diff --git a/CMakeLists.txt b/CMakeLists.txt
index caa9075..c8a6b5b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,46 +1,47 @@
 cmake_minimum_required (VERSION 2.8)
 project(AutoDrive)
 set (OUTPUT_NAME AutoDrive)
-
-#add_subdirectory(src/StreamDecoder/HDFDecoder)
-#add_subdirectory(src/StreamDecoder/ProtobufDeserializer)
+add_definitions(-std=c++11)
+SET(CAF_COMPILE_FLAGS "-lcaf_io -lcaf_core")
+add_definitions(${CAF_COMPILE_FLAGS})
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
 add_subdirectory(src/ScenarioAnalysation)
 add_subdirectory(src/ObjectDetection)
-add_subdirectory(src/caf)
-
-#add_subdirectory(src/StreamDecoder/DecompressionExample)
-
-#add_subdirectory(src/StreamDecoder/FrameSelector)
-
+add_subdirectory(src/CarCommunication)
 add_subdirectory(src/StreamDecoder)
 
-
-
+file(GLOB_RECURSE sourcesc "./src/*.cc")
 file(GLOB_RECURSE sources "./src/*.cpp")
 file(GLOB_RECURSE headers "./src/*.h")
 
+#protobuf
+include(FindProtobuf)
+find_package(Protobuf REQUIRED)
+include_directories(${PROTOBUF_INCLUDE_DIR})
+
 #opencv
-#find_package( OpenCV )
-#if(OpenCV_FOUND)
-#include_directories( ${OpenCV_INCLUDE_DIRS} )
-#set(LINK_LIBS ${LINK_LIBS} ${OpenCV_LIBS})
-#else(OpenCV_FOUND)
-#message(SEND_ERROR "OpenCV not found")
-#endif(OpenCV_FOUND)
+find_package( OpenCV )
+if(OpenCV_FOUND)
+    include_directories( ${OpenCV_INCLUDE_DIRS} )
+    set(LINK_LIBS ${LINK_LIBS} ${OpenCV_LIBS})
+else(OpenCV_FOUND)
+    message(SEND_ERROR "OpenCV not found")
+endif(OpenCV_FOUND)
 
 
 #hdf5
-#find_package (HDF5)
-#if(HDF5_FOUND)
-#set(LINK_LIBS ${LINK_LIBS} ${HDF5_C_STATIC_LIBRARY} ${HDF5_C_LIBRARIES})
-#include_directories(${HDF5_INCLUDE_DIR})
-#else(HDF5_FOUND)
-#message(SEND_ERROR "HDF5 was not Found")
-#endif(HDF5_FOUND)
-
-#add_executable(${OUTPUT_NAME} ${sources} ${headers})
-#target_link_libraries(${OUTPUT_NAME} ${LINK_LIBS} -lhdf5_cpp -lhdf5)
-#target_link_libraries(${OUTPUT_NAME} proto ${PROTOBUF_LIBRARY})
-
+find_package (HDF5)
+if(HDF5_FOUND)
+    set(LINK_LIBS ${LINK_LIBS} ${HDF5_C_STATIC_LIBRARY} ${HDF5_C_LIBRARIES})
+    include_directories(${HDF5_INCLUDE_DIR})
+else(HDF5_FOUND)
+    message(SEND_ERROR "HDF5 was not Found")
+endif(HDF5_FOUND)
+
+add_definitions(-D COMBINE) 
+
+add_executable(${OUTPUT_NAME} ${sources} ${headers} ${sourcesc})
+target_link_libraries(${OUTPUT_NAME} ${LINK_LIBS} -lhdf5_cpp -lhdf5)
+target_link_libraries(${OUTPUT_NAME} ${PROTOBUF_LIBRARY})
+target_link_libraries(${OUTPUT_NAME} ${PROTOBUF_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} -lcaf_io -lcaf_core)
diff --git a/src/caf/CMakeLists.txt b/src/CarCommunication/CMakeLists.txt
similarity index 88%
rename from src/caf/CMakeLists.txt
rename to src/CarCommunication/CMakeLists.txt
index 963390c..6a5ebe9 100644
--- a/src/caf/CMakeLists.txt
+++ b/src/CarCommunication/CMakeLists.txt
@@ -16,6 +16,6 @@ else(PROTOBUF_FOUND)
 message(SEND_ERROR "Protobuff NOT found")
 endif(PROTOBUF_FOUND)
 
