diff --git a/cmd/server.go b/cmd/server.go
index 2ded0a2..636cb38 100644
--- a/cmd/server.go
+++ b/cmd/server.go
@@ -24,18 +24,21 @@ var serveCmd = &cli.Command{
 		&cli.BoolFlag{Name: "xbee", Aliases: []string{"x"}, Usage: "Find and connect to an XBee"},
 	},
 	Action: func(ctx *cli.Context) error {
-		serve()
+		serve(ctx.Bool("xbee"))
 		return nil
 	},
 }
 
-func serve() {
+func serve(useXbee bool) {
 
 	broker := NewBroker(3)
 	// start the can listener
 	go vcanTest()
 	go canHandler(broker)
 	go broker.Start()
+	if useXbee {
+		go xbeeSvc()
+	}
 	ln, err := net.Listen("tcp", ":8082")
 	if err != nil {
 		fmt.Printf("Error listening: %v\n", err)
@@ -54,6 +57,7 @@ func serve() {
 func handleCon(conn net.Conn, broker *Broker) {
 	//	reader := msgp.NewReader(conn)
 	rxPkts := make(chan gotelem.Data)
+	done := make(chan bool)
 	go func() {
 		// setpu our msgp reader.
 		scann := msgp.NewReader(conn)
@@ -66,14 +70,15 @@ func handleCon(conn net.Conn, broker *Broker) {
 			rxPkts <- data
 		}
 
+		done <- true // if we got here, it means the connction was closed.
 	}()
 
 	// subscribe to can packets
 	// TODO: make this unique since remote addr could be non-unique
 	canCh := broker.Subscribe(conn.RemoteAddr().String())
 	writer := msgp.NewWriter(conn)
+mainloop:
 	for {
-
 		select {
 		case canFrame := <-canCh:
 			cf := gotelem.CanBody{
@@ -86,24 +91,24 @@ func handleCon(conn net.Conn, broker *Broker) {
 			// do nothing for now.
 			fmt.Printf("got a body %v\n", rxBody)
 		case <-time.After(1 * time.Second): // time out.
-			fmt.Printf("timeout\n")
-			data := gotelem.StatusBody{
-				BatteryPct: 1.2,
-				ErrCode:    0,
-			}
-			data.EncodeMsg(writer)
 			writer.Flush()
+		case <-done:
+			break mainloop
 		}
 	}
+	// unsubscribe and close the conn.
+	broker.Unsubscribe(conn.RemoteAddr().String())
+	conn.Close()
 }
 
-func xbeeSvc(packets <-chan can.Frame, device string, quit <-chan struct{}) {
+func xbeeSvc(b *Broker) {
 
 	// open the session.
 	mode := &serial.Mode{
 		BaudRate: 115200,
 	}
-	sess, err := xbee.NewSerialXBee("/dev/ttyUSB1", mode)
+
+	sess, err := xbee.NewSerialXBee("/dev/ttyACM0", mode)
 	if err != nil {
 		fmt.Printf("got error %v", err)
 		panic(err)
@@ -121,8 +126,6 @@ func xbeeSvc(packets <-chan can.Frame, device string, quit <-chan struct{}) {
 		select {
 		case data := <-receivedData:
 			fmt.Printf("Got a data %v\n", data)
-		case packet := <-packets:
-			fmt.Printf("Got a packet, %v\n", packet)
 		}
 
 	}
@@ -238,3 +241,10 @@ func (b *Broker) Subscribe(name string) <-chan can.Frame {
 	b.subsCh <- bc
 	return ch
 }
+
+func (b *Broker) Unsubscribe(name string) {
+	bc := BrokerClient{
+		Name: name,
+	}
+	b.unsubCh <- bc
+}
diff --git a/internal/gotelem/rpc.go b/internal/gotelem/rpc.go
index 6a24aae..825e8d3 100644
--- a/internal/gotelem/rpc.go
+++ b/internal/gotelem/rpc.go
@@ -1,84 +1,120 @@
 package gotelem
 
-import "github.com/tinylib/msgp/msgp"
+import (
+	"net"
 
