ps-communication branch 0.1sandbox/ToshikazuOhiwa/ps-communication

21 files changed, 137 insertions, 892 deletions

diff --git a/communication/server/include/CAN/CommWatch/CAN_CommWatch.h b/communication/server/include/CAN/CommWatch/CAN_CommWatch.h
index 3b6c8840..16aa54ff 100644
--- a/communication/server/include/CAN/CommWatch/CAN_CommWatch.h
+++ b/communication/server/include/CAN/CommWatch/CAN_CommWatch.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
@@ -16,34 +16,27 @@
 
 #ifndef COMMUNICATION_SERVER_INCLUDE_CAN_COMMWATCH_CAN_COMMWATCH_H_
 #define COMMUNICATION_SERVER_INCLUDE_CAN_COMMWATCH_CAN_COMMWATCH_H_
-/******************************************************************************
- * FILE  :CAN_CommWatch.h
- * SYSTEM  :_CWORD107_
- * SUBSYSTEM :
- ******************************************************************************/
-#include "CAN_CommWatchData.h"
+#include <native_service/frameworkunified_types.h>
+#include <peripheral_service/Canif_API.h>
+#include <vector>
+#include <map>
+#include <string>
+#include "CommWatchCommon.h"
 
-/************************************************************************
-*   Macro definitions             *
-************************************************************************/
+typedef struct {
+  char notify_name[MAX_NAME_SIZE_APP];
+  uint32_t data_id;
+  uint8_t comm_watch_flag;
+  uint16_t set_time;
+  uint16_t timer_cnt;
+} CAN_COMM_WATCH_VAL;
 
-/* Flag relationship */
-#define CAN_COMM_IG_OFF 0x00 /* IG OFF   */
-#define CAN_COMM_IG_ON 0x01 /* IG ON    */
-#define CAN_COMM_IG_NORCV 0xFF /* IG not yet */
+typedef std::multimap<CANID, CAN_COMM_WATCH_VAL> CAN_CommWatchTable;
+typedef std::pair<const CANID, CAN_COMM_WATCH_VAL> CAN_CommWatchTablePair;
+typedef CAN_CommWatchTable::iterator CAN_CommWatchTableIt;
 
-/************************************************************************
-*   Struct definitions             *
-************************************************************************/
-
-/************************************************************************
-*   Function prototype             *
-************************************************************************/
 void CANCommWatchInit(void);
-RET_CAN CANCommWatchTimeoutMsg(HANDLE h_app, uint16_t);
 EFrameworkunifiedStatus CANCommWatch(HANDLE h_app);
-EFrameworkunifiedStatus CANCommWatchCore(HANDLE h_app, CAN_PROTOCOL_TYPE type);
-void CANCommWatchClear(HANDLE h_app, CANID);
-EFrameworkunifiedStatus CANVehicleInfoMsg(HANDLE h_app);
-uint8_t CANIgStatGet(void);
+EFrameworkunifiedStatus CANCommWatchTimeout(HANDLE h_app);
+void CANCommWatchClear(HANDLE h_app, CANID id);
 #endif  // COMMUNICATION_SERVER_INCLUDE_CAN_COMMWATCH_CAN_COMMWATCH_H_
diff --git a/communication/server/include/CAN/CommWatch/CAN_CommWatchData.h b/communication/server/include/CAN/CommWatch/CAN_CommWatchData.h
deleted file mode 100644
index 7a982e03..00000000
--- a/communication/server/include/CAN/CommWatch/CAN_CommWatchData.h
+++ /dev/null
@@ -1,125 +0,0 @@
-/*
- * @copyright Copyright (c) 2016-2019 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 COMMUNICATION_SERVER_INCLUDE_CAN_COMMWATCH_CAN_COMMWATCHDATA_H_
-#define COMMUNICATION_SERVER_INCLUDE_CAN_COMMWATCH_CAN_COMMWATCHDATA_H_
-/******************************************************************************
- * FILE  :CAN_CommWatchData.h
- * SYSTEM  :_CWORD107_
- * SUBSYSTEM :
- ******************************************************************************/
-
-#include <peripheral_service/Canif_API.h>
-#include "CAN_Thread.h"
-
-/************************************************************************
-*   Macro definitions             *
-************************************************************************/
-/* #001 start */
-#define COMM_WATICH_TIMER_SEQ_NO_MIN 0x0001 /* Minimum value of timer sequence number */
-/* #100 start */
-#define COMM_WATICH_TIMER_SEQ_NO_MAX 0x0FFF /* Maximum value of timer sequence number */
-/* #001 end */
-/* #100 end */
-
-/* Flag Relationship */
-#define CAN_COMM_OFF 0x00 /* Monitoring OFF  */
-#define CAN_COMM_NORMAL 0x01 /* Communicating     */
-#define CAN_COMM_STOP 0x02 /* Interruption of communication */
-
-/************************************************************************
-*   Struct definitions             *
-************************************************************************/
-/***************************************************
-* TAG       : CAN_COMM_WATCH_DAT
-* ABSTRACT  : Communication interruption monitoring management table structure (1 item)
-*             Use in arrays when used 
-*             (CAN internal data management table) Not used because API is used in the TBD_Z first game
-****************************************************/
-typedef struct {                      /* Type definition of communication disconnection monitoring management table (1 case) */
-  CANID ul_can_id;                      /* CAN ID */
-  DID ul_did; /* Data ID */
-  uint16_t us_watch_time;               /* Communication interruption monitoring time (in units of 100ms) */
-                                      // uint32_t notifyId;  /* Addresses for delivery ID */
-  uint8_t uc_comm_stop;                 /* Communication status */
-  uint8_t uc_ig;                       /* IG linkage */
-  uint16_t us_timer_seq_no;              /* Timer Sequence Number*/
-  char notify_name[MAX_NAME_SIZE_APP]; /* Destination thread name */
-} CAN_COMM_WATCH_DAT;
-
-/************************************************************************
-*   Variable prototype             *
-************************************************************************/
-/* Communication disruption monitoring management table */
-extern CAN_COMM_WATCH_DAT g_st_comm_watch_dat[CAN_PROTOCOL_TYPE_TERMINATE][COMM_WATCH_LIST_NUM];
-/* Number of effective registrations of communication disruption monitoring management table */
-extern uint16_t g_us_comm_watch_dat_cnt[CAN_PROTOCOL_TYPE_TERMINATE];
-
-/************************************************************************
-*   Function prototype             *
-************************************************************************/
-void CANCommWatchDataInit(void);
-BOOL CANCommWatchCanidDidEntryCheck(uint8_t, CANID canid, DID did, CAN_PROTOCOL_TYPE);
-BOOL CANCommWatchTimerSeqNoEntryCheck(uint16_t, uint8_t *, uint8_t *, CAN_PROTOCOL_TYPE);
-BOOL CANCommWatchEntryCheck(CANID canid, DID did, PCSTR namel, uint8_t *, CAN_PROTOCOL_TYPE);
-void CANCommWatchEntry(uint8_t uc_index, const CAN_COMM_WATCHEXT_MSG_DAT *pst_msg_data,
-                       uint16_t us_timer_seq_no, uint8_t uc_comm_stop, CAN_PROTOCOL_TYPE);
-void CANCommWatchDelete(uint8_t, CAN_PROTOCOL_TYPE);
-void CANCommWatchCtrl(uint8_t, uint8_t, CAN_PROTOCOL_TYPE);
-void CANCommWatchDataGet(uint8_t, char *, DID *, uint8_t *, CAN_PROTOCOL_TYPE);
-uint16_t CANCommWatchTimerSeqNoGet(uint8_t, CAN_PROTOCOL_TYPE);
-uint16_t CANCommWatchTimerSeqNoRenwal(uint8_t, uint16_t *, CAN_PROTOCOL_TYPE);
-BOOL CANCommWatchSndCheck(uint8_t, PCSTR name, CAN_PROTOCOL_TYPE);
-uint8_t CANCommWatchIgcoopGet(uint8_t uc_index, CAN_PROTOCOL_TYPE);
-void CANCommWatchBufferOut(FILE *fp_log, CAN_PROTOCOL_TYPE);
-inline BOOL CANCommWatchCanidEntryCheck(uint8_t uc_index, CANID ul_can_id, uint8_t *puc_comm_stop,
-                                        uint16_t *pus_chk_cnt, CAN_PROTOCOL_TYPE);
-
-/* for debug */
-EFrameworkunifiedStatus CANCommWatchAllClearDebug(HANDLE h_app);
-/*******************************************************************************
- * MODULE    : CANCommWatchCanidEntryCheck
- * ABSTRACT  : CANDataCommunication Disruption Monitoring Control Table Registration Status Checking Process (CAN ID Search)
- * FUNCTION  : Compare the communication discontinuity monitoring control data indicated by the index with the specified CAN ID. 
- * ARGUMENT  : uc_index  :Indexed
- *      can_id  :CAN ID
- *      puc_comm_stop :Communication status return pointer
- *      pusChkCnt :Pointer to number of valid data checks for table registration
- * NOTE      : 
- * RETURN    : TRUE  :Data consistency
- *    FALSE  :Data mismatch
- ******************************************************************************/
-
-inline BOOL CANCommWatchCanidEntryCheck(uint8_t uc_index, CANID can_id, uint8_t *puc_comm_stop,
-                                         uint16_t *pusChkCnt, CAN_PROTOCOL_TYPE mode) {
-  BOOL ret = FALSE;
-  CAN_COMM_WATCH_DAT *ptr = &g_st_comm_watch_dat[mode][uc_index];
-
-  /* Is the specified index monitoring interrupted? */
-  if ((uint16_t)0 != ptr->us_watch_time) {
-    /* Specified index-data CANID matches the arguments? */
-    if (can_id == ptr->ul_can_id) {
-      ret = TRUE;
-      *puc_comm_stop = ptr->uc_comm_stop;
-    }
-    /* Updating the number of effective data checks for table registration */
-    *pusChkCnt = (uint16_t)(*pusChkCnt + (uint16_t)1);
-  }
-
-  return (ret);
-}
-
-#endif  // COMMUNICATION_SERVER_INCLUDE_CAN_COMMWATCH_CAN_COMMWATCHDATA_H_
diff --git a/communication/server/include/CAN/CommWatch/CommWatchCommon.h b/communication/server/include/CAN/CommWatch/CommWatchCommon.h
new file mode 100644
index 00000000..7306214e
--- /dev/null
+++ b/communication/server/include/CAN/CommWatch/CommWatchCommon.h
@@ -0,0 +1,22 @@
+/*
+ * @copyright Copyright (c) 2016-2020 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 COMMUNICATION_SERVER_INCLUDE_CAN_COMMWATCH_COMMWATCH_COMMON_H_
+#define COMMUNICATION_SERVER_INCLUDE_CAN_COMMWATCH_COMMWATCH_COMMON_H_
+#define CAN_COMM_OFF 0x00
+#define CAN_COMM_NORMAL 0x01
+#define CAN_COMM_STOP 0x02
+#endif
diff --git a/communication/server/include/CAN/Command/CAN_Command.h b/communication/server/include/CAN/Command/CAN_Command.h
index ca385b2d..43abcdcd 100644
--- a/communication/server/include/CAN/Command/CAN_Command.h
+++ b/communication/server/include/CAN/Command/CAN_Command.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
@@ -16,27 +16,6 @@
 
