Revert "Change steering to systemd service for ces2019"

This reverts commit 1fed2c5a38fed8bc91bb6b8a08982303eb9c2e82.

Change-Id: Id83b437eef556b8d3fcd95503b9ff5b4d94bc7a5
Signed-off-by: zheng_wenlong <wenlong_zheng@nexty-ele.com>

35 files changed, 864 insertions, 1415 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bc5eb50..4c343b3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+# Copyright (c) 2017 TOYOTA MOTOR CORPORATION
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,20 +14,19 @@
 # limitations under the License.
 #
 
-project(wheel-service C)
+project(af-steering-wheel-binding C)
 
 cmake_minimum_required(VERSION 2.8)
 
 include(GNUInstallDirs)
 
-set(PROJECT_NAME "wheel-service")
-set(PROJECT_PRETTY_NAME "a wheel service")
-set(PROJECT_DESCRIPTION "a wheel service of steering wheel")
+set(PROJECT_NAME "af-steering-wheel-binding")
+set(PROJECT_PRETTY_NAME "af binding for steering wheel")
+set(PROJECT_DESCRIPTION "Binding for handling Vehicle signalisation of steering wheel")
 set(PROJECT_VERSION "1.0")
 
 #set(CMAKE_BUILD_TYPE Debug)
 set(CMAKE_BUILD_TYPE Release)
-link_libraries(-lm -lrt)
 
 add_subdirectory(src)
 
diff --git a/README.md b/README.md
index 6c71a1c..5d54cc6 100644
--- a/README.md
+++ b/README.md
@@ -1,13 +1,14 @@
 Information
 ====
-<br>This service will be started by systemd, and then
-<br>use logitel G29 to get wheel info for low-level-can-service.
+<br>This service use logitel G29 to get wheel info for application same as low-level-can-service.
 <br>It will read information from usb g29 as /dev/input/js0.
-<br>And post steering wheel information to "hs" device which is defined in /etc/dev-mapping.conf.
+<br>And give steering wheel information for application.
 
 * Hardware: Renesas m3ulcb
-* Software: FF 6.0.0
-* project name: wheel-service
+* Software: Daring Dab 4.0.0
+* binding name: af-steering-wheel-binding
+* provide api: steering-wheel
+* verbs: list, subscribe, unsubscribe
 * support device: Logitech G29 steering wheel
 * steering wheel information is write in steering_wheel_map.json
     * VehicleSpeed			< Engine Speed * Gear parameter / 100 >
@@ -18,27 +19,43 @@ Information
     * SteeringWheelAngle		< 0～360 >
     * TurnSignalStatus		< 0:None / 1:RightTurn / 2:LeftTurn >
     * LightStatusBrake		< 0:None / 1:BrakeEnable >
+* verbs
+    * list
+    * subscribe { "event" : "EngineSpeed" }
+    * unsubscribe { "event" : "EngineSpeed" }
 
 How to compile and install
 ====
-<br>	These is a sample recipes for wheel-service, you can just add that recipes into your project and bitbake.
+<br>	These is a sample recipes for af-steering-wheel-binding, you can just add that recipes into your project and bitbake.
 <br>	Sample Recipes: agl-service-steering-wheel_0.1.bb
 
 How to use
 ====
 For AGL Application
 ----
-<br>1.you can use candev.sh to start can device.
-<br>2.use below command to start wheel.service.
+<br>1 add these code below into config.xml
 ```
-systemctl start wheel.service
+  <param name="steering-wheel" value="ws"/>
 ```
-<br>3.copy sample/application-generated.cpp file to low-level-can-service's low-can-binding/binding/ folder to overwrite the same file.
-<br>4.compile low-level-can-service and reinstall low-can-service.wgt.
-<br>5.use afb-client-demo to get event.
+<br>2 add WebSocket into qml file and subscribe event name what you need.
+<br>You can find a file named [token-websock.qml] in app-framework-binder.git.
+<br>It's a template for qml. You need modify these informations to connect agl-service-steering.
+```
+property string address_str: "ws://localhost:5555/api?token=3210"
+property string api_str: "steering-wheel"
+property string verb_str: ""
+```
+
+For demo application
+----
+<br>1 you can run this service by shell script
+```
+afb-daemon --token=3210 --ldpaths=${steering-wheel-library-path} --port=5555 --rootdir=. &
+```
+<br>2 use afb-client-demo to get event.
 ```
 afb-client-demo ws://localhost:5555/api?token=3210
-low-can list
-low-can subscribe { "event" : "engine.speed" }
-low-can unsubscribe { "event" : "engine.speed" }
+steering-wheel list
+steering-wheel subscribe { "event" : "EngineSpeed" }
+steering-wheel unsubscribe { "event" : "EngineSpeed" }
 ```
diff --git a/conf/files/etc/steering_wheel.json b/conf/files/etc/steering_wheel.json
deleted file mode 100644
index d470628..0000000
--- a/conf/files/etc/steering_wheel.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-	"dev_name": "/dev/input/js0",
-	"wheel_map": "/etc/steering_wheel_map.json",
-	"gear_para": "/etc/gear_shift_para.json"
-}
diff --git a/conf/files/etc/steering_wheel_map.json b/conf/files/etc/steering_wheel_map.json
deleted file mode 100644
index 86fbd7c..0000000
--- a/conf/files/etc/steering_wheel_map.json
+++ /dev/null
@@ -1,84 +0,0 @@
-{
-	"PROPERTYS" : [
-		{
-		"PROPERTY"		: "VehicleSpeed",
-		"TYPE"			: "uint16_t",
-		"CANID"			: "3E9",
-		"BIT_POSITION"	: "0",
-		"BIT_SIZE"		: "15",
-		"DLC"			: "8"
-		},
-		{
-		"PROPERTY"		: "EngineSpeed",
-		"TYPE"			: "uint16_t",
-		"CANID"			: "3D9",
-		"BIT_POSITION"	: "16",
-		"BIT_SIZE"		: "16",
-		"DLC"			: "8"
-		},
-		{
-		"PROPERTY"		: "AcceleratorPedalPosition",
-		"TYPE"			: "uint16_t",
-		"CANID"			: "5D1",
-		"BIT_POSITION"	: "16",
-		"BIT_SIZE"		: "8",
-		"DLC"			: "8"
-		},
-		{
-		"PROPERTY"		: "TransmissionGearInfo",
-		"TYPE"			: "uint16_t",
-		"CANID"			: "5D2",
-		"BIT_POSITION"	: "20",
-		"BIT_SIZE"		: "4",
-		"DLC"			: "8"
-		},
-		{
-		"PROPERTY"		: "TransmissionMode",
-		"TYPE"			: "uint16_t",
-		"CANID"			: "5D2",
-		"BIT_POSITION"	: "16",
-		"BIT_SIZE"		: "4",
-		"DLC"			: "8"
-		},
-		{
-		"PROPERTY"		: "SteeringWheelAngle",
-		"TYPE"			: "uint16_t",
-		"CANID"			: "5D1",
-		"BIT_POSITION"	: "4",
-		"BIT_SIZE"		: "12",
-		"DLC"			: "8"
-		},
-		{
-		"PROPERTY"		: "TurnSignalStatus",
-		"TYPE"			: "uint16_t",
-		"CANID"			: "5D3",
-		"BIT_POSITION"	: "26",
-		"BIT_SIZE"		: "3",
-		"DLC"			: "8"
-		},
-		{
-		"PROPERTY"		: "LightStatusBrake",
-		"TYPE"			: "bool",
-		"CANID"			: "5D3",
-		"BIT_POSITION"	: "7",
-		"BIT_SIZE"		: "1",
-		"DLC"			: "8"
-		},
-		{
-		"PROPERTY"		: "ParkingStatusBrake",
-		"TYPE"			: "bool",
-		"CANID"			: "5D3",
-		"BIT_POSITION"	: "8",
-		"BIT_SIZE"		: "1",
-		"DLC"			: "8"
-		},
-		{
-		"PROPERTY"		: "FuelLevel",
-		"TYPE"			: "uint16_t",
-		"CANID"			: "3D9",
-		"BIT_POSITION"	: "8",
-		"BIT_SIZE"		: "8",
-		"DLC"			: "8"
-		}
-	]
-}
diff --git a/conf/files/etc/udev/rules.d/90-wheel.rules b/conf/files/etc/udev/rules.d/90-wheel.rules
deleted file mode 100644
index 09b9d46..0000000
--- a/conf/files/etc/udev/rules.d/90-wheel.rules
+++ /dev/null
@@ -1 +0,0 @@
-ACTION=="add", SUBSYSTEMS=="input", KERNELS=="input[0-9]*", ATTRS{name}=="Logitech G29 Driving Force Racing Wheel", RUN+="/bin/systemctl start wheel.service"
diff --git a/conf/files/lib/systemd/system/usbcan0.service b/conf/files/lib/systemd/system/usbcan0.service
deleted file mode 100644
index 12dc9e1..0000000
--- a/conf/files/lib/systemd/system/usbcan0.service
+++ /dev/null
@@ -1,8 +0,0 @@
-[Unit]
-Description=slcan0 starter 
-After=remote-fs.target
-After=syslog.target
-
-[Service]
-ExecStart=/usr/bin/slcand -F -o -s6 -t hw -S 3000000 /dev/ttyUSB0
-Restart=on-failure
diff --git a/conf/files/lib/systemd/system/usbcan1.service b/conf/files/lib/systemd/system/usbcan1.service
deleted file mode 100644
index a2b4d1a..0000000
--- a/conf/files/lib/systemd/system/usbcan1.service
+++ /dev/null
@@ -1,8 +0,0 @@
-[Unit]
-Description=slcan1 starter 
-After=remote-fs.target
-After=syslog.target
-
-[Service]
-ExecStart=/usr/bin/slcand -F -o -s6 -t hw -S 3000000 /dev/ttyUSB1
-Restart=on-failure
diff --git a/conf/files/lib/systemd/system/wheel.service b/conf/files/lib/systemd/system/wheel.service
deleted file mode 100644
index 85c881f..0000000
--- a/conf/files/lib/systemd/system/wheel.service
+++ /dev/null
@@ -1,7 +0,0 @@
-[Unit]
-Description=wheel-service starter
-After=syslog.target
-
-[Service]
-ExecStart=/usr/bin/wheel-service
-Restart=on-failure
diff --git a/conf/files/usr/bin/candev.sh b/conf/files/usr/bin/candev.sh
deleted file mode 100755
index fc47cb6..0000000
--- a/conf/files/usr/bin/candev.sh
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/bin/bash
-
-function execProc(){
-	dev=$1
-	
-	if [ "canCK" == ${dev:0:3}"CK" ]; then
-		modprobe can
-		ip link set $dev up type can bitrate 500000
-	elif [ "vcanCK" == ${dev:0:4}"CK" ]; then
-		modprobe vcan
-		ip link add $dev type vcan
-		ip link set $dev up
-	elif [ "slcanCK" == ${dev:0:5}"CK" ]; then
-		modprobe slcan
-		systemctl start usbcan${dev:5:1}
-		ip link set $dev up
-		ip link
-		ifconfig $dev txqueuelen 1000
-	fi
-}
-
-if [ -e /etc/dev-mapping.conf ]; then
-	hs=`cat /etc/dev-mapping.conf | grep hs | cut -d '"' -f 2`
-	ls=`cat /etc/dev-mapping.conf | grep ls | cut -d '"' -f 2`
-else
-	echo -e "[CANbus-mapping]\nhs=\"vcan0\"\nls=\"vcan1\"\n" > /etc/dev-mapping.conf
-	hs=vcan0
-	ls=vcan1
-fi
-
-echo "candev "$hs
-execProc $hs
-if [ $hs != $ls  ]; then
-    echo "candev "$ls
-    execProc $ls
-fi
diff --git a/sample/agl-service-steering-wheel_0.1.bb b/sample/agl-service-steering-wheel_0.1.bb
index 8d57bbb..2391459 100644
--- a/sample/agl-service-steering-wheel_0.1.bb
+++ b/sample/agl-service-steering-wheel_0.1.bb
@@ -7,39 +7,10 @@ SECTION = "apps"
 SRC_URI = "git://gerrit.automotivelinux.org/gerrit/apps/agl-service-steering-wheel;protocol=http;branch=master"
 SRCREV = "8f6baa6092eb09919b71acbaaab9f013dcac599a"
 
