Change steering to systemd service for ces2019halibut_7.90.0halibut/7.90.07.90.0

Change steering to systemd service for ces2019

Change-Id: I319fb56a302f4f980b43a1b90dee1f36820355fb
Signed-off-by: zheng_wenlong <wenlong_zheng@nexty-ele.com>

25 files changed, 1214 insertions, 857 deletions

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 73377ca..bd80cec 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,5 +1,5 @@
 #
-# Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+# 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.
@@ -26,20 +26,19 @@ 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)
+pkg_check_modules(EXTRAS REQUIRED json-c libsystemd)
 add_compile_options(${EXTRAS_CFLAGS})
 include_directories(${EXTRAS_INCLUDE_DIRS})
 link_libraries(${EXTRAS_LIBRARIES})
@@ -54,54 +53,8 @@ include_directories(${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 "${VAR}")
-
-###########################################################################
-# the binding for afb
-
-message(STATUS "Creation af-steering-wheel-binding for AFB-DAEMON")
-
-###############################################################
-#pkg_get_variable(afb_binding_install_dir afb-daemon binding_install_dir)
-
-#*<NESSARY>
-#* execute_process(
-#*	COMMAND pkg-config --variable binding_install_dir afb-daemon
-#*	OUTPUT_VARIABLE afb_binding_install_dir OUTPUT_STRIP_TRAILING_WHITESPACE
-#* )
-
 ###############################################################
-add_library(af-steering-wheel-binding MODULE af-steering-wheel-binding.c bind_event.c steering_wheel_json.c prop_info.c prop_search.c js_signal_event.c js_raw.c)
-set_target_properties(af-steering-wheel-binding PROPERTIES
-	PREFIX ""
-	LINK_FLAGS "-Wl,--version-script=${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)
-
+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)
diff --git a/src/af-steering-wheel-binding.c b/src/af-steering-wheel-binding.c
deleted file mode 100644
index 908bf71..0000000
--- a/src/af-steering-wheel-binding.c
+++ /dev/null
@@ -1,426 +0,0 @@
-/*
- * 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/bind_event.c b/src/bind_event.c
deleted file mode 100644
index 01887cd..0000000
--- a/src/bind_event.c
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
- * 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
deleted file mode 100644
index 5e44a5b..0000000
--- a/src/bind_event.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * 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
new file mode 100644
index 0000000..672bfd3
--- /dev/null
+++ b/src/can_encoder.c
@@ -0,0 +1,344 @@
+/*
+ * 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
new file mode 100644
index 0000000..82b5ea0
--- /dev/null
+++ b/src/can_encoder.h
@@ -0,0 +1,55 @@
+/*
+ * 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
deleted file mode 100644
index 58b1ffb..0000000
--- a/src/config.xml
+++ /dev/null
@@ -1,21 +0,0 @@
-<?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
new file mode 100644
index 0000000..47e6ea2
--- /dev/null
+++ b/src/debug_msg.h
@@ -0,0 +1,77 @@
+/*
+ * 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
deleted file mode 100644
index ee2f413..0000000
--- a/src/export.map
+++ /dev/null
@@ -1 +0,0 @@
-{ global: afbBindingV*; local: *; };
diff --git a/src/gear_shift_para.json b/src/gear_shift_para.json
deleted file mode 100644
index 3b58da7..0000000
--- a/src/gear_shift_para.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-	"GEAR_PARA" : [
-		{
-		"POS"			: "First",
-		"VAL"			: "4.12",
-		},
-		{
-		"POS"			: "Second",
-		"VAL"			: "2.84",
-		},
-		{
-		"POS"			: "Third",
-		"VAL"			: "2.28",
-		},
-		{
-		"POS"			: "Fourth",
-		"VAL"			: "1.45",
-		},
-		{
-		"POS"			: "Fifth",
-		"VAL"			: "1.0",
-		},
-		{
-		"POS"			: "Sixth",
-		"VAL"			: "0.69",
-		},
-		{
-		"POS"			: "Reverse",
-		"VAL"			: "3.21",
-		},
-	]
-}
\ No newline at end of file
diff --git a/src/icon.png b/src/icon.png
deleted file mode 100644
index def888b..0000000
--- a/src/icon.png
+++ /dev/null
diff --git a/src/js_raw.c b/src/js_raw.c
index 5541162..9cdc168 100644
--- a/src/js_raw.c
+++ b/src/js_raw.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -26,7 +26,7 @@
 #include <linux/input.h>
 #include <linux/joystick.h>
 