 #ifndef COMMUNICATION_SERVER_INCLUDE_CAN_COMMAND_CAN_COMMAND_H_
 #define COMMUNICATION_SERVER_INCLUDE_CAN_COMMAND_CAN_COMMAND_H_
-/******************************************************************************
- * FILE  :CAN_Command.h
- * SYSTEM  :_CWORD107_
- * SUBSYSTEM :
- ******************************************************************************/
-
-#include "CAN_Thread.h"
-
-/************************************************************************
-*   Macro definitions             *
-************************************************************************/
-
-/************************************************************************
-*   Struct definitions             *
-************************************************************************/
-
-/************************************************************************
-*   Function prototype             *
-************************************************************************/
 EFrameworkunifiedStatus CANCommandTransmission(HANDLE h_app);
 RET_CAN CANCommandTxRslt(HANDLE h_app, CAN_MSG_DATA*);
-RET_CAN CANCommandDelivery(HANDLE h_app, CAN_MSG_DATA*);
-
 #endif  // COMMUNICATION_SERVER_INCLUDE_CAN_COMMAND_CAN_COMMAND_H_
diff --git a/communication/server/include/CAN/Command/CAN_CommandData.h b/communication/server/include/CAN/Command/CAN_CommandData.h
deleted file mode 100644
index 3d476a68..00000000
--- a/communication/server/include/CAN/Command/CAN_CommandData.h
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
- * @copyright Copyright (c) 2016-2019 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 COMMUNICATION_SERVER_INCLUDE_CAN_COMMAND_CAN_COMMANDDATA_H_
-#define COMMUNICATION_SERVER_INCLUDE_CAN_COMMAND_CAN_COMMANDDATA_H_
-/******************************************************************************
- * FILE  :CAN_CommandData.h
- * SYSTEM  :_CWORD107_
- * SUBSYSTEM :
- ******************************************************************************/
-
-#include <native_service/frameworkunified_types.h>
-
-/************************************************************************
-*   Macro definitions     *
-************************************************************************/
-/* Number of table elements */
-#define CAN_COMMAND_DELIVERY_SNDID_NUM 16                         /* CAN Command Delivery Registered Delivery Destination ID Max. */
-#define CAN_COMMAND_DELIVERY_NUM 6  /* Max. number of CAN command delivery control tables (6 for CAN command) */
-#define CAN_COMMAND_TXRSLT_SNDID_NUM 16                           /* Maximum number of registered delivery destination IDs for CAN command transmission results */
-#define CAN_COMMAND_TXRSLT_NUM (6 * CAN_COMMAND_TXRSLT_SNDID_NUM) /* Maximum number of CAN command transmission result management tables */
-
-/* Control method */
-#define CAN_CMD_DELIVERY_CTRL 0 /* Delivery control type */
-#define CAN_CMD_1TIME_TRANCE 1  /* One-time communication */
-#define CAN_CMD_TRANCE 2        /* Continuous communication type */
-
-/* Controlling flag */
-#define CAN_CMD_RST_NOT_RCV 0 /* Not received */
-#define CAN_CMD_RST_RCV 1     /* Received */
-
-/* Resource ID Mask */
-#define CAN_CMD_RID_MASK 0x80
-
-/************************************************************************
-*   Struct definitions     *
-************************************************************************/
-/***************************************************
-* TAG       : CAN_COMMAND_DELIVERY_LIST_DAT
-* ABSTRACT  : CAN command delivery management table structure (1 item)
-*             Use in arrays when used 
-*             (CAN internal data management table)
-****************************************************/
-typedef struct {
-  uint8_t uc_ctrl;                                                         /* Control method */
-  uint8_t uc_flag;                                                         /* Controlling flag */
-  uint8_t notify_name_num;                                                  /* Number of registered shipping destinations */
-  uint8_t reserve;                                                        /* ----- */
-  // uint32_t notifyIdList[CAN_COMMAND_DELIVERY_SNDID_NUM]; /* Addresses for delivery ID */
-  char notify_name_list[CAN_COMMAND_DELIVERY_SNDID_NUM][MAX_NAME_SIZE_APP]; /* Destination thread name */
-} CAN_COMMAND_DELIVERY_LIST_DAT;
-
-/***************************************************
-* TAG       : CAN_COMMAND_TXRSLT_LIST_DAT
-* ABSTRACT  : CAN command transmission result management table structure (1 item)
-*             Use in arrays when used 
-*             (CAN internal data management table)
-****************************************************/
-typedef struct {
-  char notify_name[MAX_NAME_SIZE_APP]; /* Destination thread name */
-                                      // uint32_t notifyId; /* Addresses for delivery ID */
-  uint8_t uc_rid;                      /* Resources ID */
-  uint8_t uc_cmd_id;                    /* CAN command ID */
-} CAN_COMMAND_TXRSLT_LIST_DAT;
-
-/************************************************************************
-*   Function prototype      *
-************************************************************************/
-BOOL CANCommandDeliveryEntryCheck(PCSTR name, uint8_t);
-void CANCommandDeliveryEntry(PCSTR name, uint8_t);
-void CANCommandDeliveryDataGet(uint8_t, CAN_COMMAND_DELIVERY_LIST_DAT *);
-void CANCommandDeliveryDelete(uint8_t);
-void CANCommandDeliveryDeletesingle(uint8_t, PCSTR);
-BOOL CANCommandTxRsltEntryCheck(uint8_t, uint8_t *);
-void CANCommandTxRsltEntry(uint8_t, PCSTR name, uint8_t);
-void CANCommandTxRsltDataGet(uint8_t, char *, uint8_t *, uint8_t *);
-void CANCommandTxRsltDelete(uint8_t);
-BOOL CANCommandTxRsltCheck(uint8_t);
-BOOL CANCommandFuelCalcRstReqCheck(void);
-void CANCommandFuelCalcRstReq(void);
-void CANCommandDataInit(void);
-
-#endif  // COMMUNICATION_SERVER_INCLUDE_CAN_COMMAND_CAN_COMMANDDATA_H_
diff --git a/communication/server/include/CAN/Delivery/CAN_Delivery.h b/communication/server/include/CAN/Delivery/CAN_Delivery.h
index 74e226c1..01f2e2ff 100644
--- a/communication/server/include/CAN/Delivery/CAN_Delivery.h
+++ b/communication/server/include/CAN/Delivery/CAN_Delivery.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
@@ -16,33 +16,25 @@
 
