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

1 files changed, 148 insertions, 461 deletions

diff --git a/communication/server/src/threads/CAN_Thread.cpp b/communication/server/src/threads/CAN_Thread.cpp
index 3393e60f..1b327e7b 100644
--- a/communication/server/src/threads/CAN_Thread.cpp
+++ b/communication/server/src/threads/CAN_Thread.cpp
@@ -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.
@@ -14,25 +14,10 @@
  * limitations under the License.
  */
 
-/*******************************************************************************
- * SYSTEM  :_CWORD107_
- * SUBSYSTEM :EXL process
- * Module configuration :CAN_Thread()    CAN thread domain processing
- *                    CANMainThreadInit()  CAN thread initialization processing
- *                    CANTimeOutMsg()   Timeout message processing
- *                    CANCommonTimerStart() CAN thread common timer start processing
- *                    CANBufferLogOut()  CAN thread buffer log output processing
- *                    CANDebugLogOut()   Debug log output processing
- ******************************************************************************/
-/*!-----------------------------------------------------------------------------
- * @file    CAN_Thread.cpp
- * @~english
- * @brief   CAN Thread
- */
 #include "CAN_Thread.h"
 
 extern "C" {
-#include <poll.h>  //NOLINT (build/include)
+#include <poll.h>
 #include <sys/timerfd.h>
 }
 #include <native_service/frameworkunified_types.h>
@@ -40,126 +25,109 @@ extern "C" {
 #include <native_service/frameworkunified_timer.h>
 #include <peripheral_service/Canif_API.h>
 #include <peripheral_service/communication_notifications.h>
-//#include <can_hal.h>
+#include <can_hal.h>
 #include <stdlib.h>
 #include <errno.h>
 #include <string.h>
 #include <agl_thread.h>
 #include <string>
 #include "CAN_Delivery.h"
-#include "CAN_DeliveryData.h"
-#include "CAN_Transmission.h"
-#include "CAN_TransmissionData.h"
 #include "CAN_CommWatch.h"
-#include "CAN_CommWatchData.h"
-#include "CAN_Command.h"
-#include "CAN_CommandData.h"
 #include "CAN_TxMsg.h"
-#include "CAN_TimerCtrl.h"
 
 #include "communication_communicationlog.h"
 #include "communication_cid.h"
 #include "Thread_Common.h"
 
-#define NTFY_PSM_INITCOMP MN_PS_PSMSHADOW"/InitComp"
-
-//static EFrameworkunifiedStatus CANHalRcvProcess(CanMessage *p);
-//static EFrameworkunifiedStatus CANHal_CWORD29_RcvProcess(CanMessage_CWORD29_ *p);
-//static EFrameworkunifiedStatus CANHalSndStsProcess(CanSendResult *p);
-//static EFrameworkunifiedStatus CANHal_CWORD29_SndStsProcess(CanSendResult_CWORD29_ *p);
-static EFrameworkunifiedStatus CANIcrCmdRcvProcess(HANDLE h_app);
-static EFrameworkunifiedStatus CANIcrSndStsProcess(HANDLE h_app);
+static EFrameworkunifiedStatus CANStateCallback(HANDLE h_app);
+static EFrameworkunifiedStatus CANHalRcvProcess(HANDLE h_app);
+static EFrameworkunifiedStatus CANHalSndStsProcess(HANDLE h_app);
 
-/*************************************************/
-/*           Global variable                      */
-/*************************************************/
-static const FrameworkunifiedProtocolCallbackHandler kCanPcbhs[] = {  // LCOV_EXCL_BR_LINE 11: unexpected branch
-//    {CID_ICR_CMD_RCV,  CANIcrCmdRcvProcess},
-//    {CID_ICR_CMD_SND_CNF, CANIcrSndStsProcess},
+static const FrameworkunifiedProtocolCallbackHandler kCanPcbhs[] = {
     {CID_CANIF_DELIVERY_ENTRY, CANDeliveryEntry},
-    {CID_CANIF__CWORD29__DELIVERY_ENTRY, CAN_CWORD29_DeliveryEntry},
+    {CID_CANIF_DELIVERY_ERASE, CANClearEntry},
     {CID_COMMSYS_TIMEOUT, CANCallbackForTimeOut},
-#ifdef CAN_DEBUG
-    {CID_CANIF_DELETE_DELIVERY_ENTRY, CANAllDeleteDeliveryEntry},
-#endif
-    {CID_CANIF_TX_START, CANTxStart},
-    {CID_CANIF_TX_STOP, CANFreqTxStop},
-    {CID_CANIF_TX_BIT_START, CANTxBitStart},
-    {CID_CANIF_TX_BIT_STOP, CANTxBitStop},
+    {CID_CANIF_TX_START, CANTxMsg},
+    {CID_CANIF_TX_BIT_START, CANTxMsgBit},
     {CID_CANIF_COMM_WATCH, CANCommWatch},
-    {CID_CANIF__CWORD29__TX_START, CAN_CWORD29_TxMsg},
-    {CID_CANIF_CMD_CTRL, CANCommandTransmission},
+    {CID_CANIF_CMD_CTRL, CANTxMsgCommand},
+    {CID_CANHAL_CMD_CAN_READY, CANStateCallback},
+    {CID_CANHAL_CMD_ERROR_NOTIFY, CommonCanHalErrorNotify},
+    {CID_CANHAL_CMD_CAN_RECV, CANHalRcvProcess},
+    {CID_CANHAL_CMD_CAN_SEND_STATUS, CANHalSndStsProcess},
 };
 
