add als2019 source

6 files changed, 2000 insertions, 0 deletions

diff --git a/src/analyze_request.cpp b/src/analyze_request.cpp
new file mode 100644
index 0000000..593ed42
--- /dev/null
+++ b/src/analyze_request.cpp
@@ -0,0 +1,296 @@
+// Copyright 2017 AW SOFTWARE CO.,LTD
+// Copyright 2017 AISIN AW CO.,LTD
+
+#include "genivi/genivi-navicore-constants.h"
+#include "analyze_request.h"
+#include <stdio.h>
+#include <string.h>
+#include <json-c/json.h>
+#include <string>
+
+
+/**
+ *  @brief	Create arguments to pass to Genivi API GetPosition.
+ *  @param[in]	req_json_str JSON request from BinderClient
+ *  @param[out]	Params An array of key information you want to obtain
+ *  @return	Success or failure of processing
+ */
+bool AnalyzeRequest::CreateParamsGetPosition( const char* req_json_str, std::vector< int32_t >& Params)
+{
+	struct json_object *req_json = json_tokener_parse(req_json_str);
+	struct json_object* jValuesToReturn = NULL;
+	if( json_object_object_get_ex(req_json, "valuesToReturn", &jValuesToReturn) )
+	{
+		if( json_object_is_type(jValuesToReturn, json_type_array) )
+		{
+			for (int i = 0; i < json_object_array_length(jValuesToReturn); ++i) 
+			{
+				struct json_object* j_elem = json_object_array_get_idx(jValuesToReturn, i);
+
+				// JSON type acquisition
+				if( json_object_is_type(j_elem, json_type_int ) )
+				{
+					int32_t req_key = json_object_get_int (j_elem);
+
+					// no supported.
+					if ((NAVICORE_TIMESTAMP == req_key) || (NAVICORE_SPEED == req_key))
+					{
+						continue;
+					}
+					Params.push_back(req_key);
+				}
+				else
+				{
+					fprintf(stdout, "key is not integer type.\n");
+					return false;
+				}
+			}
+		}
+		else
+		{
+			fprintf(stdout, "request is not array type.\n");
+			return false;
+		}
+	}
+	else
+	{
+		fprintf(stdout, "key valuesToReturn not found.\n");
+		return false;
+	}
+
+	return true;
+}
+
+
+/**
+ *  @brief	Create arguments to pass to Genivi API CreateRoute
+ *  @param[in]	req_json_str JSON request from BinderClient
+ *  @param[out]	sessionHdl Session handle
+ *  @return	Success or failure of processing
+ */
+bool AnalyzeRequest::CreateParamsCreateRoute( const char* req_json_str, uint32_t& sessionHdl )
+{
+	// Get sessionHandle information
+	return JsonObjectGetSessionHdl(req_json_str, sessionHdl);
+}
+
+
+/**
+ *  @brief	Create arguments to pass to Genivi API PauseSimulation
+ *  @param[in]	req_json_str JSON request from BinderClient
+ *  @param[out]	sessionHdl Session handle
+ *  @return	Success or failure of processing
+ */
+bool AnalyzeRequest::CreateParamsPauseSimulation( const char* req_json_str, uint32_t& sessionHdl )
+{
+	// Get sessionHandle information
+	return JsonObjectGetSessionHdl(req_json_str, sessionHdl);
+}
+
+
+/**
+ *  @brief	Create arguments to pass to Genivi API CreateRoute
+ *  @param[in]	req_json_str JSON request from BinderClient
+ *  @param[out]	sessionHdl Session handle
+ *  @param[out]	simuMode Simulation mode
+ *  @return	Success or failure of processing
+ */
+bool AnalyzeRequest::CreateParamsSetSimulationMode( const char* req_json_str, uint32_t& sessionHdl, bool& simuMode )
+{
+	bool		ret = false;
+	struct json_object *sess  = NULL;
+	struct json_object *simu  = NULL;
+
+	struct json_object *req_json = json_tokener_parse(req_json_str);
+	if ((json_object_object_get_ex(req_json, "sessionHandle", &sess)) &&
+		(json_object_object_get_ex(req_json, "simulationMode", &simu)))
+	{
+		if (json_object_is_type(sess, json_type_int) &&
+			json_object_is_type(simu, json_type_boolean))
+		{
+			sessionHdl = json_object_get_int(sess);
+			simuMode = json_object_get_int(simu);
+			ret = true;
+		}
+		else
+		{
+			fprintf(stdout, "key is invalid type.\n");
+		}
+	}
+	else
+	{
+		fprintf(stdout, "key sessionHandle or simulationMode not found.\n");
+	}
+
+	return ret;
+}
+
+
+/**
+ *  @brief	Create arguments to pass to Genivi API CancelRouteCalculation
+ *  @param[in]	req_json_str JSON request from BinderClient
+ *  @param[out]	sessionHdl Session handle
+ *  @param[out]	routeHdl Route handle
+ *  @return	Success or failure of processing
+ */
+bool AnalyzeRequest::CreateParamsCancelRouteCalculation( const char* req_json_str, uint32_t& sessionHdl, uint32_t& routeHdl )
+{
+	// Get sessionHandle, RouteHandle
+	return JsonObjectGetSessionHdlRouteHdl(req_json_str, sessionHdl, routeHdl);
+}
+
+
+/**
+ *  @brief	Create arguments to pass to Genivi API SetWaypoints
+ *  @param[in]	req_json_str JSON request from BinderClient
+ *  @param[out]	sessionHdl Session handle
+ *  @param[out]	routeHdl Route handle
+ *  @param[out]	currentPos Whether or not to draw a route from the position of the vehicle
+ *  @param[out]	waypointsList Destination coordinates
+ *  @return	Success or failure of processing
+ */
+bool AnalyzeRequest::CreateParamsSetWaypoints( const char* req_json_str, uint32_t& sessionHdl, uint32_t& routeHdl,
+											   bool& currentPos, std::vector<Waypoint>& waypointsList )
+{
+	bool		ret = false;
+	struct json_object *sess  = NULL;
+	struct json_object *rou  = NULL;
+	struct json_object *current  = NULL;
+	struct json_object *wpl  = NULL;
+
+	struct json_object *req_json = json_tokener_parse(req_json_str);
+	if ((json_object_object_get_ex(req_json, "sessionHandle", &sess)) &&
+		(json_object_object_get_ex(req_json, "route", &rou))		  &&
+		(json_object_object_get_ex(req_json, "startFromCurrentPosition", &current)) &&
+		(json_object_object_get_ex(req_json, "", &wpl)))
+	{
+		if (json_object_is_type(sess, json_type_int) &&
+			json_object_is_type(rou, json_type_int)  && 
+			json_object_is_type(current, json_type_boolean) &&
+			json_object_is_type(wpl, json_type_array))
+		{
+			sessionHdl = json_object_get_int(sess);
+			routeHdl = json_object_get_int(rou);
+			currentPos = json_object_get_boolean(current);
+
+			// Get latitude, longitude
+			for (int i = 0; i < json_object_array_length(wpl); ++i)
+			{
+				struct json_object *array = json_object_array_get_idx(wpl, i);
+				struct json_object *lati  = NULL;
+				struct json_object *longi = NULL;
+
+				if (json_object_object_get_ex(array, "latitude", &lati) && 
+					json_object_object_get_ex(array, "longitude", &longi)) {
+
+					double latitude  = json_object_get_double(lati);
+					double longitude = json_object_get_double(longi);
+					Waypoint destWp(latitude, longitude);
+					waypointsList.push_back(destWp);
+					ret = true;
+				}
+				else
+				{
+					fprintf(stdout, "key latitude or longitude not found.\n");
+				}
+		   }
+		}
+		else
+		{
+			fprintf(stdout, "key is invalid type.\n");
+		}
+	}
+	else
+	{
+		fprintf(stdout, "key valuesToReturn not found.\n");
+	}
+
+	return ret;
+}
+
+
+/**
+ *  @brief	Create arguments to pass to Genivi API CalculateRoute
+ *  @param[in]	req_json_str JSON request from BinderClient
+ *  @param[out]	sessionHdl Session handle
+ *  @param[out]	routeHdl Route handle
+ *  @return	Success or failure of processing
+ */
+bool AnalyzeRequest::CreateParamsCalculateRoute( const char* req_json_str, uint32_t& sessionHdl, uint32_t& routeHdl )
+{
+	// Get sessionHandle, RouteHandle
+	return JsonObjectGetSessionHdlRouteHdl(req_json_str, sessionHdl, routeHdl);
+}
+
+
+/**
+ *  @brief	Get session handle and route handle information from JSON
+ *  @param[in]	req_json_str JSON request from BinderClient
+ *  @param[out]	Session handle value
+ *  @return	Success or failure of processing
+ */
+
+bool AnalyzeRequest::JsonObjectGetSessionHdl( const char* req_json_str, uint32_t& sessionHdl)
+{
+	bool		ret = false;
+	struct json_object *sess  = NULL;
+
