diff --git a/automotive/vehicle/2.0/default/Android.bp b/automotive/vehicle/2.0/default/Android.bp
index 65e9133..7802ef0 100644
--- a/automotive/vehicle/2.0/default/Android.bp
+++ b/automotive/vehicle/2.0/default/Android.bp
@@ -58,6 +58,7 @@
     vendor: true,
     defaults: ["vhal_v2_0_defaults"],
     srcs: [
+        "impl/vhal_v2_0/CommConn.cpp",
         "impl/vhal_v2_0/EmulatedVehicleHal.cpp",
         "impl/vhal_v2_0/VehicleEmulator.cpp",
         "impl/vhal_v2_0/PipeComm.cpp",
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommBase.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommBase.h
deleted file mode 100644
index 6832ad3..0000000
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommBase.h
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
- * Copyright (C) 2017 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef android_hardware_automotive_vehicle_V2_0_impl_CommBase_H_
-#define android_hardware_automotive_vehicle_V2_0_impl_CommBase_H_
-
-#include <string>
-#include <vector>
-
-namespace android {
-namespace hardware {
-namespace automotive {
-namespace vehicle {
-namespace V2_0 {
-
-namespace impl {
-
-/**
- * This is the communications base class.  It defines the interface used in DefaultVehicleHal to
- * send and receive data to and from the emulator.
- */
-class CommBase {
-public:
-    virtual ~CommBase() = default;
-
-    /**
-     * Closes a connection if it is open.
-     */
-    virtual void stop() {}
-
-    /**
-     * Creates a connection to the other side.
-     *
-     * @return int Returns fd or socket number if connection is successful.
-     *              Otherwise, returns -1 if no connection is availble.
-     */
-    virtual int connect() { return 0; }
-
-    /**
-     * Opens the communications channel.
-     *
-     * @return int Returns 0 if channel is opened, else -errno if failed.
-     */
-    virtual int open() = 0;
-
-    /**
-     * Blocking call to read data from the connection.
-     *
-     * @return std::vector<uint8_t> Serialized protobuf data received from emulator.  This will be
-     *              an empty vector if the connection was closed or some other error occurred.
-     */
-    virtual std::vector<uint8_t> read() = 0;
-
-    /**
-     * Transmits a string of data to the emulator.
-     *
-     * @param data Serialized protobuf data to transmit.
-     *
-     * @return int Number of bytes transmitted, or -1 if failed.
-     */
-    virtual int write(const std::vector<uint8_t>& data) = 0;
-};
-
-}  // impl
-
-}  // namespace V2_0
-}  // namespace vehicle
-}  // namespace automotive
-}  // namespace hardware
-}  // namespace android
-
-
-#endif  // android_hardware_automotive_vehicle_V2_0_impl_CommBase_H_
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommConn.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommConn.cpp
new file mode 100644
index 0000000..bf1de81
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommConn.cpp
@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2018 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define LOG_TAG "CommConn"
+
+#include <thread>
+
+#include <android/hardware/automotive/vehicle/2.0/IVehicle.h>
+#include <log/log.h>
+
+#include "CommConn.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+void CommConn::start() {
+    mReadThread = std::make_unique<std::thread>(std::bind(&CommConn::readThread, this));
+}
+
+void CommConn::stop() {
+    if (mReadThread->joinable()) {
+        mReadThread->join();
+    }
+}
+
+void CommConn::sendMessage(emulator::EmulatorMessage const& msg) {
+    int numBytes = msg.ByteSize();
+    std::vector<uint8_t> buffer(static_cast<size_t>(numBytes));
+    if (!msg.SerializeToArray(buffer.data(), numBytes)) {
+        ALOGE("%s: SerializeToString failed!", __func__);
+        return;
+    }
+
+    write(buffer);
+}
+
+void CommConn::readThread() {
+    std::vector<uint8_t> buffer;
+    while (isOpen()) {
+        buffer = read();
+        if (buffer.size() == 0) {
+            ALOGI("%s: Read returned empty message, exiting read loop.", __func__);
+            break;
+        }
+
+        emulator::EmulatorMessage rxMsg;
+        if (rxMsg.ParseFromArray(buffer.data(), static_cast<int32_t>(buffer.size()))) {
+            emulator::EmulatorMessage respMsg;
+            mMessageProcessor->processMessage(rxMsg, respMsg);
+
+            sendMessage(respMsg);
+        }
+    }
+}
+
+}  // namespace impl
+
+}  // namespace V2_0
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommConn.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommConn.h
new file mode 100644
index 0000000..87b0dfc
--- /dev/null
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/CommConn.h
@@ -0,0 +1,117 @@
+/*
+ * Copyright (C) 2017 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef android_hardware_automotive_vehicle_V2_0_impl_CommBase_H_
+#define android_hardware_automotive_vehicle_V2_0_impl_CommBase_H_
+
+#include <android/hardware/automotive/vehicle/2.0/IVehicle.h>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include "VehicleHalProto.pb.h"
+
+namespace android {
+namespace hardware {
+namespace automotive {
+namespace vehicle {
+namespace V2_0 {
+
+namespace impl {
+
+/**
+ * MessageProcess is an interface implemented by VehicleEmulator to process messages received
+ * over a CommConn.
+ */
+class MessageProcessor {
+   public:
+    virtual ~MessageProcessor() = default;
+
+    /**
+     * Process a single message received over a CommConn. Populate the given respMsg with the reply
+     * message we should send.
+     */
+    virtual void processMessage(emulator::EmulatorMessage const& rxMsg,
+                                emulator::EmulatorMessage& respMsg) = 0;
+};
+
+/**
+ * This is the interface that both PipeComm and SocketComm use to represent a connection. The
+ * connection will listen for commands on a separate 'read' thread.
+ */
+class CommConn {
+   public:
+    CommConn(MessageProcessor* messageProcessor) : mMessageProcessor(messageProcessor) {}
+
+    virtual ~CommConn() {}
+
+    /**
+     * Start the read thread reading messages from this connection.
+     */
+    virtual void start();
+
+    /**
+     * Closes a connection if it is open.
+     */
+    virtual void stop();
+
+    /**
+     * Returns true if the connection is open and available to send/receive.
+     */
+    virtual bool isOpen() = 0;
+
+    /**
+     * Blocking call to read data from the connection.
+     *
+     * @return std::vector<uint8_t> Serialized protobuf data received from emulator.  This will be
+     *              an empty vector if the connection was closed or some other error occurred.
+     */
+    virtual std::vector<uint8_t> read() = 0;
+
+    /**
+     * Transmits a string of data to the emulator.
+     *
+     * @param data Serialized protobuf data to transmit.
+     *
+     * @return int Number of bytes transmitted, or -1 if failed.
+     */
+    virtual int write(const std::vector<uint8_t>& data) = 0;
+
+    /**
+     * Serialized and send the given message to the other side.
+     */
+    void sendMessage(emulator::EmulatorMessage const& msg);
+
+   protected:
+    std::unique_ptr<std::thread> mReadThread;
+    MessageProcessor* mMessageProcessor;
+
+    /**
+     * A thread that reads messages in a loop, and responds. You can stop this thread by calling
+     * stop().
+     */
+    void readThread();
+};
+
+}  // namespace impl
+
+}  // namespace V2_0
+}  // namespace vehicle
+}  // namespace automotive
+}  // namespace hardware
+}  // namespace android
+
+#endif  // android_hardware_automotive_vehicle_V2_0_impl_CommBase_H_
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.cpp
index 5a9b254..f024287 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.cpp
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.cpp
@@ -33,23 +33,28 @@
 