-PN = "agl-service-steering-wheel"
+PN          = "agl-service-steering-wheel"
 S = "${WORKDIR}/git"
 
 DEPENDS = "glib-2.0 af-binder"
 
-inherit cmake pkgconfig
+inherit cmake aglwgt
 
-do_install() {
-	install -d ${D}/etc/
-	install -m 0644 ${S}/conf/files/etc/steering_wheel.json ${D}/etc/
-	install -m 0644 ${S}/conf/files/etc/steering_wheel_map.json ${D}/etc/
-	install -m 0644 ${S}/conf/files/etc/gear_shift_para.json ${D}/etc/
-
-	install -d ${D}/lib/systemd/system
-	install -m 0644 ${S}/conf/files/lib/systemd/system/wheel.service ${D}/lib/systemd/system
-	install -m 0644 ${S}/conf/files/lib/systemd/system/usbcan0.service ${D}/lib/systemd/system
-	install -m 0644 ${S}/conf/files/lib/systemd/system/usbcan1.service ${D}/lib/systemd/system
-
-	install -d ${D}/usr/bin
-	install -m 755 ${S}/conf/files/usr/bin/candev.sh ${D}/usr/bin
-	install -m 755 ${B}/bin/wheel-service ${D}/usr/bin
-	
-	install -d ${D}/etc/udev/rules.d/
-	install -m 0644 ${S}/conf/files/etc/udev/rules.d/90-wheel.rules ${D}/etc/udev/rules.d/
-}
-
-FILES_${PN} += "/etc/steering_wheel.json \
-	/etc/steering_wheel_map.json \
-	/etc/gear_shift_para.json \
-	/usr/bin/candev.sh \
-	/usr/bin/wheel-service \
-	/lib/systemd/system/wheel.service \
-	/lib/systemd/system/usbcan0.service \
-	/lib/systemd/system/usbcan1.service \
-	/etc/udev/rule.d/90-wheel.rules \
-	"
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index bd80cec..73377ca 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+# Copyright (c) 2017 TOYOTA MOTOR CORPORATION
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -26,19 +26,20 @@ add_compile_options(-Werror=maybe-uninitialized)
 add_compile_options(-Werror=implicit-function-declaration)
 add_compile_options(-ffunction-sections -fdata-sections)
 add_compile_options(-Wl,--as-needed -Wl,--gc-sections)
-#add_compile_options(-fPIC)
+add_compile_options(-fPIC)
 
 set(CMAKE_C_FLAGS_PROFILING    "-g -O0 -pg -Wp,-U_FORTIFY_SOURCE")
 set(CMAKE_C_FLAGS_DEBUG        "-g -O0 -ggdb -Wp,-U_FORTIFY_SOURCE")
 set(CMAKE_C_FLAGS_RELEASE      "-g -O2")
 set(CMAKE_C_FLAGS_CCOV         "-g -O2 --coverage")
+set(LIBRARY_OUTPUT_PATH		   ${PROJECT_BINARY_DIR}/package/root/lib)
 
 ###########################################################################
 
 include(FindPkgConfig)
 
 #*<NESSARY>  pkg_check_modules(EXTRAS REQUIRED json-c libsystemd afb-daemon)
-pkg_check_modules(EXTRAS REQUIRED json-c libsystemd)
+#pkg_check_modules(EXTRAS REQUIRED json-c)
 add_compile_options(${EXTRAS_CFLAGS})
 include_directories(${EXTRAS_INCLUDE_DIRS})
 link_libraries(${EXTRAS_LIBRARIES})
@@ -53,8 +54,54 @@ include_directories(${GIO_UNIX_INCLUDE_DIRS})
 link_libraries(${GIO_UNIX_LIBRARIES})
 message(STATUS "${GIO_UNIX_INCLUDE_DIRS}")
 
+#set(VAR "")
+#get_target_property(VAR target INCLUDE_DIRECTORIES)
+#message(STATUS "${VAR}")
+
+###########################################################################
+# the binding for afb
+
+message(STATUS "Creation af-steering-wheel-binding for AFB-DAEMON")
+
+###############################################################
+#pkg_get_variable(afb_binding_install_dir afb-daemon binding_install_dir)
+
+#*<NESSARY>
+#* execute_process(
+#*	COMMAND pkg-config --variable binding_install_dir afb-daemon
+#*	OUTPUT_VARIABLE afb_binding_install_dir OUTPUT_STRIP_TRAILING_WHITESPACE
+#* )
+
 ###############################################################
-SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
-AUX_SOURCE_DIRECTORY(. SRC_LST)
-ADD_EXECUTABLE(	wheel-service ${SRC_LST})
-TARGET_LINK_LIBRARIES( wheel-service pthread)
+add_library(af-steering-wheel-binding MODULE af-steering-wheel-binding.c bind_event.c steering_wheel_json.c prop_info.c prop_search.c js_signal_event.c js_raw.c)
+set_target_properties(af-steering-wheel-binding PROPERTIES
+	PREFIX ""
+	LINK_FLAGS "-Wl,--version-script=${CMAKE_CURRENT_SOURCE_DIR}/export.map"
+)
+
+add_custom_command(TARGET af-steering-wheel-binding POST_BUILD
+		COMMAND cp -f ${CMAKE_CURRENT_SOURCE_DIR}/config.xml ${CMAKE_CURRENT_SOURCE_DIR}/steering_wheel.json ${CMAKE_CURRENT_SOURCE_DIR}/icon.png ${PROJECT_BINARY_DIR}/package/root
+		COMMAND cp -f ${CMAKE_CURRENT_SOURCE_DIR}/steering_wheel_map.json ${CMAKE_CURRENT_SOURCE_DIR}/gear_shift_para.json ${PROJECT_BINARY_DIR}/package/root)
+
+add_custom_target(package DEPENDS ${PROJECT_BINARY_DIR}/package/root
+		COMMAND wgtpkg-pack -f -o ${PROJECT_BINARY_DIR}/package/${PROJECT_NAME}.wgt ${PROJECT_BINARY_DIR}/package/root)
+
+#*<NESSARY>  install(TARGETS af-canivi-binding LIBRARY DESTINATION ${afb_binding_install_dir})
+# <OR following packaging>
+##############################################################
+# WGT packaging
+
+#message(STATUS "Creation of af-canivi.wgt package for AppFW")
+##############################################################
+#configure_file(config.xml.in config.xml)
+#add_custom_command(
+#    OUTPUT af-canivi.wgt
+#    COMMAND rm -rf package
+#    COMMAND mkdir -p package/libs package/htdocs
+#    COMMAND cp config.xml package/
+#    COMMAND cp ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_ICON} package/icon.png
+#    COMMAND cp af-canivi-binding.so package
+#    COMMAND wgtpkg-pack -f -o af-canivi.wgt package
+#)
+#add_custom_target(widget ALL DEPENDS af-canivi.wgt)
+
diff --git a/src/af-steering-wheel-binding.c b/src/af-steering-wheel-binding.c
new file mode 100644
index 0000000..908bf71
--- /dev/null
+++ b/src/af-steering-wheel-binding.c
@@ -0,0 +1,426 @@
+/*
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ *
+ * 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 _GNU_SOURCE
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <netdb.h>
+#include <fcntl.h>
+#include <math.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+
+#include <systemd/sd-event.h>
+
+#include "af-steering-wheel-binding.h"
+#include "bind_event.h"
+#include "steering_wheel_json.h"
+#include "prop_search.h"
+#include "js_raw.h"
+
+#define ENABLE_EVENT_DROP
+
+struct wheel_conf
+{
+	char *devname;
+};
+
+int notify_property_changed(struct prop_info_t *property_info)
+{
+	struct bind_event_t *event;
+
+	//NOTICEMSG("notify_property_changed %s", property_info->name);
+	event =  get_event(property_info->name);
+	if (event == NULL)
+	{
+			DBGMSG("<IGNORE event>: event(\"%s\") is not subscribed", property_info->name);
+			return 1;
+	}
+
+	if (afb_event_is_valid(event->event))
+	{
+		int recved_client;
+
+		recved_client = afb_event_push(event->event, property2json(property_info));
+		if(recved_client < 1)
+		{
+			if(recved_client == 0)
+			{
+				DBGMSG("event(\"%s\") is no client.", property_info->name);
+#ifdef ENABLE_EVENT_DROP
+				/* Drop event */
+				remove_event(property_info->name);
+#endif
+			}
+			else
+			{
+				ERRMSG("count of clients that received the event : %d",recved_client);
+			}
+
+			return 1;
+		} /* else  (1 <= recved_lient)
+		   *	NORMAL
+		   */
+	}
+	else
+	{
+		ERRMSG("event(\"%s\") is invalid. don't adb_event_push()", property_info->name);
+		return 1;
+	}
+
+	return 0;
+}
+
+static int	connection(struct wheel_conf *conf)
+{
+	int js;
+	int ret;
+	sd_event_source *source;
+
+	js = js_open(conf->devname);
+	if (js < 0)
+	{
+		js_close(js);
+		ERRMSG("can't connect to joy stick, the event loop failed");
+		return 0;
+	}
+
+	ret = sd_event_add_io(
+			    afb_daemon_get_event_loop(),
+				&source,
+				js,
+				EPOLLIN,
+				on_event, NULL);
+	if (ret < 0)
+	{
+		js_close(js);
+		ERRMSG("can't add event, the event loop failed");
+		return 0;
+	}
+
+	NOTICEMSG("connect to JS(%s), event loop started",conf->devname);
+
+	return 0;
+}
+
+/***************************************************************************************/
+/**                                                                                   **/
+/**                                                                                   **/
+/**       SECTION: BINDING VERBS IMPLEMENTATION                                       **/
+/**                                                                                   **/
+/**                                                                                   **/
+/***************************************************************************************/
+/**
+ * get method.
+ */
+static void get(struct afb_req req)
+{
+
+}
+
+///**
+// * set method.
+// */
+//static void set(struct afb_req req)
+//{
+//
+//}
+
+/**
+ * list method.
+ */
+static struct json_object *tmplists;
+
+static void _listup_properties(struct prop_info_t *property_info)
+{
+	if (property_info->name == NULL)
+	{
+		return;
+	}
+	else
+	{
+		json_object_array_add(tmplists, json_object_new_string(property_info->name));
+	}
+}
+
+static void list(struct afb_req req)
+{
+	if (tmplists != NULL)
+	{
+		json_object_put(tmplists);
+	}
+	tmplists = json_object_new_array();
+	if (tmplists == NULL)
+	{
+		ERRMSG("not enough memory");
+		afb_req_fail(req,"not enough memory", NULL);
+		return;
+	}
+	(void)canid_walker(_listup_properties);
+	afb_req_success(req, tmplists, NULL);
+}
+
+/**
+ * subscribe method.
+ */
+static int subscribe_all(struct afb_req req, struct json_object *apply);
+
+static int  subscribe_signal(struct afb_req req, const char *name, struct json_object *apply)
+{
+	struct bind_event_t *event;
+
+	if(strcmp(name, "*") == 0)
+	{
+		return subscribe_all(req, apply);
+	}
+
+	event = get_event(name);
+	if (event == NULL)
+	{
+		event = register_event(name);
+		if (event == NULL)
+		{
+			ERRMSG("register event failed: %s", name);
+			return 1;
+		}
+	}
+	else
+	{
+		DBGMSG("subscribe event: \"%s\" alrady exist", name);
+	}
+
+	if (afb_req_subscribe(req, event->event) != 0)
+	{
+		ERRMSG("afb_req_subscrive() is failed.");
+		return 1;
+	}
+
+	json_object_object_add(apply, event->name, property2json(event->raw_info));
+
+	return 0;
+}
+
+static int subscribe_all(struct afb_req req, struct json_object *apply)
+{
+	int i;
+	int nProp;
+	const char **list = getSupportPropertiesList(&nProp);
+	int err = 0;
+	for(i = 0; i < nProp; i++)
+		err += subscribe_signal(req, list[i], apply);
+
+	return err;
+}
+
+static void subscribe(struct afb_req req)
+{
+	struct json_object *apply;
+	int err = 0;
+	const char *event;
+
+	event = afb_req_value(req, "event");
+	if (event == NULL)
+	{
+		ERRMSG("Unknwon subscrive event args");
+		afb_req_fail(req, "error", NULL);
+		return;
+	}
+	apply = json_object_new_object();
+	err = subscribe_signal(req, event, apply);
+
+	if (!err)
+	{
+		afb_req_success(req, apply, NULL);
+	}
+	else
+	{
+		json_object_put(apply);
+		afb_req_fail(req, "error", NULL);
+	}
+}
+
+/**
+ * unsubscribe method.
+ */
+
+static int unsubscribe_all(struct afb_req req);
+
+static int unsubscribe_signal(struct afb_req req, const char *name)
+{
+	struct bind_event_t *event;
+	if(strcmp(name, "*") == 0)
+	{
+		return unsubscribe_all(req);
+	}
+
+	event = get_event(name);
+	if (event == NULL)
+	{
+		ERRMSG("not subscribed event \"%s\"", name);
+		return 0; /* Alrady unsubscribed */
+	}
+	if (afb_req_unsubscribe(req, event->event) != 0)
+	{
+		ERRMSG("afb_req_subscrive() is failed.");
+		return 1;
+	}
+
+	return 0;
+}
+
+static int unsubscribe_all(struct afb_req req)
+{
+	int i;
+	int nProp;
+	const char **list = getSupportPropertiesList(&nProp);
+	int err = 0;
+	for(i = 0; i < nProp; i++)
+	{
+		err += unsubscribe_signal(req, list[i]);
+	}
+
+	return err;
+}
+
+static void unsubscribe(struct afb_req req)
+{
+	struct json_object *args, *val;
+	int n,i;
+	int err = 0;
+
+	args = afb_req_json(req);
+	if ((args == NULL) || !json_object_object_get_ex(args, "event", &val))
+	{
+		err = unsubscribe_all(req);
+	}
+	else if (json_object_get_type(val) != json_type_array)
+	{
+		err = unsubscribe_signal(req, json_object_get_string(val));
+	}
+	else
+	{
+		struct json_object *ent;
+		n = json_object_array_length(val);
+		for (i = 0; i < n; i++)
+		{
+			ent = json_object_array_get_idx(val,i);
+			err += unsubscribe_signal(req, json_object_get_string(ent));
+		}
+	}
+
+	if (!err)
+		afb_req_success(req, NULL, NULL);
+	else
+		afb_req_fail(req, "error", NULL);
+}
+
+/*
+ * parse configuration file (steering_wheel.json)
+ */
+static int init_conf(int fd_conf, struct wheel_conf *conf)
+{
+#define CONF_FILE_MAX (1024)
+	char filebuf[CONF_FILE_MAX];
+	json_object *jobj;
+
+	memset(filebuf,0, sizeof(filebuf));
+	FILE *fp = fdopen(fd_conf,"r");
+	if (fp == NULL)
+	{
+		ERRMSG("canno read configuration file(steering_wheel.json)");
+		return -1;
+	}
+
+	fread(filebuf, 1, sizeof(filebuf), fp);
+	fclose(fp);
+
+	jobj = json_tokener_parse(filebuf);
+	if (jobj == NULL)
+	{
+		ERRMSG("json: Invalid steering_wheel.json format");
+		return -1;
+	}
+	json_object_object_foreach(jobj, key, val)
+	{
+		if (strcmp(key,"dev_name") == 0)
+		{
+			conf->devname = strdup(json_object_get_string(val));
+		}
+		else if (strcmp(key,"wheel_map") == 0)
+		{
+			wheel_define_init(json_object_get_string(val));
+		}
+		else if (strcmp(key,"gear_para") == 0)
+		{
+			wheel_gear_para_init(json_object_get_string(val));
+		}
+	}
+	json_object_put(jobj);
+
+	return 0;
+}
+
+static int init()
+{
+	NOTICEMSG("init");
+
+	int fd_conf;
+	struct wheel_conf conf;
+   	fd_conf = afb_daemon_rootdir_open_locale("steering_wheel.json", O_RDONLY, NULL);
+	if (fd_conf < 0)
+	{
+		ERRMSG("wheel configuration (steering_wheel.json) is not access");
+		return -1;
+	}
+	if (init_conf(fd_conf, &conf))
+	{
+		return -1;
+	}
+	return connection(&conf);
+}
+
+/*
+ * array of the verbs exported to afb-daemon
+ */
+static const struct afb_verb_v2 binding_verbs[] =
+{
+  /* VERB'S NAME            SESSION MANAGEMENT          FUNCTION TO CALL         Authorization */
+  { .verb= "get",          .session= AFB_SESSION_NONE, .callback= get,          .info = "get", .auth = NULL },
+//  { .name= "set",          .session= AFB_SESSION_NONE, .callback= set,        .auth = NULL },
+  { .verb= "list",         .session= AFB_SESSION_NONE, .callback= list,         .info = "list", .auth = NULL },
+  { .verb= "subscribe",    .session= AFB_SESSION_NONE, .callback= subscribe,    .info = "subscribe", .auth = NULL },
+  { .verb= "unsubscribe",  .session= AFB_SESSION_NONE, .callback= unsubscribe,  .info = "unsubscribe", .auth = NULL },
+  { .verb= NULL } /* marker for end of the array */
+};
+
+/*
+ * description of the binding for afb-daemon
+ */
+const struct afb_binding_v2 afbBindingV2 =
+{
+	.api = "steering-wheel",
+	.specification = NULL,
+    .verbs = binding_verbs,			 /* the array describing the verbs of the API */
+    .preinit = NULL,
+    .init = init,
+    .onevent = NULL,
+    .noconcurrency = 1
+};
diff --git a/src/wheel-service.h b/src/af-steering-wheel-binding.h
index f588599..1b7323c 100644
--- a/src/wheel-service.h
+++ b/src/af-steering-wheel-binding.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -19,10 +19,16 @@
 