+	struct json_object *req_json = json_tokener_parse(req_json_str);
+	if (json_object_object_get_ex(req_json, "sessionHandle", &sess))
+	{
+		if (json_object_is_type(sess, json_type_int))
+		{
+			sessionHdl = json_object_get_int(sess);
+			ret = true;
+		}
+		else
+		{
+			fprintf(stdout, "key is not integer type.\n");
+		}
+	}
+	else
+	{
+		fprintf(stdout, "key sessionHandle not found.\n");
+	}
+
+	return ret;
+}
+
+
+/**
+ *  @brief	Get session handle and route handle information from JSON
+ *  @param[in]	req_json_str JSON request from BinderClient
+ *  @param[out]	Session handle value
+ *  @param[out]	Route handle value
+ *  @return	Success or failure of processing
+ */
+
+bool AnalyzeRequest::JsonObjectGetSessionHdlRouteHdl( const char* req_json_str, uint32_t& sessionHdl, uint32_t& routeHdl)
+{
+	bool		ret = false;
+	struct json_object *sess  = NULL;
+	struct json_object *rou  = NULL;
+
+	struct json_object *req_json = json_tokener_parse(req_json_str);
+	if ((json_object_object_get_ex(req_json, "sessionHandle", &sess)) &&
+		(json_object_object_get_ex(req_json, "route", &rou)))
+	{
+		if (json_object_is_type(sess, json_type_int) &&
+			json_object_is_type(rou, json_type_int))
+		{
+			sessionHdl = json_object_get_int(sess);
+			routeHdl = json_object_get_int(rou);
+			ret = true;
+		}
+		else
+		{
+			fprintf(stdout, "key is not integer type.\n");
+		}
+	}
+	else
+	{
+		fprintf(stdout, "key sessionHandle or route not found.\n");
+	}
+
+	return ret;
+}
diff --git a/src/api.cpp b/src/api.cpp
new file mode 100644
index 0000000..956a8ff
--- /dev/null
+++ b/src/api.cpp
@@ -0,0 +1,1022 @@
+// Copyright 2017 AW SOFTWARE CO.,LTD
+// Copyright 2017 AISIN AW CO.,LTD
+
+#include <string.h>
+
+#include "binder_reply.h"
+#include "genivi_request.h"
+#include "analyze_request.h"
+#include "genivi/genivi-navicore-constants.h"
+#include "navigation_info.h"
+#include <unistd.h>
+#define AFB_BINDING_VERSION 3
+
+extern "C" {
+	#include <afb/afb-binding.h>
+}
+using namespace std;
+
+static void StartDemoCarlaclient(afb_api_t api);
+
+static const char GpsEventName[] = "gps/setlocation";
+static const char CarlaEventName[] = "carlaclient/positionUpdated";
+
+/**
+ *  Variable declaration
+ */
+GeniviRequest* geniviRequest;	// Send request to Genivi
+BinderReply* binderReply;	// Convert Genivi response result to json format
+AnalyzeRequest* analyzeRequest;	// Analyze BinderClient's request and create arguments to pass to GeniviAPI
+NavigationInfo* navigationInfo;	//get/set navigation infomation
+static afb_event_t setwaypoints_event;
+static afb_event_t pausesimulation_event;
+static afb_event_t setdemorouteinfo_event;
+static afb_event_t stopdemo_event;
+static afb_event_t arrivedest_event;
+static afb_event_t adddest_event;
+static afb_event_t gps_event;
+static afb_event_t getdestdir_event;
+static afb_event_t heading_event;
+void sendevent();
+/**
+ *  @brief navicore_getposition request callback
+ *  @param[in] req Request from client
+ */
+void OnRequestNavicoreGetPosition(afb_req_t req)
+{
+	AFB_API_NOTICE(req->api, "--> Start %s()", __func__);
+	AFB_REQ_DEBUG(req, "request navicore_getposition");
+
+	// Request of Json format request
+	json_object* req_json = afb_req_json(req);
+	const char* req_json_str = json_object_to_json_string(req_json);
+	AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str);
+
+	// Request analysis and create arguments to pass to Genivi
+	std::vector< int32_t > Params;
+	if( !analyzeRequest->CreateParamsGetPosition( req_json_str, Params ))
+	{
+		afb_req_fail(req, "failed", "navicore_getposition Bad Request");
+		return;
+	}
+
+#if 0
+	// GENIVI API call
+	std::map< int32_t, double > posList = geniviRequest->NavicoreGetPosition( Params );
+#else
+	std::map< int32_t, double > posList;
+	posList[NAVICORE_LATITUDE] = strtod(navigationInfo->getNaviInfoCurrentLatitude(),NULL);
+	posList[NAVICORE_LONGITUDE] = strtod(navigationInfo->getNaviInfoCurrentLongitude(),NULL);
+#endif
+	// Convert to json style response
+	APIResponse response = binderReply->ReplyNavicoreGetPosition( posList );
+
+	// On success
+	if(response.isSuccess)
+	{
+		AFB_API_NOTICE(req->api, "res_json_str = %s", json_object_to_json_string(response.json_data));
+		// Return success to BinderClient
+		afb_req_success(req, response.json_data, "navicore_getposition");
+	}
+	else
+	{
+		AFB_REQ_ERROR(req, "%s - %s:%d", response.errMessage.c_str(), __FILE__, __LINE__);
+		afb_req_fail(req, "failed", "navicore_getposition Bad Request");
+	}
+
+	// Json object release
+	json_object_put(response.json_data);
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+
+/**
+ *  @brief navicore_getallroutes request callback
+ *  @param[in] req Request from client
+ */
+void OnRequestNavicoreGetAllRoutes(afb_req_t req)
+{
+	AFB_API_NOTICE(req->api, "--> Start %s()", __func__);
+	AFB_REQ_DEBUG(req, "request navicore_getallroutes");
+
+	// No request information in json format
+	AFB_API_NOTICE(req->api, "req_json_str = none");
+
+#if 0
+	// GENEVI API call
+	std::vector< uint32_t > allRoutes = geniviRequest->NavicoreGetAllRoutes();
+#else
+	std::vector< uint32_t > allRoutes;
+	allRoutes.push_back(navigationInfo->getNaviInfoAllRoutes());
+#endif
+
+	// Convert to json style response
+	APIResponse response = binderReply->ReplyNavicoreGetAllRoutes( allRoutes );
+
+	// On success
+	if(response.isSuccess)
+	{
+		AFB_API_NOTICE(req->api, "res_json_str = %s", json_object_to_json_string(response.json_data));
+		// Return success to BinderClient
+		afb_req_success(req, response.json_data, "navicore_getallroutes");
+	}
+	else
+	{
+		AFB_REQ_ERROR(req, "%s - %s:%d", response.errMessage.c_str(), __FILE__, __LINE__);
+		afb_req_fail(req, "failed", "navicore_getallroutes Bad Request");
+	}
+
+	// json object release
+	json_object_put(response.json_data);
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+
+/**
+ *  @brief navicore_createroute request callback
+ *  @param[in] req Request from client
+ */
+void OnRequestNavicoreCreateRoute(afb_req_t req)
+{
+	AFB_API_NOTICE(req->api, "--> Start %s ", __func__);
+	AFB_REQ_DEBUG(req, "request navicore_createroute");
+
+	// Request of json format request
+	json_object* req_json = afb_req_json(req);
+	const char* req_json_str = json_object_to_json_string(req_json);
+	AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str);
+
+	// Request analysis and create arguments to pass to Genivi
+	uint32_t sessionHdl = 0;
+	if( !analyzeRequest->CreateParamsCreateRoute( req_json_str, sessionHdl ))
+	{
+		afb_req_fail(req, "failed", "navicore_createroute Bad Request");
+		return;
+	}
+
+#if 0
+	// GENEVI API call
+	uint32_t routeHdl = geniviRequest->NavicoreCreateRoute( sessionHdl );
+#else
+	uint32_t routeHdl = navigationInfo->getNaviInfoAllRoutes();
+#endif
+
+	// Convert to json style response
+	APIResponse response = binderReply->ReplyNavicoreCreateRoute( routeHdl );
+
+	// On success
+	if(response.isSuccess)
+	{
+		AFB_API_NOTICE(req->api, "res_json_str = %s", json_object_to_json_string(response.json_data));
+		// Return success to BinderClient
+		afb_req_success(req, response.json_data, "navicore_createroute");
+	}
+	else
+	{
+		AFB_REQ_ERROR(req, "%s - %s:%d", response.errMessage.c_str(), __FILE__, __LINE__);
+		afb_req_fail(req, "failed", "navicore_createroute Bad Request");
+	}
+
+	// json object release
+	json_object_put(response.json_data);
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+
+/**
+ *  @brief navicore_pausesimulation request callback
+ *  @param[in] req Request from client
+ */
+void OnRequestNavicorePauseSimulation(afb_req_t req)
+{
