Re-organized sub-directory by category

Since all the sub-directories were placed in the
first level, created sub-directories, "hal", "module",
and "service" for classification and relocated each component.

Signed-off-by: Tadao Tanikawa <tanikawa.tadao@jp.panasonic.com>
Change-Id: Ifdf743ac0d1893bd8e445455cf0d2c199a011d5c

6 files changed, 935 insertions, 0 deletions

diff --git a/hal/vehicle_hal/LICENSE b/hal/vehicle_hal/LICENSE
new file mode 100755
index 0000000..f433b1a
--- /dev/null
+++ b/hal/vehicle_hal/LICENSE
@@ -0,0 +1,177 @@
+
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+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
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+
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diff --git a/hal/vehicle_hal/Makefile b/hal/vehicle_hal/Makefile
new file mode 100755
index 0000000..d009b13
--- /dev/null
+++ b/hal/vehicle_hal/Makefile
@@ -0,0 +1,69 @@
+#
+# @copyright Copyright (c) 2017-2020 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.
+#
+
+######### installed program/file ################
+TARGET := libvehicle_hal.so
+
+HEADER := hal_api/vehicle_hal.h
+
+######### include paths/files ###################
+CXXFLAGS := -I./inc/
+CXXFLAGS += -I./hal_api/
+CXXFLAGS += -I$(SDKTARGETSYSROOT)/usr/agl/include
+CXXFLAGS += -include $(SDKTARGETSYSROOT)/usr/agl/include/agl_types_obsoluted.h
+
+######### compile options #######################
+CXXFLAGS +=  -Wall -fPIC
+
+######### link options ##########################
+LDFLAGS += -shared
+LDFLAGS += -Wl,--no-as-needed
+LDFLAGS += -Wl,--no-undefined
+LDFLAGS += -L$(SDKTARGETSYSROOT)/usr/agl/lib
+
+RPATH := /usr/lib
+
+######### linked library ########################
+LIBS += -Wl,-Bdynamic -lstdc++
+LIBS += -Wl,-Bdynamic -lpthread
+LIBS += -Wl,-Bdynamic -lNS_FrameworkUnified
+#LIBS += -Wl,-Bdynamic -lcarsignal_mng
+
+######### source files ##########################
+VPATH := src
+OBJS := vehicle_hal.o
+
+######### make targets ##########################
+all: $(TARGET)
+	@echo $@ done.
+
+$(TARGET): $(OBJS)
+	$(CC) $(LDFLAGS) -Wl,-rpath=:$(RPATH) $(OBJS) $(LIBS) -o $(TARGET)
+	@echo $@ done.
+
+######### make cleans ###########################
+GCNO_FILES := $(filter %.gcno,$(OBJS:%.o=%.gcno))
+
+clean:
+	rm -f $(OBJS) $(TARGET) $(GCNO_FILES)
+	@echo $@ done.
+
+######### make installs #########################
+install:
+	install -d -m 0755 $(DESTDIR)/usr/lib
+	install -m 0755 $(TARGET) $(DESTDIR)/usr/lib
+	@echo $@ done.
+
diff --git a/hal/vehicle_hal/README.md b/hal/vehicle_hal/README.md
new file mode 100755
index 0000000..6636a4f
--- /dev/null
+++ b/hal/vehicle_hal/README.md
@@ -0,0 +1,3 @@
+vehicle_hal library
+==================
+Vehicle HAL implementation library for AGL Reference Board.