-#include "af-steering-wheel-binding.h"
+#include "wheel-service.h"
 #include "js_raw.h"
 #include "js_signal_event.h"
 
@@ -34,6 +34,8 @@
 
 static int *axis;
 static char *button;
+static timer_t tid;
+static struct sigaction oldact;
 
 int js_signal_read(int fd)
 {
@@ -44,16 +46,22 @@ int js_signal_read(int fd)
 	size = read(fd, &jsEvent, sizeof(struct js_event));
 	if(size != 0)
 	{
-		switch (jsEvent.type & ~JS_EVENT_INIT)
+		switch (jsEvent.type) //& ~JS_EVENT_INIT don't deal with init state.
 		{
+			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;
-				//NOTICEMSG("JS_EVENT_BUTTON %d\n", button[jsEvent.number]);
+				DBG_NOTICE("JS_EVENT_BUTTON [%d] : %d.", jsEvent.number, button[jsEvent.number]);
 				newButtonValue(jsEvent.number, jsEvent.value);
 				break;
 			case JS_EVENT_AXIS:
 				axis[jsEvent.number] = jsEvent.value;
-				//NOTICEMSG("JS_EVENT_AXIS %d\n", axis[jsEvent.number]);
+				DBG_NOTICE("JS_EVENT_AXIS [%d] : %d.", jsEvent.number, axis[jsEvent.number]);
 				newAxisValue(jsEvent.number, jsEvent.value);
 				break;
 			default:
@@ -80,7 +88,7 @@ int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 		rc = js_signal_read(fd);
 		if(rc == -1)
 		{
-			ERRMSG("JS Frame Read failed");
+			DBG_ERROR("JS Frame Read failed");
 
 			return -1;
 		}
@@ -89,19 +97,20 @@ int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 	{
 		/* T.B.D
 		 * if error or hungup */
-		ERRMSG("Error or Hunup: rvent=%08x", revents);
+		DBG_ERROR("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;
@@ -125,6 +134,17 @@ 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;
@@ -151,7 +171,7 @@ int  js_open(const char *devname)
 	gis = g_unix_input_stream_new(fd, TRUE);
 	if(gis == NULL)
 	{
-		ERRMSG("g_unix_input_stream_new() failed!");
+		DBG_ERROR("g_unix_input_stream_new() failed!");
 	}
 	else
 	{
@@ -172,3 +192,42 @@ 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 79db219..833a5e1 100644
--- a/src/js_raw.h
+++ b/src/js_raw.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -23,5 +23,6 @@
 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 712d51c..ad3035a 100644
--- a/src/js_signal_event.c
+++ b/src/js_signal_event.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -22,20 +22,13 @@
 #include <string.h>
 #include <sys/ioctl.h>
 #include <alloca.h>
+#include <math.h>
+#include <time.h>
+#include <signal.h>
 
-#include "af-steering-wheel-binding.h"
+#include "wheel-service.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"
@@ -45,56 +38,89 @@
 #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 eTransmissionGearInfo
-{
+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 {
 	eTransmissionGearInfoLeft = 0,
 	eTransmissionGearInfoRight = 1,
 };
 
-enum eTurnSignalStatus
-{
+enum eTurnSignalStatus {
 	eTurnSignalStatusOff = 0,
-	eTurnSignalStatusRight = 1,
+	eTurnSignalStatusRight = 4,
 	eTurnSignalStatusLeft = 2,
-	eTurnSignalStatusHazard = 3
+	eTurnSignalStatusHazard = 1
 };
 