 namespace impl {
 
-PipeComm::PipeComm() {
-    // Initialize member vars
-    mPipeFd = -1;
-}
+PipeComm::PipeComm(MessageProcessor* messageProcessor) : CommConn(messageProcessor), mPipeFd(-1) {}
 
-
-int PipeComm::open() {
+void PipeComm::start() {
     int fd = qemu_pipe_open(CAR_SERVICE_NAME);
 
     if (fd < 0) {
         ALOGE("%s: Could not open connection to service: %s %d", __FUNCTION__, strerror(errno), fd);
-        return -errno;
+        return;
     }
 
-    ALOGI("%s: OPENED PIPE, fd=%d", __FUNCTION__, fd);
+    ALOGI("%s: Starting pipe connection, fd=%d", __FUNCTION__, fd);
     mPipeFd = fd;
-    return 0;
+
+    CommConn::start();
+}
+
+void PipeComm::stop() {
+    if (mPipeFd > 0) {
+        ::close(mPipeFd);
+        mPipeFd = -1;
+    }
+    CommConn::stop();
 }
 
 std::vector<uint8_t> PipeComm::read() {
@@ -60,16 +65,13 @@
     numBytes = qemu_pipe_frame_recv(mPipeFd, msg.data(), msg.size());
 
     if (numBytes == MAX_RX_MSG_SZ) {
-        ALOGE("%s:  Received max size = %d", __FUNCTION__, MAX_RX_MSG_SZ);
+        ALOGE("%s: Received max size = %d", __FUNCTION__, MAX_RX_MSG_SZ);
     } else if (numBytes > 0) {
         msg.resize(numBytes);
         return msg;
     } else {
         ALOGD("%s: Connection terminated on pipe %d, numBytes=%d", __FUNCTION__, mPipeFd, numBytes);
-        {
-            std::lock_guard<std::mutex> lock(mMutex);
-            mPipeFd = -1;
-        }
+        mPipeFd = -1;
     }
 
     return std::vector<uint8_t>();
@@ -78,11 +80,8 @@
 int PipeComm::write(const std::vector<uint8_t>& data) {
     int retVal = 0;
 