 #ifndef COMMUNICATION_SERVER_INCLUDE_CAN_DELIVERY_CAN_DELIVERY_H_
 #define COMMUNICATION_SERVER_INCLUDE_CAN_DELIVERY_CAN_DELIVERY_H_
-/******************************************************************************
- * FILE		:CAN_Delivery.h
- * SYSTEM		:_CWORD107_
- * SUBSYSTEM	:
- ******************************************************************************/
-
-#include <peripheral_service/Canif_API.h>
+#include <native_service/frameworkunified_types.h>
 #include "CAN_Thread.h"
+#include <vector>
+#include <map>
+#include <string>
+#include <can_hal.h>
 
-/************************************************************************
-*			Macro definitions													*
-************************************************************************/
-#define CAN_CSUM_CHECKTBL_STOP_CODE 0xFFFFFFFFUL
-/* CANDataStop code of the table for which checksum checksumming is to be performed */
-
-/************************************************************************
-*			Struct definitions													*
-************************************************************************/
+typedef std::multimap<CANID, std::string> CAN_DeliveryEntryList;
+typedef CAN_DeliveryEntryList::iterator CAN_DeliveryEntryListIt;
+typedef std::pair<const CANID, std::string> CAN_DeliveryEntryListPair;
 
-/************************************************************************
-*			Function prototype	  										*
-************************************************************************/
-RET_CAN CANDataReceiveMsg(HANDLE h_app, CAN_MSG_DATA*);            /* CANDataProcess of Received Messages */
-//RET_CAN CANDlcCheck(const T_ICR_CMD_DATA*); /* DLC check process */
-CANID CANCanidIfToUserCvt(uint8_t*);                            /* CAN ID Conversion Process 1 */
-CANID CANPacCanidIfToUserCvt(uint8_t*);
-RET_CAN CANDeliveryRcvData(HANDLE h_app, CANID ul_canid, uint8_t n_ta,
-                           uint8_t uc_dlc, uint8_t* puc_data_pos, uint8_t opc);
-RET_CAN CANDeliveryRcv_CWORD29_Data(HANDLE h_app, const uint16_t us_opc, uint32_t uc_dlc, uint8_t *puc_data_pos);
+void CANDeliveryInit(void);
+bool CANDeliveryInsert(CANID canid, std::string s);
+EFrameworkunifiedStatus CANDeliveryRcvProcess(HANDLE h_app, CanMessage *msg);
+EFrameworkunifiedStatus CANDeliveryEntry(HANDLE h_app);
+EFrameworkunifiedStatus CANClearEntry(HANDLE h_app);
+EFrameworkunifiedStatus CANDeliverySndMsg(HANDLE h_app, CANID ul_canid, uint8_t n_ta,
+  uint8_t uc_dlc, const uint8_t *puc_data,
+  PS_CommunicationProtocol cid, enum CanIfEchoBackFlags flag = CANIF_PURERECV);
+EFrameworkunifiedStatus CANCommandDeliveryRcvProcess(HANDLE h_app,
+                                                 CanMessage *msg, uint8_t cmd);
 #endif  // COMMUNICATION_SERVER_INCLUDE_CAN_DELIVERY_CAN_DELIVERY_H_
diff --git a/communication/server/include/CAN/Delivery/CAN_DeliveryData.h b/communication/server/include/CAN/Delivery/CAN_DeliveryData.h
index 692b8216..ae0302c7 100644
--- a/communication/server/include/CAN/Delivery/CAN_DeliveryData.h
+++ b/communication/server/include/CAN/Delivery/CAN_DeliveryData.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
@@ -131,10 +131,7 @@ typedef struct {
 ************************************************************************/
 void CANDeliveryDataInit(void);          /* CANDataDelivery Management Data Initialization Process */
 EFrameworkunifiedStatus CANDeliveryEntry(HANDLE h_app); /* CANDataDelivery registration process */
-EFrameworkunifiedStatus CAN_CWORD29_DeliveryEntry(HANDLE h_app);  /* Process of registering the delivery of _CWORD29_ data */
 void CANDeliveryBufferOut(FILE* fp_log);   /* CAN shipping table log output processing */
-#ifdef CAN_DEBUG
-EFrameworkunifiedStatus CANAllDeleteDeliveryEntry(HANDLE h_app);
-#endif
+EFrameworkunifiedStatus CANClearEntry(HANDLE h_app);
 