diff --git a/hal/vehicle_hal/hal_api/vehicle_hal.h b/hal/vehicle_hal/hal_api/vehicle_hal.h
new file mode 100755
index 0000000..4e6cc89
--- /dev/null
+++ b/hal/vehicle_hal/hal_api/vehicle_hal.h
@@ -0,0 +1,210 @@
+/*
+ * @copyright Copyright (c) 2017-2020 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 HAL_API_VEHICLE_HAL_H_
+#define HAL_API_VEHICLE_HAL_H_
+/**
+ * @file vehicle_hal.h
+ */
+
+/** @addtogroup vehicle
+ *  @{
+ */
+/** @addtogroup vehicle_hal
+ *  @ingroup vehicle
+ *  @{
+ */
+
+#include <native_service/frameworkunified_types.h>
+
+/**
+ * \~english  Name of the send thread
+ */
+#define TN_LINE_SENS_READ "Vehicle Hal"
+
+/**
+ * @enum LineSensReadInternalServiceProtocol
+ * \~english Command ID used by Vehicle_hal to send the vehicle signal input from the jicage line to the user \n
+              To receive events with this command ID, use the interface defined in framework_unified as follows 
+ * @code 
+ * ret_status = FrameworkunifiedAttachCallbackToDispatcher(h_app, TN_LINE_SENS_READ, CID_VEHICLEHAL_LINESENS, CbCallbackFunc);
+ * @endcode
+ */
+enum LineSensReadInternalServiceProtocol {
+  CID_VEHICLEHAL_LINESENS = 0x00000101,  //!< \~english LineSens Message Command ID
+  CID_VEHICLEHAL_SPDPULSE = 0x00000102,  //!< \~english SpeedPulse Message Command ID
+  CID_VEHICLEHAL_SPD = 0x00000103,       //!< \~english Speed Message Command ID
+  CID_VEHICLEHAL_LINESENS_POL = 0x00000104,
+  //!< \~english voltage and RHEOSTAT Message Command ID
+};
+
+/**
+ * @enum VehiclehalLinesenskindMicBit
+ * \~english  MIC BIT
+ */
+enum VehiclehalLinesenskindMicBit {
+  VEHICLEHAL_LINESENSKIND_MIC_BIT_MIC = 0x01,          //!< \~english MIC
+  VEHICLEHAL_LINESENSKIND_MIC_BIT_ANALOGMIC1 = 0x02,   //!< \~english ANALOGMIC1
+  VEHICLEHAL_LINESENSKIND_MIC_BIT_ANALOGMIC2 = 0x04,   //!< \~english ANALOGMIC2
+};
+ 
+/**
+ * @enum VehiclehalLinesenskindMic2Bit
+ * \~english  MIC2 BIT
+ */
+enum VehiclehalLinesenskindMic2Bit {
+  VEHICLEHAL_LINESENSKIND_MIC2_BIT_A2BHUB = 0x01,      //!< \~english A2BHUB
+  VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC1 = 0x02,   //!< \~english MULTIMIC1
+  VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC2 = 0x04,   //!< \~english MULTIMIC2
+  VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC3 = 0x08,   //!< \~english MULTIMIC3
+  VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC4 = 0x10,   //!< \~english MULTIMIC4
+  VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC5 = 0x20,   //!< \~english MULTIMIC5
+  VEHICLEHAL_LINESENSKIND_MIC2_BIT_MULTIMIC6 = 0x40,   //!< \~english MULTIMIC6
+  VEHICLEHAL_LINESENSKIND_MIC2_BIT_ANC = 0x80,         //!< \~english ANC
+};
+
+/**
+ * @enum VehicleHalLineSensKind
+ * \~english  Line Sensor kind
+ */
+enum VehicleHalLineSensKind {
+  VEHICLEHAL_LINESENSKIND_IG = 0,       //!< \~english IG
+  VEHICLEHAL_LINESENSKIND_PKB,          //!< \~english PKB
+  VEHICLEHAL_LINESENSKIND_REV,          //!< \~english REV
+  VEHICLEHAL_LINESENSKIND_ILL,          //!< \~english ILL
+  VEHICLEHAL_LINESENSKIND_LOWVOLTAGE,   //!< \~english LOWVOLTAGE
+  VEHICLEHAL_LINESENSKIND_ADIM,         //!< \~english ADIM
+  VEHICLEHAL_LINESENSKIND_MIC,          //!< \~english MIC,ANALOGMIC1,ANALOGMIC2
+  VEHICLEHAL_LINESENSKIND_USBPOWERSUPPLY,  //!< \~english USB Power Supply[10mA]