-    {
-        std::lock_guard<std::mutex> lock(mMutex);
-        if (mPipeFd != -1) {
-            retVal = qemu_pipe_frame_send(mPipeFd, data.data(), data.size());
-        }
+    if (mPipeFd != -1) {
+        retVal = qemu_pipe_frame_send(mPipeFd, data.data(), data.size());
     }
 
     if (retVal < 0) {
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.h
index bcd32d0..c8eabb8 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/PipeComm.h
@@ -19,7 +19,7 @@
 
 #include <mutex>
 #include <vector>
-#include "CommBase.h"
+#include "CommConn.h"
 
 namespace android {
 namespace hardware {
@@ -30,38 +30,25 @@
 namespace impl {
 
 /**
- * PipeComm uses a qemu pipe interface to connect to the Goldfish Emulator.
+ * PipeComm opens a qemu pipe to connect to the emulator, allowing the emulator UI to access the
+ * Vehicle HAL and simulate changing properties.
+ *
+ * Since the pipe is a client, it directly implements CommConn, and only one PipeComm can be open
+ * at a time.
  */
-class PipeComm : public CommBase {
-public:
-    PipeComm();
+class PipeComm : public CommConn {
+   public:
+    PipeComm(MessageProcessor* messageProcessor);
 
-    /**
-     * Opens a pipe and begins listening.
-     *
-     * @return int Returns 0 on success.
-     */
-    int open() override;
+    void start() override;
+    void stop() override;
 
-    /**
-     * Blocking call to read data from the connection.
-     *
-     * @return std::vector<uint8_t> Serialized protobuf data received from emulator.  This will be
-     *              an empty vector if the connection was closed or some other error occurred.
-     */
     std::vector<uint8_t> read() override;
-
-    /**
-     * Transmits a string of data to the emulator.
-     *
-     * @param data Serialized protobuf data to transmit.
-     *
-     * @return int Number of bytes transmitted, or -1 if failed.
-     */
     int write(const std::vector<uint8_t>& data) override;
 
-private:
-    std::mutex mMutex;
+    inline bool isOpen() override { return mPipeFd > 0; }
+
+   private:
     int mPipeFd;
 };
 
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.cpp
index 42c1c78..9eb8894 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.cpp
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.cpp
@@ -18,6 +18,7 @@
 
 #include <android/hardware/automotive/vehicle/2.0/IVehicle.h>
 #include <android/log.h>
+#include <arpa/inet.h>
 #include <log/log.h>
 #include <netinet/in.h>
 #include <sys/socket.h>
@@ -35,45 +36,46 @@
 
 namespace impl {
 
-SocketComm::SocketComm() {
-    // Initialize member vars
-    mCurSockFd = -1;
-    mExit      =  0;
-    mSockFd    = -1;
-}
-
+SocketComm::SocketComm(MessageProcessor* messageProcessor)
+    : mListenFd(-1), mMessageProcessor(messageProcessor) {}
 
 SocketComm::~SocketComm() {
-    stop();
 }
 
-int SocketComm::connect() {
-    sockaddr_in cliAddr;
-    socklen_t cliLen = sizeof(cliAddr);
-    int cSockFd = accept(mSockFd, reinterpret_cast<struct sockaddr*>(&cliAddr), &cliLen);
-
-    if (cSockFd >= 0) {
-        {
-            std::lock_guard<std::mutex> lock(mMutex);
-            mCurSockFd = cSockFd;
-        }
-        ALOGD("%s: Incoming connection received on socket %d", __FUNCTION__, cSockFd);
-    } else {
-        cSockFd = -1;
+void SocketComm::start() {
+    if (!listen()) {
+        return;
     }
 
-    return cSockFd;
+    mListenThread = std::make_unique<std::thread>(std::bind(&SocketComm::listenThread, this));
 }
 
-int SocketComm::open() {
+void SocketComm::stop() {
+    if (mListenFd > 0) {
+        ::close(mListenFd);
+        if (mListenThread->joinable()) {
+            mListenThread->join();
+        }
+        mListenFd = -1;
+    }
+}
+
+void SocketComm::sendMessage(emulator::EmulatorMessage const& msg) {
+    std::lock_guard<std::mutex> lock(mMutex);
+    for (std::unique_ptr<SocketConn> const& conn : mOpenConnections) {
+        conn->sendMessage(msg);
+    }
+}
+
+bool SocketComm::listen() {
     int retVal;
     struct sockaddr_in servAddr;
 