-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 gAcceleratorPedalPosition = 0;
+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 gLightStatusBrake = 0;
-static int gTransmissionGearInfo = 1;
+static int gTransmissionGearInfo = 0;
 static int gSteeringWheelAngle = 0;
+static int gParkingStatusBrake = 0;
+static int gFuelLevel = 0;
 static enum eTurnSignalStatus gTurnSignalStatus = eTurnSignalStatusOff;
 
-// Method to set value
-static void setAcceleratorPedalPosition(int val)
+static void setLightStatusBrake(int val)
 {
-	if(gAcceleratorPedalPosition != val)
+	if(gLightStatusBrake != val)
 	{
-		gAcceleratorPedalPosition = val;
+		gLightStatusBrake = val;
 	}
 }
 
-static void setLightStatusBrake(int val)
+static void setFuelLevel(int val)
 {
-	if(gLightStatusBrake != val)
+	if(gFuelLevel != val)
 	{
-		gLightStatusBrake = val;
+		gFuelLevel = val;
 	}
 }
 
@@ -136,6 +162,10 @@ static void setTurnSignalStatus(int val, enum eTurnSignalStatus turn)
 		{
 			gTurnSignalStatus = eTurnSignalStatusLeft;
 		}
+		else if(turn == eTurnSignalStatusHazard)
+		{
+			gTurnSignalStatus = eTurnSignalStatusHazard;
+		}
 	}
 	else
 	{
@@ -143,27 +173,12 @@ static void setTurnSignalStatus(int val, enum eTurnSignalStatus turn)
 	}
 }
 
-// Method to calculate property
-static int calcAcceleratorPedalPosition()
+static void setParkingStatusBrake(int 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;
+	if(gParkingStatusBrake != val)
+	{
+		gParkingStatusBrake = val;
+	}
 }
 
 static int calcSteeringWheelAngle()
@@ -174,7 +189,7 @@ static int calcSteeringWheelAngle()
 }
 
 // Method to update property
-static void updateValue(char *prop, int val)
+static void setCanValue(char *prop, int val)
 {
 	unsigned int nProp = wheel_info->nData;
 	for(unsigned int i = 0; i < nProp; i++)
@@ -193,38 +208,36 @@ static void updateValue(char *prop, int val)
 
 void updateTransmissionGearInfo()
 {
-	updateValue(TRANSMISSION_GEAR_INFO, gTransmissionGearInfo);
+	setCanValue(TRANSMISSION_GEAR_INFO, 5);
 }
 
 void updateTransmissionMode()
 {
-	updateValue(TRANSMISSION_MODE, gTransmissionGearInfo);
+	setCanValue(TRANSMISSION_MODE, 0);
 }
 
 static void updateAcceleratorPedalPosition()
 {
-	int acceleratorPedalPosition;
-
-	acceleratorPedalPosition = calcAcceleratorPedalPosition();
-	updateValue(ACCELERATOR_PEDAL_POSITION, acceleratorPedalPosition);
+	setCanValue(ACCELERATOR_PEDAL_POSITION, gAccPedalPos);
+	DBG_NOTICE("acceleratorPedalPosition : %d\n", gAccPedalPos);
 }
 
 static void updateEngineSpeed()
 {
 	// Update EngineSpeed
-	int engineSpeed;
-
-	engineSpeed = calcEngineSpeed();
-	updateValue(ENGINE_SPEED, engineSpeed);
+	gEngineSpeed = gBaseValue*3000+1000;
+	setCanValue(ENGINE_SPEED, gEngineSpeed);
+	DBG_DEBUG("engineSpeed : %d\n", gEngineSpeed);
 }
 