+  VEHICLEHAL_LINESENSKIND_MIC2,         //!< \~english A2BHUB,MULTIMIC1 to 6,ANC
+  VEHICLEHAL_LINESENSKIND_NUM,          //!< \~english MAX Number
+};
+
+/**
+ * @enum VEHICLEHAL_RET_TYPE
+ * \~english  The return value of vehicle_hal API
+ */
+typedef enum {
+  /**
+  * \~english Success
+  */
+  VEHICLEHAL_RET_SUCCESS = 0,
+  /**
+  * \~english Car Signal Ctrl Api Initialize failed
+  */
+  VEHICLEHAL_RET_ERR_HARDINIT,
+  /**
+  * \~english McSend Open failed
+  */
+  VEHICLEHAL_RET_ERR_MCOPEN,
+  /**
+  * \~english Create Thread failed
+  */
+  VEHICLEHAL_RET_ERR_THREADSTART,
+  /**
+  * \~english Invalid paramter
+  */
+  VEHICLEHAL_RET_ERR_PARAM,
+}VEHICLEHAL_RET_TYPE;
+
+/**
+ * @struct VehicleHalSpeedPulse
+ * \~english  Struct of SpeedPulse
+ */
+struct VehicleHalSpeedPulse {
+  float pulse;  //!< \~english speed pulse[Hz]
+  float period;  //!< \~english pulse period[ms]
+};
+
+/**
+ * @struct VehicleHalLineSensMsg
+ * \~english  Struct of Meassage
+ */
+struct VehicleHalLineSensMsg {
+  uint8_t stdata[VEHICLEHAL_LINESENSKIND_NUM];  //!< \~english line data
+};
+
+/**
+ * @struct VehicleHalPol
+ * \~english  Struct of VehicleHalPolling
+ */
+struct VehicleHalPol {
+  uint8_t vb;        //!< \~english voltage [10 * v]
+  uint8_t rheostat;  //!< \~english RHEOSTAT [10 * v]
+};
+
+/**
+ * \ingroup VehicleHalStart
+ * \~english @par Brief
+ *        API to start the vehicle_hal
+ * \~english @param [in] happ
+ *        HANDLE - Handle for Application
+ * \~english @retval VEHICLEHAL_RET_SUCCESS              :  Success
+ * \~english @retval VEHICLEHAL_RET_ERR_HARDINIT         :  Car Signal Ctrl Api Initialize failed
+ * \~english @retval VEHICLEHAL_RET_ERR_MCOPEN           :  McSend Open failed
+ * \~english @retval VEHICLEHAL_RET_ERR_THREADSTART      :  Create Thread failed
+ * \~english @retval VEHICLEHAL_RET_ERR_PARAM            :  Invalid paramter
+ * \~english @par Prerequisite
+ *        None
+ * \~english @par Change of internal state
+ *        - If start successfully, vehicle_hal changes from stop to start.
+ *        - If start failed, the state of the vehicle_hal remains no change.
+ * \~english @par Conditions of processing failure
+ *        - Car Signal Ctrl Api Initialize failed.
+ *        - McSend Open failed.
+ *        - Create Thread failed.
+ * \~english @par Classification
+ *        Public
+ * \~english @par Type
+ *        Sync
+ * \~english @par Detail
+ *        - Start the vehicle_hal service.
+ *        - The API can only be used by 1 process.
+ * \~english @see
+ *        None
+ */
+VEHICLEHAL_RET_TYPE VehicleHalStart(HANDLE happ);
+
+/**
+ * \ingroup VehicleHalStop
+ * \~english @par Brief
+ *        API to stop the vehicle_hal
+ * \~english @param [in] happ
+ *        HANDLE - Handle for Application
+ * \~english @retval VEHICLEHAL_RET_SUCCESS          :  Success
+ * \~english @retval VEHICLEHAL_RET_ERR_PARAM        :  Invalid paramter
+ * \~english @par Prerequisite
+ *        vehicle_hal start successfully.
+ * \~english @par Change of internal state
+ *        - If start successfully, vehicle_hal changes from start to stop.
+ *        - If start failed, the state of the vehicle_hal remains no change.
+ * \~english @par Conditions of processing failure
+ *        None.