 #define AFB_BINDING_VERSION 2
 #include <afb/afb-binding.h>
+
 #include "prop_info.h"
-#include "debug_msg.h"
 
-#define LOG_PREFIX     "wheel-service"
+#if !defined(NO_BINDING_VERBOSE_MACRO)
+#define	ERRMSG(msg, ...) AFB_ERROR(msg,##__VA_ARGS__)
+#define	WARNMSG(msg, ...) AFB_WARNING(msg,##__VA_ARGS__)
+#define	DBGMSG(msg, ...) AFB_DEBUG(msg,##__VA_ARGS__)
+#define	INFOMSG(msg, ...) AFB_INFO(msg,##__VA_ARGS__)
+#define NOTICEMSG(msg, ...) AFB_NOTICE(msg,##__VA_ARGS__)
+#endif
 
 extern int notify_property_changed(struct prop_info_t *property_info);
 
diff --git a/src/bind_event.c b/src/bind_event.c
new file mode 100644
index 0000000..01887cd
--- /dev/null
+++ b/src/bind_event.c
@@ -0,0 +1,114 @@
+/*
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ *
+ * 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 _GNU_SOURCE
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <search.h>
+
+#include "af-steering-wheel-binding.h"
+#include "bind_event.h"
+#include "prop_search.h"
+
+static  void *bind_event_root = NULL;
+
+static int compare(const void *pa, const void *pb)
+{
+	struct bind_event_t *a = (struct bind_event_t *)pa;
+	struct bind_event_t *b = (struct bind_event_t *)pb;
+	return strcmp(a->name, b->name);
+}
+
+struct bind_event_t *get_event(const char *name)
+{
+	struct bind_event_t key;
+	void *ent;
+
+	/*
+ 	 * search subscribed event.
+ 	 */
+	key.name = name;
+	ent = tfind(&key, &bind_event_root, compare);
+	if (ent != NULL)
+		return *(struct bind_event_t **)ent; /* found */
+	return NULL; /* not found */
+}
+
+struct bind_event_t *register_event(const char *name)
+{
+	struct bind_event_t *evt;
+	struct prop_info_t *property_info;
+	void *ent;
+
+	property_info = getProperty_dict(name);
+	if (property_info == NULL)
+	{
+		ERRMSG("NOT Supported property:\"%s\".", name);
+		return NULL;
+	}
+	evt = calloc(1, sizeof(*evt));
+	if (evt == NULL)
+	{
+		ERRMSG("not enough memory");
+		return NULL;
+	}
+
+	evt->event = afb_daemon_make_event(property_info->name);
+	if (!afb_event_is_valid(evt->event))
+	{
+		free(evt);
+		ERRMSG("afb_daemon_make_event failed");
+		return NULL;
+	}
+
+	evt->name = property_info->name;
+	evt->raw_info = property_info;
+	ent = tsearch(evt, &bind_event_root, compare);
+	if (ent == NULL)
+	{
+		ERRMSG("not enough memory");
+		afb_event_drop(evt->event);
+		free(evt);
+		return NULL;
+	}
+#ifdef DEBUG /* double check */
+	if ((*(struct bind_event_t **)ent) != evt)
+		ERRMSG("event \"%s\" is duplicate?", property_info->name);
+#endif
+
+	return  evt;
+}
+
+int remove_event(const char *name)
+{
+	struct bind_event_t *dnode;
+	struct bind_event_t key;
+	void *p;
+
+	key.name = name;
+	p = tfind(&key, &bind_event_root, compare);
+	if (p == NULL)
+	{
+		return 0;
+	}
+	dnode = *(struct bind_event_t **)p;
+	afb_event_drop(dnode->event);
+	tdelete(&key, &bind_event_root, compare);
+	free(dnode);
+
+	return 0;
+}
diff --git a/src/bind_event.h b/src/bind_event.h
new file mode 100644
index 0000000..5e44a5b
--- /dev/null
+++ b/src/bind_event.h
@@ -0,0 +1,33 @@
+/*
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ *
+ * 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 _BIND_EVENT_H_
+#define _BIND_EVENT_H_
+
+#include "prop_info.h"
+
+struct bind_event_t {
+	const char *name;       /* name of the event : IvI Property-Name */
+	struct afb_event event; /* the event for the binder              */
+	struct prop_info_t *raw_info;
+};
+
+extern struct bind_event_t *get_event(const char *name);
+extern struct bind_event_t *register_event(const char *name);
+extern int remove_event(const char *name);
+
+#endif
+
diff --git a/src/can_encoder.c b/src/can_encoder.c
deleted file mode 100644
index 672bfd3..0000000
--- a/src/can_encoder.c
+++ /dev/null
@@ -1,344 +0,0 @@
-/*
- * Copyright (c) 2017-2018 TOYOTA MOTOR CORPORATION
- *
- * 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 _GNU_SOURCE
-#include <stdio.h>
-#include <string.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <linux/can.h>
-#include <linux/can/error.h>
-#include <pthread.h>
-#include <search.h>
-
-#include "can_encoder.h"
-#include "debug_msg.h"
-#include "wheel-service.h"
-
-
-#define CANID_DELIM '#'
-#define DATA_SEPERATOR '.'
-
-
-static struct can_data_t *phead = NULL, *ptail = NULL;
-static pthread_mutex_t lock;
-static char buf[MAX_CANDATA_SIZE+1] = {0};
-static char str[MAX_LENGTH+1] = {0};
-static void *canmsg_root = NULL;
-
-
-/* CAN DLC to real data length conversion helpers */
-static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
-					8, 12, 16, 20, 24, 32, 48, 64};
-
-/*
- * get data length from can_dlc with sanitized can_dlc
- */
-unsigned char can_dlc2len(unsigned char can_dlc)
-{
-	return dlc2len[can_dlc & 0x0F];
-}
-
-static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8,		/* 0 - 8 */
-					9, 9, 9, 9,											/* 9 - 12 */
-					10, 10, 10, 10,										/* 13 - 16 */
-					11, 11, 11, 11,										/* 17 - 20 */
-					12, 12, 12, 12,										/* 21 - 24 */
-					13, 13, 13, 13, 13, 13, 13, 13,						/* 25 - 32 */
-					14, 14, 14, 14, 14, 14, 14, 14,						/* 33 - 40 */
-					14, 14, 14, 14, 14, 14, 14, 14,						/* 41 - 48 */
-					15, 15, 15, 15, 15, 15, 15, 15,						/* 49 - 56 */
-					15, 15, 15, 15, 15, 15, 15, 15};					/* 57 - 64 */
-
-/*
- * map the sanitized data length to an appropriate data length code
- */
-unsigned char can_len2dlc(unsigned char len)
-{
-	if (len > 64)
-		return 0xF;
-
-	return len2dlc[len];
-}
-
-/*
- * asc to nibble
- */
-unsigned char asc2nibble(char c) {
-
-	if ((c >= '0') && (c <= '9'))
-		return c - '0';
-
-	if ((c >= 'A') && (c <= 'F'))
-		return c - 'A' + 10;
-
-	if ((c >= 'a') && (c <= 'f'))
-		return c - 'a' + 10;
-
-	return 16; /* error */
-}
-
-static int canmsg_compare(const void *pa, const void *pb)
-{
-	struct canmsg_info_t *a =(struct canmsg_info_t *)pa;
-	struct canmsg_info_t *b =(struct canmsg_info_t *)pb;
-	return strcmp(a->canid,b->canid);
-}
-
-/*
- * init
- */
-void init_can_encoder(void)
-{
-	pthread_mutex_init(&lock, NULL);
-	phead = NULL;
-	ptail = NULL;
-}
-
-/*
- * push can msg to queue
- */
-int push(char *dat)
-{
-	if (dat == NULL)
-	{
-		DBG_ERROR("push data is NULL");
-		return -1;
-	}
-
-	struct can_data_t *p = malloc(sizeof(struct can_data_t));
-	strncpy(p->dat, dat, MAX_CANDATA_SIZE);
-	p->dat[MAX_CANDATA_SIZE] = '\0';
-	p->next = NULL;
-
-	pthread_mutex_lock(&lock);
-	if (ptail == NULL)
-	{
-		ptail = p;
-		phead = p;
-	}
-	else
-	{
-		ptail->next = p;
-		ptail = p;
-	}
-	pthread_mutex_unlock(&lock);
-	return 0;
-}
-
-/*
- * pop can msg from queue
- */
-struct can_data_t* pop(void)
-{
-	struct can_data_t *p = NULL;
-	pthread_mutex_lock(&lock);
-	if (phead != NULL)
-	{
-		p = phead;
-		if (phead->next != NULL)
-		{
-			phead = p->next;
-		}
-		else
-		{
-			phead = NULL;
-			ptail = NULL;
-		}
-	}
-	pthread_mutex_unlock(&lock);
-	return p;
-}
-
-/*
- * clear transmission msg queue
- */
-void clear(void)
-{
-	struct can_data_t *p = NULL;
-	pthread_mutex_lock(&lock);
-	while (phead != NULL)
-	{
-		p = phead;
-		phead = phead->next;
-		free(p);
-	}
-	ptail = NULL;
-	pthread_mutex_unlock(&lock);
-}
-
-/*
- * make "0" string
- */
-static char *makeZeroString(uint8_t dlc)
-{
-	int len = dlc * 2;
-
-	if (len > MAX_LENGTH)
-	{
-		DBG_ERROR("makeZeroString input dlc error; dlc=%d",dlc);
-		return NULL;
-	}
-
-	for (int i = 0; i < len; i++) {
-		str[i] = '0';
-	}
-
-	str[len + 1] = '\0';
-
-	return str;
-}
-
-static struct canmsg_info_t * getCanMsg_dict(const char * can_id)
-{
-	struct canmsg_info_t info;
-	strncpy(info.canid, can_id, sizeof(info.canid));
-	info.value = 0;
-
-	void *v;
-	v = tfind((void *)&info, &canmsg_root, canmsg_compare);
-	if (v == NULL)
-	{
-		/* new msg, add node */
-		struct canmsg_info_t * p = (struct canmsg_info_t *)malloc(sizeof(struct canmsg_info_t));
-		strncpy(p->canid, can_id, sizeof(p->canid));
-		p->value = 0;