+	AFB_API_NOTICE(req->api, "--> Start %s()", __func__);
+	AFB_REQ_DEBUG(req, "request navicore_pausesimulation");
+
+	// Request of json format request
+	json_object* req_json = afb_req_json(req);
+	const char* req_json_str = json_object_to_json_string(req_json);
+	AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str);
+
+	// Request analysis and create arguments to pass to Genivi
+	uint32_t sessionHdl = 0;
+	if( !analyzeRequest->CreateParamsPauseSimulation( req_json_str, sessionHdl ))
+	{
+		afb_req_fail(req, "failed", "navicore_pausesimulation Bad Request");
+		return;
+	}
+
+#if 0
+	// GENEVI API call
+	geniviRequest->NavicorePauseSimulation( sessionHdl );
+#else
+	afb_event_push(pausesimulation_event, req_json);
+#endif
+
+	// No reply unnecessary API for conversion to json format response is unnecessary
+	AFB_API_NOTICE(req->api, "res_json_str = none");
+
+	// Return success to BinderClient
+	afb_req_success(req, NULL, "navicore_pausesimulation");
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+
+/**
+ *  @brief navicore_setsimulationmode request callback
+ *  @param[in] req Request from client
+ */
+void OnRequestNavicoreSetSimulationMode(afb_req_t req)
+{
+	AFB_API_NOTICE(req->api, "--> Start %s()", __func__);
+	AFB_REQ_DEBUG(req, "request navicore_setsimulationmode");
+
+	// Request of json format request
+	json_object* req_json = afb_req_json(req);
+	const char* req_json_str = json_object_to_json_string(req_json);
+	AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str);
+
+	// Request analysis and create arguments to pass to Genivi
+	uint32_t sessionHdl = 0;
+	bool simuMode = false;
+	if( !analyzeRequest->CreateParamsSetSimulationMode( req_json_str, sessionHdl, simuMode ))
+	{
+		afb_req_fail(req, "failed", "navicore_setsimulationmode Bad Request");
+		return;
+	}
+
+#if 0
+	// GENEVI API call
+	geniviRequest->NavicoreSetSimulationMode( sessionHdl, simuMode );
+#endif
+
+	// No reply unnecessary API for conversion to json format response is unnecessary
+	AFB_API_NOTICE(req->api, "res_json_str = none");
+
+	// Return success to BinderClient
+	afb_req_success(req, NULL, "navicore_setsimulationmode");
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+
+/**
+ *  @brief navicore_cancelroutecalculation request callback
+ *  @param[in] req Request from client
+ */
+void OnRequestNavicoreCancelRouteCalculation(afb_req_t req)
+{
+	AFB_API_NOTICE(req->api, "--> Start %s()", __func__);
+	AFB_REQ_DEBUG(req, "request navicore_cancelroutecalculation");
+
+	// Request of Json format request
+	json_object* req_json = afb_req_json(req);
+	const char* req_json_str = json_object_to_json_string(req_json);
+	AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str);
+
+	// Request analysis and create arguments to pass to Genivi
+	uint32_t sessionHdl = 0;
+	uint32_t routeHdl = 0;
+	if( !analyzeRequest->CreateParamsCancelRouteCalculation( req_json_str, sessionHdl, routeHdl ))
+	{
+		afb_req_fail(req, "failed", "navicore_cancelroutecalculation Bad Request");
+		return;
+	}
+
+#if 0
+	// GENEVI API call
+	geniviRequest->NavicoreCancelRouteCalculation( sessionHdl, routeHdl );
+#endif
+
+	// No reply unnecessary API for conversion to json format response is unnecessary
+	AFB_API_NOTICE(req->api, "res_json_str = none");
+
+	// Return success to BinderClient
+	afb_req_success(req, NULL, "navicore_cancelroutecalculation");
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+
+/**
+ *  @brief navicore_setwaypoints request callback
+ *  @param[in] req Request from client
+ */
+void OnRequestNavicoreWaypoints(afb_req_t req)
+{
+	AFB_API_NOTICE(req->api, "--> Start %s()", __func__);
+	AFB_REQ_DEBUG(req, "request navicore_setwaypoints");
+
+	// Request of Json format request
+	json_object* req_json = afb_req_json(req);
+	const char* req_json_str = json_object_to_json_string(req_json);
+	AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str);
+
+	// Request analysis and create arguments to pass to Genivi
+	uint32_t sessionHdl = 0;
+	uint32_t routeHdl = 0;
+	bool currentPos = false;
+	std::vector<Waypoint> waypointsList;
+	if( !analyzeRequest->CreateParamsSetWaypoints( req_json_str, sessionHdl, routeHdl, currentPos, waypointsList ))
+	{
+		afb_req_fail(req, "failed", "navicore_setwaypoints Bad Request");
+		return;
+	}
+
+#if 0
+	// GENEVI API call
+	geniviRequest->NavicoreSetWaypoints( sessionHdl, routeHdl, currentPos, waypointsList );
+#else
+	struct json_object *current  = NULL;
+	struct json_object *wpl  = NULL;
+
+	struct json_object* response_json = json_object_new_array();
+	struct json_object* obj = json_object_new_object();
+
+	if ((json_object_object_get_ex(req_json, "startFromCurrentPosition", &current)) &&
+		(json_object_object_get_ex(req_json, "", &wpl)))
+	{
+		if (json_object_is_type(current, json_type_boolean) &&
+			json_object_is_type(wpl, json_type_array))
+		{
+			bool  currentPos = json_object_get_boolean(current);
+			json_object_object_add(obj, "startFromCurrentPosition", json_object_new_boolean(currentPos));
+
+			// Get latitude, longitude
+			for (int i = 0; i < json_object_array_length(wpl); ++i)
+			{
+				struct json_object *array = json_object_array_get_idx(wpl, i);
+				struct json_object *lati  = NULL;
+				struct json_object *longi = NULL;
+
+				if (json_object_object_get_ex(array, "latitude", &lati) &&
+					json_object_object_get_ex(array, "longitude", &longi)) {
+					double latitude  = json_object_get_double(lati);
+					double longitude = json_object_get_double(longi);
+					json_object_object_add(obj, "latitude", json_object_new_double(latitude));
+					json_object_object_add(obj, "longitude", json_object_new_double(longitude));
+				}
+		   }
+		}
+	}
+	json_object_array_add(response_json, obj);
+
+	const char* response_json_str = json_object_to_json_string(response_json);
+	AFB_API_NOTICE(req->api, "response_json_str = %s", response_json_str);
+	afb_event_push(setwaypoints_event, response_json);
+#endif
+	// No reply unnecessary API for conversion to json format response is unnecessary
+	AFB_API_NOTICE(req->api, "res_json_str = none");
+
+	// Return success to BinderClient
+	afb_req_success(req, NULL, "navicore_setwaypoints");
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+
+/**
+ *  @brief navicore_calculateroute request callback
+ *  @param[in] req Request from client
+ */
+void OnRequestNavicoreCalculateRoute(afb_req_t req)
+{
+	AFB_API_NOTICE(req->api, "--> Start %s()", __func__);
+	AFB_REQ_DEBUG(req, "request navicore_calculateroute");
+
+	// Request of Json format request
+	json_object* req_json = afb_req_json(req);
+	const char* req_json_str = json_object_to_json_string(req_json);
+	AFB_API_NOTICE(req->api, "req_json_str = %s", req_json_str);
+
+	// Request analysis and create arguments to pass to Genivi
+	uint32_t sessionHdl = 0;
+	uint32_t routeHdl = 0;
+	if( !analyzeRequest->CreateParamsCalculateRoute( req_json_str, sessionHdl, routeHdl ))
+	{
+		afb_req_fail(req, "failed", "navicore_calculateroute Bad Request");
+		return;
+	}
+
+#if 0
+	// GENEVI API call
+	geniviRequest->NavicoreCalculateRoute( sessionHdl, routeHdl );
+#endif
+
+	// No reply unnecessary API for conversion to json format response is unnecessary
+	AFB_API_NOTICE(req->api, "res_json_str = none");
+
+	// Return success to BinderClient
+	afb_req_success(req, NULL, "navicore_calculateroute");
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+
+/**
+ *  @brief navicore_getallsessions request callback
+ *  @param[in] req Request from client
+ */
+void OnRequestNavicoreGetAllSessions(afb_req_t req)
+{