-static UI_32 kCanPcbhsD[] = {  // LCOV_EXCL_BR_LINE 11: unexpected branch
-//    CID_ICR_CMD_RCV,
-//    CID_ICR_CMD_SND_CNF,
+static UI_32 kCanPcbhsD[] = {
     CID_CANIF_DELIVERY_ENTRY,
-    CID_CANIF__CWORD29__DELIVERY_ENTRY,
+    CID_CANIF_DELIVERY_ERASE,
     CID_COMMSYS_TIMEOUT,
-#ifdef CAN_DEBUG
-    CID_CANIF_DELETE_DELIVERY_ENTRY,
-#endif
     CID_CANIF_TX_START,
-    CID_CANIF_TX_STOP,
     CID_CANIF_TX_BIT_START,
-    CID_CANIF_TX_BIT_STOP,
     CID_CANIF_COMM_WATCH,
-    CID_CANIF__CWORD29__TX_START,
-    CID_CANIF_CMD_CTRL
+    CID_CANIF_CMD_CTRL,
+    CID_CANHAL_CMD_CAN_READY,
+    CID_CANHAL_CMD_ERROR_NOTIFY,
+    CID_CANHAL_CMD_CAN_RECV,
+    CID_CANHAL_CMD_CAN_SEND_STATUS
 };
 
-static const FrameworkunifiedProtocolCallbackHandler kCanDebugPcbhs[] = {  // LCOV_EXCL_BR_LINE 11: unexpected branch
-    {CID_CANIF_COMMWATCH_CLEAR_FOR_DEBUG, CANCommWatchAllClearDebug},
-};
+static EFrameworkunifiedStatus CANStateCallback(HANDLE h_app) {
+  bool result;
+  EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK;
 
-static UI_32 kCanDebugPcbhsD[] = {  // LCOV_EXCL_BR_LINE 11: unexpected branch
-    CID_CANIF_COMMWATCH_CLEAR_FOR_DEBUG,
-};
+  err = FrameworkunifiedGetMsgDataOfSize(h_app, &result, sizeof(result), eSMRRelease);
+  if (err != eFrameworkunifiedStatusOK) {
+    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error: FrameworkunifiedGetMsgDataOfSize failed");
+  }
+  if (err == eFrameworkunifiedStatusInvldBufSize) {
+    FrameworkunifiedClearMsgData(h_app);
+    return eFrameworkunifiedStatusFail;
+  } else if (err != eFrameworkunifiedStatusOK) {
+    return eFrameworkunifiedStatusFail;
+  }
 
-//static CanHalParam canParam;
+  CommSetAvailabilityCurrent(CAN_AVAILABILITY);
+  return CommonStartNotify(h_app, NTFY_Communication_CAN_ISAVAILABLE);
+}
 
-//static EFrameworkunifiedStatus CANStateCallback(DEVICE_STATE state, void *ctxid) {
-//  HANDLE h_app = canParam.callbacks.can.cmn.ctxid_state;
-//  CommSetAvailabilityCurrent(CAN_AVAILABILITY);
-//  return CommonStartNotify(h_app, NTFY_Communication_CAN_ISAVAILABLE);
-//}
+static EFrameworkunifiedStatus CANThreadCanOpen(HANDLE h_app) {
+  EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
+  const char *result = "Unknown";
+  const char *called = "Unknown";
+  UI_16 z = ZONE_ERR;
+
+  e_status = ConvRet(CanOpen(h_app, CAN_HAL_TYPE_CAN));
+  result = (e_status != eFrameworkunifiedStatusOK) ? "failed" : "success";
+  z = (e_status != eFrameworkunifiedStatusOK) ? ZONE_INFO : ZONE_ERR;
+  called = "CanOpen";
+  FRAMEWORKUNIFIEDLOG(z, __func__, "%s %s", called, result);
+  return e_status;
+}
 