-		v = tsearch((void *)p, &canmsg_root, canmsg_compare);
-		if (v == NULL)
-		{
-			DBG_ERROR("add canmsg failed: not enogh memory?");
-		}
-	}
-
-	return (*(struct canmsg_info_t **)v);
-}
-
-/*
- * make can frame data
- */
-char * makeCanData(struct prop_info_t *property_info)
-{
-	char tmp[MAX_LENGTH+1] = {0};
-	u_int64_t val = 0, mask = 0;
-	struct canmsg_info_t * p = getCanMsg_dict(property_info->can_id);
-	if (p == NULL)
-	{
-		return NULL;
-	}
-
-	memset(buf, 0, sizeof(buf));
-	sprintf(buf, "%s\#%s", property_info->can_id, makeZeroString(property_info->dlc));
-	mask = (1 << (property_info->bit_size)) - 1;
-	val = mask & property_info->curValue.uint32_val;
-	val = val << ((property_info->dlc * 8) - property_info->bit_size - property_info->bit_pos);
-	mask = mask << ((property_info->dlc * 8) - property_info->bit_size - property_info->bit_pos);
-	mask = ~mask;
-	p->value = p->value & mask;
-	p->value = p->value | val;
-
-	sprintf(tmp, "%lx", p->value);
-	strncpy((buf + 4 + property_info->dlc * 2 -strlen(tmp)), tmp ,strlen(tmp));
-
-//	DBG_ERROR("makeCanData buf is [%s]", buf);
-
-	return buf;
-}
-
-/*
- * convert to canframe format
- */
-int parse_canframe(char *cs, struct canfd_frame *cf) {
-	/* documentation see lib.h */
-
-	int i, idx, dlen, len;
-	int maxdlen = CAN_MAX_DLEN;
-	int ret = CAN_MTU;
-	unsigned char tmp;
-
-	len = strlen(cs);
-
-	memset(cf, 0, sizeof(*cf)); /* init CAN FD frame, e.g. LEN = 0 */
-
-	if (len < 4)
-		return 0;
-
-	if (cs[3] == CANID_DELIM) { /* 3 digits */
-
-		idx = 4;
-		for (i=0; i<3; i++){
-			if ((tmp = asc2nibble(cs[i])) > 0x0F)
-				return 0;
-			cf->can_id |= (tmp << (2-i)*4);
-		}
-
-	} else if (cs[8] == CANID_DELIM) { /* 8 digits */
-
-		idx = 9;
-		for (i=0; i<8; i++){
-			if ((tmp = asc2nibble(cs[i])) > 0x0F)
-				return 0;
-			cf->can_id |= (tmp << (7-i)*4);
-		}
-		if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe?  */
-			cf->can_id |= CAN_EFF_FLAG;   /* then it is an extended frame */
-
-	} else
-		return 0;
-
-	if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
-		cf->can_id |= CAN_RTR_FLAG;
-
-		/* check for optional DLC value for CAN 2.0B frames */
-		if(cs[++idx] && (tmp = asc2nibble(cs[idx])) <= CAN_MAX_DLC)
-			cf->len = tmp;
-
-		return ret;
-	}
-
-	if (cs[idx] == CANID_DELIM) { /* CAN FD frame escape char '##' */
-
-		maxdlen = CANFD_MAX_DLEN;
-		ret = CANFD_MTU;
-
-		/* CAN FD frame <canid>##<flags><data>* */
-		if ((tmp = asc2nibble(cs[idx+1])) > 0x0F)
-			return 0;
-
-		cf->flags = tmp;
-		idx += 2;
-	}
-
-	for (i=0, dlen=0; i < maxdlen; i++){
-
-		if(cs[idx] == DATA_SEPERATOR) /* skip (optional) separator */
-			idx++;
-
-		if(idx >= len) /* end of string => end of data */
-			break;
-
-		if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
-			return 0;
-		cf->data[i] = (tmp << 4);
-		if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
-			return 0;
-		cf->data[i] |= tmp;
-		dlen++;
-	}
-	cf->len = dlen;
-
-	return ret;
-}
diff --git a/src/can_encoder.h b/src/can_encoder.h
deleted file mode 100644
index 82b5ea0..0000000
--- a/src/can_encoder.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
- *
- * 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 _CAN_ENCODER_H_
-#define _CAN_ENCODER_H_
-
-#include <string.h>
-#include <stdint.h>
-#include <sys/types.h>
-
-#include <sys/socket.h> /* for sa_family_t */
-#include <linux/can.h>
-#include <linux/can/error.h>
-
-
-#include "prop_info.h"
-
-#define MAX_LENGTH	16
-#define MAX_CANDATA_SIZE 20
-
-struct can_data_t
-{
-	char dat[MAX_CANDATA_SIZE+1];
-	struct can_data_t * next;
-};
-
-struct canmsg_info_t {
-	char canid[4];
-	u_int64_t value;
-};
-
-
-extern void init_can_encoder(void);
-extern int push(char *dat);
-extern struct can_data_t* pop(void);
-extern void clear(void);
-extern char * makeCanData(struct prop_info_t *property_info);
-extern unsigned char can_dlc2len(unsigned char can_dlc);
-extern unsigned char can_len2dlc(unsigned char len);
-extern int parse_canframe(char *cs, struct canfd_frame *cf);
-
-#endif /* _CAN_ENCODER_H_ */
diff --git a/src/config.xml b/src/config.xml
new file mode 100644
index 0000000..58b1ffb
--- /dev/null
+++ b/src/config.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<widget xmlns="http://www.w3.org/ns/widgets" id="agl-service-steering-wheel" version="1.0">
+  <name>steering-wheel-service</name>
+  <icon src="icon.png"/>
+  <content src="config.xml" type="application/vnd.agl.service"/>
+  <description>The name says it all!</description>
+  <author>TOYOTA</author>
+  <license>APL2.0</license>
+  <feature name="urn:AGL:widget:provided-api">
+     <param name="steering-wheel" value="ws" />
+  </feature>
+  <feature name="urn:AGL:widget:required-binding">
+	<param name="lib/af-steering-wheel-binding.so" value="local" />
+  </feature>
+  <feature name="urn:AGL:widget:required-permission">
+	<param name="#target" value="main" />
+	<param name="urn:AGL:permission::public:hidden" value="required" />
+  </feature>
+</widget>
+
+
diff --git a/src/debug_msg.h b/src/debug_msg.h
deleted file mode 100644
index 47e6ea2..0000000
--- a/src/debug_msg.h
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
- *
- * 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 __DBG_DEBUG_H__
-#define __DBG_DEBUG_H__
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <time.h>
-#include <stdio.h>
-#include <stdarg.h>
-#include <string.h>
-#include <stdlib.h>
-
-enum LOG_LEVEL{
-    LOG_LEVEL_NONE = 0,
-    LOG_LEVEL_ERROR,
-    LOG_LEVEL_WARNING,
-    LOG_LEVEL_NOTICE,
-    LOG_LEVEL_INFO,
-    LOG_LEVEL_DEBUG,
-    LOG_LEVEL_MAX = LOG_LEVEL_DEBUG
-};
-
-#define __FILENAME__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
-
-#define DBG_ERROR(args,...) _DBG_LOG(LOG_LEVEL_ERROR, __FILENAME__, __FUNCTION__, __LINE__, args, ##__VA_ARGS__)
-#define DBG_WARNING(args,...) _DBG_LOG(LOG_LEVEL_WARNING, __FILENAME__, __FUNCTION__,__LINE__, args,##__VA_ARGS__)
-#define DBG_NOTICE(args,...) _DBG_LOG(LOG_LEVEL_NOTICE, __FILENAME__, __FUNCTION__,__LINE__, args,##__VA_ARGS__)
-#define DBG_INFO(args,...)  _DBG_LOG(LOG_LEVEL_INFO, __FILENAME__, __FUNCTION__,__LINE__, args,##__VA_ARGS__)
-#define DBG_DEBUG(args,...) _DBG_LOG(LOG_LEVEL_DEBUG, __FILENAME__, __FUNCTION__,__LINE__, args,##__VA_ARGS__)
-
-static char ERROR_FLAG[6][20] = {"NONE", "ERROR", "WARNING", "NOTICE", "INFO", "DEBUG"};
-
-static void _DBG_LOG(enum LOG_LEVEL level, const char* file, const char* func, const int line, const char* log, ...)
-{
-    const int log_level = (getenv("USE_WHEEL_DEBUG") == NULL)?LOG_LEVEL_ERROR:atoi(getenv("USE_WHEEL_DEBUG"));
-    if(log_level < level)
-    {
-        return;
-    }
-
-    char *message;
-    struct timespec tp;
-    unsigned int time;
-
-    clock_gettime(CLOCK_REALTIME, &tp);
-	time = (tp.tv_sec * 1000000L) + (tp.tv_nsec / 1000);
-
-	va_list args;
-	va_start(args, log);
-	if (log == NULL || vasprintf(&message, log, args) < 0)
-        message = NULL;
-    fprintf(stderr, "[%10.3f] [%s %s] [%s, %s(), Line:%d] >>> %s \n", time / 1000.0, "wheel", ERROR_FLAG[level], file, func, line, message);
-    va_end(args);
-	free(message);
-}
-
-#ifdef __cplusplus
-}
-#endif
-#endif  //__DBG_DEBUG_H__
diff --git a/src/export.map b/src/export.map
new file mode 100644
index 0000000..ee2f413
--- /dev/null
+++ b/src/export.map
@@ -0,0 +1 @@
+{ global: afbBindingV*; local: *; };
diff --git a/conf/files/etc/gear_shift_para.json b/src/gear_shift_para.json
index 3b58da7..3b58da7 100644
--- a/conf/files/etc/gear_shift_para.json
+++ b/src/gear_shift_para.json
diff --git a/src/icon.png b/src/icon.png
new file mode 100644
index 0000000..def888b
--- /dev/null
+++ b/src/icon.png
diff --git a/src/js_raw.c b/src/js_raw.c
index 9cdc168..5541162 100644
--- a/src/js_raw.c
+++ b/src/js_raw.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -26,7 +26,7 @@
 #include <linux/input.h>
 #include <linux/joystick.h>
 