 #endif  // COMMUNICATION_SERVER_INCLUDE_CAN_DELIVERY_CAN_DELIVERYDATA_H_
diff --git a/communication/server/include/CAN/TimerCtrl/CAN_TimerCtrl.h b/communication/server/include/CAN/TimerCtrl/CAN_TimerCtrl.h
deleted file mode 100644
index bf273dd7..00000000
--- a/communication/server/include/CAN/TimerCtrl/CAN_TimerCtrl.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
- * @copyright Copyright (c) 2016-2019 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 COMMUNICATION_SERVER_INCLUDE_CAN_TIMERCTRL_CAN_TIMERCTRL_H_
-#define COMMUNICATION_SERVER_INCLUDE_CAN_TIMERCTRL_CAN_TIMERCTRL_H_
-/******************************************************************************
- * FILE  :CAN_TimerCtrl.h
- * SYSTEM  :_CWORD107_
- * SUBSYSTEM :
- ******************************************************************************/
-
-#include "CAN_Thread.h"
-
-/************************************************************************
-*   Macro Definitions             *
-************************************************************************/
-#define CAN_TIM_RETRY_NUM 3 /* Number of retries for alarm API errors */
-/************************************************************************
-*   Struct Definitions             *
-************************************************************************/
-
-/***************************************************
-* TAG       : CAN_TIMER_CTRL_DATA
-* ABSTRACT  : Timer management data section structure
-****************************************************/
-typedef struct {
-  uint16_t us_set_tim; /* Timeout value */
-  uint16_t us_tim_cnt; /* Measured value of timer */
-} CAN_TIMER_CTRL_DATA;
-
-/***************************************************
-* TAG       : CAN_FREQTRANS_TIMER
-* ABSTRACT  : Periodic transmission timer management table structure
-****************************************************/
-typedef struct {
-  uint16_t us_num;                                     /* Number of timer registrations  */
-  uint8_t reserve[2];                                 /* Reserve   */
-  CAN_TIMER_CTRL_DATA data[CAN_FREQTRANS_TIMER_DATA]; /* Timer management data */
-} CAN_FREQTRANS_TIMER;
-
-/***************************************************
-* TAG       : CAN_COMMWATCH_TIMER
-* ABSTRACT  : Disruption monitoring timer management table structure
-****************************************************/
-typedef struct {
-  uint16_t us_num;                                     /* Number of timer registrations  */
-  uint8_t reserve[2];                                 /* Reserve   */
-  CAN_TIMER_CTRL_DATA data[CAN_COMMWATCH_TIMER_DATA]; /* Timer management data */
-} CAN_COMMWATCH_TIMER;
-
-/************************************************************************
-*   Function Prototype             *
-************************************************************************/
-RET_CAN CANFreqTransTimerStart(uint8_t, uint16_t, CAN_PROTOCOL_TYPE); /* Periodic transmission timer start processing */
-RET_CAN CANFreqTransTimerStop(uint8_t, CAN_PROTOCOL_TYPE);            /* Periodic transmission timer start processing */
-RET_CAN CANCommWatchTimerStart(uint8_t, uint16_t, CAN_PROTOCOL_TYPE); /* Communication interruption monitoring timer start processing */
-RET_CAN CANCommWatchTimerStop(uint8_t, CAN_PROTOCOL_TYPE);            /* Communication interruption monitoring timer stop processing */
-RET_CAN CANCommWatchTimerRenewal(uint8_t, CAN_PROTOCOL_TYPE);         /* Communication interruption monitoring timer update processing */
-void CANFreqTransTimeOut(HANDLE h_app, uint16_t, CAN_PROTOCOL_TYPE);  /* CAN periodic transmission timeout confirmation processing */
-void CANCommWatchTimeOut(HANDLE h_app, CAN_PROTOCOL_TYPE);            /* CAN Communication Disruption Monitoring Timeout Confirmation Process */
-void CANTimerStart(uint16_t, CAN_TIMER_CTRL_DATA*);                   /* CAN Timer Master Processing */
-void CANTimerTblInit(void);                                           /* CAN timer table initialization processing */
-
-void CANFreqTimerEntry(CANID canid, uint32_t);
-void CANFreqTransTimeOutMap(HANDLE h_app);
-RET_CAN CANFreqTransTimerStopMap(CANID);
-void CANFreqTimerResetMap(CANID);
-
-#endif  // COMMUNICATION_SERVER_INCLUDE_CAN_TIMERCTRL_CAN_TIMERCTRL_H_
diff --git a/communication/server/include/CAN/Transmission/CAN_Transmission.h b/communication/server/include/CAN/Transmission/CAN_Transmission.h
deleted file mode 100644
index bca233ea..00000000
--- a/communication/server/include/CAN/Transmission/CAN_Transmission.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
- * @copyright Copyright (c) 2016-2019 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 COMMUNICATION_SERVER_INCLUDE_CAN_TRANSMISSION_CAN_TRANSMISSION_H_
-#define COMMUNICATION_SERVER_INCLUDE_CAN_TRANSMISSION_CAN_TRANSMISSION_H_
-/******************************************************************************
- * FILE		:CAN_Transmission.h
- * SYSTEM		:_CWORD107_
- * SUBSYSTEM	:
- ******************************************************************************/
-#include <native_service/frameworkunified_types.h>
-#include "CAN_Thread.h"
-
-/************************************************************************
-*			Macro definitions													*
-************************************************************************/
-#define TIMER_SEQNO_MASK_CODE (uint16_t)(0x00FF) /* Mask code for acquiring timer sequence number */
-
-/************************************************************************
-*			Struct definitions													*
-************************************************************************/
-
-/************************************************************************
-*			Function prototype	  										*
-************************************************************************/
-/* CANDataTransmission start message processing */
-EFrameworkunifiedStatus CANTxStart(HANDLE);
-/* CANDataSend start message check processing */
-RET_CAN CANTxStartMsgCheck(const CAN_TRANSMISSION_START_MSG_DAT *, uint8_t *);
-/* CANDataPeriodic transmission stop message processing */
-EFrameworkunifiedStatus CANFreqTxStop(HANDLE);
-/* CANDataPeriodic transmission time-up message processing */
-RET_CAN CANFreqTxTimeupMsg(HANDLE h_app, uint16_t);
-/* CANDataReceive message processing of transmission result */
-RET_CAN CANTxRsltReceiveMsg(HANDLE h_app, CAN_MSG_DATA *);
-/* CANDataSend result received message check processing */
-RET_CAN CANTxRsltReceiveMsgCheck(CAN_MSG_DATA *);
-/* CANData(_CWORD29_) outgoing message processing */
-EFrameworkunifiedStatus CAN_CWORD29_TxMsg(HANDLE h_app);
-EFrameworkunifiedStatus CANTxBitStart(HANDLE); /* CANDataTransmission start message processing */
-EFrameworkunifiedStatus CANTxBitStop(HANDLE);  /* CANDataPeriodic transmission stop message processing */
-
-#endif  // COMMUNICATION_SERVER_INCLUDE_CAN_TRANSMISSION_CAN_TRANSMISSION_H_
diff --git a/communication/server/include/CAN/Transmission/CAN_TransmissionData.h b/communication/server/include/CAN/Transmission/CAN_TransmissionData.h
deleted file mode 100644
index 0c389276..00000000
--- a/communication/server/include/CAN/Transmission/CAN_TransmissionData.h
+++ /dev/null
@@ -1,162 +0,0 @@
-/*
- * @copyright Copyright (c) 2016-2019 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 COMMUNICATION_SERVER_INCLUDE_CAN_TRANSMISSION_CAN_TRANSMISSIONDATA_H_
-#define COMMUNICATION_SERVER_INCLUDE_CAN_TRANSMISSION_CAN_TRANSMISSIONDATA_H_
-/******************************************************************************
- * FILE        :CAN_TransmissionData.h
- * SYSTEM        :_CWORD107_
- * SUBSYSTEM  :
- ******************************************************************************/
-#include <native_service/frameworkunified_types.h>
-#include <peripheral_service/Canif_API.h>
-#include "Canif_API_Local.h"
-/************************************************************************
-*      Macro definitions                                                   *
-************************************************************************/
-/* Data size relationship */
-/* Maximum number of transmission results management tables */
-#define CAN_1TIME_TRSNSMISSION_RSLT_NUM 16
-#define CAN__CWORD29__TRSNSMISSION_RSLT_NUM 16
-
-/* Regular transmission, one transmission result management table relationship */
-#define CAN_TXRSLT_CANRID_START 0x00 /* Send result CANRID starting No. */
-/* Transmission result (1 transmission) CANRID starting number */
-#define CAN_TXRSLT_CANRID_1TIME_START CAN_FREQ_TRSNSMISSION_LIST_NUM
-/* Send result (_CWORD29_) CANRID starting number) */
-#define CAN_TXRSLT_CANRID__CWORD29__START (CAN_FREQ_TRSNSMISSION_LIST_NUM + CAN_1TIME_TRSNSMISSION_RSLT_NUM)  // NOLINT(whitespace/line_length)
-/* Send result CANRID end No. */
-#define CAN_TXRSLT_CANRID_END (CAN_FREQ_TRSNSMISSION_LIST_NUM + CAN_1TIME_TRSNSMISSION_RSLT_NUM + CAN__CWORD29__TRSNSMISSION_RSLT_NUM - 1)  // NOLINT(whitespace/line_length)
-
-/* Others */
-#define CAN_FREQ_TXRSLT_NUM 1 /* Number of notifications of periodic transmission results */
-
-#define LAN_TYPE_19PF             "CAN_19PF"
-/************************************************************************
-*        Struct definitions                                                     *
-************************************************************************/
-/***************************************************
-* TAG       : CAN_FREQ_TRANSMISSION_DAT
-* ABSTRACT  : Periodic transmission management table structure (1 item)
-*             Use in arrays when used 
-*             (CAN internal data management table)
-****************************************************/
-typedef struct {                      /* Type definitions for the periodic transmission management table (1 item) */
-  uint16_t us_freq;                    /* Periodic transmission period (in 100ms) */
-                                      // uint32_t notifyId; /* Thread ID */
-  uint8_t uc_rid;                      /* Resources ID */
-  uint8_t uc_resp_num;                  /* Number of transmission result notifications (number of remaining notifications) */
-  uint8_t reserve[2];                 /* Reserved */
-  CAN_DATA st_can_data;                 /* Transmitted data */
-  char notify_name[MAX_NAME_SIZE_APP]; /* Destination thread name */
-} CAN_FREQ_TRANSMISSION_DAT;
-
-/***************************************************
-* TAG       : CAN_1TIME_TXRSLT_DAT
-* ABSTRACT  : One transmission result management table structure (1 item)
-*             (CAN internal data management table)
-****************************************************/
-typedef struct {                      /* Defining the type of delivery destination CAN ID (1 item) */
-  CANID ul_canid;                      /* CAN ID */
-                                      // uint32_t notifyId; /* Addresses for delivery ID */
-  uint8_t uc_rid;                      /* Resources ID */
-  uint8_t reserve;                    /* Reserved */
-  char notify_name[MAX_NAME_SIZE_APP]; /* Destination thread name */
-} CAN_1TIME_TXRSLT_DAT;
-
-/***************************************************
-* TAG       : CAN_1TIME_TXRSLT_MSG_DAT
-* ABSTRACT  : List of Messages Sent Once (1 item)
-*             (CAN-internal Work)
-****************************************************/
-typedef struct {                      /* Defining the type of delivery destination CAN ID (1 item) */
-  CANID ul_canid;                      /* CAN ID */
-                                      // uint32_t notifyId; /* Addresses for delivery ID */
-  uint8_t uc_rid;                      /* Resources ID */
-  uint8_t uc_sts;                      /* Transmission result status */
-  char notify_name[MAX_NAME_SIZE_APP]; /* Destination thread name */
-} CAN_1TIME_TXRSLT_MSG_DAT;
-
-/***************************************************
-* TAG       : CAN_1TIME_TXRSLT_MSG_LIST_DAT
-* ABSTRACT  : List of Messages Sent Once (All Messages)
-*             (CAN-internal Work)
-****************************************************/
-typedef struct {                                                    /* Type definition of the delivery destination ID data to which the message is sent */
-  int32_t i_num;                                                     /* Number of messages sent */
-  CAN_1TIME_TXRSLT_MSG_DAT st_list[CAN_1TIME_TRSNSMISSION_RSLT_NUM]; /* List */
-} CAN_1TIME_TXRSLT_MSG_LIST_DAT;
-
-/***************************************************
-* TAG       : CAN__CWORD29__TXRSLT_DAT
-* ABSTRACT  : _CWORD29_ send result control table structure (1 item)
-*             (CAN internal data management table)
-****************************************************/
-typedef struct {
-  uint16_t opc;                        /* OPC */
-  uint8_t uc_rid;                      /* Resources ID */
-  char notify_name[MAX_NAME_SIZE_APP]; /* Destination thread name */
-} CAN__CWORD29__TXRSLT_DAT;
-
-/***************************************************
-* TAG       : CAN_TRANS_START_TABLE_VAL
-* ABSTRACT  : Transmit data management table structure (1 item)
-*             (CAN internal data management table)
-****************************************************/
-typedef struct {
-  uint8_t dlc;
-  CAN_DATA_BIT dat;
-} CAN_TRANS_START_TABLE_VAL;
-
-/***************************************************
-* TAG       : CAN_INIT_TABLE
-* ABSTRACT  : Transmission data initial value management table structure
-****************************************************/
-typedef struct {
-  CANID  canid;
-  CAN_TRANS_START_TABLE_VAL  val;
-} CAN_INIT_TABLE;
-
-/************************************************************************
-*			Function prototype	  										*
-************************************************************************/
-void CANTransmissionDataInit(void);
-BOOL CANFreqTransEntryCheck(CANID canid, uint8_t *);
-void CANFreqTransEntry(uint8_t, const CAN_TRANSMISSION_START_MSG_DAT *);
-void CANFreqTransDataGet(uint8_t uc_index, CAN_FREQ_TRANSMISSION_DAT *pst_data);
-BOOL CANFreqTransCanidEntryCheck(uint8_t, CANID);
-BOOL CANFreqTransIdEntryCheck(uint8_t, PCSTR);
-void CANFreqTransStop(uint8_t);
-BOOL CANFreqTransIndexEntryCheck(uint8_t);
-BOOL CAN1TimeTransEntryCheck(uint8_t *);
-BOOL CAN_CWORD29_TransEntryCheck(uint8_t *);
-EFrameworkunifiedStatus CAN1TimeTransEntry(uint8_t, const CAN_TRANSMISSION_START_MSG_DAT *);
-EFrameworkunifiedStatus CAN_CWORD29_TransEntry(uint8_t, const CAN__CWORD29__TRANS_MSG *);
-BOOL CANTxRsltEntryCheck(uint8_t);
-void CANTxRsltDataGet(uint8_t, CAN_1TIME_TXRSLT_DAT *);
-void CAN_CWORD29_TxRsltDataGet(const uint8_t, CAN__CWORD29__TXRSLT_DAT* const);
-void CANTxRsltFin(uint8_t);
-void CAN_CWORD29_TxRsltFin(const uint8_t);
-BOOL CANTxRsltSndCheck(uint8_t, uint32_t);
-void CANCycleTransBufferOut(FILE *fp_log);
-
-BOOL CANTransDataEntry(CAN_TRANS_START_MSG_DAT *);
-BOOL CANTransStartTxMsg(HANDLE h_app, CANID);
-BOOL CANEntryTransCanidCheck(CANID);
-
-BOOL CAN_SubIDTransStartTxMsg(HANDLE h_app, CAN_TRANS_START_MSG_DAT *);
-
-#endif  // COMMUNICATION_SERVER_INCLUDE_CAN_TRANSMISSION_CAN_TRANSMISSIONDATA_H_
diff --git a/communication/server/include/CAN/TxMsg/CAN_TxMsg.h b/communication/server/include/CAN/TxMsg/CAN_TxMsg.h
index 15fc56d1..dc4f6e8e 100644
--- a/communication/server/include/CAN/TxMsg/CAN_TxMsg.h
+++ b/communication/server/include/CAN/TxMsg/CAN_TxMsg.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
@@ -16,101 +16,39 @@
 