 EFrameworkunifiedStatus CANThreadStart(HANDLE h_app) {
   EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
 
   CommClrAvailabilityCurrent(CAN_AVAILABILITY);
-  CANDeliveryDataInit();
-  CANTransmissionDataInit();
-  CANCommWatchDataInit();
-  CANCommandDataInit();
+  CANDeliveryInit();
   CANCommWatchInit();
-  CANTimerTblInit();
+  CANTxMsgInit();
 
-//  canParam.type = CAN_HAL_TYPE_CAN;
-//  canParam.callbacks.can.cmn.ctxid_state = h_app;
-//  canParam.callbacks.can.cmn.StateCallback = CANStateCallback;
-//  canParam.callbacks.can.cmn.ctxid_error = h_app;
-//  canParam.callbacks.can.cmn.ErrorCallback = CommonCanHalErrorNotify;
-//  canParam.callbacks.can.cmn.ctxid_tx = h_app;
-//  canParam.callbacks.can.cmn.SendResultCallback = CANHalSndStsProcess;
-//  canParam.callbacks.can.cmn.ctxid_rx = h_app;
-//  canParam.callbacks.can.cmn.ReceiveCallback = CANHalRcvProcess;
-//  canParam.callbacks.can.ctxid_tx__CWORD118_ = h_app;
-//  canParam.callbacks.can.SendResultCallback_CWORD29_ = CANHal_CWORD29_SndStsProcess;
-//  canParam.callbacks.can.ctxid_rx__CWORD118_ = h_app;
-//  canParam.callbacks.can.ReceiveCallback_CWORD29_ = CANHal_CWORD29_RcvProcess;
-//  e_status = CommonCanHalThreadStart(h_app, kCanPcbhs, _countof(kCanPcbhs),
-//                          NTFY_Communication_CAN_ISAVAILABLE, &canParam);
-
-  e_status = FrameworkunifiedAttachCallbacksToDispatcher(h_app,
-                        "CAN_TEST", kCanDebugPcbhs, _countof(kCanDebugPcbhs));
-  if (e_status != eFrameworkunifiedStatusOK) {
-    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__,
-            "FrameworkunifiedAttachCallbacksToDispatcher Error(%d)", e_status);
-    return e_status;
-  }
+  e_status = CommonThreadStart(h_app, kCanPcbhs, _countof(kCanPcbhs),
+                          NTFY_Communication_CAN_ISAVAILABLE, CANThreadCanOpen);
+  return e_status;
+}
 
+static EFrameworkunifiedStatus CANThreadCanClose(HANDLE h_app) {
+  EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
+  const char *result = "Unknown";
+  const char *called = "Unknown";
+  UI_16 z = ZONE_ERR;
+
+  e_status = ConvRet(CanClose(h_app, CAN_HAL_TYPE_CAN));
+  result = (e_status != eFrameworkunifiedStatusOK) ? "failed" : "success";
+  z = (e_status != eFrameworkunifiedStatusOK) ? ZONE_INFO : ZONE_ERR;
+  called = "CanClose";
+  FRAMEWORKUNIFIEDLOG(z, __func__, "%s %s", called, result);
   return e_status;
 }
 
@@ -167,385 +135,104 @@ EFrameworkunifiedStatus CANThreadStop(HANDLE h_app) {
   EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
 
   CommClrAvailabilityCurrent(CAN_AVAILABILITY);
-//  e_status = CommonCanHalThreadStop(h_app, kCanPcbhsD, _countof(kCanPcbhsD),
-//                              NTFY_Communication_CAN_ISAVAILABLE,
-//                              CAN_HAL_TYPE_CAN);
-
-  e_status = FrameworkunifiedDetachCallbacksFromDispatcher(h_app, "CAN_TEST",
-                              kCanDebugPcbhsD, _countof(kCanDebugPcbhsD));
-  if (e_status != eFrameworkunifiedStatusOK) {
-    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__,
-           "CommunicationDettachCallbacksFromDispatcher Error(%d)", e_status);
-    return e_status;
-  }
-
+  e_status = CommonThreadStop(h_app, kCanPcbhsD, _countof(kCanPcbhsD),
+                              NTFY_Communication_CAN_ISAVAILABLE,
+                              CANThreadCanClose);
   return e_status;
 }
 