+	AFB_API_NOTICE(req->api, "--> Start %s()", __func__);
+	AFB_REQ_DEBUG(req, "request navicore_getallsessions");
+
+	// No request information in Json format
+	AFB_API_NOTICE(req->api, "req_json_str = none");
+
+#if 0
+	// GENEVI API call
+	std::map<uint32_t, std::string> allSessions = geniviRequest->NavicoreGetAllSessions();
+#else
+	std::map<uint32_t, std::string> allSessions;
+	allSessions[navigationInfo->getNaviInfoSessionHandle()] = navigationInfo->getNaviInfoClient();
+#endif
+	// Convert to json style response
+	APIResponse response = binderReply->ReplyNavicoreGetAllSessions( allSessions );
+
+	// On success
+	if(response.isSuccess)
+	{
+		AFB_API_NOTICE(req->api, "res_json_str = %s", json_object_to_json_string(response.json_data));
+		// Return success to BinderClient
+		afb_req_success(req, response.json_data, "navicore_getallsessions");
+	}
+	else
+	{
+		AFB_REQ_ERROR(req, "%s - %s:%d", response.errMessage.c_str(), __FILE__, __LINE__);
+		afb_req_fail(req, "failed", "navicore_getallsessions Bad Request");
+	}
+
+	// json object release
+	json_object_put(response.json_data);
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+/**
+ *  @brief navicore_setcurrentpos request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreSetCurrentPos(afb_req_t req)
+{
+	const char* latitude = afb_req_value(req, "latitude");
+	const char* longitude = afb_req_value(req, "longitude");
+
+	navigationInfo->setNaviInfoCurrentLatitude(const_cast<char*>(latitude));
+	navigationInfo->setNaviInfoCurrentLongitude(const_cast<char*>(longitude));
+
+	afb_req_success(req, NULL, NULL);
+}
+
+/**
+ *  @brief navicore_getcurrentpos request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreGetCurrentPos(afb_req_t req)
+{
+	struct json_object* response_json = json_object_new_array();
+	struct json_object* obj = json_object_new_object();
+
+	// char* current_latitude  = navigationInfo->getNaviInfoCurrentLatitude();
+	// char* current_longitude = navigationInfo->getNaviInfoCurrentLongitude();
+	// char* current_heading = navigationInfo->getNaviInfoCurrentHeading();
+	const char* current_latitude  = "35.6673965582";
+  	const char* current_longitude = "139.7491882778";
+	json_object_object_add(obj, "CurrentLatitude", json_object_new_string(current_latitude));
+	json_object_object_add(obj, "CurrentLongitude", json_object_new_string(current_longitude));
+	// json_object_object_add(obj, "CurrentHeading", json_object_new_string(current_heading));
+
+	json_object_array_add(response_json, obj);
+	const char* obj_str = json_object_to_json_string(obj);
+	AFB_API_NOTICE(req->api, "obj_str = %s", obj_str);
+
+	// Return success to BinderClient
+	afb_req_success(req, response_json, "navicore_getcurrentpos");
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+	// sendevent();
+}
+
+/**
+ *  @brief navicore_setallsessions request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreSetAllSessions(afb_req_t req)
+{
+	const char* sessionhandle = afb_req_value(req, "sessionHandle");
+	const char* client = afb_req_value(req, "client");
+
+	navigationInfo->setNaviInfoSessionHandle(const_cast<char*>(sessionhandle));
+	navigationInfo->setNaviInfoClient(const_cast<char*>(client));
+
+	afb_req_success(req, NULL, NULL);
+}
+
+/**
+ *  @brief navicore_setallsessions request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreSetAllRoutes(afb_req_t req)
+{
+	const char* route = afb_req_value(req, "route");
+
+	navigationInfo->setNaviInfoAllRoutes(const_cast<char*>(route));
+
+	afb_req_success(req, NULL, NULL);
+}
+
+/**
+ *  @brief navicore_setdestpos request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreSetDestPos(afb_req_t req)
+{
+	const char* destination_latitude = afb_req_value(req, "DestLatitude");
+	const char* destination_longitude = afb_req_value(req, "DestLongitude");
+
+	navigationInfo->setNaviInfoDestLatitude(const_cast<char*>(destination_latitude));
+	navigationInfo->setNaviInfoDestLongitude(const_cast<char*>(destination_longitude));
+
+	afb_req_success(req, NULL, NULL);
+
+	struct json_object* response_json = json_object_new_array();
+	struct json_object* obj = json_object_new_object();
+
+	AFB_API_NOTICE(req->api, "OnRequestNavicoreSetDestPos");
+
+	uint32_t allroutes = navigationInfo->getNaviInfoAllRoutes();
+	json_object_object_add(obj, "AllRoutes", json_object_new_int(allroutes));
+
+	json_object_object_add(obj, "DestinationLatitude", json_object_new_string(destination_latitude));
+	json_object_object_add(obj, "DestinationLongitude", json_object_new_string(destination_longitude));
+
+	json_object_array_add(response_json, obj);
+
+	afb_event_push(adddest_event, response_json);
+
+}
+
+/**
+ *  @brief navicore_setdemorouteinfo request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreSetDemoRouteInfo(afb_req_t req)
+{
+	const char* demo_latitude = afb_req_value(req, "DemoLatitude");
+	const char* demo_longitude = afb_req_value(req, "DemoLongitude");
+	const char* demo_distance = afb_req_value(req, "DemoDistance");
+	const char* demo_direction = afb_req_value(req, "DemoDirection");
+
+	navigationInfo->setNaviInfoDemoLatitude(const_cast<char*>(demo_latitude));
+	navigationInfo->setNaviInfoDemoLongitude(const_cast<char*>(demo_longitude));
+
+	navigationInfo->setNaviInfoDemoDistance(const_cast<char*>(demo_distance));
+	navigationInfo->setNaviInfoDemoDirection(const_cast<char*>(demo_direction));
+
+	struct json_object* response_json = json_object_new_array();
+	struct json_object* obj = json_object_new_object();
+
+	json_object_object_add(obj, "DemoLatitude", json_object_new_string(navigationInfo->getNaviInfoDemoLatitude()));
+	json_object_object_add(obj, "DemoLongitude", json_object_new_string(navigationInfo->getNaviInfoDemoLongitude()));
+	json_object_object_add(obj, "DemoDistance", json_object_new_string(navigationInfo->getNaviInfoDemoDistance()));
+	json_object_object_add(obj, "DemoDirection", json_object_new_string(navigationInfo->getNaviInfoDemoDirection()));
+	json_object_array_add(response_json, obj);
+
+	afb_event_push(setdemorouteinfo_event, response_json);
+
+	afb_req_success(req, NULL, NULL);
+}
+void sendevent(){
+	const char* latitude[] = 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+};
+
+	const char* longitude[] = 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+	const char* carspeed = "60";
+
+	int len = sizeof(latitude)/sizeof(char*);
+		printf("Naviservice: len====== %d \n",len);
+	for (int i=0;i<len;i++){
+		struct json_object* obj = json_object_new_object();
+		const char * lat = latitude[i];
+		const char * lon = longitude[i];
+		const char * speed = carspeed;
+		json_object_object_add(obj, "latitude", json_object_new_string(lat));
+		json_object_object_add(obj, "longitude", json_object_new_string(lon));
+		json_object_object_add(obj, "carSpeed", json_object_new_string(speed));
+		printf("lat %s lon %s speed %s \n",lat,lon,speed);
+		// AFB_API_NOTICE(api, "Get gps date.Latitude %s Longitude %s", lat, lon);
+		afb_event_push(gps_event, obj);
+		// sleep(1);
+		usleep(300*1000);
+	}
+}
+/**
+ *  @brief navicore_stopdemo request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreStopDemo(afb_req_t req)
+{
+	struct json_object* response_json = json_object_new_array();
+	struct json_object* obj = json_object_new_object();
+
+	json_object_object_add(obj, "StopDemo", json_object_new_boolean(true));
+	json_object_array_add(response_json, obj);
+
+	afb_event_push(stopdemo_event, response_json);
+
+	afb_req_success(req, NULL, NULL);
+}
+
+/**
+ *  @brief navicore_arrivedest request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreArriveDest(afb_req_t req)