+ * \~english @par Classification
+ *        Public
+ * \~english @par Type
+ *        Sync
+ * \~english @par Detail
+ *        - Stop the vehicle_hal service.
+ *        - The API can only be used by 1 process.
+ * \~english @see
+ *        None
+ */
+VEHICLEHAL_RET_TYPE VehicleHalStop(HANDLE happ);
+
+/** @}*/  //!<  end of vehicle_hal
+/** @}*/  //!<  end of vehicle
+#endif  // HAL_API_VEHICLE_HAL_H_
diff --git a/hal/vehicle_hal/inc/vehicle_hal_frameworkunifiedlog.h b/hal/vehicle_hal/inc/vehicle_hal_frameworkunifiedlog.h
new file mode 100755
index 0000000..2cee8eb
--- /dev/null
+++ b/hal/vehicle_hal/inc/vehicle_hal_frameworkunifiedlog.h
@@ -0,0 +1,78 @@
+/*
+ * @copyright Copyright (c) 2017-2020 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 INC_VEHICLE_HAL_FRAMEWORKUNIFIEDLOG_H_
+#define INC_VEHICLE_HAL_FRAMEWORKUNIFIEDLOG_H_
+
+#include <native_service/ns_logger_if.h>
+
+#define ZONE_INIT         ZONEMASK(10)
+#define ZONE_FUNC         ZONEMASK(11)
+#define ZONE_MEM          ZONEMASK(12)
+#define ZONE_13           ZONEMASK(13)
+#define ZONE_14           ZONEMASK(14)
+#define ZONE_15           ZONEMASK(15)
+#define ZONE_16           ZONEMASK(16)
+#define ZONE_17           ZONEMASK(17)
+#define ZONE_18           ZONEMASK(18)
+#define ZONE_19           ZONEMASK(19)
+#define ZONE_20           ZONEMASK(20)
+#define ZONE_21           ZONEMASK(21)
+#define ZONE_22           ZONEMASK(22)
+#define ZONE_23           ZONEMASK(23)
+#define ZONE_24           ZONEMASK(24)
+#define ZONE_25           ZONEMASK(25)
+#define ZONE_26           ZONEMASK(26)
+#define ZONE_27           ZONEMASK(27)
+#define ZONE_28           ZONEMASK(28)
+#define ZONE_INFO         ZONEMASK(29)
+#define ZONE_WARN         ZONEMASK(30)
+#define ZONE_ERR          ZONEMASK(31)
+
+#define ZONE_TEXT_10      "Init"
+#define ZONE_TEXT_11      "Function"
+#define ZONE_TEXT_12      "Memory"
+#define ZONE_TEXT_13      ""
+#define ZONE_TEXT_14      ""
+#define ZONE_TEXT_15      ""
+#define ZONE_TEXT_16      ""
+#define ZONE_TEXT_17      ""
+#define ZONE_TEXT_18      ""
+#define ZONE_TEXT_19      ""
+#define ZONE_TEXT_20      ""
+#define ZONE_TEXT_21      ""
+#define ZONE_TEXT_22      ""
+#define ZONE_TEXT_23      ""
+#define ZONE_TEXT_24      ""
+#define ZONE_TEXT_25      ""
+#define ZONE_TEXT_26      ""
+#define ZONE_TEXT_27      ""
+#define ZONE_TEXT_28      ""
+#define ZONE_TEXT_29      "Info"
+#define ZONE_TEXT_30      "Warning"
+#define ZONE_TEXT_31      "Error"
+
+#ifndef  FRAMEWORKUNIFIEDLOGOPTIONS
+#define FRAMEWORKUNIFIEDLOGOPTIONS (LSHAREDMEM)  // LPRINT , LMSGQ, LSLOGGER
+#endif
+
+#ifndef FRAMEWORKUNIFIEDLOGAPPZONES
+#define FRAMEWORKUNIFIEDLOGAPPZONES ZONE_ERR, ZONE_WARN, ZONE_INFO
+#endif
+
+extern const CHAR AppName[];  // NOLINT (defind outside)
+#endif  // INC_VEHICLE_HAL_FRAMEWORKUNIFIEDLOG_H_
+
diff --git a/hal/vehicle_hal/src/vehicle_hal.cpp b/hal/vehicle_hal/src/vehicle_hal.cpp
new file mode 100755
index 0000000..258c51a
--- /dev/null
+++ b/hal/vehicle_hal/src/vehicle_hal.cpp
@@ -0,0 +1,398 @@
+/*
+ * @copyright Copyright (c) 2017-2020 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.