-//static EFrameworkunifiedStatus CANHalRcvProcess(CanMessage *p) {
-//  RET_CAN ret = RET_CAN_ERROR_CANCEL;
-////  T_ICR_CMD_DATA *p_can_data = NULL;
-//  CanMessage canhal_recv_data;
-//  CAN_MSG_DATA st_recv_msg;
-//  BOOL bcmdopc = FALSE; /* CAN command OPC judgment */
-//  int32_t lcnt;         /* General Variables */
-//  HANDLE h_app = canParam.callbacks.can.cmn.ctxid_rx;
-//
-//  memcpy(&canhal_recv_data, p, sizeof(canhal_recv_data));
-//  if (canhal_recv_data.dlc > CAN_MESSAGE_LEN) {
-//    return eFrameworkunifiedStatusFail;
-//  }
-//
-//  const uint8_t ucOpcTable[] = {
-//      /* OPC search table */
-//      CAN_CMDID_STARTUP_FIN_RESP_RX,     /* CAN startup completion notice received */
-//      CAN_CMDID_MRST_INFO_RESP_RX,       /* CAN Master Reset Information Notification Reception */
-//      CAN_CMDID_VERSION_RESP_RX,         /* CAN Version Response Reception */
-//      CAN_CMDID_CONNECTION_NODE_RESP_RX, /* Receive CAN Connection Node Notification Response */
-//      CAN_CMDID_FUELCALC_RST_REQ_RX,     /* RECEIVE REQUEST FREE OF CAN SECTION */
-//  };
-//
-//  bcmdopc = FALSE;
-//  for (lcnt = 0; lcnt < (int32_t)((sizeof(ucOpcTable)) / (sizeof(uint8_t))); lcnt++) {
-//    if ((int32_t)canhal_recv_data.can_id == (int32_t)ucOpcTable[lcnt]) {
-//      bcmdopc = TRUE;
-//      break;
-//    }
-//  }
-//
-//  if (FALSE == bcmdopc) {
-////    p_can_data = reinterpret_cast<T_ICR_CMD_DATA *>(&st_recv_msg.ucData[0]);
-////    p_can_data->opc = CAN_OPC_RX;
-////    CANCanidUserToIfCvt(canhal_recv_data.can_id, p_can_data->data);
-////    p_can_data->data[CAN_MSGBUF_DLC_POS] = static_cast<uint8_t>(canhal_recv_data.dlc);
-////    memcpy(&(p_can_data->data[CAN_MSGBUF_DATA_POS]),
-////           canhal_recv_data.data,
-////           canhal_recv_data.dlc);
-//    ret = CANDataReceiveMsg(h_app, &st_recv_msg);
-//  } else {
-////    p_can_data = reinterpret_cast<T_ICR_CMD_DATA *>(&st_recv_msg.ucData[0]);
-////    CANCommandidUserToOpcCvt((uint8_t)canhal_recv_data.can_id, &p_can_data->opc);
-//
-//    switch (canhal_recv_data.can_id) {  // LCOV_EXCL_LINE 6: double check by ucOpcTable
-//      case CAN_CMDID_STARTUP_FIN_RESP_RX:
-////        p_can_data->opc = CAN_OPC_COMMAND_STARTUP_FIN_RESP_RX;
-//        break;
-//      case CAN_CMDID_MRST_INFO_RESP_RX:
-////        p_can_data->opc = CAN_OPC_COMMAND_MRST_INFO_RESP_RX;
-//        break;
-//      case CAN_CMDID_VERSION_RESP_RX:
-////        p_can_data->opc = CAN_OPC_COMMAND_VERSION_RESP_RX;
-//        break;
-//      case CAN_CMDID_CONNECTION_NODE_RESP_RX:
-////        p_can_data->opc = CAN_OPC_COMMAND_CONNECTION_NODE_RESP_RX;
-//        break;
-//      case CAN_CMDID_FUELCALC_RST_REQ_RX:
-////        p_can_data->opc = CAN_OPC_COMMAND_FUELCALC_RST_REQ_RX;
-//        break;
-//        // LCOV_EXCL_START 6:Excluded due to value never returned at present
-//      default:
-//        return eFrameworkunifiedStatusFail;
-//        // LCOV_EXCL_STOP 6:Excluded due to value never returned at present
-//    }
-//
-////    CANCanidUserToIfCvt(canhal_recv_data.can_id, p_can_data->data);
-////    memcpy(&(p_can_data->data[0]),
-////           canhal_recv_data.data,
-////           canhal_recv_data.dlc);
-//    ret = CANCommandDelivery(h_app, &st_recv_msg);
-//  }
-//
-//  if (RET_CAN_NORMAL != ret) {
-//    return eFrameworkunifiedStatusFail;
-//  } else {
-//    return eFrameworkunifiedStatusOK;
-//  }
-//}
+static EFrameworkunifiedStatus CANHalRcvProcess(HANDLE h_app) {
+  CanMessage canhal_recv_data;
+  EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusFail;
+  uint8_t cmd = 0;
 
