: VerificationToken<TcStateAccepted>) {
+
+    }
 }
diff --git a/src/requests.rs b/src/requests.rs
index cac2277..7bd0f68 100644
--- a/src/requests.rs
+++ b/src/requests.rs
@@ -1,9 +1,11 @@
 use crate::hk::HkRequest;
 use satrs_core::pus::verification::{TcStateAccepted, VerificationToken};
+use crate::cam::CameraRequest;
 
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]
 pub enum Request {
     HkRequest(HkRequest),
+    CameraRequest(CameraRequest),
 }
 
 #[derive(Copy, Clone, Eq, PartialEq, Debug)]