+ */
+
+#include <string.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <unistd.h>
+#include <agl_thread.h>
+#include <native_service/frameworkunified_framework_if.h>
+#include <native_service/frameworkunified_dispatcher.h>
+#include <native_service/frameworkunified_multithreading.h>
+#include "vehicle_hal_frameworkunifiedlog.h"
+
+extern "C" {
+//  #include "carsignal_mng_api.h"
+}
+
+#include "vehicle_hal.h"
+
+/**
+* \~english environment variable define
+*/
+#define VEHICLEHAL_LINESENSKIND_ADIM_DATA                 "VEHICLEHAL_LINESENSKIND_ADIM"
+/**
+* \~english environment variable define
+*/
+#define VEHICLEHAL_LINESENSKIND_MIC_DATA                  "VEHICLEHAL_LINESENSKIND_MIC"
+/**
+* \~english environment variable define
+*/
+#define VEHICLEHAL_LINESENSKIND_VB_DATA                   "VEHICLEHAL_LINESENSKIND_VB"
+/**
+* \~english environment variable define
+*/
+#define VEHICLEHAL_LINESENSKIND_RHEOSTAT_DATA             "VEHICLEHAL_LINESENSKIND_RHEOSTAT"
+
+#define VEHICLEHAL_LOWVB_VALUE  75
+
+// send message flag
+static HANDLE g_sendmsg_handle = NULL;
+
+// work thread exit flag
+static BOOL g_loopendflag = FALSE;
+
+// polling thread exit flag
+static BOOL g_polloopendflag = FALSE;
+
+// isOpen flag
+static BOOL g_isopenflag = FALSE;
+
+// thread id
+static pthread_t g_threadid = 0;
+
+// hard object struct
+//static VclCtlApiObj g_sclientobj;
+
+// app name
+static CHAR g_appname[MAX_NAME_SIZE_APP];
+
+// line sense list
+const UINT8 kLineSensList[VEHICLEHAL_LINESENSKIND_NUM] = {
+//  CARSIGNAL_IG,
+//  CARSIGNAL_PKB,
+//  CARSIGNAL_REV,
+//  CARSIGNAL_ILL,
+};
+
+static void *VehicleHalProcess(void *arg);
+
+HANDLE g_vehiclehalext_thread;
+HANDLE g_vehiclehalpol_thread;
+EFrameworkunifiedStatus VehicleHalProcessExtStart(HANDLE happ);
+EFrameworkunifiedStatus VehicleHalProcessExtStop(HANDLE happ);
+EFrameworkunifiedStatus VehicleHalProcessRecvSpeed(HANDLE happ);
+
+EFrameworkunifiedStatus VehicleHalProcessPolStart(HANDLE happ);
+EFrameworkunifiedStatus VehicleHalProcessPolStop(HANDLE happ);
+
+static const FrameworkunifiedProtocolCallbackHandler kVehicleHalSpd[] = { {
+    CID_VEHICLEHAL_SPD, VehicleHalProcessRecvSpeed } };
+
+#define VEHICLEHAL_SPEED "VehicleHalSpd"
+#define VEHICLEHAL_EXT "VehicleHalExt"
+#define VEHICLEHAL_POL "VehicleHalPol"
+
+VEHICLEHAL_RET_TYPE VehicleHalStart(HANDLE happ) {
+  if (NULL == happ) {
+    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Handle is NULL");
+    return VEHICLEHAL_RET_ERR_PARAM;
+  }
+
+  // check open flag
+  if (TRUE == g_isopenflag) {
+    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Already Opened");
+    return VEHICLEHAL_RET_SUCCESS;
+  }
+
+//  memset(&g_sclientobj, 0, sizeof(g_sclientobj));
+
+  // enter loop
+  g_loopendflag = FALSE;
+
+  g_polloopendflag = FALSE;
+
+  // get app name
+  PCSTR app_name = FrameworkunifiedGetAppName(happ);
+  if (NULL == app_name) {
+    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Get App Name Failed");
+    return VEHICLEHAL_RET_ERR_PARAM;
+  }
+
+  memset(g_appname, 0, sizeof(g_appname));
+  memcpy(g_appname, app_name, sizeof(g_appname));
+  g_appname[MAX_NAME_SIZE_APP] = '\0';
+
+//  // Start VLC data input control API