 static void updateVehicleSpeed()
 {
 	// Update VehicleSpeed
-	int vehicleSpeed;
-
-	vehicleSpeed = calcVehicleSpeed();
-	updateValue(VEHICLE_SPEED, vehicleSpeed);
+	if(gBaseValue < 0)
+		gBaseValue = 0;
+	gVehicleSpeed = (int)(gBaseValue*9550/100)*100;
+	setCanValue(VEHICLE_SPEED, gVehicleSpeed);
+	DBG_DEBUG("vehicleSpeed : %d\n", gVehicleSpeed);
 }
 
 static void updateLightStatusBrake()
@@ -232,18 +245,30 @@ static void updateLightStatusBrake()
 	int lightStatusBrake;
 
 	lightStatusBrake = (gLightStatusBrake < 20000);
-	updateValue(LIGHT_STATUS_BRAKE, lightStatusBrake);
+	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);
 }
 
 static void updateSteeringWheelAngle()
 {
 	int steering = calcSteeringWheelAngle();
-	updateValue(STEERING_WHEEL_ANGLE, steering);
+	setCanValue(STEERING_WHEEL_ANGLE, steering);
 }
 
 static void updateTurnSignalStatus()
 {
-	updateValue(TURN_SIGNAL_STATUS, gTurnSignalStatus);
+	setCanValue(TURN_SIGNAL_STATUS, gTurnSignalStatus);
 }
 
 // Method to handle joy stick event
@@ -251,7 +276,7 @@ void newButtonValue(char number, int val)
 {
 	switch (number)
 	{
-		case JS_LEFT_PADDLE_SHIFTER:	//Left paddle shifter
+		case JS_BUTTON_R1:	//Left paddle shifter
 			// Set gear position
 			setTransmissionGearInfo(val, eTransmissionGearInfoLeft);
 
@@ -261,7 +286,7 @@ void newButtonValue(char number, int val)
 			updateVehicleSpeed();
 			break;
 
-		case JS_RIGHT_PADDLE_SHIFTER:	//Right paddle shifter
+		case JS_BUTTON_L1:	//Right paddle shifter
 			// Set gear position
 			setTransmissionGearInfo(val, eTransmissionGearInfoRight);
 
@@ -271,7 +296,7 @@ void newButtonValue(char number, int val)
 			updateVehicleSpeed();
 			break;
 
-		case JS_TURN_SIGNAL_RIGHT:	//Right upper wheel button
+		case JS_BUTTON_R2:	//Right upper wheel button
 			// Set value
 			setTurnSignalStatus(val, eTurnSignalStatusRight);
 
@@ -279,14 +304,27 @@ void newButtonValue(char number, int val)
 			updateTurnSignalStatus();
 			break;
 
-		case JS_TURN_SIGNAL_LEFT:	//Left upper wheel button
+		case JS_BUTTON_L2:	//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;
 	}
@@ -294,9 +332,24 @@ 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_STEERING:	//Wheel angle, -32767 - 32767
+		case JS_AXIS_STEERING:	//Wheel angle, -32767 - 32767
 			// Set value
 			setSteeringWheelAngle(val);
 
@@ -304,17 +357,29 @@ void newAxisValue(char number, int val)
 			updateSteeringWheelAngle();
 			break;
 
-		case JS_THROTTLE:	//Throttle, -32767 (depressed) - 32767 (undepressed)
+		case JS_AXIS_ACCEL:	//Throttle, -32767 (depressed) - 32767 (undepressed)
 			// Set origin value
-			setAcceleratorPedalPosition(val);
+			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);
+			}
 
 			// Update property
 			updateAcceleratorPedalPosition();
-			updateEngineSpeed();
-			updateVehicleSpeed();
+			if (gAccPedalPos > gCurAccPedalPos){
+				gCurAccPedalPos = gAccPedalPos;
+				gBaseValue = sin((float)gCurAccPedalPos/100.0);
+
+				updateEngineSpeed();
+				updateVehicleSpeed();
+			}
 			break;
 
-		case JS_BRAKE:
+		case JS_AXIS_BRAKE:
 			// Set value
 			setLightStatusBrake(val);
 
