diff --git a/lib/binding.ts b/lib/binding.ts
index 483d8b8..5dc6781 100644
--- a/lib/binding.ts
+++ b/lib/binding.ts
@@ -49,7 +49,7 @@ export class CanBridge {
     getDevices: () => Promise<CanDeviceInfo[]>;
     registerDeviceToHAL: (descriptor:string, messageId:Number, messageMask:number) => number;
     unregisterDeviceFromHAL: (descriptor:string) => Promise<number>;
-    receiveMessage: (descriptor:string, messageId:number, messageMask:number) => CanMessage;
+    receiveMessage: (descriptor:string, messageId:number, messageMask:number) => CanMessage | undefined;
     openStreamSession: (descriptor:string, messageId:number, messageMask:number, maxSize:number) => number;
     readStreamSession: (descriptor:string, sessionHandle:number, messagesToRead:number) => CanMessage[];
     closeStreamSession: (descriptor:string, sessionHandle:number) => number;
diff --git a/src/canWrapper.cc b/src/canWrapper.cc
index c8e6cca..3766ae7 100644
--- a/src/canWrapper.cc
+++ b/src/canWrapper.cc
@@ -235,6 +235,10 @@ Napi::Object receiveMessage(const Napi::CallbackInfo& info) {
 
     rev::usb::CANStatus status = device->ReceiveCANMessage(message, messageId, messageMask);
     if (status != rev::usb::CANStatus::kOk) {
+        if (status == rev::ubs::CANStatus::kTimeout) {
+            // We haven't received this message, which is not worth throwing an exception over
+            return Napi::Env::Undefined();
+        }
         Napi::Error::New(env, "Receiving message failed with status code " + std::to_string((int)status)).ThrowAsJavaScriptException();
         return Napi::Object::New(env);
     }
@@ -515,6 +519,26 @@ Napi::Number sendCANMessage(const Napi::CallbackInfo& info) {
     return Napi::Number::New(env, status);
 }
 
+// Params:
+//   descriptor: string
+//   messageId: Number
+//   requestedMessageLength: Number
+// Returns:
+//   status: Number
+Napi::Number sendCANRtrMessage(const Napi::CallbackInfo& info) {
+    Napi::Env env = info.Env();
+    std::string descriptor = info[0].As<Napi::String>().Utf8Value();
+    uint32_t messageId = info[1].As<Napi::Number>().Uint32Value();
+    uint8_t requestedMessageLength = info[2].As<Napi::Number>().Uint8Value();
+
+    uint8_t messageData[0];
+    int status = _sendCANMessage(descriptor, messageId, messageData, dataParam.Length(), repeatPeriodMs);
+    if (status < 0) {
+        Napi::Error::New(env, DEVICE_NOT_FOUND_ERROR).ThrowAsJavaScriptException();
+    }
+    return Napi::Number::New(env, status);
+}
+
 // Params:
 //   descriptor: string
 //   messageId: Number