 #ifndef COMMUNICATION_SERVER_INCLUDE_CAN_TXMSG_CAN_TXMSG_H_
 #define COMMUNICATION_SERVER_INCLUDE_CAN_TXMSG_CAN_TXMSG_H_
-/******************************************************************************
- * FILE  :CAN_TxMsg.h
- * SYSTEM  :_CWORD107_
- * SUBSYSTEM :
- ******************************************************************************/
-
+#include <vector>
+#include <map>
+#include <string>
+#include <can_hal.h>
 #include "CAN_Thread.h"
+#include "API_Local_Common.h"
+#include "Canif_API_Local.h"
+
+
+#define CAN_OPC_PAC_RX 0x00
+#define CAN_OPC_COMMAND_STARTUP_FIN_REQ_TX 0x00      // CAN start completion notification request transmission
+#define CAN_OPC_COMMAND_MRST_INFO_REQ_TX 0x01        // CAN master reset information notification request transmission
+#define CAN_OPC_COMMAND_VERSION_REQ_TX 0x02          // CAN Version Request Send
+#define CAN_OPC_COMMAND_CONNECTION_NODE_REQ_TX 0x03  // CAN connection node notification request transmission
+#define CAN_OPC_COMMAND_BUS_STATUS_REQ_TX 0x04       // CAN bus status notification request transmission
+#define CAN_OPC_COMMAND_FUELCALC_REQ_TX 0x05         // CAN section flame reset response transmission
+#define CAN_OPC_COMMAND_STARTUP_FIN_RESP_RX 0x06     // CAN startup completion notice received
+#define CAN_OPC_COMMAND_MRST_INFO_RESP_RX 0x07       // CAN Master Reset Information Notification Reception
+#define CAN_OPC_COMMAND_VERSION_RESP_RX 0x08         // CAN Version Response Reception
+#define CAN_OPC_COMMAND_CONNECTION_NODE_RESP_RX 0x09 // Receive CAN Connection Node Notification Response
+#define CAN_OPC_COMMAND_BUS_STATUS_RESP_RX 0x10      // CAN Bus Status Notification Response Reception
+#define CAN_OPC_COMMAND_FUELCALC_RST_REQ_RX 0x11     // RECEIVE REQUEST FREE OF CAN SECTION
 