-#include "wheel-service.h"
+#include "af-steering-wheel-binding.h"
 #include "js_raw.h"
 #include "js_signal_event.h"
 
@@ -34,8 +34,6 @@
 
 static int *axis;
 static char *button;
-static timer_t tid;
-static struct sigaction oldact;
 
 int js_signal_read(int fd)
 {
@@ -46,22 +44,16 @@ int js_signal_read(int fd)
 	size = read(fd, &jsEvent, sizeof(struct js_event));
 	if(size != 0)
 	{
-		switch (jsEvent.type) //& ~JS_EVENT_INIT don't deal with init state.
+		switch (jsEvent.type & ~JS_EVENT_INIT)
 		{
-			case JS_EVENT_BUTTON | JS_EVENT_INIT:
-				DBG_NOTICE("This is JS_EVENT_BUTTON init state [%d] : %d.", jsEvent.number, button[jsEvent.number]);
-				break;
-			case JS_EVENT_AXIS | JS_EVENT_INIT:
-				DBG_NOTICE("This is JS_EVENT_AXIS init state [%d] : %d.", jsEvent.number, axis[jsEvent.number]);
-				break;
 			case JS_EVENT_BUTTON:
 				button[jsEvent.number] = (char)jsEvent.value;
-				DBG_NOTICE("JS_EVENT_BUTTON [%d] : %d.", jsEvent.number, button[jsEvent.number]);
+				//NOTICEMSG("JS_EVENT_BUTTON %d\n", button[jsEvent.number]);
 				newButtonValue(jsEvent.number, jsEvent.value);
 				break;
 			case JS_EVENT_AXIS:
 				axis[jsEvent.number] = jsEvent.value;
-				DBG_NOTICE("JS_EVENT_AXIS [%d] : %d.", jsEvent.number, axis[jsEvent.number]);
+				//NOTICEMSG("JS_EVENT_AXIS %d\n", axis[jsEvent.number]);
 				newAxisValue(jsEvent.number, jsEvent.value);
 				break;
 			default:
@@ -88,7 +80,7 @@ int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 		rc = js_signal_read(fd);
 		if(rc == -1)
 		{
-			DBG_ERROR("JS Frame Read failed");
+			ERRMSG("JS Frame Read failed");
 
 			return -1;
 		}
@@ -97,20 +89,19 @@ int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 	{
 		/* T.B.D
 		 * if error or hungup */
-		DBG_ERROR("Error or Hunup: rvent=%08x", revents);
+		ERRMSG("Error or Hunup: rvent=%08x", revents);
 	}
 
 	return 0;
 }
 
-int js_open(const char *devname)
+int  js_open(const char *devname)
 {
 	unsigned char numAxes = 0;
 	unsigned char numButtons = 0;
 	int version = 0;
 	int fd;
 	char name[JSNAMELEN] = "Unknown";
-	char steering_name[JSNAMELEN] = "Logitech G29 Driving Force Racing Wheel";
 
 	struct js_corr cal[6];
 	int i, j;
@@ -134,17 +125,6 @@ int js_open(const char *devname)
 	ioctl(fd, JSIOCGBUTTONS, &numButtons);
 	ioctl(fd, JSIOCGNAME(JSNAMELEN), name);
 
-	if (strcmp(name, steering_name) == 0)
-	{
-		setJsType(JS_TYPE_STEERING);
-		DBG_NOTICE("JS_TYPE_STEERING type!");
-	}
-	else
-	{
-		setJsType(JS_TYPE_GAME_CTL);
-		DBG_NOTICE("JS_TYPE_GAME_CTL type!");
-	}
-
 	for (i = 0; i < 6; i++)
 	{
 		int k = 0;
@@ -171,7 +151,7 @@ int js_open(const char *devname)
 	gis = g_unix_input_stream_new(fd, TRUE);
 	if(gis == NULL)
 	{
-		DBG_ERROR("g_unix_input_stream_new() failed!");
+		ERRMSG("g_unix_input_stream_new() failed!");
 	}
 	else
 	{
@@ -192,42 +172,3 @@ void js_close(int js)
 
 	close(js);
 }
-
-int init_timer()
-{
-    struct sigaction act;
-    struct itimerspec itval;
-
-    memset(&act, 0, sizeof(struct sigaction));
-    memset(&oldact, 0, sizeof(struct sigaction));
-
-    act.sa_handler = updateTimerHandler;
-    act.sa_flags = SA_RESTART;
-    if(sigaction(SIGALRM, &act, &oldact) < 0) {
-        DBG_ERROR("sigaction failed.");
-        return -1;
-    }
-
-    itval.it_value.tv_sec = 0;
-    itval.it_value.tv_nsec = 200000000;
-    itval.it_interval.tv_sec = 0;
-    itval.it_interval.tv_nsec = 200000000;
-
-    if(timer_create(CLOCK_REALTIME, NULL, &tid) < 0) {
-        DBG_ERROR("timer_create failed.");
-        return -1;
-    }
-
-    if(timer_settime(tid, 0, &itval, NULL) < 0) {
-        DBG_ERROR("timer_settime failed.");
-        return -1;
-    }
-
-    return 0;
-}
-
-void deinit_timer()
-{
-    timer_delete(tid);
-    sigaction(SIGALRM, &oldact, NULL);
-}
\ No newline at end of file
diff --git a/src/js_raw.h b/src/js_raw.h
index 833a5e1..79db219 100644
--- a/src/js_raw.h
+++ b/src/js_raw.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -23,6 +23,5 @@
 extern int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata);
 extern int  js_open(const char *devname);
 extern void js_close(int js);
-extern int init_timer();
 
 #endif
diff --git a/src/js_signal_event.c b/src/js_signal_event.c
index ad3035a..712d51c 100644
--- a/src/js_signal_event.c
+++ b/src/js_signal_event.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -22,13 +22,20 @@
 #include <string.h>
 #include <sys/ioctl.h>
 #include <alloca.h>
-#include <math.h>
-#include <time.h>
-#include <signal.h>
 
-#include "wheel-service.h"
+#include "af-steering-wheel-binding.h"
 #include "js_signal_event.h"
 
+// Axis
+#define JS_STEERING 			0
+#define JS_THROTTLE 			2
+#define JS_BRAKE				3
+// Button
+#define JS_LEFT_PADDLE_SHIFTER	4
+#define JS_RIGHT_PADDLE_SHIFTER	5
+#define JS_TURN_SIGNAL_RIGHT	6
+#define JS_TURN_SIGNAL_LEFT		7
+
 // Property string
 #define VEHICLE_SPEED				"VehicleSpeed"
 #define ENGINE_SPEED				"EngineSpeed"
@@ -38,89 +45,56 @@
 #define STEERING_WHEEL_ANGLE		"SteeringWheelAngle"
 #define TURN_SIGNAL_STATUS			"TurnSignalStatus"
 #define LIGHT_STATUS_BRAKE			"LightStatusBrake"
-#define PARKING_STATUS_BRAKE		"ParkingStatusBrake"
-#define FUEL_LEVEL					"FuelLevel"
 
 #define MAX_TRANSMISSION_GEAR_INFO 6
 #define MIN_TRANSMISSION_GEAR_INFO 0
 
-enum eJsButtonEvent {
-	JS_BUTTON_X = 0,
-	JS_BUTTON_R = 1,
-	JS_BUTTON_O = 2,
-	JS_BUTTON_T = 3,
-	JS_BUTTON_R1 = 4,
-	JS_BUTTON_L1 = 5,
-	JS_BUTTON_R2 = 6,
-	JS_BUTTON_L2 = 7,
-	JS_BUTTON_SHARE = 8,
-	JS_BUTTON_OPTION = 9,
-	JS_BUTTON_R3 = 10,
-	JS_BUTTON_L3 = 11,
-	JS_BUTTON_PLUS = 19,
-	JS_BUTTON_MINUS = 20,
-	JS_BUTTON_SCROLL_R = 21,
-	JS_BUTTON_SCROLL_L = 22,
-	JS_BUTTON_ENTER = 23,
-	JS_BUTTON_PS = 24
-};
-
-enum eJsAxisEvent {
-	JS_AXIS_STEERING = 0,
-	JS_AXIS_CLUTCH = 1,
-	JS_AXIS_ACCEL = 2,
-	JS_AXIS_BRAKE = 3,
-};
-
-enum eTransmissionGearInfo {
+enum eTransmissionGearInfo
+{
 	eTransmissionGearInfoLeft = 0,
 	eTransmissionGearInfoRight = 1,
 };
 
-enum eTurnSignalStatus {
+enum eTurnSignalStatus
+{
 	eTurnSignalStatusOff = 0,
-	eTurnSignalStatusRight = 4,
+	eTurnSignalStatusRight = 1,
 	eTurnSignalStatusLeft = 2,
-	eTurnSignalStatusHazard = 1
+	eTurnSignalStatusHazard = 3
 };
 