-// this file is a simple implementation of the msgpack-rpc data format.
-
-type RPCType int
-
-const (
-	RequestType      RPCType = 0
-	ResponseType     RPCType = 1
-	NotificationType RPCType = 2
+	"github.com/tinylib/msgp/msgp"
 )
 
-//go:generate msgp
-//msgp:tuple Request
-//msgp:tuple Response
-//msgp:tuple Notification
 
-// A request is a function call that expects a Response.
-type Request struct {
-	// should always be zero.
-	msgtype int         `msg:"type"`
-	MsgId   uint32      `msg:"msgid"`
-	Method  string      `msg:"method"`
-	Params  interface{} `msg:"params,allownil"`
+// the target architecture is a subscribe function that
+// takes a can FILTER. Then the server will emit notifications.
+// that contain new can packets as they come in.
+
+// this means that the client should be able to handle
+// notify packets on top of response packets.
+
+// we should register handlers. They should handle serialization
+// and deserialization on their own. This way we avoid reflect.
+// since reflected code can be more complex under the hood.
+
+// ServiceFunc is a RPC service handler. 
+type ServiceFunc func(params msgp.Raw) (res msgp.MarshalSizer, err error)
+
+
+// RPCConn is a single RPC communication pair.
+type RPCConn struct {
+	// TODO: use io.readwritecloser?
+	conn     net.Conn
+	handlers map[string]ServiceFunc
+
+	// indicates what messages we've used.
+	// TODO: use a channel to return a response?
+	// TODO: lock with mutex
+	ct map[uint32]struct{}
 }
 
-func NewRequest(msgid uint32, method string, params interface{}) *Request {
-	return &Request{
-		msgtype: 0,
-		MsgId:   msgid,
-		Method:  method,
-		Params:  params,
-	}
+// Call intiates an RPC call to a remote method and returns the
+// response, or the error, if any.
+// TODO: determine signature
+// TODO: this should block?
+func (rpc *RPCConn) Call(method string, params msgp.Marshaler) {
+
 }
 
-// A response is the result of a function call, or an error.
-type Response struct {
-	// should always be one.
-	msgtype int         `msg:"type"`
-	MsgId   uint32      `msg:"msgid"`
-	Error   interface{} `msg:"error,allownil"`
-	Result  interface{} `msg:"result,allownil"`
+// Notify initiates a notification to a remote method. It does not
+// return any information. There is no response from the server.
+// This method will not block. An error is returned if there is a local
+// problem.
+func (rpc *RPCConn) Notify(method string, params msgp.Marshaler) {
+	// TODO: return an error if there's a local problem?
+
 }
 
-// A notification is a function call that does not care if the call
-// succeeds and ignores responses.
-type Notification struct {
-	// should always be *2*
-	msgtype int         `msg:"type"`
-	Method  string      `msg:"method"`
-	Params  interface{} `msg:"params,allownil"`
-}
+// Register a new handler to be called by the remote side. An error
+// is returned if the handler name is already in use.
+func (rpc *RPCConn) RegisterHandler(name string, fn ServiceFunc) error {
+	// TODO: check if name in use.
+	// TODO: mutex lock for sync (or use sync.map?
+	rpc.handlers[name] = fn
 