-/************************************************************************
-*   Macro definitions             *
-************************************************************************/
-#define CAN_TX_COMM_KIND 0x00           /* CANDataCommunication type for transmission */
-#define CAN_TX_PHYS_ADRS 0x0000         /* CANDataPhysical address for transmission */
-#define CAN_TX_FROM_ADRS 0x00           /* CANDataSource address for sending (wildcard) */
-#define CAN_TX_TO_ADRS 0x00             /* CANDataDestination address for sending (wildcard) */
-
-/****** OPC ******/
-#define CAN_OPC_RX 0x00               /* CANData reception notice */
-#define CAN_OPC_PAC_RX 0x00           /* CAN Packaging Data Reception Notification */
-#define CAN_OPC_TX 0x00               /* CANDataReport request */
-
-#define CAN_OPC_COMMAND_STARTUP_FIN_REQ_TX 0x00      /* CAN start completion notification request transmission */
-#define CAN_OPC_COMMAND_MRST_INFO_REQ_TX 0x01        /* CAN master reset information notification request transmission */
-#define CAN_OPC_COMMAND_VERSION_REQ_TX 0x02          /* CAN Version Request Send */
-#define CAN_OPC_COMMAND_CONNECTION_NODE_REQ_TX 0x03  /* CAN connection node notification request transmission */
-#define CAN_OPC_COMMAND_BUS_STATUS_REQ_TX 0x04       /* CAN bus status notification request transmission */
-#define CAN_OPC_COMMAND_FUELCALC_REQ_TX 0x05         /* CAN section flame reset response transmission */
-#define CAN_OPC_COMMAND_STARTUP_FIN_RESP_RX 0x06     /* CAN startup completion notice received */
-#define CAN_OPC_COMMAND_MRST_INFO_RESP_RX 0x07       /* CAN Master Reset Information Notification Reception */
-#define CAN_OPC_COMMAND_VERSION_RESP_RX 0x08         /* CAN Version Response Reception */
-#define CAN_OPC_COMMAND_CONNECTION_NODE_RESP_RX 0x09 /* Receive CAN Connection Node Notification Response */
-#define CAN_OPC_COMMAND_BUS_STATUS_RESP_RX 0x10      /* CAN Bus Status Notification Response Reception */
-#define CAN_OPC_COMMAND_FUELCALC_RST_REQ_RX 0x11     /* RECEIVE REQUEST FREE OF CAN SECTION */
-
-/************************************************************************
-*   Struct definitions             *
-************************************************************************/
-/***************************************************
-* TAG       : CAN_TXMSG_DAT
-* ABSTRACT  : CANDataTransmission data section structure
-*             (Data structure passed from tha CAN  to router)
-****************************************************/
-typedef struct {                          /* Type definition of send command */
-  uint8_t reserve;                        /* Reserved */
-  uint8_t uc_length;                       /* Data length */
-  uint8_t uc_kind_padrs;                   /* Data type/Physical address */
-  uint8_t uc_p_adrs;                       /* Physical address */
-  uint8_t uc_from_adrs;                    /* Source address */
-  uint8_t uc_to_adrs;                      /* Forwarding address */
-  uint8_t uc_opc;                          /* OPC */
-  uint8_t uc_operand[CAN_TX_OPERAND_SIZE]; /* Operand*/
-} CAN_TXMSG_DAT;
-
-/***************************************************
-* TAG       : CAN_TXMSG
-* ABSTRACT  : CANDataTransmission data section structure
-*             (Data structure passed from tha CAN  to router)
-****************************************************/
-typedef struct {                      /* For main processing */
-//  T_APIMSG_MSGBUF_HEADER_COMM st_head; /* Header */
-  CAN_TXMSG_DAT st_data;               /* Data portion */
-} CAN_TXMSG;
-
-/***************************************************
-* TAG       : HANDLE_DAT
-* ABSTRACT  : MapHandler data-section structures
-****************************************************/
 typedef struct {
-  HANDLE handle;
-  BOOL is_q_full; /* Queue full judgment flag */
-} HANDLE_DAT;
-
-/************************************************************************
-*   Function prototype             *
-************************************************************************/
-BOOL CANDeliverySndMsg(HANDLE h_app, CANID canid, uint8_t, const uint8_t *, uint8_t, uint8_t);
-BOOL CANDelivery_CWORD29_SndMsg(HANDLE h_app, const uint16_t us_opc, uint32_t uc_dlc, const uint8_t *puc_data);
-/* CANDataDelivery Messages Sending Process (Except for CANGW) */
-BOOL CANDeliverySndMsgToCANGW(HANDLE h_app, CAN_MSG_CANGWDATA *cangw_data);
-/* CAN-data-delivery-messaging process to the CANGW */
-BOOL CANFreqTransStartTxMsg(HANDLE h_app, uint8_t);                /* CANDataPeriodic transmission start message transmission processing */
-BOOL CAN1TimeTransStartTxMsg(HANDLE h_app, uint8_t, const CAN_DATA *); /* CANDataSend one transmission start message processing */
-void CANCommWatchSndMsg(HANDLE h_app, uint8_t); /* CANDataTransmission of communication interruption detection/recovery message */
-BOOL CANTxRsltSndMsg(HANDLE h_app, uint8_t, uint8_t);          /* CANDataTransmission result notification message transmission processing */
-/* _CWORD29_ data transmission result notification message transmission process */
-BOOL CAN_CWORD29_TxRsltSndMsg(const HANDLE h_app, const uint8_t uc_can_rid, const uint8_t uc_status);
-void CANCanidUserToIfCvt(CANID canid, uint8_t *);            /* CAN ID Conversion Process 2 */
-
-BOOL CANCommandDeliverySndMsg(HANDLE h_app, uint8_t, const uint8_t *);   /* CAN command delivery message transmission processing */
-BOOL CANCommandTxRsltSndMsg(HANDLE h_app, uint8_t, uint8_t);  /* CAN command transmission result notification message transmission processing */
-BOOL CANCommandTransmissionSndMsg(uint8_t, uint8_t);               /* CAN command message transmission processing */
-BOOL CANCommandFuelCalcRstReqSndMsg(HANDLE h_app, PCSTR name);  /* CAN section flame reset request reception message transmission processing */
-BOOL CANCommandidOpcToUserCvt(uint8_t, uint8_t *);               /* CAN Command ID Conversion Processing 1 */
-BOOL CANCommandidUserToOpcCvt(uint8_t, uint8_t *);               /* CAN command ID conversion process 2 */
-
-BOOL CANTransStartTxMsgCore(HANDLE h_app, CANID canid, uint8_t, CAN_DATA_BIT *);
-
+  uint8_t rid;
+  char notify_name[CANIF_NOTIFY_NAME_MAX_SIZE + 1];
+} CAN_SEND_STATUS_DAT;
+
+void CANTxMsgInit(void);
+EFrameworkunifiedStatus CANTxMsg(HANDLE h_app);
+EFrameworkunifiedStatus CANTxMsgBit(HANDLE h_app);
+void CANCommandSetFuelCalcRstReq(void);
+EFrameworkunifiedStatus CANTxMsgCommand(HANDLE h_app);
+EFrameworkunifiedStatus CANSndStsProcess(HANDLE h_app, CanSendResult *rcv_msg,
+                                        PS_CommunicationProtocol cid); 
 #endif  // COMMUNICATION_SERVER_INCLUDE_CAN_TXMSG_CAN_TXMSG_H_
diff --git a/communication/server/include/com_error_type.h b/communication/server/include/com_error_type.h
index bfd96b3a..4d15f827 100644
--- a/communication/server/include/com_error_type.h
+++ b/communication/server/include/com_error_type.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
@@ -16,20 +16,6 @@
 
 #ifndef COMMUNICATION_SERVER_INCLUDE_COM_ERROR_TYPE_H_
 #define COMMUNICATION_SERVER_INCLUDE_COM_ERROR_TYPE_H_
-
-/*************************************************************************
- *	RET_API define
- *************************************************************************/
-
-#define RET_NORMAL 0 /* Normal completion */
-
-/* Function code (normal termination) system */
-#define RET_RCVMSG 1 /* Receive only message */
-
-/* Error code system */
-#define RET_OSERROR -127  /* OS System call error*/
-#define RET_ERROR -1      /* Error termination (content is unspecified) */
-#define RET_ERRPARAM -2   /* Parameter error */
-#define RET_ERRTIMEOUT -5 /* Timeout with Processing Not Complete */
-
+const int32_t RET_NORMAL = 0;
+const int32_t RET_ERROR = -1;
 #endif  // COMMUNICATION_SERVER_INCLUDE_COM_ERROR_TYPE_H_
diff --git a/communication/server/include/main/communication_cid.h b/communication/server/include/main/communication_cid.h
index 21882eea..d8176247 100644
--- a/communication/server/include/main/communication_cid.h
+++ b/communication/server/include/main/communication_cid.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
@@ -14,16 +14,6 @@
  * limitations under the License.
  */
 
-///////////////////////////////////////////////////////////////////////////////
-/// \ingroup
-/// \brief
-///
-///
-///
-///
-///
-///////////////////////////////////////////////////////////////////////////////
-
 /*
  * This file has been generated automatically.
  * User hand written code entry is not allowed. Do not modify the file content.
@@ -32,10 +22,6 @@
 #ifndef COMMUNICATION_SERVER_INCLUDE_MAIN_COMMUNICATION_CID_H_
 #define COMMUNICATION_SERVER_INCLUDE_MAIN_COMMUNICATION_CID_H_
 