+{
+	struct json_object* response_json = json_object_new_array();
+	struct json_object* obj = json_object_new_object();
+
+	json_object_object_add(obj, "ArriveDest", json_object_new_boolean(true));
+	json_object_array_add(response_json, obj);
+
+	afb_event_push(arrivedest_event, response_json);
+
+	afb_req_success(req, NULL, NULL);
+}
+/**
+ *  @brief navicore_setdestdir request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreSetDestDir(afb_req_t req)
+{
+	const char* state = afb_req_value(req, "state");
+
+	AFB_REQ_NOTICE(req, "state = %s", state);
+
+	afb_req_success(req, NULL, NULL);
+
+	struct json_object* response_json = json_object_new_object();
+
+	AFB_REQ_NOTICE(req, "OnRequestNavicoreSetDestDir");
+
+	json_object_object_add(response_json, "state", json_object_new_string(state));
+
+	const char* response_json_str = json_object_to_json_string(response_json);
+	AFB_REQ_NOTICE(req, "response_json_str = %s", response_json_str);
+
+	afb_event_push(getdestdir_event, response_json);
+}
+
+/**
+ *  @brief navicore_startguidance request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreStartGuidance(afb_req_t req)
+{
+	AFB_REQ_NOTICE(req, "OnRequestNavicoreStartGuidance");
+	// StartDemoCarlaclient(req->api);
+	sendevent();
+	afb_req_success(req, NULL, NULL);
+}
+
+/**
+ *  @brief subscribe request callback
+ *  @param[in] req Request from server
+ */
+void subscribe(afb_req_t req)
+{
+	const char *value = afb_req_value(req, "value");
+
+	if (value && !strcasecmp(value, "setwaypoints")) {
+		AFB_API_NOTICE(req->api, "afb_req_subscribe");
+		afb_req_subscribe(req, setwaypoints_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "pausesimulation")){
+		afb_req_subscribe(req, pausesimulation_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "setdemopos")){
+		afb_req_subscribe(req, setdemorouteinfo_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "stopdemo")){
+		afb_req_subscribe(req, stopdemo_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "arrivedest")){
+		afb_req_subscribe(req, arrivedest_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "adddest")){
+		afb_req_subscribe(req, adddest_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "gps")){
+		afb_req_subscribe(req, gps_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "heading")){
+		afb_req_subscribe(req, heading_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "getdestdir")){
+		afb_req_subscribe(req, getdestdir_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	afb_req_fail(req, "failed", "Invalid event");
+}
+
+/**
+ *  @brief unsubscribe request callback
+ *  @param[in] req Request from server
+ */
+void unsubscribe(afb_req_t req)
+{
+	const char *value = afb_req_value(req, "value");
+
+	if (value && !strcasecmp(value, "setwaypoints")) {
+		afb_req_unsubscribe(req, setwaypoints_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "pausesimulation"))
+	{
+		afb_req_unsubscribe(req, pausesimulation_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "setdemopos")){
+		afb_req_unsubscribe(req, setdemorouteinfo_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "stopdemo")){
+		afb_req_unsubscribe(req, stopdemo_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "arrivedest")){
+		afb_req_unsubscribe(req, arrivedest_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "adddest")){
+		afb_req_unsubscribe(req, adddest_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "gps")){
+		afb_req_unsubscribe(req, gps_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "heading")){
+		afb_req_unsubscribe(req, heading_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	else if(value && !strcasecmp(value, "getdestdir")){
+		afb_req_unsubscribe(req, getdestdir_event);
+		afb_req_success(req, NULL, NULL);
+		return;
+	}
+	afb_req_fail(req, "failed", "Invalid event");
+}
+
+/**
+ *  @brief GetRouteInfo request callback
+ *  @param[in] req Request from server
+ */
+void OnRequestNavicoreGetRouteInfo(afb_req_t req)
+{
+	struct json_object* response_json = json_object_new_array();
+	struct json_object* obj = json_object_new_object();
+
+	AFB_API_NOTICE(req->api, "OnRequestNavicoreGetRouteInfo");
+
+	uint32_t allroutes = navigationInfo->getNaviInfoAllRoutes();
+	json_object_object_add(obj, "AllRoutes", json_object_new_int(allroutes));
+
+	char* current_latitude  = navigationInfo->getNaviInfoCurrentLatitude();
+	char* current_longitude = navigationInfo->getNaviInfoCurrentLongitude();
+	json_object_object_add(obj, "CurrentLatitude", json_object_new_string(current_latitude));
+	json_object_object_add(obj, "CurrentLongitude", json_object_new_string(current_longitude));
+
+	char* destination_latitude  = navigationInfo->getNaviInfoDestLatitude();
+	char* destination_longitude = navigationInfo->getNaviInfoDestLongitude();
+
+	json_object_object_add(obj, "DestinationLatitude", json_object_new_string(destination_latitude));
+	json_object_object_add(obj, "DestinationLongitude", json_object_new_string(destination_longitude));
+
+	json_object_array_add(response_json, obj);
+
+	// No reply unnecessary API for conversion to json format response is unnecessary
+	const char* response_json_str = json_object_to_json_string(response_json);
+	AFB_API_NOTICE(req->api, "response_json_str = %s", response_json_str);
+
+	// No reply unnecessary API for conversion to json format response is unnecessary
+	AFB_API_NOTICE(req->api, "res_json_str = none");
+
+	// Return success to BinderClient
+	afb_req_success(req, response_json, "navicore_getrouteinfo");
+
+	AFB_API_NOTICE(req->api, "<-- End %s()", __func__);
+}
+
+/**
+ *  @brief GPS binding event function
+ *  @param[in] api the api serving the request
+ *  @param[in] event event name
+ *  @param[in] object event json object
+ */
+static void onevent(afb_api_t api, const char *event, struct json_object *object)
+{
+	AFB_API_NOTICE(api, "on_event %s , object %s", event, json_object_get_string(object));
+
+	if (strcmp(event,GpsEventName) == 0)
+	{
+		struct json_object *lati  = NULL;
+		struct json_object *longi  = NULL;
+		if ((json_object_object_get_ex(object, "latitude", &lati)) &&
+		(json_object_object_get_ex(object, "longitude", &longi)))
+		{
+			const char* latitude = json_object_get_string(lati);
+			const char* longitude = json_object_get_string(longi);
+
+			navigationInfo->setNaviInfoCurrentLatitude(const_cast<char*>(latitude));
+			navigationInfo->setNaviInfoCurrentLongitude(const_cast<char*>(longitude));
+
+			struct json_object* gps_obj = json_object_new_object();
+
+			json_object_object_add(gps_obj, "latitude", json_object_new_string(latitude));
+			json_object_object_add(gps_obj, "longitude", json_object_new_string(longitude));
+
+			AFB_API_NOTICE(api, "event name %s , gps_obj %s", event, json_object_get_string(gps_obj));
+
+			afb_event_push(gps_event, gps_obj);
+		}
+	}
+	else if(strcmp(event,CarlaEventName) == 0)
+	{
+		struct json_object *yaw  = NULL;
+		if ((json_object_object_get_ex(object, "yaw", &yaw)))
+		{
+			const char* heading = json_object_get_string(yaw);
+
+			navigationInfo->setNaviInfoCurrentHeading(const_cast<char*>(heading));
+
+			struct json_object* heading_obj = json_object_new_object();
+
+			json_object_object_add(heading_obj, "heading", json_object_new_string(heading));
+
+			AFB_API_NOTICE(api, "event name %s , heading_obj %s", event, json_object_get_string(heading_obj));
+
+			afb_event_push(heading_event, heading_obj);
+		}
+	}
+}
+
+/**
+ *  @brief the callback function
+ *  @param[in] closure the user defined closure pointer 'closure'