-//static EFrameworkunifiedStatus CANHal_CWORD29_RcvProcess(CanMessage_CWORD29_ *p) {
-//  RET_CAN ret = RET_CAN_ERROR_CANCEL;
-//  CanMessage_CWORD29_ canhal_recv_data;
-//  HANDLE h_app = canParam.callbacks.can.ctxid_rx__CWORD118_;
-//
-//  memcpy(&canhal_recv_data, p, sizeof(canhal_recv_data));
-//  if (canhal_recv_data.dlc > CAN_L_MESSAGE_LEN) {
-//    return eFrameworkunifiedStatusFail;
-//  }
-//
-//  ret = CANDeliveryRcv_CWORD29_Data(h_app, canhal_recv_data.opc, canhal_recv_data.dlc, canhal_recv_data.data);
-//
-//  if (RET_CAN_NORMAL != ret) {
-//    return eFrameworkunifiedStatusFail;
-//  } else {
-//    return eFrameworkunifiedStatusOK;
-//  }
-//}
-
-//static EFrameworkunifiedStatus CANHalSndStsProcess(CanSendResult *p) {
-//  BOOL bcmdopc = FALSE; /* CAN command OPC judgment */
-//  int32_t lcnt;
-//  BOOL ret = TRUE;
-//  uint8_t ui_can_rid;
-//  uint8_t uc_sts;
-//  CanSendResult canhal_recv_data;
-//  HANDLE h_app = canParam.callbacks.can.cmn.ctxid_tx;
-//
-//  memcpy(&canhal_recv_data, p, sizeof(canhal_recv_data));
-//  ui_can_rid = canhal_recv_data.rid;
-//  if (CAN_RID_NOTUSE_CODE == ui_can_rid) {
-//    return eFrameworkunifiedStatusOK;
-//  }
-//
-//  if (CAN_SEND_RESULT_SUCCESS == canhal_recv_data.result) {
-//    uc_sts = CAN_SUCCESS;
-//  } else {
-//    uc_sts = CAN_RETRYOUT;
-//  }
-//
-//  const uint8_t ucOpcTable[] = {
-//      /* OPC search table */
-//      CAN_CMDID_MRST_INFO_REQ_TX,       /* CAN master reset information notification request transmission */
-//      CAN_CMDID_CONNECTION_NODE_REQ_TX, /* CAN connection node notification request transmission */
-//      CAN_CMDID_FUELCALC_REQ_TX,        /* CAN section flame reset response transmission */
-//  };
-//
-//  bcmdopc = FALSE;
-//  for (lcnt = 0; lcnt < (int32_t)((sizeof(ucOpcTable)) / (sizeof(uint8_t))); lcnt++) {
-//    if ((int32_t)canhal_recv_data.can_id == (int32_t)ucOpcTable[lcnt]) {
-//      bcmdopc = TRUE;
-//      break;
-//    }
-//  }
-//
-//  if (bcmdopc) {
-//    ret = CANCommandTxRsltSndMsg(h_app, ui_can_rid, uc_sts);
-//
-//    if (TRUE == ret) {  // LCOV_EXCL_BR_LINE 4: NSFW error case
-//      CANCommandTxRsltDelete(ui_can_rid);
-//    }
-//  } else {
-//    ret = CANTxRsltSndMsg(h_app, ui_can_rid, uc_sts);
-//
-//    if (TRUE == ret) {
-//      CANTxRsltFin(ui_can_rid); /* CANDataTransmission result notification completed */
-//    }
-//  }
-//
-//  if (FALSE == ret) {
-//    return eFrameworkunifiedStatusFail;
-//  } else {
-//    return eFrameworkunifiedStatusOK;
-//  }
-//}
-
-//static EFrameworkunifiedStatus CANHal_CWORD29_SndStsProcess(CanSendResult_CWORD29_ *p) {
-//  BOOL ret = TRUE;
-//  uint8_t ui_can_rid;
-//  uint8_t uc_sts;
-//  CanSendResult_CWORD29_ canhal_recv_data;
-//  HANDLE h_app = canParam.callbacks.can.ctxid_tx__CWORD118_;
-//
-//  memcpy(&canhal_recv_data, p, sizeof(canhal_recv_data));
-//  ui_can_rid = canhal_recv_data.rid;
-//  if (CAN_RID_NOTUSE_CODE == ui_can_rid) {
-//    return eFrameworkunifiedStatusOK;
-//  }
-//
-//  if (CAN_SEND_RESULT_SUCCESS == canhal_recv_data.result) {
-//    uc_sts = CAN_SUCCESS;
-//  } else {
-//    uc_sts = CAN_RETRYOUT;
-//  }
-//
-//  ret = CAN_CWORD29_TxRsltSndMsg(h_app, ui_can_rid, uc_sts);
-//  if (TRUE == ret) {  // LCOV_EXCL_LINE 11:Excluded due to gcov constraints (others)
-//    CAN_CWORD29_TxRsltFin(ui_can_rid); /* CANDataTransmission result notification completed */
-//    return eFrameworkunifiedStatusOK;
-//  } else {
-//    return eFrameworkunifiedStatusFail;
-//  }
-//}
+  e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &canhal_recv_data,
+                            sizeof(canhal_recv_data), eSMRRelease);
+  if (e_status != eFrameworkunifiedStatusOK) {
+    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error : FrameworkunifiedGetMsgDataOfSize is failed, e_status=%d", e_status);
+  }
 