+//  UINT32 ret = VclCtlApiOpen(&g_sclientobj);
+//  if ( CARSIGNAL_CTL_RET_SUCCESS != ret ) {
+//    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Ten Api Open Failed");
+//    return VEHICLEHAL_RET_ERR_HARDINIT;
+//  }
+
+  // Open message queue for sending
+  g_sendmsg_handle = McOpenSender(g_appname);
+  if (NULL == g_sendmsg_handle) {
+    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Open Mc Sender Failed");
+//    VclCtlApiClose(&g_sclientobj);
+    return VEHICLEHAL_RET_ERR_MCOPEN;
+  }
+
+  // create thread
+  int iret = pthread_create(&g_threadid,
+                          NULL,
+                          VehicleHalProcess,
+                          NULL);
+  if ( 0 != iret ) {
+    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Create Thread Failed");
+    McClose(g_sendmsg_handle);
+//    VclCtlApiClose(&g_sclientobj);
+    return VEHICLEHAL_RET_ERR_THREADSTART;
+  }
+
+  g_vehiclehalext_thread = FrameworkunifiedCreateChildThread(happ, VEHICLEHAL_EXT,
+                                                VehicleHalProcessExtStart,
+                                                VehicleHalProcessExtStop);
+
+  EFrameworkunifiedStatus estatus = FrameworkunifiedStartChildThread(happ, g_vehiclehalext_thread, 0, NULL);
+  if (eFrameworkunifiedStatusOK != estatus) {
+    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedStartChildThread Failed");
+    McClose(g_sendmsg_handle);
+    return VEHICLEHAL_RET_ERR_THREADSTART;
+  }
+
+  g_vehiclehalpol_thread = FrameworkunifiedCreateChildThread(happ, VEHICLEHAL_POL,
+                                                VehicleHalProcessPolStart,
+                                                VehicleHalProcessPolStop);
+
+  EFrameworkunifiedStatus estatus_pol = FrameworkunifiedStartChildThread(happ, g_vehiclehalpol_thread, 0, NULL);
+  if (eFrameworkunifiedStatusOK != estatus_pol) {
+    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedStartChildThread polling Failed");
+    McClose(g_sendmsg_handle);
+    return VEHICLEHAL_RET_ERR_THREADSTART;
+  }
+
+
+  // set open flag true
+  g_isopenflag = TRUE;
+
+  return VEHICLEHAL_RET_SUCCESS;
+}
+
+VEHICLEHAL_RET_TYPE VehicleHalStop(HANDLE happ) {
+  if (NULL == happ) {
+    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Handle is NULL");
+    return VEHICLEHAL_RET_ERR_PARAM;
+  }
+
+  if (NULL != g_vehiclehalext_thread) {
+    EFrameworkunifiedStatus estatus = FrameworkunifiedDestroyChildThread(happ, g_vehiclehalext_thread);
+    if (eFrameworkunifiedStatusOK != estatus) {
+      FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedDestroyChildThread Failed");
+      return VEHICLEHAL_RET_ERR_PARAM;
+    }
+    g_vehiclehalext_thread = NULL;
+  }
+
+  // set open flag of polling to fasle
+  g_polloopendflag = TRUE;
+
+  if (NULL != g_vehiclehalpol_thread) {
+    EFrameworkunifiedStatus estatus = FrameworkunifiedStopChildThread(happ, g_vehiclehalpol_thread, 0, NULL);
+    if (eFrameworkunifiedStatusOK != estatus) {
+      FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedDestroyChildThread polling Failed");
+      return VEHICLEHAL_RET_ERR_PARAM;
+    }
+    estatus = FrameworkunifiedDestroyChildThread(happ, g_vehiclehalpol_thread);