-    mSockFd = socket(AF_INET, SOCK_STREAM, 0);
-    if (mSockFd < 0) {
-        ALOGE("%s: socket() failed, mSockFd=%d, errno=%d", __FUNCTION__, mSockFd, errno);
-        mSockFd = -1;
-        return -errno;
+    mListenFd = socket(AF_INET, SOCK_STREAM, 0);
+    if (mListenFd < 0) {
+        ALOGE("%s: socket() failed, mSockFd=%d, errno=%d", __FUNCTION__, mListenFd, errno);
+        mListenFd = -1;
+        return false;
     }
 
     memset(&servAddr, 0, sizeof(servAddr));
@@ -81,82 +83,114 @@
     servAddr.sin_addr.s_addr = INADDR_ANY;
     servAddr.sin_port = htons(DEBUG_SOCKET);
 
-    retVal = bind(mSockFd, reinterpret_cast<struct sockaddr*>(&servAddr), sizeof(servAddr));
+    retVal = bind(mListenFd, reinterpret_cast<struct sockaddr*>(&servAddr), sizeof(servAddr));
     if(retVal < 0) {
         ALOGE("%s: Error on binding: retVal=%d, errno=%d", __FUNCTION__, retVal, errno);
+        close(mListenFd);
+        mListenFd = -1;
+        return false;
+    }
+
+    ALOGI("%s: Listening for connections on port %d", __FUNCTION__, DEBUG_SOCKET);
+    ::listen(mListenFd, 1);
+    return true;
+}
+
+SocketConn* SocketComm::accept() {
+    sockaddr_in cliAddr;
+    socklen_t cliLen = sizeof(cliAddr);
+    int sfd = ::accept(mListenFd, reinterpret_cast<struct sockaddr*>(&cliAddr), &cliLen);
+
+    if (sfd > 0) {
+        char addr[INET_ADDRSTRLEN];
+        inet_ntop(AF_INET, &cliAddr.sin_addr, addr, INET_ADDRSTRLEN);
+
+        ALOGD("%s: Incoming connection received from %s:%d", __FUNCTION__, addr, cliAddr.sin_port);
+        return new SocketConn(mMessageProcessor, sfd);
+    }
+
+    return nullptr;
+}
+
+void SocketComm::listenThread() {
+    while (true) {
+        SocketConn* conn = accept();
+        if (conn == nullptr) {
+            return;
+        }
+
+        conn->start();
+        {
+            std::lock_guard<std::mutex> lock(mMutex);
+            mOpenConnections.push_back(std::unique_ptr<SocketConn>(conn));
+        }
+    }
+}
+
+/**
+ * Called occasionally to clean up connections that have been closed.
+ */
+void SocketComm::removeClosedConnections() {
+    std::lock_guard<std::mutex> lock(mMutex);
+    std::remove_if(mOpenConnections.begin(), mOpenConnections.end(),
+                   [](std::unique_ptr<SocketConn> const& c) { return !c->isOpen(); });
+}
+
+SocketConn::SocketConn(MessageProcessor* messageProcessor, int sfd)
+    : CommConn(messageProcessor), mSockFd(sfd) {}
+
+/**
+ * Reads, in a loop, exactly numBytes from the given fd. If the connection is closed, returns
+ * an empty buffer, otherwise will return exactly the given number of bytes.
+ */
+std::vector<uint8_t> readExactly(int fd, int numBytes) {
+    std::vector<uint8_t> buffer(numBytes);
+    int totalRead = 0;
+    int offset = 0;
+    while (totalRead < numBytes) {
+        int numRead = ::read(fd, &buffer.data()[offset], numBytes - offset);
+        if (numRead == 0) {
+            buffer.resize(0);
+            return buffer;
+        }
+
+        totalRead += numRead;
+    }
+    return buffer;
+}
+
+/**
+ * Reads an int, guaranteed to be non-zero, from the given fd. If the connection is closed, returns
+ * -1.
+ */
+int32_t readInt(int fd) {
+    std::vector<uint8_t> buffer = readExactly(fd, sizeof(int32_t));
+    if (buffer.size() == 0) {
+        return -1;
+    }
+
+    int32_t value = *reinterpret_cast<int32_t*>(buffer.data());
+    return ntohl(value);
+}
+
+std::vector<uint8_t> SocketConn::read() {
+    int32_t msgSize = readInt(mSockFd);
+    if (msgSize <= 0) {
+        ALOGD("%s: Connection terminated on socket %d", __FUNCTION__, mSockFd);
+        return std::vector<uint8_t>();
+    }
+
+    return readExactly(mSockFd, msgSize);
+}
+
+void SocketConn::stop() {
+    if (mSockFd > 0) {
         close(mSockFd);
         mSockFd = -1;
-        return -errno;
-    }
-
-    listen(mSockFd, 1);
-
-    // Set the socket to be non-blocking so we can poll it continouously
-    fcntl(mSockFd, F_SETFL, O_NONBLOCK);
-
-    return 0;
-}
-
-std::vector<uint8_t> SocketComm::read() {
-    int32_t msgSize;
-    int numBytes = 0;
-
-    // This is a variable length message.
-    // Read the number of bytes to rx over the socket
-    numBytes = ::read(mCurSockFd, &msgSize, sizeof(msgSize));
-    msgSize = ntohl(msgSize);
-
-    if (numBytes != sizeof(msgSize)) {
-        // This happens when connection is closed
-        ALOGD("%s: numBytes=%d, expected=4", __FUNCTION__, numBytes);
-        ALOGD("%s: Connection terminated on socket %d", __FUNCTION__, mCurSockFd);
-        {
-            std::lock_guard<std::mutex> lock(mMutex);
-            mCurSockFd = -1;
-        }
-
-        return std::vector<uint8_t>();
-    }
-
-    std::vector<uint8_t> msg = std::vector<uint8_t>(msgSize);
-
-    numBytes = ::read(mCurSockFd, msg.data(), msgSize);
-
-    if ((numBytes == msgSize) && (msgSize > 0)) {
-        // Received a message.
-        return msg;
-    } else {
-        // This happens when connection is closed
-        ALOGD("%s: numBytes=%d, msgSize=%d", __FUNCTION__, numBytes, msgSize);
-        ALOGD("%s: Connection terminated on socket %d", __FUNCTION__, mCurSockFd);
-        {
-            std::lock_guard<std::mutex> lock(mMutex);
-            mCurSockFd = -1;
-        }
-
-        return std::vector<uint8_t>();
     }
 }
 