-double gearRatio[8] = {
-       0.0,    //Neutral
-       1.0/4.12,       //First
-       1.0/2.84,       //Second
-       1.0/2.28,       //Third
-       1.0/1.45,       //Fourth
-       1.0/1.0,        //Fifth
-       1.0/0.69,       //Sixth
-       1.0/3.21        //Reverse
+double gearRatio[8] =
+{
+	0.0,	//Neutral
+	1.0/4.12,	//First
+	1.0/2.84,	//Second
+	1.0/2.28,	//Third
+	1.0/1.45,	//Fourth
+	1.0/1.0,	//Fifth
+	1.0/0.69,	//Sixth
+	1.0/3.21	//Reverse
 };
 
-static int gJsType=JS_TYPE_STEERING;
-static int gCurAccPedalPos=0, gAccPedalPos=0;
-static int gEngineSpeed=0;
-static int gVehicleSpeed=0;
-static float gBaseValue = 0.0;
-
+static int gAcceleratorPedalPosition = 0;
 static int gLightStatusBrake = 0;
-static int gTransmissionGearInfo = 0;
+static int gTransmissionGearInfo = 1;
 static int gSteeringWheelAngle = 0;
-static int gParkingStatusBrake = 0;
-static int gFuelLevel = 0;
 static enum eTurnSignalStatus gTurnSignalStatus = eTurnSignalStatusOff;
 
-static void setLightStatusBrake(int val)
+// Method to set value
+static void setAcceleratorPedalPosition(int val)
 {
-	if(gLightStatusBrake != val)
+	if(gAcceleratorPedalPosition != val)
 	{
-		gLightStatusBrake = val;
+		gAcceleratorPedalPosition = val;
 	}
 }
 
-static void setFuelLevel(int val)
+static void setLightStatusBrake(int val)
 {
-	if(gFuelLevel != val)
+	if(gLightStatusBrake != val)
 	{
-		gFuelLevel = val;
+		gLightStatusBrake = val;
 	}
 }
 
@@ -162,10 +136,6 @@ static void setTurnSignalStatus(int val, enum eTurnSignalStatus turn)
 		{
 			gTurnSignalStatus = eTurnSignalStatusLeft;
 		}
-		else if(turn == eTurnSignalStatusHazard)
-		{
-			gTurnSignalStatus = eTurnSignalStatusHazard;
-		}
 	}
 	else
 	{
@@ -173,12 +143,27 @@ static void setTurnSignalStatus(int val, enum eTurnSignalStatus turn)
 	}
 }
 
-static void setParkingStatusBrake(int val)
+// Method to calculate property
+static int calcAcceleratorPedalPosition()
 {
-	if(gParkingStatusBrake != val)
-	{
-		gParkingStatusBrake = val;
-	}
+	return  (int)(((double)(gAcceleratorPedalPosition - 32767)/(double)-65534.0)*(double)100.0);
+}
+
+static int calcEngineSpeed()
+{
+	int acceleratorPedalPosition = calcAcceleratorPedalPosition();
+	int engineSpeed = (int)acceleratorPedalPosition * 100;
+
+	return engineSpeed;
+}
+
+static int calcVehicleSpeed()
+{
+	int engineSpeed = calcEngineSpeed();
+	double transmissionGearInfoRatio = gearRatio[(gTransmissionGearInfo == 128 ? 7 : gTransmissionGearInfo)];
+	int vehicleSpeed = (int)(engineSpeed * transmissionGearInfoRatio / 100);
+
+	return vehicleSpeed;
 }
 
 static int calcSteeringWheelAngle()
@@ -189,7 +174,7 @@ static int calcSteeringWheelAngle()
 }
 
 // Method to update property
-static void setCanValue(char *prop, int val)
+static void updateValue(char *prop, int val)
 {
 	unsigned int nProp = wheel_info->nData;
 	for(unsigned int i = 0; i < nProp; i++)
@@ -208,36 +193,38 @@ static void setCanValue(char *prop, int val)
 
 void updateTransmissionGearInfo()
 {
-	setCanValue(TRANSMISSION_GEAR_INFO, 5);
+	updateValue(TRANSMISSION_GEAR_INFO, gTransmissionGearInfo);
 }
 
 void updateTransmissionMode()
 {
-	setCanValue(TRANSMISSION_MODE, 0);
+	updateValue(TRANSMISSION_MODE, gTransmissionGearInfo);
 }
 
 static void updateAcceleratorPedalPosition()
 {
-	setCanValue(ACCELERATOR_PEDAL_POSITION, gAccPedalPos);
-	DBG_NOTICE("acceleratorPedalPosition : %d\n", gAccPedalPos);
+	int acceleratorPedalPosition;
+
+	acceleratorPedalPosition = calcAcceleratorPedalPosition();
+	updateValue(ACCELERATOR_PEDAL_POSITION, acceleratorPedalPosition);
 }
 
 static void updateEngineSpeed()
 {
 	// Update EngineSpeed
-	gEngineSpeed = gBaseValue*3000+1000;
-	setCanValue(ENGINE_SPEED, gEngineSpeed);
-	DBG_DEBUG("engineSpeed : %d\n", gEngineSpeed);
+	int engineSpeed;
+
+	engineSpeed = calcEngineSpeed();
+	updateValue(ENGINE_SPEED, engineSpeed);
 }
 
 static void updateVehicleSpeed()
 {
 	// Update VehicleSpeed
-	if(gBaseValue < 0)
-		gBaseValue = 0;
-	gVehicleSpeed = (int)(gBaseValue*9550/100)*100;
-	setCanValue(VEHICLE_SPEED, gVehicleSpeed);
-	DBG_DEBUG("vehicleSpeed : %d\n", gVehicleSpeed);
+	int vehicleSpeed;
+
+	vehicleSpeed = calcVehicleSpeed();
+	updateValue(VEHICLE_SPEED, vehicleSpeed);
 }
 
 static void updateLightStatusBrake()
@@ -245,30 +232,18 @@ static void updateLightStatusBrake()
 	int lightStatusBrake;
 
 	lightStatusBrake = (gLightStatusBrake < 20000);
-	setCanValue(LIGHT_STATUS_BRAKE, lightStatusBrake);
-}
-
-static void updateFuelLevel()
-{
-	int fuelLevel = (32511 - gFuelLevel)*256.0/65278.0;
-	DBG_DEBUG("fuelLevel: %d, gFuelLevel: %d \n", fuelLevel, gFuelLevel);
-	setCanValue(FUEL_LEVEL, fuelLevel);
-}
-
-static void updateParkingStatusBrake()
-{
-	setCanValue(PARKING_STATUS_BRAKE, gParkingStatusBrake);
+	updateValue(LIGHT_STATUS_BRAKE, lightStatusBrake);
 }
 
 static void updateSteeringWheelAngle()
 {
 	int steering = calcSteeringWheelAngle();
-	setCanValue(STEERING_WHEEL_ANGLE, steering);
+	updateValue(STEERING_WHEEL_ANGLE, steering);
 }
 
 static void updateTurnSignalStatus()
 {
-	setCanValue(TURN_SIGNAL_STATUS, gTurnSignalStatus);
+	updateValue(TURN_SIGNAL_STATUS, gTurnSignalStatus);
 }
 
 // Method to handle joy stick event
@@ -276,7 +251,7 @@ void newButtonValue(char number, int val)
 {
 	switch (number)
 	{
-		case JS_BUTTON_R1:	//Left paddle shifter
+		case JS_LEFT_PADDLE_SHIFTER:	//Left paddle shifter
 			// Set gear position
 			setTransmissionGearInfo(val, eTransmissionGearInfoLeft);
 
@@ -286,7 +261,7 @@ void newButtonValue(char number, int val)
 			updateVehicleSpeed();
 			break;
 
-		case JS_BUTTON_L1:	//Right paddle shifter
+		case JS_RIGHT_PADDLE_SHIFTER:	//Right paddle shifter
 			// Set gear position
 			setTransmissionGearInfo(val, eTransmissionGearInfoRight);
 
@@ -296,7 +271,7 @@ void newButtonValue(char number, int val)
 			updateVehicleSpeed();
 			break;
 
-		case JS_BUTTON_R2:	//Right upper wheel button
+		case JS_TURN_SIGNAL_RIGHT:	//Right upper wheel button
 			// Set value
 			setTurnSignalStatus(val, eTurnSignalStatusRight);
 
@@ -304,27 +279,14 @@ void newButtonValue(char number, int val)
 			updateTurnSignalStatus();
 			break;
 
-		case JS_BUTTON_L2:	//Left upper wheel button
+		case JS_TURN_SIGNAL_LEFT:	//Left upper wheel button
 			// Set value
 			setTurnSignalStatus(val, eTurnSignalStatusLeft);
 
 			// Update property
 			updateTurnSignalStatus();
 			break;
-		case JS_BUTTON_R3:
-			// Set value
-			setTurnSignalStatus(val, eTurnSignalStatusHazard);
-
-			// Update property
-			updateTurnSignalStatus();
-			break;
-		case JS_BUTTON_L3:
-			// Set value
-			setParkingStatusBrake(val);
 
-			// Update property
-			updateParkingStatusBrake();
-			break;
 		default:
 			break;
 	}
@@ -332,24 +294,9 @@ void newButtonValue(char number, int val)
 
 void newAxisValue(char number, int val)
 {
-//	DBG_ERROR("#################number: %d, %d. \n", number, val);
-//	DBG_ERROR("#################gJsType: %d. \n", gJsType);
-	if ((JS_TYPE_GAME_CTL == gJsType) && (number == JS_AXIS_BRAKE))
-	{
-		number = JS_AXIS_ACCEL;
-	}
-	else if ((JS_TYPE_GAME_CTL == gJsType) && (number == JS_AXIS_ACCEL))
-	{
-		number = JS_AXIS_BRAKE;
-	}
-	else
-	{
-		//do nothing
-	}
-
 	switch (number)
 	{
-		case JS_AXIS_STEERING:	//Wheel angle, -32767 - 32767
+		case JS_STEERING:	//Wheel angle, -32767 - 32767
 			// Set value
 			setSteeringWheelAngle(val);
 
@@ -357,29 +304,17 @@ void newAxisValue(char number, int val)
 			updateSteeringWheelAngle();
 			break;
 
-		case JS_AXIS_ACCEL:	//Throttle, -32767 (depressed) - 32767 (undepressed)
+		case JS_THROTTLE:	//Throttle, -32767 (depressed) - 32767 (undepressed)
 			// Set origin value
-			if (JS_TYPE_GAME_CTL == gJsType)
-			{
-				gAccPedalPos = (int)(((double)val/(double)-32767.0)*(double)100.0);
-			}
-			else
-			{
-				gAccPedalPos = (int)(((double)(val - 32767)/(double)-65534.0)*(double)100.0);
-			}
+			setAcceleratorPedalPosition(val);
 
 			// Update property
 			updateAcceleratorPedalPosition();
-			if (gAccPedalPos > gCurAccPedalPos){
-				gCurAccPedalPos = gAccPedalPos;
-				gBaseValue = sin((float)gCurAccPedalPos/100.0);
-
-				updateEngineSpeed();
-				updateVehicleSpeed();
-			}
+			updateEngineSpeed();
+			updateVehicleSpeed();
 			break;
 
-		case JS_AXIS_BRAKE:
+		case JS_BRAKE:
 			// Set value
 			setLightStatusBrake(val);
 
@@ -387,31 +322,7 @@ void newAxisValue(char number, int val)
 			updateLightStatusBrake();
 			break;	//Brake, -32767 (depressed) - 32767 (undepressed)
 
