diff --git a/hal/src/main/native/sim/CAN.cpp b/hal/src/main/native/sim/CAN.cpp
index d55eafd86f..1e7af7304e 100644
--- a/hal/src/main/native/sim/CAN.cpp
+++ b/hal/src/main/native/sim/CAN.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -26,8 +26,16 @@ void HAL_CAN_SendMessage(uint32_t messageID, const uint8_t* data,
 void HAL_CAN_ReceiveMessage(uint32_t* messageID, uint32_t messageIDMask,
                             uint8_t* data, uint8_t* dataSize,
                             uint32_t* timeStamp, int32_t* status) {
+  // Use a data size of 42 as call check. Difficult to add check to invoke
+  // handler
+  *dataSize = 42;
+  auto tmpStatus = *status;
   SimCanData->receiveMessage(messageID, messageIDMask, data, dataSize,
                              timeStamp, status);
+  // If no handler invoked, return message not found
+  if (*dataSize == 42 && *status == tmpStatus) {
+    *status = HAL_ERR_CANSessionMux_MessageNotFound;
+  }
 }
 void HAL_CAN_OpenStreamSession(uint32_t* sessionHandle, uint32_t messageID,
                                uint32_t messageIDMask, uint32_t maxMessages,