+    if (eFrameworkunifiedStatusOK != estatus) {
+      FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "FrameworkunifiedDestroyChildThread polling Failed");
+      return VEHICLEHAL_RET_ERR_PARAM;
+    }
+    g_vehiclehalpol_thread = NULL;
+  }
+
+  // set open flag fasle
+  g_isopenflag = FALSE;
+
+  // exit loop
+  g_loopendflag = TRUE;
+
+  // destroy thead
+  pthread_join(g_threadid, NULL);
+
+  // Close message queue
+  McClose(g_sendmsg_handle);
+
+//  // End VLC data input control API
+//  VclCtlApiClose(&g_sclientobj);
+
+  return VEHICLEHAL_RET_SUCCESS;
+}
+
+void *VehicleHalProcess(void *arg) {
+  // Line Sense Message
+  VehicleHalLineSensMsg s_linesensmsg;
+  memset( &s_linesensmsg, 0xFF, sizeof(s_linesensmsg) );
+
+  // main loop
+  while (TRUE != g_loopendflag) {
+    char* p_env_vb = NULL;
+    p_env_vb = getenv(VEHICLEHAL_LINESENSKIND_VB_DATA);
+    if (NULL != p_env_vb) {
+      // low voltage
+      if (VEHICLEHAL_LOWVB_VALUE >= atoi(p_env_vb)) {
+        s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_LOWVOLTAGE] = 1;
+      } else {
+        s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_LOWVOLTAGE] = 0;
+      }
+    }
+
+    // loop to get line sense status
+    for (UI_32 iloopnum = 0; iloopnum <= VEHICLEHAL_LINESENSKIND_ILL; ++iloopnum) {
+      // line sense status
+      UINT8 signalret = 0;
+
+//      // get line sense status
+//      UINT32 ret = VclCtlApiRcvVclData(&g_sclientobj, kLineSensList[iloopnum], &signalret);
+//      if ( CARSIGNAL_CTL_RET_SUCCESS != ret ) {
+//        FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "Get LineSens [%d]  status faild [%d]", kLineSensList[iloopnum], ret);
+//        continue;
+//      }
+
+      // convert 0 to 1 or 1 to 0 for IG,REV according car signal api reference
+      switch (kLineSensList[iloopnum]) {
+//        case CARSIGNAL_IG:
+//        case CARSIGNAL_REV:
+//          signalret = 1 - signalret;
+//          break;
+
+        default:
+          break;
+      }
+
+      // check status
+      if (signalret != s_linesensmsg.stdata[iloopnum]) {
+        s_linesensmsg.stdata[iloopnum] = signalret;
+      }
+    }
+
+    char* p_env_adim = NULL;
+    p_env_adim = getenv(VEHICLEHAL_LINESENSKIND_ADIM_DATA);
+    if (NULL != p_env_adim) {
+      s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_ADIM] = atoi(p_env_adim);
+    }
+
+    char* p_env_mic = NULL;
+    p_env_mic = getenv(VEHICLEHAL_LINESENSKIND_MIC_DATA);
+    if (NULL != p_env_mic) {
+      s_linesensmsg.stdata[VEHICLEHAL_LINESENSKIND_MIC] = atoi(p_env_mic);
+    }
+
+    // send line sens
+    EFrameworkunifiedStatus eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_LINESENS,
+                                 sizeof(s_linesensmsg), (PVOID)&s_linesensmsg);
+    if (eFrameworkunifiedStatusOK != eretval) {
+      FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend LineSens failed");
+    }
+
+    // wait 10ms
+    usleep(10000);
+  }
+  return NULL;
+}
+
+EFrameworkunifiedStatus VehicleHalProcessExtStart(HANDLE happ) {
+  EFrameworkunifiedStatus estatus = FrameworkunifiedAttachCallbacksToDispatcher(happ, VEHICLEHAL_SPEED,
+                                                      kVehicleHalSpd,