-		case JS_AXIS_CLUTCH:
-			setFuelLevel(val);
-			updateFuelLevel();
-			break;
 		default:
-			DBG_DEBUG("number: %d, %d. \n", number, val);
 			break;
 	}
 }
-
-void updateTimerHandler(int signum)
-{
-	if (gCurAccPedalPos == gAccPedalPos){
-		gCurAccPedalPos = gCurAccPedalPos + rand()%2;
-	}else if (gAccPedalPos < (gCurAccPedalPos - 5)){
-		gCurAccPedalPos = gCurAccPedalPos - 5;
-	}else{
-		gCurAccPedalPos = gAccPedalPos;
-	}
-	gBaseValue = sin((float)gCurAccPedalPos/100.0);
-	updateEngineSpeed();
-	updateVehicleSpeed();
-}
-
-void setJsType(int jstype)
-{
-	gJsType = jstype;
-}
\ No newline at end of file
diff --git a/src/js_signal_event.h b/src/js_signal_event.h
index 3dca3a9..3cff704 100644
--- a/src/js_signal_event.h
+++ b/src/js_signal_event.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -21,12 +21,5 @@ extern struct wheel_info_t *wheel_info;
 
 extern void newButtonValue(char number, int val);
 extern void newAxisValue(char number, int val);
-extern void updateTimerHandler(int signum);
-extern void setJsType(int jstype);
-
-enum eJsType {
-	JS_TYPE_STEERING = 0,
-	JS_TYPE_GAME_CTL = 1,
-};
 
 #endif
diff --git a/src/prop_info.c b/src/prop_info.c
index e8ab461..95d4f58 100644
--- a/src/prop_info.c
+++ b/src/prop_info.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -20,7 +20,7 @@
 #include <stdint.h>
 
 #include "prop_info.h"
-#include "wheel-service.h"
+#include "af-steering-wheel-binding.h"
 
 #define ENABLE1_TYPENAME "ENABLE-1"	/* spec. type1.json original type name */
 
@@ -96,7 +96,7 @@ int propertyValue_int(struct prop_info_t *property_info)
 	case ARRAY_T:
 	case UINT64_T:
 	case INT64_T:
-		DBG_ERROR("Getting property Value:NOT SUPPORT vartype contents:%s %d", property_info->name, property_info->var_type);
+		ERRMSG("Getting property Value:NOT SUPPORT vartype contents:%s %d", property_info->name, property_info->var_type);
 		break;
 	}
 	return x;
diff --git a/src/prop_info.h b/src/prop_info.h
index dac63eb..3d6bb5c 100644
--- a/src/prop_info.h
+++ b/src/prop_info.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -52,10 +52,6 @@ union data_content_t	{
 struct prop_info_t {
 	const char * name;
 	unsigned char var_type;
-	const char * can_id;
-	uint8_t bit_pos;
-	uint8_t bit_size;
-	uint8_t dlc;
 	union data_content_t curValue;
 
 	struct prop_info_t *next;
diff --git a/src/prop_search.c b/src/prop_search.c
index fce139e..f88de8a 100644
--- a/src/prop_search.c
+++ b/src/prop_search.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -21,7 +21,7 @@
 #include <search.h>
 #include <string.h>
 
-#include "wheel-service.h"
+#include "af-steering-wheel-binding.h"
 #include "prop_search.h"
 
 #define SUPPORT_PROPERTY_LIMIT 512
@@ -47,12 +47,12 @@ static int addProperty_dict(struct prop_info_t *prop_info)
 		v = tsearch((void *)prop_info, &property_root, property_compare);
 		if (v == NULL)
 		{
-			DBG_ERROR("add property failed: not enogh memory?");
+			ERRMSG("add property failed: not enogh memory?");
 			return -1;
 		}
 		if (nProperties >= SUPPORT_PROPERTY_LIMIT)
 		{
-			DBG_ERROR("Reach properties limit");
+			ERRMSG("Reach properties limit");
 			return -1;
 		}
 		support_property_list[nProperties] = prop_info->name;
diff --git a/src/prop_search.h b/src/prop_search.h
index 85c505c..85791e5 100644
--- a/src/prop_search.h
+++ b/src/prop_search.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
diff --git a/src/steering_wheel.json b/src/steering_wheel.json
new file mode 100644
index 0000000..1a5e889
--- /dev/null
+++ b/src/steering_wheel.json
@@ -0,0 +1,5 @@
+{
+	"dev_name":  "/dev/input/js0",
+	"wheel_map": "steering_wheel_map.json",
+	"gear_para": "gear_shift_para.json"
+}
diff --git a/src/steering_wheel_json.c b/src/steering_wheel_json.c
index 5831983..9d72284 100644
--- a/src/steering_wheel_json.c
+++ b/src/steering_wheel_json.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -20,7 +20,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <sys/stat.h>
-#include "wheel-service.h"
+#include "af-steering-wheel-binding.h"
 #include "steering_wheel_json.h"
 #include "prop_info.h"
 #include "prop_search.h"
@@ -33,7 +33,6 @@ static int parse_property(struct wheel_info_t *wheel_info, int idx, json_object
 {
 	int var_type = 0;
 	char *name = NULL;
-	char *canid = NULL;
 
 	if(obj_property)
 	{
@@ -48,30 +47,10 @@ static int parse_property(struct wheel_info_t *wheel_info, int idx, json_object
 				const char *_varname = json_object_get_string(val);
 				var_type = string2vartype(_varname);
 			}
-			else if(strcmp("CANID", key) == 0)
-			{
-				canid = (char *)json_object_get_string(val);
-			}
-			else if(strcmp("BIT_POSITION", key) == 0)
-			{
-				const char * tmp = json_object_get_string(val);
-				wheel_info->property[idx].bit_pos = (uint8_t)strtoul(tmp, 0, 0);
-			}
-			else if(strcmp("BIT_SIZE", key) == 0)
-			{
-				const char * tmp = json_object_get_string(val);
-				wheel_info->property[idx].bit_size = (uint8_t)strtoul(tmp, 0, 0);
-			}
-			else if(strcmp("DLC", key) == 0)
-			{
-				const char * tmp = json_object_get_string(val);
-				wheel_info->property[idx].dlc = (uint8_t)strtoul(tmp, 0, 0);
-			}
 		}
 
 		wheel_info->property[idx].name = strdup(name);
 		wheel_info->property[idx].var_type = (unsigned char)var_type;
-		wheel_info->property[idx].can_id = strdup(canid);
 	}
 
 	return 0;
@@ -89,7 +68,7 @@ static int parse_propertys(json_object *obj_propertys)
 		wheel_info = malloc(ms);
 		if (wheel_info == NULL)
 		{
-			DBG_ERROR("Not enogh memory");
+			ERRMSG("Not enogh memory");
 			return 1;
 		}
 		memset(wheel_info, 0 , ms);
@@ -103,7 +82,7 @@ static int parse_propertys(json_object *obj_propertys)
 				wheel_info = realloc(wheel_info, sizeof(struct wheel_info_t) + ((size_t)array_len * sizeof(struct prop_info_t)));
 				if (wheel_info == NULL)
 				{
-					DBG_ERROR("not enogh memory");
+					ERRMSG("not enogh memory");
 					exit(1);
 				}
 
@@ -136,7 +115,7 @@ static int parse_json(json_object *obj)
         else
         {
 			++err;
-			DBG_ERROR("json: Unknown  key \"%s\"", key);
+			ERRMSG("json: Unknown  key \"%s\"", key);
 		}
     }
 	return err;
@@ -149,23 +128,23 @@ int wheel_define_init(const char *fname)
 	struct stat stbuf;
 	char *filebuf;
 
-	fd_wheel_map = open(fname, O_RDONLY);
+	fd_wheel_map = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
 	if (fd_wheel_map < 0)
 	{
-		DBG_ERROR("wheel map is not access");
+		ERRMSG("wheel map is not access");
 		return -1;
 	}
 
 	FILE *fp = fdopen(fd_wheel_map,"r");
 	if (fp == NULL)
 	{
-		DBG_ERROR("cannot read wheel map file");
+		ERRMSG("canno read wheel map file");
 		return -1;
 	}
 
 	if (fstat(fd_wheel_map, &stbuf) == -1)
 	{
-		DBG_ERROR("cant get file state");
+		ERRMSG("cant get file state");
 		return -1;
 	}
 
@@ -176,7 +155,7 @@ int wheel_define_init(const char *fname)
 	jobj = json_tokener_parse(filebuf);
 	if (jobj == NULL)
 	{
-		DBG_ERROR("cannot read data from file \"%s\"",fname);
+		ERRMSG("cannot data from file \"%s\"",fname);
 		free(filebuf);
 		return 1;
 	}
@@ -204,7 +183,7 @@ static int parse_gear_para_json(json_object *obj)
 			if (type == json_type_array)
 			{
 				int array_len = json_object_array_length(val);
-				DBG_NOTICE("array_len:%d!", array_len);
+				NOTICEMSG("array_len:%d!", array_len);
 				for (int i = 0; i < array_len; i++)
 				{
 					obj_speed_para = json_object_array_get_idx(val, i);
@@ -257,12 +236,12 @@ static int parse_gear_para_json(json_object *obj)
 			}
 			else
 			{
-				DBG_ERROR("json: Need  array \"%s\"", key);
+				ERRMSG("json: Need  array \"%s\"", key);
 			}
 		}
         else
         {
-			DBG_ERROR("json: Unknown  key \"%s\"", key);
+			ERRMSG("json: Unknown  key \"%s\"", key);
 		}
     }
 	return err;
@@ -275,24 +254,23 @@ int wheel_gear_para_init(const char *fname)
 	struct stat stbuf;
 	char *filebuf;
 
-//	fd_gear_para = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
-	fd_gear_para = open(fname, O_RDONLY);
+	fd_gear_para = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
 	if (fd_gear_para < 0)
 	{
-		DBG_ERROR("gear para is not access");
+		ERRMSG("gear para is not access");
 		return -1;
 	}
 
 	FILE *fp = fdopen(fd_gear_para,"r");
 	if (fp == NULL)
 	{
-		DBG_ERROR("cannot read gear para file");
+		ERRMSG("canno read gear para file");
 		return -1;
 	}
 
 	if (fstat(fd_gear_para, &stbuf) == -1)
 	{
-		DBG_ERROR("cant get file state.\n");
+		ERRMSG("cant get file state.\n");
 		return -1;
 	}
 
@@ -303,7 +281,7 @@ int wheel_gear_para_init(const char *fname)
 	jobj = json_tokener_parse(filebuf);
 	if (jobj == NULL)
 	{
-		DBG_ERROR("cannot data from file \"%s\"",fname);
+		ERRMSG("cannot data from file \"%s\"",fname);
 		free(filebuf);
 		return 1;
 	}
@@ -348,13 +326,13 @@ struct json_object *property2json(struct prop_info_t *property)
 			break;
 
 		default:
-			DBG_ERROR("Unknown value type:%d", property->var_type);
+			ERRMSG("Unknown value type:%d", property->var_type);
 			break;
 	}
 
 	if (valueObject == NULL)
 	{
-		DBG_ERROR("fail json ValueObject");
+		ERRMSG("fail json ValueObject");
 		json_object_put(jobj);
 		return NULL;
 	}
diff --git a/src/steering_wheel_json.h b/src/steering_wheel_json.h
index e9d2d05..3c2c8c9 100644
--- a/src/steering_wheel_json.h
+++ b/src/steering_wheel_json.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
+ * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
diff --git a/src/steering_wheel_map.json b/src/steering_wheel_map.json
new file mode 100644
index 0000000..9e580d9
--- /dev/null
+++ b/src/steering_wheel_map.json
@@ -0,0 +1,36 @@
+{