-void SocketComm::stop() {
-    if (mExit == 0) {
-        std::lock_guard<std::mutex> lock(mMutex);
-        mExit = 1;
-
-        // Close emulator socket if it is open
-        if (mCurSockFd != -1) {
-            close(mCurSockFd);
-            mCurSockFd = -1;
-        }
-
-        if (mSockFd != -1) {
-            close(mSockFd);
-            mSockFd = -1;
-        }
-    }
-}
-
-int SocketComm::write(const std::vector<uint8_t>& data) {
+int SocketConn::write(const std::vector<uint8_t>& data) {
     static constexpr int MSG_HEADER_LEN = 4;
     int retVal = 0;
     union {
@@ -168,19 +202,17 @@
     msgLen = static_cast<uint32_t>(data.size());
     msgLen = htonl(msgLen);
 
-    std::lock_guard<std::mutex> lock(mMutex);
-    if (mCurSockFd != -1) {
-        retVal = ::write(mCurSockFd, msgLenBytes, MSG_HEADER_LEN);
+    if (mSockFd > 0) {
+        retVal = ::write(mSockFd, msgLenBytes, MSG_HEADER_LEN);
 
         if (retVal == MSG_HEADER_LEN) {
-            retVal = ::write(mCurSockFd, data.data(), data.size());
+            retVal = ::write(mSockFd, data.data(), data.size());
         }
     }
 
     return retVal;
 }
 
-
 }  // impl
 
 }  // namespace V2_0
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.h
index 12cfb29..88b852b 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/SocketComm.h
@@ -18,8 +18,9 @@
 #define android_hardware_automotive_vehicle_V2_0_impl_SocketComm_H_
 
 #include <mutex>
+#include <thread>
 #include <vector>
-#include "CommBase.h"
+#include "CommConn.h"
 
 namespace android {
 namespace hardware {
@@ -29,29 +30,60 @@
 
 namespace impl {
 
+class SocketConn;
+
 /**
- * SocketComm opens a socket via adb's TCP port forwarding to enable a Host PC to connect to
- * the VehicleHAL.
+ * SocketComm opens a socket, and listens for connections from clients. Typically the client will be
+ * adb's TCP port-forwarding to enable a host PC to connect to the VehicleHAL.
  */
-class SocketComm : public CommBase {
-public:
-    SocketComm();
+class SocketComm {
+   public:
+    SocketComm(MessageProcessor* messageProcessor);
     virtual ~SocketComm();
 