+ *  @param[in] a JSON object returned (can be NULL)
+ *  @param[in] a string not NULL in case of error but NULL on success
+ *  @param[in] a string handling some info (can be NULL)
+ *  @param[in] api the api
+ */
+static void api_callback(void *closure, struct json_object *object, const char *error, const char *info, afb_api_t api)
+{
+	AFB_API_NOTICE(api, "asynchronous call, error=%s, info=%s, object=%s.", error, info, json_object_get_string(object));	
+}
+
+/**
+ *  @brief call api
+ *  @param[in] api the api serving the request
+ *  @param[in] service the api name of service
+ *  @param[in] verb the verb of service
+ *  @param[in] args parameter
+ */
+static void api_call(afb_api_t api, const char *service, const char *verb, struct json_object *args)
+{    
+	AFB_API_NOTICE(api, "service=%s verb=%s, args=%s.", service, verb, json_object_get_string(args));
+	afb_api_call(api, service, verb, args, api_callback, nullptr);
+}
+
+/**
+ *  @brief call carlaclient startdemo function
+ *  @param[in] api the api serving the request
+ */
+static void StartDemoCarlaclient(afb_api_t api)
+{
+	struct json_object* obj = json_object_new_object();
+	json_object_object_add(obj, "startdemo", json_object_new_string("true"));
+	api_call(api, "carlaclient", "startdemo" ,obj);
+}
+
+/**
+ *  @brief call gps subscribe function
+ *  @param[in] api the api serving the request
+ */
+static void SubscribeGps(afb_api_t api)
+{
+	struct json_object* obj = json_object_new_object();
+	json_object_object_add(obj, "value", json_object_new_string("location"));
+	api_call(api, "gps", "subscribe" ,obj);
+}
+
+/**
+ *  @brief call carlaclient subscribe function
+ *  @param[in] api the api serving the request
+ */
+static void SubscribeCarlaclient(afb_api_t api)
+{
+	struct json_object* obj = json_object_new_object();
+	json_object_object_add(obj, "event", json_object_new_string("positionUpdated"));
+	api_call(api, "carlaclient", "subscribe" ,obj);
+}
+/**
+ *  @brief Callback called at service startup
+ */
+int init(afb_api_t api)
+{
+
+	// Create instance
+	geniviRequest   = new GeniviRequest();
+	binderReply	 = new BinderReply();
+	analyzeRequest  = new AnalyzeRequest();
+	navigationInfo = new NavigationInfo();
+
+	setwaypoints_event = afb_api_make_event(afbBindingV3root, "navicore_setwaypoints");
+	pausesimulation_event = afb_api_make_event(afbBindingV3root, "navicore_pausesimulation");
+	setdemorouteinfo_event= afb_api_make_event(afbBindingV3root, "navicore_setdemorouteinfo");
+	stopdemo_event = afb_api_make_event(afbBindingV3root, "navicore_stopdemo");
+	arrivedest_event = afb_api_make_event(afbBindingV3root, "navicore_arrivedest");
+	adddest_event = afb_api_make_event(afbBindingV3root, "navicore_setdestpos");
+	gps_event = afb_api_make_event(afbBindingV3root,"navicore_gps");
+	heading_event = afb_api_make_event(afbBindingV3root,"navicore_heading");
+	getdestdir_event = afb_api_make_event(afbBindingV3root,"navicore_getdestdir");
+
+	// SubscribeGps(api);
+	// SubscribeCarlaclient(api);
+	
+	return 0;
+}	
+
+/**
+ *  @brief API definition
+ */
+const afb_verb_t verbs[] = 
+{
+	 { verb : "navicore_getposition",			callback : OnRequestNavicoreGetPosition },
+	 { verb : "navicore_getallroutes",		   callback : OnRequestNavicoreGetAllRoutes },
+	 { verb : "navicore_createroute",			callback : OnRequestNavicoreCreateRoute },
+	 { verb : "navicore_pausesimulation",		callback : OnRequestNavicorePauseSimulation },
+	 { verb : "navicore_setsimulationmode",	  callback : OnRequestNavicoreSetSimulationMode },
+	 { verb : "navicore_cancelroutecalculation", callback : OnRequestNavicoreCancelRouteCalculation },
+	 { verb : "navicore_setwaypoints",		   callback : OnRequestNavicoreWaypoints },
+	 { verb : "navicore_calculateroute",		 callback : OnRequestNavicoreCalculateRoute },
+	 { verb : "navicore_getallsessions",		 callback : OnRequestNavicoreGetAllSessions },
+	 { verb : "navicore_setcurrentpos",			callback : OnRequestNavicoreSetCurrentPos },
+	 { verb : "navicore_getcurrentpos",			callback : OnRequestNavicoreGetCurrentPos },
+	 { verb : "navicore_setallsessions",		callback : OnRequestNavicoreSetAllSessions },
+	 { verb : "navicore_setallroutes",		   	callback : OnRequestNavicoreSetAllRoutes },
+	 { verb : "navicore_setdestpos",			callback : OnRequestNavicoreSetDestPos },
+	 { verb : "navicore_setdemorouteinfo",		callback : OnRequestNavicoreSetDemoRouteInfo },
+	 { verb : "navicore_getrouteinfo",		   	callback : OnRequestNavicoreGetRouteInfo },
+	 { verb : "navicore_stopdemo",		   		callback : OnRequestNavicoreStopDemo	 },
+	 { verb : "navicore_arrivedest",		   	callback : OnRequestNavicoreArriveDest	 },
+	 { verb : "navicore_setdestdir",            callback : OnRequestNavicoreSetDestDir	 },
+	 { verb : "navicore_startguidance",         callback : OnRequestNavicoreStartGuidance	},
+	 { verb : "subscribe",		   				callback : subscribe 						},
+	 { verb : "unsubscribe",		   			callback : unsubscribe						},
+	 { verb : NULL }
+};
+
+/**
+ *  @brief Service definition
+ */
+const afb_binding_t afbBindingExport = 
+{
+	 "naviapi",
+	 "",
+	 "",
+	 verbs,
+	 NULL,
+	 init,
+	 onevent
+};
+
diff --git a/src/binder_reply.cpp b/src/binder_reply.cpp
new file mode 100644
index 0000000..172a22a
--- /dev/null
+++ b/src/binder_reply.cpp
@@ -0,0 +1,168 @@
+// Copyright 2017 AW SOFTWARE CO.,LTD
+// Copyright 2017 AISIN AW CO.,LTD
+
+#include "binder_reply.h"
+#include "genivi/genivi-navicore-constants.h"
+
+/**
+ *  @brief      GeniviAPI GetPosition call
+ *  @param[in]  posList Map information on key and value of information acquired from Genivi
+ *  @return     Response information
+ */
+APIResponse BinderReply::ReplyNavicoreGetPosition( std::map<int32_t, double>& posList )
+{
+	APIResponse response = {0};
+
+	// Json information to return as a response
+	struct json_object* response_json = json_object_new_array();
+	std::map<int32_t, double>::iterator it;
+    
+	// If the argument map is empty return
+	if(posList.empty())
+	{
+		response.isSuccess  = false;
+		response.errMessage = "posList is empty";
+		response.json_data  = response_json;
+		return response;
+	}
+
+	// Make the passed Genivi response json format
+	for (it = posList.begin(); it != posList.end(); it++)
+	{
+		struct json_object* obj = json_object_new_object();
+
+		switch(it->first)
+		{
+		case NAVICORE_LATITUDE:
+			json_object_object_add(obj, "key", json_object_new_int(NAVICORE_LATITUDE));
+			json_object_object_add(obj, "value", json_object_new_double(it->second) );
+			json_object_array_add(response_json, obj);
+			break;
+
+		case NAVICORE_LONGITUDE:
+			json_object_object_add(obj, "key", json_object_new_int(NAVICORE_LONGITUDE));
+			json_object_object_add(obj, "value", json_object_new_double(it->second));
+			json_object_array_add(response_json, obj);
+			break;
+
+		case NAVICORE_HEADING:
+			json_object_object_add(obj, "key", json_object_new_int(NAVICORE_HEADING));
+			json_object_object_add(obj, "value", json_object_new_boolean (it->second));
+			json_object_array_add(response_json, obj);
+			break;
+#if 0
+		// no support
+		case NAVICORE_TIMESTAMP:
+			json_object_object_add(obj, "key", json_object_new_int(NAVICORE_TIMESTAMP));
+			json_object_object_add(obj, "value", json_object_new_int(it->second));
+			json_object_array_add(response_json, obj);
+			break;
+
+		// no support
+		case NAVICORE_SPEED:
+			json_object_object_add(obj, "key", json_object_new_int(NAVICORE_SPEED));
+			json_object_object_add(obj, "value", json_object_new_int(it->second));
+			json_object_array_add(response_json, obj);
+			break;
+#endif
+