-ADD_EXECUTABLE(${OUTPUT_NAME} protobuf_broker.cpp ${PROTO_HEADER} ${PROTO_SRC})
+ADD_EXECUTABLE(${OUTPUT_NAME} protoagent.cpp ${PROTO_HEADER} ${PROTO_SRC})
 target_link_libraries(${OUTPUT_NAME} ${PROTOBUF_LIBRARY} ${CMAKE_THREAD_LIBS_INIT} -lcaf_io -lcaf_core)
 
diff --git a/src/caf/Makefile b/src/CarCommunication/Makefile
similarity index 100%
rename from src/caf/Makefile
rename to src/CarCommunication/Makefile
diff --git a/src/caf/message.pb.cc b/src/CarCommunication/message.pb.cc
similarity index 100%
rename from src/caf/message.pb.cc
rename to src/CarCommunication/message.pb.cc
diff --git a/src/caf/message.pb.h b/src/CarCommunication/message.pb.h
similarity index 100%
rename from src/caf/message.pb.h
rename to src/CarCommunication/message.pb.h
diff --git a/src/caf/message.proto b/src/CarCommunication/message.proto
similarity index 100%
rename from src/caf/message.proto
rename to src/CarCommunication/message.proto
diff --git a/src/caf/pbbroker b/src/CarCommunication/pbbroker
old mode 100755
new mode 100644
similarity index 100%
rename from src/caf/pbbroker
rename to src/CarCommunication/pbbroker
diff --git a/src/caf/protobuf_broker.cpp b/src/CarCommunication/protoagent.cpp
similarity index 99%
rename from src/caf/protobuf_broker.cpp
rename to src/CarCommunication/protoagent.cpp
index 400ffc5..e07193f 100644
--- a/src/caf/protobuf_broker.cpp
+++ b/src/CarCommunication/protoagent.cpp
@@ -23,7 +23,7 @@
 // <http://www.gnu.org/licenses/>.
 //
 
-#include "protobuf_broker.h"
+#include "protoagent.h"
 
 void ProtoAgent::print_on_exit(const actor& hdl, const std::string& name) {
   hdl->attach_functor([=](abstract_actor* ptr, uint32_t reason) {
@@ -211,6 +211,7 @@ void ProtoAgent::startServer (uint16_t port) {
 	shutdown();
 }
 
+#ifndef COMBINE
 int main(int argc, char** argv) {
 	// Parsing arguments
 	message_builder{argv + 1, argv + argc}.apply({
@@ -231,3 +232,5 @@ int main(int argc, char** argv) {
     }
   });
 }
+
+#endif
\ No newline at end of file
diff --git a/src/caf/protobuf_broker.h b/src/CarCommunication/protoagent.h
similarity index 93%
rename from src/caf/protobuf_broker.h
rename to src/CarCommunication/protoagent.h
index 98fe182..ac6c71b 100644
--- a/src/caf/protobuf_broker.h
+++ b/src/CarCommunication/protoagent.h
@@ -57,14 +57,14 @@ class ProtoAgent {
 	* @param port Specified port for communication
 	* @param hsot Hostname for connection to server 
 	*/ 
-	void startClient (uint16_t port, const string& host);
+	static void startClient (uint16_t port, const string& host);
 
 	/** 
 	* starts the server. 
 	* 
 	* @param port Specified port for communication 
 	*/ 
-	void startServer (uint16_t port);
+	static void startServer (uint16_t port);
 
 	/** 
 	* utility function to print an exit message with custom name. 
@@ -73,7 +73,7 @@ class ProtoAgent {
 	* @param name Actor name 
 	*/ 
 
-	void print_on_exit(const actor& hdl, const std::string& name);
+	static void print_on_exit(const actor& hdl, const std::string& name);
 
 
 	/** 
diff --git a/src/ObjectDetection/main.cpp b/src/ObjectDetection/main.cpp
index a26cdeb..ac1e92c 100644
--- a/src/ObjectDetection/main.cpp
+++ b/src/ObjectDetection/main.cpp
@@ -20,7 +20,9 @@
 // License along with this program. If not, see
 // <http://www.gnu.org/licenses/>.
 
+#ifndef COMBINE
 int main(int argc, const char * argv[]) {
 
     return 0;
 }
+#endif
\ No newline at end of file
diff --git a/src/ProcessControl/controller.cpp b/src/ProcessControl/controller.cpp
index 9d43da2..6fdc234 100644
--- a/src/ProcessControl/controller.cpp
+++ b/src/ProcessControl/controller.cpp
@@ -34,7 +34,7 @@
 #include "../ScenarioAnalysation/humans_in_front_of_bus_scenario.h"
 #include "../ScenarioAnalysation/analyser.h"
 #include "controller.h"
-
+#include "../CarCommunication/protoagent.h"
 
 //define keys
 const int KEY_ESC = 27;
@@ -54,7 +54,7 @@ void Controller::PlayAsVideo(std::string videofile) {
   }
 }
 