-static EFrameworkunifiedStatus  CANIcrCmdRcvProcess(HANDLE h_app) {
-  RET_CAN l_ret = RET_CAN_INIT_SUCCESS; /* Return value of the function */
-  BOOL bCmdOpc = FALSE;                /* CAN command OPC judgment */
-  int32_t l_cnt;                        /* General Variables */
-  EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
-//  T_ICR_CMD_RCV rcv_msg;
+  if (e_status == eFrameworkunifiedStatusInvldBufSize) {
+    FrameworkunifiedClearMsgData(h_app);
+    goto cleanup;
+  } else if (e_status != eFrameworkunifiedStatusOK) {
+    goto cleanup;
+  }
 
-  const uint8_t ucOpcTable[] = {
-      /* OPC search table */
-      CAN_OPC_COMMAND_STARTUP_FIN_RESP_RX,     /* CAN startup completion notice received */
-      CAN_OPC_COMMAND_MRST_INFO_RESP_RX,       /* CAN Master Reset Information Notification Reception */
-      CAN_OPC_COMMAND_VERSION_RESP_RX,         /* CAN Version Response Reception */
-      CAN_OPC_COMMAND_CONNECTION_NODE_RESP_RX, /* Receive CAN Connection Node Notification Response */
-      CAN_OPC_COMMAND_BUS_STATUS_RESP_RX,      /* CAN Bus Status Notification Response Reception */
-      CAN_OPC_COMMAND_FUELCALC_RST_REQ_RX,     /* RECEIVE REQUEST FREE OF CAN SECTION */
-  };
+  if (canhal_recv_data.dlc > CAN_MESSAGE_LEN) {
+    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error : Invalid data length, dlc=%d", canhal_recv_data.dlc);
+    return eFrameworkunifiedStatusFail;
+  }
 