+		case NAVICORE_SIMULATION_MODE:
+			json_object_object_add(obj, "key", json_object_new_int(NAVICORE_SIMULATION_MODE));
+			json_object_object_add(obj, "value", json_object_new_boolean (it->second));
+			json_object_array_add(response_json, obj);
+			break;
+
+		default:
+			fprintf(stderr, "Unknown key.");
+			json_object_put(obj);
+			break;
+		}
+	}
+
+	response.json_data = response_json;
+	response.isSuccess = true;
+	return response;
+}
+
+/**
+ *  @brief      GeniviAPI GetAllRoutes call
+ *  @param[in]  allRoutes Route handle information
+ *  @return     Response information
+ */
+APIResponse BinderReply::ReplyNavicoreGetAllRoutes( std::vector< uint32_t > &allRoutes )
+{
+	APIResponse response = {0};
+
+	// Json information to return as a response
+	struct json_object* response_json = json_object_new_array();
+
+	if (0 < allRoutes.size())
+	{
+		std::vector< uint32_t >::iterator it;
+
+		for (it = allRoutes.begin(); it != allRoutes.end(); it++)
+		{
+			struct json_object* obj = json_object_new_object();
+			json_object_object_add(obj, "route", json_object_new_int(*it));
+			json_object_array_add(response_json, obj);
+		}
+	}
+
+	response.json_data = response_json;
+	response.isSuccess = true;
+	return response;
+}
+
+/**
+ *  @brief      GeniviAPI CreateRoute call
+ *  @param[in]  route Route handle
+ *  @return     Response information
+ */
+APIResponse BinderReply::ReplyNavicoreCreateRoute( uint32_t route )
+{
+	APIResponse response;
+
+	// Json information to return as a response
+	struct json_object* response_json = json_object_new_object();
+	json_object_object_add(response_json, "route", json_object_new_int(route));
+
+	response.json_data = response_json;
+	response.isSuccess = true;
+	return response;
+}
+
+/**
+ *  @brief      GeniviAPI GetAllSessions call
+ *  @param[in]  allSessions Map information on key and value of information acquired from Genivi
+ *  @return     Response information
+ */
+APIResponse BinderReply::ReplyNavicoreGetAllSessions( std::map<uint32_t, std::string> &allSessions )
+{
+	APIResponse response = {0};
+
+	// Json information to return as a response
+	struct json_object* response_json = json_object_new_array();
+	std::map<uint32_t, std::string>::iterator it;
+
+	for (it = allSessions.begin(); it != allSessions.end(); it++)
+	{
+		struct json_object* obj = json_object_new_object();
+
+		if (NAVICORE_INVALID != it->first)
+		{
+			json_object_object_add(obj, "sessionHandle", json_object_new_int(it->first));
+			json_object_object_add(obj, "client", json_object_new_string(it->second.c_str()));
+			json_object_array_add(response_json, obj);
+		}
+		else
+		{
+			fprintf(stderr, "invalid key.");
+			json_object_put(obj);
+		}
+	}
+
+	response.json_data = response_json;
+	response.isSuccess = true;
+	return response;
+}
+
diff --git a/src/genivi_request.cpp b/src/genivi_request.cpp
new file mode 100644
index 0000000..a485667
--- /dev/null
+++ b/src/genivi_request.cpp
@@ -0,0 +1,350 @@
+// Copyright 2017 AW SOFTWARE CO.,LTD
+// Copyright 2017 AISIN AW CO.,LTD
+
+#include "genivi/navicore.h"
+#include "genivi/genivi-navicore-constants.h"
+#include "genivi_request.h"
+#include <stdio.h>
+#include <exception>
+#include <dbus-c++-1/dbus-c++/dbus.h>
+
+/**
+ *  @brief Destructor
+ */
+GeniviRequest::~GeniviRequest()
+{
+	delete (Navicore*)navicore_;
+	navicore_ = NULL;
+}
+
+/**
+ *  @brief  DBus session creation
+ */
+void GeniviRequest::CreateDBusSession( )
+{
+	try
+	{
+		static DBus::BusDispatcher dispatcher;
+		DBus::default_dispatcher = &dispatcher;
+		DBus::Connection conn = DBus::Connection::SessionBus();
+
+		navicore_ = new Navicore(conn, "/org/genivi/navicore", "org.agl.naviapi");
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+	}
+}
+
+/**
+ *  @brief      Check connection status
+ *  @return     Presence / absence of connection
+ */
+bool GeniviRequest::CheckSession()
+{
+	if(this->navicore_ == NULL)
+	{
+		this->CreateDBusSession();
+	}
+
+	try
+	{
+		// Get connection status
+		DBus::Connection conn = ((Navicore*)navicore_)->conn();
+		bool isConnect = conn.connected();
+
+		// If it is not connected, it issues an error
+		if(!isConnect)
+		{
+			fprintf(stderr, "Service has no session.\n");
+		}
+
+		return isConnect;
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+		return false;
+	}
+}
+
+/**
+ *  @brief      Call GeniviAPI GetPosition to get information
+ *  @param[in]  valuesToReturn Key arrangement of information acquired from Genivi
+ *  @return     Map information on key and value of information acquired from Genivi
+ */
+std::map< int32_t, double > GeniviRequest::NavicoreGetPosition( const std::vector< int32_t >& valuesToReturn )
+{
+	std::map< int32_t, double > ret;
+
+	if( !CheckSession() )
+	{
+		return ret;
+	}
+
+	try
+	{
+		std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > >::iterator it;
+		std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > > PosList =
+		    ((Navicore*)navicore_)->GetPosition(valuesToReturn);
+		for (it = PosList.begin(); it != PosList.end(); it++)
+		{
+			if (it->first == NAVICORE_LATITUDE || it->second._1 == NAVICORE_LATITUDE)
+			{
+				ret[it->first] = it->second._2.reader().get_double();
+			}
+			else if (it->first == NAVICORE_LONGITUDE || it->second._1 == NAVICORE_LONGITUDE)
+			{
+				ret[it->first] = it->second._2.reader().get_double();
+			}
+			else if (it->first == NAVICORE_HEADING || it->second._1 == NAVICORE_HEADING)
+			{
+				ret[it->first] = it->second._2.reader().get_uint32();
+			}
+#if 0 // no supported
+			else if (it->first == NAVICORE_TIMESTAMP || it->second._1 == NAVICORE_TIMESTAMP)
+			{
+				ret[it->first] = it->second._2.reader().get_uint32();
+			}
+			else if (it->first == NAVICORE_SPEED || it->second._1 == NAVICORE_SPEED)
+			{
+				ret[it->first] = it->second._2.reader().get_int32();
+			}
+#endif
+			else if (it->first == NAVICORE_SIMULATION_MODE || it->second._1 == NAVICORE_SIMULATION_MODE)
+			{
+				ret[it->first] = it->second._2.reader().get_bool();
+			}
+		}
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+	}
+
+	return ret;
+}
+
+/**
+ *  @brief  Call GeniviAPI GetPosition to get information
+ *  @return Route handle acquired from Genivi
+ */
+std::vector< uint32_t > GeniviRequest::NavicoreGetAllRoutes( void )
+{
+	if( !CheckSession() )
+	{
+		std::vector< uint32_t > no_route;
+		return no_route;
+	}
+
+	std::vector< uint32_t > allRoutes;
+	try
+	{
+		allRoutes = ((Navicore*)navicore_)->GetAllRoutes();
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+	}
+
+	return allRoutes;
+}
+
+
+/**
+ *  @brief      Call GeniviAPI GetPosition to get information
+ *  @param[in]  sessionHandle Session handle
+ *  @return     Route handle acquired from Genivi
+ */
+uint32_t GeniviRequest::NavicoreCreateRoute( const uint32_t& sessionHandle )
+{
+	if( !CheckSession() )
+	{
+		return 0;
+	}
+
+	uint32_t routeHandle = 0;
+	try
+	{
+		routeHandle = ((Navicore*)navicore_)->CreateRoute(sessionHandle);
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+	}
+
+	return routeHandle;
+}
+
+/**
+ *  @brief      Call GeniviAPI PauseSimulation
+ *  @param[in]  sessionHandle Session handle
+ */
+void GeniviRequest::NavicorePauseSimulation( const uint32_t& sessionHandle )
+{
+	if( !CheckSession() )
+	{
+		return;
+	}
+
+	try
+	{
+		((Navicore*)navicore_)->PauseSimulation(sessionHandle);
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+	}
+}
+
+
+/**
+ *  @brief      Call GeniviAPI SetSimulationMode
+ *  @param[in]  sessionHandle Session handle
+ *  @param[in]  activate Simulation mode enabled / disabled