+                                                      static_cast<UI_32>(_countof(kVehicleHalSpd)));
+  if (eFrameworkunifiedStatusOK != estatus) {
+    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__,
+               "Error FrameworkunifiedAttachCallbacksToDispatcher Vehicle_Hal_Speed:%d", estatus);
+    return estatus;
+  }
+
+  return eFrameworkunifiedStatusOK;
+}
+
+EFrameworkunifiedStatus VehicleHalProcessExtStop(HANDLE happ) {
+  return eFrameworkunifiedStatusOK;
+}
+
+EFrameworkunifiedStatus VehicleHalProcessRecvSpeed(HANDLE happ) {
+  // Speed Pusle Message
+  VehicleHalSpeedPulse speedpulsemsg;
+  memset( &speedpulsemsg, 0xFF, sizeof(speedpulsemsg) );
+
+  // get vehicle speed
+  UINT16 speed = 0;
+  EFrameworkunifiedStatus estatus = eFrameworkunifiedStatusOK;
+
+  estatus = FrameworkunifiedGetMsgDataOfSize(happ, &speed, sizeof(speed), eSMRRelease);
+  if (eFrameworkunifiedStatusOK != estatus) {
+    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "failed FrameworkunifiedGetMsgDataOfSize() Status=[%d]", estatus);
+    return estatus;
+  }
+
+  // calculate speed to speed pulse
+  float speedpulse = static_cast<float>(speed * (4.0*637.0) / (60.0 * 60.0));
+  if ( speedpulse != speedpulsemsg.pulse ) {
+    speedpulsemsg.pulse = speedpulse;
+    if (0.0 != speedpulse) {
+      speedpulsemsg.period = static_cast<float>((1 / speedpulse) * 1000);
+    } else {
+      speedpulsemsg.period = 0;
+    }
+  }
+
+  // send line sens
+  EFrameworkunifiedStatus eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_SPDPULSE,
+                               sizeof(speedpulsemsg), (PVOID)&speedpulsemsg);
+  if (eFrameworkunifiedStatusOK != eretval) {
+    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend Speed Pulse failed");
+  }
+
+  eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_SPD,
+                                   sizeof(UINT16), (PVOID)&speed);
+  if (eFrameworkunifiedStatusOK != eretval) {
+    FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend Speed failed");
+  }
+
+  return eFrameworkunifiedStatusOK;
+}
+
+EFrameworkunifiedStatus VehicleHalProcessPolStart(HANDLE happ) {
+  VehicleHalPol s_pol;
+  memset( &s_pol, 0xFF, sizeof(s_pol) );
+
+  while (!g_polloopendflag) {
+    char* p_env_vb = NULL;
+    char* p_env_rheostat = NULL;
+    p_env_vb = getenv(VEHICLEHAL_LINESENSKIND_VB_DATA);
+    p_env_rheostat = getenv(VEHICLEHAL_LINESENSKIND_RHEOSTAT_DATA);
+    if (NULL != p_env_vb) {
+      // covert voltage value
+      s_pol.vb = atoi(p_env_vb);
+    }
+
+    if (NULL != p_env_rheostat) {
+      // covert RHEOSTAT value
+      s_pol.rheostat = atoi(p_env_rheostat);
+    }
+    // send vb and rheostat
+    EFrameworkunifiedStatus eretval = McSend(g_sendmsg_handle, TN_LINE_SENS_READ, CID_VEHICLEHAL_LINESENS_POL,
+                                   sizeof(s_pol), (PVOID)&s_pol);
+    if (eFrameworkunifiedStatusOK != eretval) {
+      FRAMEWORKUNIFIEDLOG(ZONE_WARN, __FUNCTION__, "McSend Vb and RHEOSTAT failed");
+    }
+    // sleep 700ms
+    usleep(700000);
+  }
+  return eFrameworkunifiedStatusOK;
+}
+
+EFrameworkunifiedStatus VehicleHalProcessPolStop(HANDLE happ) {
+  return eFrameworkunifiedStatusOK;
+}