-// todo: should these be functions instead, since they're arrays? and we need to determine the type beforehand.
-
-func getMsgType(b []byte) RPCType {
-	size, next, err := msgp.ReadArrayHeaderBytes(b)
-	if err != nil {
-		panic(err)
-	}
-	if size == 3 { // hot path for notifications.
-		return NotificationType
-	}
-
-	vtype, _, err := msgp.ReadIntBytes(next)
-
-	if err != nil {
-		panic(err)
-	}
-
-	// todo: use readIntf instead? returns a []interface{} and we can map it ourselves...
-	return RPCType(vtype)
-}
-
-func parseRPC(raw msgp.Raw) interface{} {
-	t := getMsgType(raw)
-
-	if t == RequestType {
-
-	}
 	return nil
 }
+
+// Serve runs the server. It will dispatch goroutines to handle each
+// method call. This can (and should in most cases) be run in the background to allow for
+// sending and receving on the same connection.
+func (rpc *RPCConn) Serve() {
+
+	// construct a stream reader.
+	msgReader := msgp.NewReader(rpc.conn)
+
+	// read a request/notification from the connection.
+
+	var rawmsg msgp.Raw = make(msgp.Raw, 0, 4)
+
+	rawmsg.DecodeMsg(msgReader)
+
+	rpcIntf, err := parseRPC(rawmsg)
+
+	switch rpcObject := rpcIntf.(type) {
+	case Request:
+		// the object is a request - we must dispatch a goroutine
+		// that will call the handler and also send a return value.
+		go rpc.dispatch(rpcObject)
+	case Notification:
+		go rpc.dispatchNotif(rpcObject)
+	case Response:
+		// TODO: return response to caller.
+	}
+}
+
+func (rpc *RPCConn) dispatch(req Request) {
+
+	result, err := rpc.handlers[req.Method](req.Params)
+
+	if err != nil {
+		// log the error.
+	}
+	// construct the response frame.
+	var rpcE *RPCError = MakeRPCError(err)
+
+	w := msgp.NewWriter(rpc.conn)
+	resBuf := make(msgp.Raw, result.Msgsize())
+
+	result.MarshalMsg(resBuf)
+
+	response := NewResponse(req.MsgId, *rpcE, resBuf)
+
+	response.EncodeMsg(w)
+
+}
+func (rpc *RPCConn) dispatchNotif(req Notification) {
+
+	_, err := rpc.handlers[req.Method](req.Params)
+
+	if err != nil {
+		// log the error.
+	}
+	// no need for response.
+}
diff --git a/internal/gotelem/rpc_msg.go b/internal/gotelem/rpc_msg.go
new file mode 100644
index 0000000..55e32c0
--- /dev/null
+++ b/internal/gotelem/rpc_msg.go
@@ -0,0 +1,146 @@
+package gotelem
+
+import (
+	"errors"
+
+	"github.com/tinylib/msgp/msgp"
+)
+
+// this file is a simple implementation of the msgpack-rpc data formato.
+// it also contains an RPC server and client.
+// We can port this to python rather easily too.
+
+type RPCType int
+
+const (
+	RequestType      RPCType = 0
+	ResponseType     RPCType = 1
+	NotificationType RPCType = 2
+)
+
+
+// the messagepack RPC spec requires that the RPC wire formts are ordered arrays,
+// aka tuples. we can use msgp options to make them tuple automatically,
+// based on the order they are declared. This makes the order of these
+// structs *critical*! Do not touch!
+
+//go:generate msgp
+//msgp:tuple Request
+//msgp:tuple Response
+//msgp:tuple Notification
+
+// A request is a function call that expects a Response.
+type Request struct {
+	// should always be zero.
+	msgtype RPCType  `msg:"type"`
+	MsgId   uint32   `msg:"msgid"`
+	Method  string   `msg:"method"`
+	Params  msgp.Raw `msg:"params,allownil"`
+}
+
+func NewRequest(msgid uint32, method string, params msgp.Raw) *Request {
+	return &Request{
+		msgtype: 0,
+		MsgId:   msgid,
+		Method:  method,
+		Params:  params,
+	}
+}
+
+// A response is the result of a function call, or an error.
+type Response struct {
+	// should always be one.
+	msgtype RPCType     `msg:"type"`
+	MsgId   uint32      `msg:"msgid"`
+	Error   RPCError `msg:"error,allownil"`
+	Result  msgp.Raw `msg:"result,allownil"`
+}
+
+func NewResponse(msgid uint32, respErr RPCError, res msgp.Raw) *Response {
+	return &Response{
+		msgtype: 1,
+		MsgId: msgid,
+		Error: respErr,
+		Result: res,
+	}
+}
+
+// A notification is a function call that does not care if the call
+// succeeds and ignores responses.
+type Notification struct {
+	// should always be *2*
+	msgtype RPCType     `msg:"type"`
+	Method  string      `msg:"method"`
+	Params  msgp.Raw `msg:"params,allownil"`
+}
+
+// todo: should these be functions instead, since they're arrays? and we need to determine the type beforehand.
+
+func getMsgType(b []byte) RPCType {
+	size, next, err := msgp.ReadArrayHeaderBytes(b)
+	if err != nil {
+		panic(err)
+	}
+	if size == 3 { // hot path for notifications.
+		return NotificationType
+	}
+
+	vtype, _, err := msgp.ReadIntBytes(next)
+
+	if err != nil {
+		panic(err)
+	}
+
+	// todo: use readIntf instead? returns a []interface{} and we can map it ourselves...
+	return RPCType(vtype)
+}
+
+
+// parseRPC takes a raw message and decodes it based on the first value
+// of the array (the type). It returns the decoded object. Callers
+// can use a type-switch to determine the type of the data.
+func parseRPC(raw msgp.Raw) (interface{}, error) {
+	t := getMsgType(raw)
+
+	switch RPCType(t) {
+
+	case RequestType:
+		// create and return a request struct.
+		req := &Request{}
+		_, err := req.UnmarshalMsg(raw)
+		return req, err
+	case ResponseType:
+		res := &Response{}
+		_, err := res.UnmarshalMsg(raw)
+		return res, err
+	case NotificationType:
+		notif := &Notification{}
+		_, err := notif.UnmarshalMsg(raw)
+		return notif, err
+	default:
+		// uh oh.
+		return nil, errors.New("unmatched RPC type")
+	}
+}
+
+// RPCError is a common RPC error format. It is basically a clone of the
+// JSON-RPC error format. We use it so we know what to expect there.
+
+
+//msgp:tuple RPCError
+type RPCError struct {
+	Code int
+	Desc string
+}
+
+
+// Converts a go error into a RPC error.
+func MakeRPCError(err error) *RPCError {
+	if err == nil {
+		return nil
+	}
+	return &RPCError{
+		Code: -1,
+		Desc: err.Error(),
+	}
+}
diff --git a/internal/xbee/at.go b/internal/xbee/at.go
index 53b89c0..d4dcadd 100644
--- a/internal/xbee/at.go
+++ b/internal/xbee/at.go
@@ -123,6 +123,7 @@ func encodeRemoteATCommand(at ATCmd, idx uint8, queued bool, destination uint64)
 	if !queued {
 		options = options | 0x2
 	}
+	buf.WriteByte(options)
 