+ */
+void GeniviRequest::NavicoreSetSimulationMode( const uint32_t& sessionHandle, const bool& activate )
+{
+	if( !CheckSession() )
+	{
+		return;
+	}
+
+	try
+	{
+		((Navicore*)navicore_)->SetSimulationMode(sessionHandle, activate);
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+	}
+}
+
+
+/**
+ *  @brief      Call GeniviAPI SetSimulationMode
+ *  @param[in]  sessionHandle Session handle
+ *  @param[in]  routeHandle Route handle
+ */
+void GeniviRequest::NavicoreCancelRouteCalculation( const uint32_t& sessionHandle, const uint32_t& routeHandle )
+{
+	if( !CheckSession() )
+	{ 
+		return;
+	}
+
+	try
+	{
+		((Navicore*)navicore_)->CancelRouteCalculation(sessionHandle, routeHandle);
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+	}
+}
+
+/**
+ *  @brief      Call GeniviAPI SetWaypoints
+ *  @param[in]  sessionHandle Session handle
+ *  @param[in]  routeHandle Route handle
+ *  @param[in]  startFromCurrentPosition Whether or not to draw a route from the position of the vehicle
+ *  @param[in]  waypointsList Destination coordinates
+ */
+void GeniviRequest::NavicoreSetWaypoints( const uint32_t& sessionHandle, const uint32_t& routeHandle,
+                    const bool& startFromCurrentPosition, const std::vector<Waypoint>& waypointsList )
+{
+	if( !CheckSession() )
+	{
+		return;
+	}
+
+	std::vector<Waypoint>::const_iterator it;
+	std::vector< std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > > > wpl;
+
+	fprintf(stdout, "session: %d, route: %d, startFromCurrentPosition: %d\n",
+	    sessionHandle, routeHandle, startFromCurrentPosition);
+
+	for (it = waypointsList.begin(); it != waypointsList.end(); it++)
+	{
+		std::map< int32_t, ::DBus::Struct< uint8_t, ::DBus::Variant > > Point;
+		::DBus::Struct< uint8_t, ::DBus::Variant > VarLat, VarLon;
+
+		VarLat._1 = NAVICORE_LATITUDE;
+		VarLat._2.writer().append_double(std::get<0>(*it));
+		fprintf(stdout, "VarLat._1 : %x, VarLat._2 : %lf\n", VarLat._1, VarLat._2.reader().get_double());
+
+		VarLon._1 = NAVICORE_LONGITUDE;
+		VarLon._2.writer().append_double(std::get<1>(*it));
+		fprintf(stdout, "VarLon._1 : %x, VarLon._2 : %lf\n", VarLon._1, VarLon._2.reader().get_double());
+
+		Point[NAVICORE_LATITUDE] = VarLat;
+		Point[NAVICORE_LONGITUDE] = VarLon;
+
+		wpl.push_back(Point);
+	}
+
+	try
+	{
+		((Navicore*)navicore_)->SetWaypoints(sessionHandle, routeHandle, startFromCurrentPosition, wpl);
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+	}
+}
+
+/**
+ *  @brief      Call GeniviAPI CalculateRoute
+ *  @param[in]  sessionHandle Session handle
+ *  @param[in]  routeHandle Route handle
+ */
+void GeniviRequest::NavicoreCalculateRoute( const uint32_t& sessionHandle, const uint32_t& routeHandle )
+{
+	if( !CheckSession() )
+	{
+		return;
+	}
+
+	try
+	{
+		((Navicore*)navicore_)->CalculateRoute(sessionHandle, routeHandle);
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+	}
+}
+
+
+/**
+ *  @brief  Call GeniviAPI CalculateRoute
+ *  @return Map information on key and value of information acquired from Genivi
+ */
+std::map<uint32_t, std::string> GeniviRequest::NavicoreGetAllSessions()
+{
+	std::map<uint32_t, std::string> ret;
+
+	if( !CheckSession() )
+	{
+		return ret;
+	}
+
+	std::vector< ::DBus::Struct< uint32_t, std::string > > ncAllSessions;
+	std::vector< ::DBus::Struct< uint32_t, std::string > >::iterator it;
+
+	try
+	{
+		ncAllSessions = ((Navicore*)navicore_)->GetAllSessions();
+		for (it = ncAllSessions.begin(); it != ncAllSessions.end(); it++)
+		{
+			ret[it->_1] = it->_2;
+		}
+	}
+	catch(const std::exception& e)
+	{
+		fprintf(stderr, "Error:%s\n", e.what());
+	}
+
+	return ret;
+}
+
diff --git a/src/navigation_info.cpp b/src/navigation_info.cpp
new file mode 100644
index 0000000..9e89bc5
--- /dev/null
+++ b/src/navigation_info.cpp
@@ -0,0 +1,126 @@
+// Copyright 2019 NEDL CO.,LTD
+
+#include<string.h>
+#include "navigation_info.h"
+
+using namespace std;
+
+void NavigationInfo::setNaviInfoSessionHandle( char* sessionHandle )
+{
+	mSessionHandle = stoi(sessionHandle);
+}
+
+uint32_t NavigationInfo::getNaviInfoSessionHandle()
+{
+	return mSessionHandle;
+}
+
+void NavigationInfo::setNaviInfoClient( string client )
+{
+	mClient = client;
+}
+
+string NavigationInfo::getNaviInfoClient()
+{
+	return mClient;
+}
+
+void NavigationInfo::setNaviInfoCurrentLatitude( char* latitude )
+{
+	strcpy(mCurrentLatitude,latitude);
+}
+
+void NavigationInfo::setNaviInfoCurrentHeading( char* heading )
+{
+	strcpy(mCurrentHeading,heading);
+}
+
+char* NavigationInfo::getNaviInfoCurrentLatitude()
+{
+	return mCurrentLatitude;
+}	
+
+void NavigationInfo::setNaviInfoCurrentLongitude( char* longitude )
+{
+	strcpy(mCurrentLongitude,longitude);
+}
+
+char* NavigationInfo::getNaviInfoCurrentLongitude()
+{
+	return mCurrentLongitude;
+}
+
+char* NavigationInfo::getNaviInfoCurrentHeading()
+{
+	return mCurrentHeading;
+}
+
+void NavigationInfo::setNaviInfoAllRoutes( char* route )
+{
+	mRoutes = stoi(route);
+}
+
+uint32_t NavigationInfo::getNaviInfoAllRoutes()
+{
+	return mRoutes;
+}
+
+void NavigationInfo::setNaviInfoDestLatitude( char* latitude )
+{
+	strcpy(mDestLatitude,latitude);
+}
+
+char* NavigationInfo::getNaviInfoDestLatitude()
+{
+	return mDestLatitude;
+}	
+
+void NavigationInfo::setNaviInfoDestLongitude( char* longitude )
+{
+	strcpy(mDestLongitude,longitude);
+}
+
+char* NavigationInfo::getNaviInfoDestLongitude()
+{
+	return mDestLongitude;
+}
+
+void NavigationInfo::setNaviInfoDemoLatitude( char* latitude )
+{
+	strcpy(mDemoLatitude,latitude);
+}
+
+char* NavigationInfo::getNaviInfoDemoLatitude()
+{
+	return mDemoLatitude;
+}	
+
+void NavigationInfo::setNaviInfoDemoLongitude( char* longitude )
+{
+	strcpy(mDemoLongitude,longitude);
+}
+
+char* NavigationInfo::getNaviInfoDemoLongitude()
+{
+	return mDemoLongitude;
+}
+
+void NavigationInfo::setNaviInfoDemoDistance( char* distance )
+{
+	strcpy(mDemoDistance,distance);
+}
+
+char* NavigationInfo::getNaviInfoDemoDistance()
+{
+	return mDemoDistance;
+}	
+
+void NavigationInfo::setNaviInfoDemoDirection( char* direction )
+{
+	strcpy(mDemoDirection,direction);
+}
+
+char* NavigationInfo::getNaviInfoDemoDirection()
+{
+	return mDemoDirection;
+}
\ No newline at end of file
diff --git a/src/traces.h b/src/traces.h
new file mode 100644
index 0000000..a1f96ec
--- /dev/null
+++ b/src/traces.h
@@ -0,0 +1,38 @@
+// Copyright 2017 AISIN AW CO.,LTD
+
+#ifndef __TRACE_H__
+#define __TRACE_H__
+
+#include <stdio.h>
+
+#define BLACK   "\033[30m"
+#define RED     "\033[31m"
+#define GREEN   "\033[32m"
+#define YELLOW  "\033[33m"
+#define BLUE    "\033[34m"
+#define PURPLE  "\033[35m"
+#define DGREEN  "\033[6m"
+#define WHITE   "\033[7m"
+#define CYAN    "\x1b[36m"
+#define NONE    "\033[0m"
+
+#ifdef NDEBUG
+
+#define TRACE_DEBUG_JSON(fmt, args...)
+#define TRACE_DEBUG(fmt, args...)
+#define TRACE_INFO(fmt, args...)
+#define TRACE_WARN(fmt, args...)
+#define TRACE_ERROR(fmt, args...)
+
+#else
+
+#define TRACE_DEBUG(fmt, args...) do { fprintf(stderr, "[%s:%d] " CYAN "DEBUG" NONE ": " fmt "\n", __func__, __LINE__, ##args); } while(0)
+#define TRACE_INFO(fmt, args...)  do { fprintf(stderr, "[%s:%d] " GREEN "INFO" NONE ":  " fmt "\n", __func__, __LINE__, ##args); } while(0)
+#define TRACE_WARN(fmt, args...)  do { fprintf(stderr, "[%s:%d] " YELLOW "WARN"  NONE":  " fmt "\n", __func__, __LINE__, ##args); } while(0)
+#define TRACE_ERROR(fmt, args...) do { fprintf(stderr, "[%s:%d] " RED "ERROR" NONE ": " fmt "\n", __func__, __LINE__, ##args); } while(0)
+
+#define TRACE_DEBUG_JSON(fmt, args...)
+
+#endif
+
+#endif // __TRACE_H__