-////////////////////////////////////////////////////////////////////////////////////////////////////
-// Include Files
-////////////////////////////////////////////////////////////////////////////////////////////////////
-
 #define LAN_SERVICE_MAIN "Communication"
 
 typedef enum PSCommunicationServiceProtocol {
diff --git a/communication/server/include/main/communication_communicationlog.h b/communication/server/include/main/communication_communicationlog.h
index c8a46e5f..37016ad1 100644
--- a/communication/server/include/main/communication_communicationlog.h
+++ b/communication/server/include/main/communication_communicationlog.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
diff --git a/communication/server/include/main/communication_version.h b/communication/server/include/main/communication_version.h
index cdb83e66..7cd2c3ba 100644
--- a/communication/server/include/main/communication_version.h
+++ b/communication/server/include/main/communication_version.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
diff --git a/communication/server/include/peripheral_service/communication.h b/communication/server/include/peripheral_service/communication.h
index e99996ce..94f55449 100644
--- a/communication/server/include/peripheral_service/communication.h
+++ b/communication/server/include/peripheral_service/communication.h
@@ -1,5 +1,5 @@
 //
-// @copyright Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION.
+// @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.
diff --git a/communication/server/include/peripheral_service/communication_notifications.h b/communication/server/include/peripheral_service/communication_notifications.h
index 97817177..9c207f3f 100644
--- a/communication/server/include/peripheral_service/communication_notifications.h
+++ b/communication/server/include/peripheral_service/communication_notifications.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
diff --git a/communication/server/include/peripheral_service/ps_services.h b/communication/server/include/peripheral_service/ps_services.h
index dbb823ee..fd556d6d 100644
--- a/communication/server/include/peripheral_service/ps_services.h
+++ b/communication/server/include/peripheral_service/ps_services.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2017-2019 TOYOTA MOTOR CORPORATION.
+ * @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.
diff --git a/communication/server/include/private/ICR_Common.h b/communication/server/include/private/ICR_Common.h
deleted file mode 100644
index c9bae1c1..00000000
--- a/communication/server/include/private/ICR_Common.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * @copyright Copyright (c) 2016-2019 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.
- */
-
-/*!-----------------------------------------------------------------------------
- * @file    ICR_Common.h
- * @~english
- * @brief   ICR common definitions
- *----------------------------------------------------------------------------*/
-#ifndef COMMUNICATION_SERVER_INCLUDE_PRIVATE_ICR_COMMON_H_
-#define COMMUNICATION_SERVER_INCLUDE_PRIVATE_ICR_COMMON_H_
-
-#include <sys/types.h>
-//#include <stub/com_message_header.h>
-
-//#include <stub/CommSubCpu_API.h>
-
-#endif  // COMMUNICATION_SERVER_INCLUDE_PRIVATE_ICR_COMMON_H_
diff --git a/communication/server/include/threads/CAN_Thread.h b/communication/server/include/threads/CAN_Thread.h
index 67a814a0..b6960efd 100644
--- a/communication/server/include/threads/CAN_Thread.h
+++ b/communication/server/include/threads/CAN_Thread.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2016-2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2016-2020 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.
@@ -16,143 +16,36 @@
 
 #ifndef COMMUNICATION_SERVER_INCLUDE_THREADS_CAN_THREAD_H_
 #define COMMUNICATION_SERVER_INCLUDE_THREADS_CAN_THREAD_H_
-/*!-----------------------------------------------------------------------------
- * @file    CAN_Thread.h
- * @~english
- * @brief   CAN Thread main block header file
- *----------------------------------------------------------------------------*/
 #include <peripheral_service/Canif_API.h>
 #include <stdlib.h>
 
 #include "com_error_type.h"
-#include "ICR_Common.h"
 #include "communication_communicationlog.h"
 
-/************************************************************************
-*      Macro definitions                          *
-************************************************************************/
-/* Data size relationship */
-
-#define CAN_TRX_HEADER_SIZE 7     /* Size of send/receive header section (data length excluding operands) */
-#define CAN_TRX_HEADER_LEN_SIZE 5 /* Size included in the data length calculation of the send/receive header section */
-
-#define CAN_TRX_CANID_SIZE 4                                                     /* Transmit/Receive CAN ID Size */
-#define CAN_TRX_DLC_SIZE 1                                                       /* Transmit/Receive DLC Data Size */
-#define CAN_TRX_DLC_RESERVE_SIZE 3          /* Reserved data size after transmit/receive DLC */
+#if 0
+#define CAN_TX_COMMAND_SIZE (CAN_TRX_HEADER_SIZE + CAN_TX_OPERAND_SIZE)
 
-#define CAN_RX_CANDATA_SIZE CAN_DATA_SIZE /* Reserve CANData(DATA#1 ~ #x)size */
+#define CAN_RX_CANDATA_SIZE CAN_DATA_SIZE /* Receive CANData(DATA#1 ~ #x)size */
 /* Reserve the structure if it is not a multiple of 4. */
 #define CAN_TX_CANDATA_SIZE CAN_DATA_SIZE /* Send CANData(DATA#1 ~ #x)size */
 /* Reserve the structure if it is not a multiple of 4. */
 #define CAN_RX_OPERAND_SIZE (CAN_TRX_CANID_SIZE + CAN_TRX_DLC_SIZE + CAN_RX_CANDATA_SIZE)
-/* Receive operand size */
-#define CAN_RX_COMMAND_SIZE (CAN_TRX_HEADER_SIZE + CAN_RX_OPERAND_SIZE)
-/* Receive command size */
 #define CAN_TX_OPERAND_SIZE (CAN_TRX_CANID_SIZE + CAN_TRX_DLC_SIZE + CAN_TX_CANDATA_SIZE)  // NOLINT(whitespace/line_length)
 /* Send operand size */
-#define CAN_TX_COMMAND_SIZE (CAN_TRX_HEADER_SIZE + CAN_TX_OPERAND_SIZE)
-/* Send command size */
+
+#endif
+
+#define CAN_CMDSND_DATA_SIZE 0 /* Command transmission data section size (CAN command control) */
+
 #define CAN_TX_CMD_DELIVERY_SIZE 4     /* Transmitting CAN Command Delivery Data Size Common Block */
 #define CAN_TX_CMD_FUELCALC_RST_SIZE 0 /* Transmit CAN Command Delivery Data Size CAN Section Burn Cost Reset Request Receive Data */
 #define CAN_TX_CMD_STARTUP_FIN_SIZE 3  /* Transmit CAN Command Delivery Data Size CAN Startup Completion Notification Data */
 #define CAN_TX_CMD_MRST_INFO_SIZE 33   /* Transmit CAN Command Delivery Data Size CAN Master Reset Information Notification Receive Data */
 #define CAN_TX_CMD_VERSION_SIZE 4      /* Transmit CAN Command Delivery Data Size CAN Version Response Receive Data */
-#define CAN_TX_CMD_BUS_STATUS_SIZE 1   /* Transmit CAN Command Delivery Data Size Receive CAN Bus Status Notification Response */
-
-#define CAN_CMDSND_DATA_SIZE 0 /* Command transmission data section size (CAN command control) */
-
-/* Data location relationship */
-#define CAN_MSGBUF_CANID_POS 0   /* How many operands the CAN ID contains? */
-#define CAN_MSGBUF_DLC_POS 4     /* No. of operand from which DLC contains data? */
-#define CAN_MSGBUF_DATA_POS 5    /* How many operands does the DATA contain? */
-
-#define CAN_MSGBUF_PAC_CANID_POS 1 /* How many operands the CAN ID contains? */
-#define CAN_MSGBUF_PAC_DLC_POS 3   /* No. of operand from which DLC contains data? */
-#define CAN_MSGBUF_PAC_DATA_POS 4  /* How many operands does the DATA contain? */
-
-/* Error definitions */
-#define RET_CAN_INIT_SUCCESS RET_NORMAL /* Success in initialization */
-#define RET_CAN_INIT_ERROR RET_ERROR    /* Master Clear failed */
-
-#define RET_CAN_NORMAL CANIF_RET_NORMAL                         /* Normal completion */
-#define RET_CAN_ERROR_CREATE_EVENT CANIF_RET_ERROR_CREATE_EVENT /* Event generation failure */
-#define RET_CAN_ERROR_PARAM CANIF_RET_ERROR_PARAM               /* Specified parameter is invalid */
-#define RET_CAN_ERROR_UNDEF CANIF_RET_ERROR_UNDEF               /* Unregistered ID */
-#define RET_CAN_ERROR_SNDID CANIF_RET_ERROR_PID                 /* Discrepancy of Destination ID */
-#define RET_CAN_ERROR_BUFFULL CANIF_RET_ERROR_BUFFULL           /* Registered FULL (Delivery/Periodic Transmission/Communication Disruption Monitor) */
-#define RET_CAN_ERROR_CANIDFULL CANIF_RET_ERROR_CANIDFULL       /* CAN ID type is FULL */
-#define RET_CAN_ERROR_TIMER CANIF_RET_ERROR_TIMER               /* Timer acquisition failed */
-#define RET_CAN_ERROR_CANCEL CANIF_RET_ERROR_CANCEL             /* Abnormal termination (discard/cancel data) */
 