@@ -322,7 +387,31 @@ 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 3cff704..3dca3a9 100644
--- a/src/js_signal_event.h
+++ b/src/js_signal_event.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -21,5 +21,12 @@ 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 95d4f58..e8ab461 100644
--- a/src/prop_info.c
+++ b/src/prop_info.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -20,7 +20,7 @@
 #include <stdint.h>
 
 #include "prop_info.h"
-#include "af-steering-wheel-binding.h"
+#include "wheel-service.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:
-		ERRMSG("Getting property Value:NOT SUPPORT vartype contents:%s %d", property_info->name, property_info->var_type);
+		DBG_ERROR("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 3d6bb5c..dac63eb 100644
--- a/src/prop_info.h
+++ b/src/prop_info.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -52,6 +52,10 @@ 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 f88de8a..fce139e 100644
--- a/src/prop_search.c
+++ b/src/prop_search.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -21,7 +21,7 @@
 #include <search.h>
 #include <string.h>
 
-#include "af-steering-wheel-binding.h"
+#include "wheel-service.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)
 		{
-			ERRMSG("add property failed: not enogh memory?");
+			DBG_ERROR("add property failed: not enogh memory?");
 			return -1;
 		}
 		if (nProperties >= SUPPORT_PROPERTY_LIMIT)
 		{
-			ERRMSG("Reach properties limit");
+			DBG_ERROR("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 85791e5..85c505c 100644
--- a/src/prop_search.h
+++ b/src/prop_search.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
diff --git a/src/steering_wheel.json b/src/steering_wheel.json
deleted file mode 100644
index 1a5e889..0000000
--- a/src/steering_wheel.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-	"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 9d72284..5831983 100644
--- a/src/steering_wheel_json.c
+++ b/src/steering_wheel_json.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -20,7 +20,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <sys/stat.h>
-#include "af-steering-wheel-binding.h"
+#include "wheel-service.h"
 #include "steering_wheel_json.h"
 #include "prop_info.h"
 #include "prop_search.h"
@@ -33,6 +33,7 @@ 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)
 	{
@@ -47,10 +48,30 @@ 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;
@@ -68,7 +89,7 @@ static int parse_propertys(json_object *obj_propertys)
 		wheel_info = malloc(ms);
 		if (wheel_info == NULL)
 		{
-			ERRMSG("Not enogh memory");
+			DBG_ERROR("Not enogh memory");
 			return 1;
 		}
 		memset(wheel_info, 0 , ms);
@@ -82,7 +103,7 @@ 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)
 				{
-					ERRMSG("not enogh memory");
+					DBG_ERROR("not enogh memory");
 					exit(1);
 				}
 
@@ -115,7 +136,7 @@ static int parse_json(json_object *obj)
         else
         {
 			++err;
-			ERRMSG("json: Unknown  key \"%s\"", key);
+			DBG_ERROR("json: Unknown  key \"%s\"", key);
 		}
     }
 	return err;
@@ -128,23 +149,23 @@ int wheel_define_init(const char *fname)
 	struct stat stbuf;
 	char *filebuf;
 
-	fd_wheel_map = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
+	fd_wheel_map = open(fname, O_RDONLY);
 	if (fd_wheel_map < 0)
 	{
-		ERRMSG("wheel map is not access");
+		DBG_ERROR("wheel map is not access");
 		return -1;
 	}
 
 	FILE *fp = fdopen(fd_wheel_map,"r");
 	if (fp == NULL)
 	{
-		ERRMSG("canno read wheel map file");
+		DBG_ERROR("cannot read wheel map file");
 		return -1;
 	}
 
 	if (fstat(fd_wheel_map, &stbuf) == -1)
 	{
-		ERRMSG("cant get file state");
+		DBG_ERROR("cant get file state");
 		return -1;
 	}
 