+    void start();
+    void stop();
+
     /**
-     * Creates a connection to the other side.
+     * Serialized and send the given message to all connected clients.
+     */
+    void sendMessage(emulator::EmulatorMessage const& msg);
+
+   private:
+    int mListenFd;
+    std::unique_ptr<std::thread> mListenThread;
+    std::vector<std::unique_ptr<SocketConn>> mOpenConnections;
+    MessageProcessor* mMessageProcessor;
+    std::mutex mMutex;
+
+    /**
+     * Opens the socket and begins listening.
+     *
+     * @return bool Returns true on success.
+     */
+    bool listen();
+
+    /**
+     * Blocks and waits for a connection from a client, returns a new SocketConn with the connection
+     * or null, if the connection has been closed.
      *
      * @return int Returns fd or socket number if connection is successful.
      *              Otherwise, returns -1 if no connection is availble.
      */
-    int connect() override;
+    SocketConn* accept();
 
-    /**
-     * Opens a socket and begins listening.
-     *
-     * @return int Returns 0 on success.
-     */
-    int open() override;
+    void listenThread();
+
+    void removeClosedConnections();
+};
+
+/**
+ * SocketConn represents a single connection to a client.
+ */
+class SocketConn : public CommConn {
+   public:
+    SocketConn(MessageProcessor* messageProcessor, int sfd);
+    virtual ~SocketConn() = default;
 
     /**
      * Blocking call to read data from the connection.
@@ -75,10 +107,9 @@
      */
     int write(const std::vector<uint8_t>& data) override;
 
-private:
-    int mCurSockFd;
-    std::atomic<int> mExit;
-    std::mutex mMutex;
+    inline bool isOpen() override { return mSockFd > 0; }
+
+   private:
     int mSockFd;
 };
 
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.cpp b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.cpp
index bf7be09..356a6b9 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.cpp
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.cpp
@@ -16,9 +16,10 @@
 #define LOG_TAG "VehicleEmulator_v2_0"
 #include <android/log.h>
 
-#include <algorithm>
 #include <android-base/properties.h>
+#include <log/log.h>
 #include <utils/SystemClock.h>
+#include <algorithm>
 
 #include <vhal_v2_0/VehicleUtils.h>
 
@@ -35,32 +36,45 @@
 
 namespace impl {
 
-std::unique_ptr<CommBase> CommFactory::create() {
-    bool isEmulator = android::base::GetBoolProperty("ro.kernel.qemu", false);
+VehicleEmulator::VehicleEmulator(EmulatedVehicleHalIface* hal) : mHal{hal} {
+    mHal->registerEmulator(this);
 
-    if (isEmulator) {
-        return std::make_unique<PipeComm>();
-    } else {
-        return std::make_unique<SocketComm>();
+    ALOGI("Starting SocketComm");
+    mSocketComm = std::make_unique<SocketComm>(this);
+    mSocketComm->start();
+
+    if (android::base::GetBoolProperty("ro.kernel.qemu", false)) {
+        ALOGI("Starting PipeComm");
+        mPipeComm = std::make_unique<PipeComm>(this);
+        mPipeComm->start();
     }
 }
 
 VehicleEmulator::~VehicleEmulator() {
-    mExit = true;   // Notify thread to finish and wait for it to terminate.
-    mComm->stop();  // Close emulator socket if it is open.
-    if (mThread.joinable()) mThread.join();
+    mSocketComm->stop();
+    if (mPipeComm) {
+        mPipeComm->stop();
+    }
 }
 
+/**
+ * This is called by the HAL when a property changes. We need to notify our clients that it has
+ * changed.
+ */
 void VehicleEmulator::doSetValueFromClient(const VehiclePropValue& propValue) {
     emulator::EmulatorMessage msg;
     emulator::VehiclePropValue *val = msg.add_value();
     populateProtoVehiclePropValue(val, &propValue);
     msg.set_status(emulator::RESULT_OK);
     msg.set_msg_type(emulator::SET_PROPERTY_ASYNC);
-    txMsg(msg);
+
+    mSocketComm->sendMessage(msg);
+    if (mPipeComm) {
+        mPipeComm->sendMessage(msg);
+    }
 }
 
-void VehicleEmulator::doGetConfig(VehicleEmulator::EmulatorMessage& rxMsg,
+void VehicleEmulator::doGetConfig(VehicleEmulator::EmulatorMessage const& rxMsg,
                                   VehicleEmulator::EmulatorMessage& respMsg) {
     std::vector<VehiclePropConfig> configs = mHal->listProperties();
     emulator::VehiclePropGet getProp = rxMsg.prop(0);
@@ -79,7 +93,7 @@
     }
 }
 
-void VehicleEmulator::doGetConfigAll(VehicleEmulator::EmulatorMessage& /* rxMsg */,
+void VehicleEmulator::doGetConfigAll(VehicleEmulator::EmulatorMessage const& /* rxMsg */,
                                      VehicleEmulator::EmulatorMessage& respMsg) {
     std::vector<VehiclePropConfig> configs = mHal->listProperties();
 