-void Controller::AnalyseVideo(std::string videofile) {
+void Controller::AnalyseVideo(std::string videofile, uint16_t port, std::string host) {
   ImageView image_view;
   FrameSelectorFactory frame_selector_factory(videofile);
   FrameSelector* pipeline = frame_selector_factory.GetFrameSelector();
@@ -95,6 +95,14 @@ void Controller::AnalyseVideo(std::string videofile) {
         // for demo: show information about scenario in current frame
         std::cout << "Current detected scenario: " << scenario->GetScenarioInformation() << " in frame: " << i << std::endl;
 
+        #ifdef COMBINE
+        //Notifying other car
+        if(port!=0)
+        {
+            std::cout << "Informing other car" << std::endl;
+            ProtoAgent::startClient(port,host);
+        }
+        #endif
     }
 
     int key = cvWaitKey(10);
diff --git a/src/ProcessControl/controller.h b/src/ProcessControl/controller.h
index 7619d70..568b4a6 100644
--- a/src/ProcessControl/controller.h
+++ b/src/ProcessControl/controller.h
@@ -45,7 +45,7 @@ class Controller{
      *
      *@param videofile path to the video file
      */
-    void AnalyseVideo(std::string videofile);
+    void AnalyseVideo(std::string videofile, uint16_t port = 0, std::string host = "");
 
     /**
      * Saves all images as jepg to disc
diff --git a/src/ProcessControl/main.cpp b/src/ProcessControl/main.cpp
new file mode 100644
index 0000000..c15d734
--- /dev/null
+++ b/src/ProcessControl/main.cpp
@@ -0,0 +1,81 @@
+//
+// Projectname: amos-ss16-proj5
+//
+// Copyright (c) 2016 de.fau.cs.osr.amos2016.gruppe5
+//
+// This file is part of the AMOS Project 2016 @ FAU
+// (Friedrich-Alexander University Erlangen-Nürnberg)
+//
+// This program is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Affero General Public License as
+// published by the Free Software Foundation, either version 3 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Affero General Public License for more details.
+//
+// You should have received a copy of the GNU Affero General Public
+// License along with this program. If not, see
+// <http://www.gnu.org/licenses/>.
+
+
+/*
+* This is the global main for our project
+*/
+#include "caf/all.hpp"
+#include "caf/io/all.hpp"
+
+#include <iostream>
+#include "controller.h"
+#include "../CarCommunication/protoagent.h"
+using namespace std;
+
+static bool
+str_to_uint16(const char *str, uint16_t *res)
+{
+  char *end;
+  errno = 0;
+  intmax_t val = strtoimax(str, &end, 10);
+  if (errno == ERANGE || val < 0 || val > UINT16_MAX || end == str || *end != '\0')
+    return false;
+  *res = (uint16_t) val;
+  return true;
+}
+
+int main(int argc, const char * argv[]) {
+
+    if(argc == 2){
+        uint16_t port;
+        if(str_to_uint16(argv[1],&port))
+        {
+            ProtoAgent::startServer(port);
+        }
+        else
+        {
+            cerr << "Could not read port" << endl;
+        }
+    }else if(argc = 4)
+    {
+        uint16_t port;
+        if(str_to_uint16(argv[1],&port))
+        {
+            Controller controller;
+            controller.AnalyseVideo(argv[3],port,argv[2]);
+        }
+        else
+        {
+            cerr << "Could not read port" << endl;
+        }
+
+    }
+    else
+    {
+        cerr << "Usage:  " << " PORT (SERVER_IP_ADRESS FULL_PATH_TO_HDF5_FILE)" << endl;
+        return -1;
+    }
+
+
+    return 0;
+}
diff --git a/src/ScenarioAnalysation/main.cpp b/src/ScenarioAnalysation/main.cpp
index abd9d0b..8cbd914 100644
--- a/src/ScenarioAnalysation/main.cpp
+++ b/src/ScenarioAnalysation/main.cpp
@@ -36,7 +36,7 @@
 
 using namespace std;
 
-
+#ifndef COMBINE
 int main(int argc, const char* argv[]) {
 
     if (argc > 1 ){
@@ -105,3 +105,5 @@ int main(int argc, const char* argv[]) {
 
     return 0;
 }
+
+#endif
\ No newline at end of file
diff --git a/src/StreamDecoder/main.cpp b/src/StreamDecoder/main.cpp
index f63f03e..795c8ec 100644
--- a/src/StreamDecoder/main.cpp
+++ b/src/StreamDecoder/main.cpp
@@ -31,7 +31,7 @@
 
 using namespace std;
 
-
+#ifndef COMBINE
 int main(int argc, const char* argv[]) {
 
     if (argc > 3 || argc == 1){
@@ -65,3 +65,5 @@ int main(int argc, const char* argv[]) {
 
     return 0;
 }
+
+#endif
\ No newline at end of file