-//  e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &rcv_msg, sizeof(rcv_msg), eSMRRelease);
-  if (e_status != eFrameworkunifiedStatusOK) {  // LCOV_EXCL_BR_LINE 4: NSFW error case
-  // LCOV_EXCL_START 4: NSFW error case
-    AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
-    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "#CAN_thread# FrameworkunifiedGetMsgDataOfSize Error");
-    if (e_status == eFrameworkunifiedStatusInvldBufSize) {
-      FrameworkunifiedClearMsgData(h_app);
-    }
-    l_ret = RET_CAN_ERROR_CANCEL;
-    goto exit;
+  FRAMEWORKUNIFIEDLOG(ZONE_INFO, __func__, "can_id=%x dlc=%d rid=%x",
+         canhal_recv_data.can_id, canhal_recv_data.dlc, canhal_recv_data.rid);
+  FRAMEWORKUNIFIEDLOG(ZONE_DEBUG, __func__, "msg_data=%s",
+         MessageDataOutputLog(canhal_recv_data.data, canhal_recv_data.dlc).c_str());
+
+  cmd = (uint8_t)(canhal_recv_data.can_id & 0xFF);
+  switch (canhal_recv_data.can_id) {
+  case CAN_CMDID_STARTUP_FIN_RESP_RX:
+    e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd);
+    break;
+  case CAN_CMDID_MRST_INFO_RESP_RX:
+    e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd);
+    break;
+  case CAN_CMDID_VERSION_RESP_RX:
+    e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd);
+    break;
+  case CAN_CMDID_CONNECTION_NODE_RESP_RX:
+    e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd);
+    break;
+  case CAN_CMDID_FUELCALC_RST_REQ_RX:
+    CANCommandSetFuelCalcRstReq();
+    e_status = CANCommandDeliveryRcvProcess(h_app, &canhal_recv_data, cmd);
+    break;
+  default:
+    e_status = CANDeliveryRcvProcess(h_app, &canhal_recv_data);
   }
-  // LCOV_EXCL_STOP
+cleanup:
+  return e_status;
+}
 
-//  FRAMEWORKUNIFIEDLOG(ZONE_CAN_DEBUG, __func__, "from:%02x to:%02x opc:%02x", rcv_msg.cmd_data.lgadr_from, rcv_msg.cmd_data.lgadr_to, rcv_msg.cmd_data.opc);  // LCOV_EXCL_BR_LINE 15:marco defined in "native_service/ns_logger_if.h"  // NOLINT (whitespace/line_length)
-//  if (rcv_msg.cmd_data.lgadr_from == (uint8_t)CAN_TX_TO_ADRS) {
-    bCmdOpc = FALSE;
-    for (l_cnt = 0; l_cnt < (int32_t)((sizeof(ucOpcTable)) / (sizeof(uint8_t))); l_cnt++) {
-//      if ((int32_t)rcv_msg.cmd_data.opc == (int32_t)ucOpcTable[l_cnt]) {  // LCOV_EXCL_BR_LINE 8: cmd recv is CANHalRcvProcess  // NOLINT (whitespace/line_length)
-        bCmdOpc = TRUE;
-        break;
-//      }
-    }
+static EFrameworkunifiedStatus CANHalSndStsProcess(HANDLE h_app) {
+  CanSendResult canhal_recv_data;
+  EFrameworkunifiedStatus err = eFrameworkunifiedStatusOK;
+  uint8_t ui_can_rid;
+  PS_CommunicationProtocol cid;
 
-    if (FALSE == bCmdOpc) {  // LCOV_EXCL_BR_LINE 8: cmd recv is CANHalRcvProcess
-      FRAMEWORKUNIFIEDLOG(ZONE_CAN_DEBUG, __func__, "##### CAN RCVDATA #####");  // LCOV_EXCL_BR_LINE 15:marco defined in "native_service/ns_logger_if.h"  // NOLINT (whitespace/line_length)
-//      l_ret = CANDataReceiveMsg(h_app, reinterpret_cast<CAN_MSG_DATA *>(&rcv_msg)); /* CANDataProcess of Received Messages */
-    } else {
-      // LCOV_EXCL_START 8: same as above
-      AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
-      FRAMEWORKUNIFIEDLOG(ZONE_CAN_DEBUG, __func__, "##### CAN RCVCMD #####");
-//      l_ret = CANCommandDelivery(h_app, reinterpret_cast<CAN_MSG_DATA *>(&rcv_msg)); /* CAN command delivery process */
-      // LCOV_EXCL_STOP
-    }
+  err = FrameworkunifiedGetMsgDataOfSize(h_app, &canhal_recv_data,
+                            sizeof(canhal_recv_data), eSMRRelease);
+  if (err != eFrameworkunifiedStatusOK) {
+    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "Error : FrameworkunifiedGetMsgDataOfSize is failed, err=%d", err);
+  }
 
-//  }
-exit:
-  if (l_ret == RET_CAN_NORMAL)
-    return eFrameworkunifiedStatusOK;
-  else
+  if (err == eFrameworkunifiedStatusInvldBufSize) {
+    FrameworkunifiedClearMsgData(h_app);
     return eFrameworkunifiedStatusFail;
-}
+  } else if (err != eFrameworkunifiedStatusOK) {
+    return eFrameworkunifiedStatusFail;
+  }
 