 	// write AT command
 	cmd := at.Cmd()
@@ -136,3 +137,23 @@ func encodeRemoteATCommand(at ATCmd, idx uint8, queued bool, destination uint64)
 }
 
 // let's actually define some AT commands now.
+
+// the AT command for the ID (Network ID).
+// the network identifier is used to communicate with other devices. It must match.
+type ATCmdID struct {
+	id      uint32
+	isQuery bool
+}
+
+func (cmd ATCmdID) Cmd() [2]rune {
+	return [2]rune{'I', 'D'}
+}
+
+func (cmd ATCmdID) Payload() []byte {
+	if cmd.isQuery {
+		return []byte{}
+	}
+	res := make([]byte, 0)
+	res = binary.BigEndian.AppendUint32(res, cmd.id)
+	return res
+}
diff --git a/internal/xbee/session.go b/internal/xbee/session.go
index b4aab9b..8b524f1 100644
--- a/internal/xbee/session.go
+++ b/internal/xbee/session.go
@@ -126,7 +126,7 @@ func (sess *SerialSession) rxHandler() {
 		}
 
 	}
-	// if we get here, the serial port has closed. this is fine, usually.
+	// if we get here, the serial port has closed. this is fine.
 }
 
 // This implements io.Reader for the UART Session.
@@ -214,7 +214,7 @@ func (sess *SerialSession) ATCommand(at ATCmd, queued bool) error {
 
 	if resp.Status != 0 {
 		// sinec ATCmdStatus is a stringer thanks to the generator
-		return fmt.Errorf("AT command failed: %s", resp.Status)
+		return fmt.Errorf("AT command failed: %v", resp.Status)
 	}
 
 	// finally, we use the provided ATCmd interface to unpack the data.