@@ -155,7 +176,7 @@ int wheel_define_init(const char *fname)
 	jobj = json_tokener_parse(filebuf);
 	if (jobj == NULL)
 	{
-		ERRMSG("cannot data from file \"%s\"",fname);
+		DBG_ERROR("cannot read data from file \"%s\"",fname);
 		free(filebuf);
 		return 1;
 	}
@@ -183,7 +204,7 @@ static int parse_gear_para_json(json_object *obj)
 			if (type == json_type_array)
 			{
 				int array_len = json_object_array_length(val);
-				NOTICEMSG("array_len:%d!", array_len);
+				DBG_NOTICE("array_len:%d!", array_len);
 				for (int i = 0; i < array_len; i++)
 				{
 					obj_speed_para = json_object_array_get_idx(val, i);
@@ -236,12 +257,12 @@ static int parse_gear_para_json(json_object *obj)
 			}
 			else
 			{
-				ERRMSG("json: Need  array \"%s\"", key);
+				DBG_ERROR("json: Need  array \"%s\"", key);
 			}
 		}
         else
         {
-			ERRMSG("json: Unknown  key \"%s\"", key);
+			DBG_ERROR("json: Unknown  key \"%s\"", key);
 		}
     }
 	return err;
@@ -254,23 +275,24 @@ 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 = afb_daemon_rootdir_open_locale(fname, O_RDONLY, NULL);
+	fd_gear_para = open(fname, O_RDONLY);
 	if (fd_gear_para < 0)
 	{
-		ERRMSG("gear para is not access");
+		DBG_ERROR("gear para is not access");
 		return -1;
 	}
 
 	FILE *fp = fdopen(fd_gear_para,"r");
 	if (fp == NULL)
 	{
-		ERRMSG("canno read gear para file");
+		DBG_ERROR("cannot read gear para file");
 		return -1;
 	}
 
 	if (fstat(fd_gear_para, &stbuf) == -1)
 	{
-		ERRMSG("cant get file state.\n");
+		DBG_ERROR("cant get file state.\n");
 		return -1;
 	}
 
@@ -281,7 +303,7 @@ int wheel_gear_para_init(const char *fname)
 	jobj = json_tokener_parse(filebuf);
 	if (jobj == NULL)
 	{
-		ERRMSG("cannot data from file \"%s\"",fname);
+		DBG_ERROR("cannot data from file \"%s\"",fname);
 		free(filebuf);
 		return 1;
 	}
@@ -326,13 +348,13 @@ struct json_object *property2json(struct prop_info_t *property)
 			break;
 
 		default:
-			ERRMSG("Unknown value type:%d", property->var_type);
+			DBG_ERROR("Unknown value type:%d", property->var_type);
 			break;
 	}
 
 	if (valueObject == NULL)
 	{
-		ERRMSG("fail json ValueObject");
+		DBG_ERROR("fail json ValueObject");
 		json_object_put(jobj);
 		return NULL;
 	}
diff --git a/src/steering_wheel_json.h b/src/steering_wheel_json.h
index 3c2c8c9..e9d2d05 100644
--- a/src/steering_wheel_json.h
+++ b/src/steering_wheel_json.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
diff --git a/src/steering_wheel_map.json b/src/steering_wheel_map.json
deleted file mode 100644
index 9e580d9..0000000
--- a/src/steering_wheel_map.json
+++ /dev/null
@@ -1,36 +0,0 @@
-{

-	"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
new file mode 100644
index 0000000..38303e8
--- /dev/null
+++ b/src/wheel-service.c
@@ -0,0 +1,420 @@
+/*
+ * 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;
+}
+
diff --git a/src/af-steering-wheel-binding.h b/src/wheel-service.h
index 1b7323c..f588599 100644
--- a/src/af-steering-wheel-binding.h
+++ b/src/wheel-service.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2017 TOYOTA MOTOR CORPORATION
+ * 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.
@@ -19,16 +19,10 @@
 
 #define AFB_BINDING_VERSION 2
 #include <afb/afb-binding.h>
-
 #include "prop_info.h"
+#include "debug_msg.h"
 
-#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
+#define LOG_PREFIX     "wheel-service"
 
 extern int notify_property_changed(struct prop_info_t *property_info);