-/* CANDataControl code used in the transmission/reception relationship */
-#define CAN_ID_EXT_FLAG 0x80000000UL /* CAN ID Extended Identity Codes */
-
-/* Timer Relationship */
-#define CAN_TIMER_SEQNO_CODE 0x0001       /* CAN thread timer sequence number    */
-#define CAN_TIMER_SEQNO_BUFFLOGOUT 0x0002 /* Buffer log output timer No.      */
-
-#define COMM_WATCH_SEQNO_CODE 0x0000 /* Timer Sequence Number Identification Flag of Communication Disruption */
-#define FREQ_TRANS_SEQNO_CODE 0x8000 /* Timer Sequence Number Identification Flag for Periodic Transmission */
-#define CAN_TIMER_DISTINCTION_CODE 0xF000   /* Timer Sequence Number Identification Flag */
-
-#define CAN_COMTIM_OFF 0x00 /* Timer not started            */
-#define CAN_COMTIM_ON 0x01  /* Timer activation state            */
-
-#define CAN_FREQ_TRSNSMISSION_LIST_NUM 32 /* Maximum number of periodic transmission management tables     */
-#define COMM_WATCH_LIST_NUM 64            /* Maximum number of communication disruption monitoring management tables     */
-
-
-/* Maximum number of CAN periodic transmission timer management data    */
-#define CAN_FREQTRANS_TIMER_DATA CAN_FREQ_TRSNSMISSION_LIST_NUM
-/* Maximum number of CAN disruption monitoring timer management data   */
-#define CAN_COMMWATCH_TIMER_DATA COMM_WATCH_LIST_NUM
-
-#define CAN_BUFFER_LOGOUT_NAME "/fs/U0/can_buffer_log.txt" /*     */
-
-#define CAN_USAGE_RATE_THRESHOLD 80 /* Buffer Utilization Threshold (80%)         */
-
-#define CAN_DELIVERY_DLCERR 0xfeff   /* CAN delivery error (DLC)        */
-#define CAN_DELIVERY_CSUMERR 0xfefe  /* CAN delivery errors (CSUM)        */
-#define CAN_DELIVERY_ERR 0xfefd      /* CAN delivery error (delivery unregistered)    */
-#define CAN_TRANCE_ICR_ERR 0xfefc    /* CAN transmission error (ICR)        */
-#define CAN_TRANCE_SYSCOM_ERR 0xfefb /* CAN transmission errors (SYSCOM)      */
-
-/*********************************************************************
-*                       Type definition
-***********************************************************************/
+#define CAN_TRX_HEADER_SIZE 7     /* Size of send/receive header section (data length excluding operands) */
+#define CAN_TRX_CANID_SIZE 4                                                     /* Transmit/Receive CAN ID Size */
+#define CAN_TRX_DLC_SIZE 1                                                       /* Transmit/Receive DLC Data Size */
 typedef CANIF_RET_API RET_CAN;
-
-typedef enum {
-  CAN_PROTOCOL_TYPE_CAN = 0, /* CAN */
-  /* -------------------------------------------------------------------- */
-  CAN_PROTOCOL_TYPE_TERMINATE /* Mode termination */
-} CAN_PROTOCOL_TYPE;
-
-/************************************************************************
-*      Function prototype                        *
-************************************************************************/
-RET_CAN CANMainThreadInit(void);
 EFrameworkunifiedStatus CANCallbackForTimeOut(HANDLE);
-void CANTimeOutMsg(HANDLE h_app, uint16_t);
-void CANCommonTimerStart(void);
-void CANBufferLogOut(void);
-void CANDebugLogOut(uint16_t, void*);
-void CANFreqTransTimeOutMap(void);
-
-/*******************************************************************************
- * MODULE    : CANMsgErrChk
- * ABSTRACT  : Message Send/Receive Error Check Processing
- * FUNCTION  : Check for message transmission and reception errors and perform error processing.
- * ARGUMENT  : RET_API ret_api Message send/receive return value
- *           : u_int16 communication_code  Registration code
- * NOTE      :
- * RETURN    : 
- ******************************************************************************/
-
-inline void CANMsgErrChk(int32_t ret_api, uint16_t communication_code) {
-  if (RET_ERROR == ret_api) {  /* In case of an error  */
-    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "CANMsgErrChk Called.");
-    exit(EXIT_FAILURE);
-  }
-}
-#endif  // COMMUNICATION_SERVER_INCLUDE_THREADS_CAN_THREAD_H_
+#endif  // COMMUNICATION_SERVER_INCLUDE_THREADS_CAN_THREAD_H_
\ No newline at end of file
diff --git a/communication/server/include/threads/Thread_Common.h b/communication/server/include/threads/Thread_Common.h
index 91b907d5..6cda5aaf 100644
--- a/communication/server/include/threads/Thread_Common.h
+++ b/communication/server/include/threads/Thread_Common.h
@@ -1,5 +1,5 @@
 /*
- * @copyright Copyright (c) 2019 TOYOTA MOTOR CORPORATION.
+ * @copyright Copyright (c) 2019-2020 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.
@@ -16,17 +16,27 @@
 #ifndef COMMUNICATION_SERVER_INCLUDE_THREADS_THREAD_COMMON_H_
 #define COMMUNICATION_SERVER_INCLUDE_THREADS_THREAD_COMMON_H_
 #include <stdint.h>
-//#include <can_hal.h>
+#include <can_hal.h>
+#include <string>
+#include <sstream>
+#include <iostream>
+
 const int32_t CAN_AVAILABILITY = 0x1;
 
+void CommonInit(void);
+HANDLE CommonFindSender(HANDLE h_app, std::string s);
 BOOL CommGetAvailabilityCurrent(int32_t current);
 void CommSetAvailabilityCurrent(int32_t current);
 void CommClrAvailabilityCurrent(int32_t current);
 EFrameworkunifiedStatus CommonStartNotify(HANDLE h_app, PCSTR cmd);
-//EFrameworkunifiedStatus CommonCanHalThreadStart(HANDLE h_app,
-//                                   const FrameworkunifiedProtocolCallbackHandler *cb,
-//                                   UI_32 count, PCSTR cmd, CanHalParam *p);
-//EFrameworkunifiedStatus CommonCanHalThreadStop(HANDLE h_app, const PUI_32 cb,
-//                                   UI_32 count, PCSTR cmd, CanHalType type);
-EFrameworkunifiedStatus CommonCanHalErrorNotify(const char *msg, void *ctxid);
-#endif 
+EFrameworkunifiedStatus CommonThreadStart(HANDLE h_app, const FrameworkunifiedProtocolCallbackHandler *cb,
+                      UI_32 count, PCSTR cmd, EFrameworkunifiedStatus (*open_func)(HANDLE));
+EFrameworkunifiedStatus CommonThreadStop(HANDLE h_app, const PUI_32 cb, UI_32 count,
+                                  PCSTR cmd, EFrameworkunifiedStatus (*close_func)(HANDLE));
+EFrameworkunifiedStatus CommonCanHalErrorNotify(HANDLE h_app);
+
+static inline EFrameworkunifiedStatus ConvRet(CANHAL_RET_API ret) {
+  return ((ret != CANHAL_RET_NORMAL) ? eFrameworkunifiedStatusFail : eFrameworkunifiedStatusOK);
+}
+std::string MessageDataOutputLog(uint8_t *msg_data, uint32_t len);
+#endif
\ No newline at end of file