+	"PROPERTYS" : [

+		{

+		"PROPERTY"		: "VehicleSpeed",

+		"TYPE"			: "uint16_t",

+		},

+		{

+		"PROPERTY"		: "EngineSpeed",

+		"TYPE"			: "uint16_t",

+		},

+		{

+		"PROPERTY"		: "AcceleratorPedalPosition",

+		"TYPE"			: "uint16_t",

+		},

+		{

+		"PROPERTY"		: "TransmissionGearInfo",

+		"TYPE"			: "uint16_t",

+		},

+		{

+		"PROPERTY"		: "TransmissionMode",

+		"TYPE"			: "uint16_t",

+		},

+		{

+		"PROPERTY"		: "SteeringWheelAngle",

+		"TYPE"			: "uint16_t",

+		},

+		{

+		"PROPERTY"		: "TurnSignalStatus",

+		"TYPE"			: "uint16_t",

+		},

+		{

+		"PROPERTY"		: "LightStatusBrake",

+		"TYPE"			: "bool",

+		},

+	]

+}

diff --git a/src/wheel-service.c b/src/wheel-service.c
deleted file mode 100644
index 38303e8..0000000
--- a/src/wheel-service.c
+++ /dev/null
@@ -1,420 +0,0 @@
-/*
- * Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION
- *
- * 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 _GNU_SOURCE
-#include <stdio.h>
-#include <string.h>
-#include <unistd.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <netdb.h>
-#include <fcntl.h>
-#include <math.h>
-#include <sys/time.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <json-c/json.h>
-#include <sys/stat.h>
-#include <pthread.h>
-#include <systemd/sd-event.h>
-#include <net/if.h>
-#include <sys/ioctl.h>
-#include <sys/socket.h>
-#include <linux/can.h>
-#include <linux/can/raw.h>
-
-
-#include "wheel-service.h"
-#include "steering_wheel_json.h"
-#include "prop_search.h"
-#include "js_raw.h"
-#include "can_encoder.h"
-
-#define ENABLE_EVENT_DROP
-#define STEERING_WHEEL_JSON	"/etc/steering_wheel.json"
-#define BUS_MAP_CONF "/etc/dev-mapping.conf"
-
-struct wheel_conf
-{
-	char *devname;
-};
-
-struct transmission_bus_conf
-{
-	char *hs;
-	char *ls;
-};
-static struct transmission_bus_conf trans_conf;
-
-/*
- * notify function
- */
-int notify_property_changed(struct prop_info_t *property_info)
-{
-	DBG_NOTICE("notify_property_changed name=%s,value=%d", property_info->name, property_info->curValue);
-
-	int rc = push(makeCanData(property_info));
-	if (rc < 0)
-	{
-		DBG_ERROR("push failed");
-		return -1;
-	}
-
-	return 0;
-}
-
-/*
- * transmission loop
- */
-static void *transmission_event_loop(void *args)
-{
-	int s; /* can raw socket */
-	int required_mtu;
-	int mtu;
-	int enable_canfd = 1;
-	struct sockaddr_can addr;
-	struct canfd_frame frame;
-	struct ifreq ifr;
-//	int retry = 0;
-
-	/* open socket */
-	if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
-		perror("open socket failed");
-		return 0;
-	}
-
-	addr.can_family = AF_CAN;
-	strcpy(ifr.ifr_name, trans_conf.hs);
-	/* wait until hs device start */
-	while(1) {
-		if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
-			clear();		/* clear transmission msg queue */
-			perror("SIOCGIFINDEX");
-			sleep(2);
-		}
-		else
-		{
-			break;
-		}
-	}
-
-	addr.can_ifindex = ifr.ifr_ifindex;
-
-	/* disable default receive filter on this RAW socket */
-	/* This is obsolete as we do not read from the socket at all, but for */
-	/* this reason we can remove the receive list in the Kernel to save a */
-	/* little (really a very little!) CPU usage.                          */
-	setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
-
-	if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
-		perror("bind");
-		return 0;
-	}
-
-	while(1)
-	{
-		struct can_data_t* p = pop();
-		if(p == NULL)
-		{
-			/* sleep 150ms */
-			usleep(150000);
-			continue;
-		}
-
-		/* parse CAN frame */
-		required_mtu = parse_canframe(p->dat, &frame);
-		free(p);
-		if (!required_mtu){
-			DBG_ERROR("\nWrong CAN-frame format! Try:\n\n");
-			DBG_ERROR("    <can_id>#{R|data}          for CAN 2.0 frames\n");
-			DBG_ERROR("    <can_id>##<flags>{data}    for CAN FD frames\n\n");
-			DBG_ERROR("<can_id> can have 3 (SFF) or 8 (EFF) hex chars\n");
-			DBG_ERROR("{data} has 0..8 (0..64 CAN FD) ASCII hex-values (optionally");
-			DBG_ERROR(" separated by '.')\n");
-			DBG_ERROR("<flags> a single ASCII Hex value (0 .. F) which defines");
-			DBG_ERROR(" canfd_frame.flags\n\n");
-			DBG_ERROR("e.g. 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / ");
-			DBG_ERROR("123##1 / 213##311\n     1F334455#1122334455667788 / 123#R ");
-			DBG_ERROR("for remote transmission request.\n\n");
-			continue;
-		}
-
-		if (required_mtu > CAN_MTU) {
-
-			/* check if the frame fits into the CAN netdevice */
-			if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
-				perror("SIOCGIFMTU");
-				continue;
-			}
-			mtu = ifr.ifr_mtu;
-
-			if (mtu != CANFD_MTU) {
-				DBG_ERROR("CAN interface ist not CAN FD capable - sorry.\n");
-				continue;
-			}
-
-			/* interface is ok - try to switch the socket into CAN FD mode */
-			if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
-				       &enable_canfd, sizeof(enable_canfd))){
-				DBG_ERROR("error when enabling CAN FD support\n");
-				continue;
-			}
-
-			/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
-			frame.len = can_dlc2len(can_len2dlc(frame.len));
-		}
-
-		/* send frame */
-		if (write(s, &frame, required_mtu) != required_mtu) {
-			perror("write");
-		}
-	}
-}
-/*
- * transmission thread main function
- */
-static pthread_t runTransmissionLoop(void)
-{
-	pthread_t thread_id = 0;
-    int ret = pthread_create(&thread_id, NULL, transmission_event_loop, NULL);
-	if(ret != 0) {
-		DBG_ERROR( "Cannot run eventloop due to error:%d", errno);
-		return -1;
-	}
-
-	return thread_id;
-}
-
-/*
- * connect to js device
- */
-static int connection(struct wheel_conf *conf)
-{
-	int js;
-	int ret;
-	int rc;
-	sd_event_source *source;
-	sd_event *loop = NULL;
-
-	js = js_open(conf->devname);
-	if (js < 0)
-	{
-		js_close(js);
-		DBG_ERROR("can't connect to joy stick, the event loop failed");
-		return 0;
-	}
-
-	if(init_timer() < 0)
-	{
-		js_close(js);
-		DBG_ERROR("can't start update timer");
-		return 0;
-	}
-
-	/* get the default event loop */
-	rc = sd_event_default(&loop);
-	if (rc < 0) {
-		DBG_ERROR("connection to default event loop failed: %s\n", strerror(-rc));
-		loop = NULL;
-		return 0;
-	}
-
-	ret = sd_event_add_io(
-				loop,
-				&source,
-				js,
-				EPOLLIN,
-				on_event, NULL);
-	if (ret < 0)
-	{
-		js_close(js);
-		DBG_ERROR("can't add event, the event loop failed");
-		return 0;
-	}
-
-	DBG_NOTICE("connect to JS(%s), event loop started",conf->devname);
-
-	return 0;
-}
-
-/*
- * read /etc/dev-mapping.conf file
- */
-static int readTransBus(void)
-{
-	char *line = NULL;
-	char bus_name[4], bus_val[10];
-	size_t len = 0;
-	ssize_t read;
-
-	FILE *fp = fopen(BUS_MAP_CONF,"r");
-	if (fp == NULL)
-	{
-		DBG_ERROR("cannot read /etc/dev-mapping.conf");
-		return -1;
-	}
-
-	while((	read = getline(&line, &len, fp)) != -1) {
-		if(line == NULL || line[0] == '[')
-			continue;
-
-		memset(bus_name, 0, sizeof(bus_name));
-		memset(bus_val, 0, sizeof(bus_val));
-
-		sscanf(line, "%2s=\"%s", bus_name, bus_val);
-		bus_val[strlen(bus_val)-1] = '\0';
-		if (strcmp(bus_name, "hs") == 0)
-		{
-			trans_conf.hs = strdup(bus_val);
-		}
-		else if (strcmp(bus_name, "ls") == 0)
-		{
-			trans_conf.ls = strdup(bus_val);
-		}
-	}
-
-	if(line != NULL)
-		free(line);
-
-	fclose(fp);
-//	DBG_ERROR("readTransBus end, hs:%s,ls:%s", trans_conf.hs, trans_conf.ls);
-	return 0;
-}
-
-/*
- * parse configuration file (steering_wheel.json)
- */
-static int init_conf(int fd_conf, struct wheel_conf *conf)
-{
-
-	char *filebuf = NULL;
-	json_object *jobj = NULL;
-	struct stat stbuf;
-
-	FILE *fp = fdopen(fd_conf,"r");
-	if (fp == NULL)
-	{
-		DBG_ERROR("cannot read configuration file(steering_wheel.json)");
-		return -1;
-	}
-
-	if (fstat(fd_conf, &stbuf) == -1)
-	{
-		DBG_ERROR("can't get file state");
-		return -1;
-	}
-
-//	fseek(fp, 0, SEEK_SET);
-	filebuf = (char *)malloc(stbuf.st_size);
-	fread(filebuf, 1, stbuf.st_size, fp);
-	fclose(fp);
-
-	jobj = json_tokener_parse(filebuf);
-	if (jobj == NULL)
-//	if (is_error(jobj))
-	{
-		DBG_ERROR("json: Invalid steering_wheel.json format");
-		return -1;
-	}
-	json_object_object_foreach(jobj, key, val)
-	{
-		if (strcmp(key,"dev_name") == 0)
-		{
-			conf->devname = strdup(json_object_get_string(val));
-		}
-		else if (strcmp(key,"wheel_map") == 0)
-		{
-			wheel_define_init(json_object_get_string(val));
-		}
-		else if (strcmp(key,"gear_para") == 0)
-		{
-			wheel_gear_para_init(json_object_get_string(val));
-		}
-	}
-	json_object_put(jobj);
-	free(filebuf);
-
-	return 0;
-}
-
-/*
- * init js device
- */
-static int init()
-{
-	DBG_NOTICE("init");
-
-	int fd_conf;
-	static struct wheel_conf conf;
-
-	init_can_encoder();
-
-	if (readTransBus())
-	{
-		DBG_ERROR("read file  (/etc/dev-mapping.conf) failed");
-		return -1;
-	}
-
-	fd_conf = open(STEERING_WHEEL_JSON, O_RDONLY);
-	if (fd_conf < 0)
-	{
-		DBG_ERROR("wheel configuration (steering_wheel.json) is not access");
-		return -1;
-	}
-	if (init_conf(fd_conf, &conf))
-	{
-		DBG_ERROR("wheel json file  (steering_wheel_map.json) is not access");
-		return -1;
-	}
-
-	return connection(&conf);
-}
-
-/*
- * entry function
- */
-int main(void)
-{
-	int rc;
-	pthread_t thread_id;
-	sd_event *loop = NULL;
-
-	/* device init  */
-	rc = init();
-	if (rc < 0) {
-		DBG_ERROR("js device init failed: %s\n", strerror(-rc));
-		return 1;
-	}
-
-	/* start post thread */
-	thread_id = runTransmissionLoop();
-	if (thread_id < 0) {
-		DBG_ERROR("run post thread failed: %s\n", strerror(-thread_id));
-	}
-
-	/* get the default event loop */
-	rc = sd_event_default(&loop);
-	if (rc < 0) {
-		DBG_ERROR("connection to default event loop failed: %s\n", strerror(-rc));
-		return 1;
-	}
-
-	/* loop until end */
-	for(;;)
-		sd_event_run(loop, 30000000);
-	return 0;
-}
-