@@ -92,8 +106,8 @@
     }
 }
 
-void VehicleEmulator::doGetProperty(VehicleEmulator::EmulatorMessage& rxMsg,
-                                    VehicleEmulator::EmulatorMessage& respMsg)  {
+void VehicleEmulator::doGetProperty(VehicleEmulator::EmulatorMessage const& rxMsg,
+                                    VehicleEmulator::EmulatorMessage& respMsg) {
     int32_t areaId = 0;
     emulator::VehiclePropGet getProp = rxMsg.prop(0);
     int32_t propId = getProp.prop();
@@ -119,8 +133,8 @@
     respMsg.set_status(status);
 }
 
-void VehicleEmulator::doGetPropertyAll(VehicleEmulator::EmulatorMessage& /* rxMsg */,
-                                       VehicleEmulator::EmulatorMessage& respMsg)  {
+void VehicleEmulator::doGetPropertyAll(VehicleEmulator::EmulatorMessage const& /* rxMsg */,
+                                       VehicleEmulator::EmulatorMessage& respMsg) {
     respMsg.set_msg_type(emulator::GET_PROPERTY_ALL_RESP);
     respMsg.set_status(emulator::RESULT_OK);
 
@@ -132,7 +146,7 @@
     }
 }
 
-void VehicleEmulator::doSetProperty(VehicleEmulator::EmulatorMessage& rxMsg,
+void VehicleEmulator::doSetProperty(VehicleEmulator::EmulatorMessage const& rxMsg,
                                     VehicleEmulator::EmulatorMessage& respMsg) {
     emulator::VehiclePropValue protoVal = rxMsg.value(0);
     VehiclePropValue val = {
@@ -173,58 +187,28 @@
     respMsg.set_status(halRes ? emulator::RESULT_OK : emulator::ERROR_INVALID_PROPERTY);
 }
 
-void VehicleEmulator::txMsg(emulator::EmulatorMessage& txMsg) {
-    int numBytes = txMsg.ByteSize();
-    std::vector<uint8_t> msg(static_cast<size_t>(numBytes));
-
-    if (!txMsg.SerializeToArray(msg.data(), static_cast<int32_t>(msg.size()))) {
-        ALOGE("%s: SerializeToString failed!", __func__);
-        return;
-    }
-
-    if (mExit) {
-        ALOGW("%s: unable to transmit a message, connection closed", __func__);
-        return;
-    }
-
-    // Send the message
-    int retVal = mComm->write(msg);
-    if (retVal < 0) {
-        ALOGE("%s: Failed to tx message: retval=%d, errno=%d", __func__, retVal, errno);
-    }
-}
-
-void VehicleEmulator::parseRxProtoBuf(std::vector<uint8_t>& msg) {
-    emulator::EmulatorMessage rxMsg;
-    emulator::EmulatorMessage respMsg;
-
-    if (rxMsg.ParseFromArray(msg.data(), static_cast<int32_t>(msg.size()))) {
-        switch (rxMsg.msg_type()) {
-            case emulator::GET_CONFIG_CMD:
-                doGetConfig(rxMsg, respMsg);
-                break;
-            case emulator::GET_CONFIG_ALL_CMD:
-                doGetConfigAll(rxMsg, respMsg);
-                break;
-            case emulator::GET_PROPERTY_CMD:
-                doGetProperty(rxMsg, respMsg);
-                break;
-            case emulator::GET_PROPERTY_ALL_CMD:
-                doGetPropertyAll(rxMsg, respMsg);
-                break;
-            case emulator::SET_PROPERTY_CMD:
-                doSetProperty(rxMsg, respMsg);
-                break;
-            default:
-                ALOGW("%s: Unknown message received, type = %d", __func__, rxMsg.msg_type());
-                respMsg.set_status(emulator::ERROR_UNIMPLEMENTED_CMD);
-                break;
-        }
-
-        // Send the reply
-        txMsg(respMsg);
-    } else {
-        ALOGE("%s: ParseFromString() failed. msgSize=%d", __func__, static_cast<int>(msg.size()));
+void VehicleEmulator::processMessage(emulator::EmulatorMessage const& rxMsg,
+                                     emulator::EmulatorMessage& respMsg) {
+    switch (rxMsg.msg_type()) {
+        case emulator::GET_CONFIG_CMD:
+            doGetConfig(rxMsg, respMsg);
+            break;
+        case emulator::GET_CONFIG_ALL_CMD:
+            doGetConfigAll(rxMsg, respMsg);
+            break;
+        case emulator::GET_PROPERTY_CMD:
+            doGetProperty(rxMsg, respMsg);
+            break;
+        case emulator::GET_PROPERTY_ALL_CMD:
+            doGetPropertyAll(rxMsg, respMsg);
+            break;
+        case emulator::SET_PROPERTY_CMD:
+            doSetProperty(rxMsg, respMsg);
+            break;
+        default:
+            ALOGW("%s: Unknown message received, type = %d", __func__, rxMsg.msg_type());
+            respMsg.set_status(emulator::ERROR_UNIMPLEMENTED_CMD);
+            break;
     }
 }
 
@@ -316,40 +300,6 @@
     }
 }
 
-void VehicleEmulator::rxMsg() {
-    while (!mExit) {
-        std::vector<uint8_t> msg = mComm->read();
-
-        if (msg.size() > 0) {
-            // Received a message.
-            parseRxProtoBuf(msg);
-        } else {
-            // This happens when connection is closed
-            ALOGD("%s: msgSize=%zu", __func__, msg.size());
-            break;
-        }
-    }
-}
-
-void VehicleEmulator::rxThread() {
-    if (mExit) return;
-
-    int retVal = mComm->open();
-    if (retVal != 0) mExit = true;
-
-    // Comms are properly opened
-    while (!mExit) {
-        retVal = mComm->connect();
-
-        if (retVal >= 0) {
-            rxMsg();
-        }
-
-        // Check every 100ms for a new connection
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    }
-}
-
 }  // impl
 
 }  // namespace V2_0
diff --git a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h
index 1a8cfe2..58e387a 100644
--- a/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h
+++ b/automotive/vehicle/2.0/default/impl/vhal_v2_0/VehicleEmulator.h
@@ -24,7 +24,9 @@
 
 #include "vhal_v2_0/VehicleHal.h"
 
-#include "CommBase.h"
+#include "CommConn.h"
+#include "PipeComm.h"
+#include "SocketComm.h"
 #include "VehicleHalProto.pb.h"
 
 namespace android {
@@ -61,48 +63,36 @@
     VehicleEmulator* mEmulator;
 };
 
-struct CommFactory {
-    static std::unique_ptr<CommBase> create();
-};
-
 /**
  * Emulates vehicle by providing controlling interface from host side either through ADB or Pipe.
  */
-class VehicleEmulator {
-public:
-    VehicleEmulator(EmulatedVehicleHalIface* hal,
-                    std::unique_ptr<CommBase> comm = CommFactory::create())
-            : mHal { hal },
-              mComm(comm.release()),
-              mThread { &VehicleEmulator::rxThread, this} {
-        mHal->registerEmulator(this);
-    }
+class VehicleEmulator : public MessageProcessor {
+   public:
+    VehicleEmulator(EmulatedVehicleHalIface* hal);
     virtual ~VehicleEmulator();
 
     void doSetValueFromClient(const VehiclePropValue& propValue);
+    void processMessage(emulator::EmulatorMessage const& rxMsg,
+                        emulator::EmulatorMessage& respMsg) override;
 
-private:
+   private:
+    friend class ConnectionThread;
     using EmulatorMessage = emulator::EmulatorMessage;
 
-    void doGetConfig(EmulatorMessage& rxMsg, EmulatorMessage& respMsg);
-    void doGetConfigAll(EmulatorMessage& rxMsg, EmulatorMessage& respMsg);
-    void doGetProperty(EmulatorMessage& rxMsg, EmulatorMessage& respMsg);
-    void doGetPropertyAll(EmulatorMessage& rxMsg, EmulatorMessage& respMsg);
-    void doSetProperty(EmulatorMessage& rxMsg, EmulatorMessage& respMsg);
-    void txMsg(emulator::EmulatorMessage& txMsg);
-    void parseRxProtoBuf(std::vector<uint8_t>& msg);
+    void doGetConfig(EmulatorMessage const& rxMsg, EmulatorMessage& respMsg);
+    void doGetConfigAll(EmulatorMessage const& rxMsg, EmulatorMessage& respMsg);
+    void doGetProperty(EmulatorMessage const& rxMsg, EmulatorMessage& respMsg);
+    void doGetPropertyAll(EmulatorMessage const& rxMsg, EmulatorMessage& respMsg);
+    void doSetProperty(EmulatorMessage const& rxMsg, EmulatorMessage& respMsg);
     void populateProtoVehicleConfig(emulator::VehiclePropConfig* protoCfg,
                                     const VehiclePropConfig& cfg);
     void populateProtoVehiclePropValue(emulator::VehiclePropValue* protoVal,
                                        const VehiclePropValue* val);
-    void rxMsg();
-    void rxThread();
 
 private:
-    std::atomic<bool> mExit { false };
     EmulatedVehicleHalIface* mHal;
-    std::unique_ptr<CommBase> mComm;
-    std::thread mThread;
+    std::unique_ptr<SocketComm> mSocketComm;
+    std::unique_ptr<PipeComm> mPipeComm;
 };
 
 }  // impl