-static EFrameworkunifiedStatus CANIcrSndStsProcess(HANDLE h_app) {  // LCOV_EXCL_START 8: dead code
-  AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
-  RET_CAN l_ret = RET_CAN_INIT_SUCCESS; /* Return value of the function */
-  EFrameworkunifiedStatus e_status = eFrameworkunifiedStatusOK;
-//  T_ICR_CMDSNDCNF rcv_msg;
+  ui_can_rid = canhal_recv_data.rid;
+  if (CAN_RID_NOTUSE_CODE == ui_can_rid) {
+    return eFrameworkunifiedStatusOK;
+  }
 
-//  e_status = FrameworkunifiedGetMsgDataOfSize(h_app, &rcv_msg, sizeof(rcv_msg), eSMRRelease);
-  if (e_status != eFrameworkunifiedStatusOK) {
-    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "#CAN_thread# FrameworkunifiedGetMsgDataOfSize Error");
-    if (e_status == eFrameworkunifiedStatusInvldBufSize) {
-      FrameworkunifiedClearMsgData(h_app);
-    }
-    e_status = eFrameworkunifiedStatusFail;
-    goto exit;
+  switch (canhal_recv_data.can_id) {
+  case CAN_CMDID_MRST_INFO_REQ_TX:
+  case CAN_CMDID_CONNECTION_NODE_REQ_TX:
+  case CAN_CMDID_FUELCALC_REQ_TX:
+    cid = CID_CAN_CMD_TX_RESULT;
+    break;
+  default:
+    cid = CID_CAN_TX_RESULT;
+    break;
   }
 
-//  if (((uint32_t)CAN_CMD_RID_MASK & (uint32_t)rcv_msg.msg_hdr.hdr.rid) != 0) {
-    /* CAN command transmission result notification processing */
-//    l_ret = CANCommandTxRslt(h_app, reinterpret_cast<CAN_MSG_DATA *>(&rcv_msg));
-//  } else {
-    /* CANDataReceive message processing of transmission result */
-//    l_ret = CANTxRsltReceiveMsg(h_app, reinterpret_cast<CAN_MSG_DATA *>(&rcv_msg));
-//  }
-exit:
-  if (l_ret == RET_CAN_NORMAL)
-    return eFrameworkunifiedStatusOK;
-  else
-    return eFrameworkunifiedStatusFail;
+  return CANSndStsProcess(h_app, &canhal_recv_data, cid);
 }
-// LCOV_EXCL_STOP 8: dead code
 
-/*******************************************************************************
- * MODULE    : CANTimeOutMsg
- * ABSTRACT  : Timeout message processing
- * FUNCTION  : Timeout message processing
- * ARGUMENT  : *pst_rcv_msg   : Received Message Reference Pointer
- * NOTE      : 
- * RETURN    : None
- ******************************************************************************/
 EFrameworkunifiedStatus CANCallbackForTimeOut(HANDLE h_app) {
-  CANTimeOutMsg(h_app, CAN_TIMER_SEQNO_CODE);
+  CANCommWatchTimeout(h_app);
   return eFrameworkunifiedStatusOK;
 }
-
-/*******************************************************************************
- * MODULE    : CANTimeOutMsg
- * ABSTRACT  : Timeout message processing
- * FUNCTION  : Timeout message processing
- * ARGUMENT  : *pst_rcv_msg   : Received Message Reference Pointer
- * NOTE      : 
- * RETURN    : None
- ******************************************************************************/
-void CANTimeOutMsg(HANDLE h_app, uint16_t timer_seq) {
-  CANFreqTransTimeOut(h_app, timer_seq, CAN_PROTOCOL_TYPE_CAN);    /* CAN periodic transmission timeout check   */
-  CANFreqTransTimeOutMap(h_app);
-  CANCommWatchTimeOut(h_app, CAN_PROTOCOL_TYPE_CAN);    /* Confirmation of CAN communication interruption monitoring timeout  */
-}
-
-/*******************************************************************************
- * MODULE    : CANBufferLogOut
- * ABSTRACT  : CAN thread buffer log output processing
- * FUNCTION  : CAN thread buffer log output processing
- * ARGUMENT  : None
- * NOTE      : 
- * RETURN    : None
- ******************************************************************************/
-void CANBufferLogOut(void) {  // LCOV_EXCL_START 8: dead code
-  AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
-  FILE *afp_log = NULL;
-
-  afp_log = fopen(CAN_BUFFER_LOGOUT_NAME, "r"); /* Opening Log Files in Read Mode */
-
-  if (NULL != afp_log) {
-    /* When a log file is opened   */
-    (void)fclose(afp_log);                        /* Close the log file   */
-    afp_log = fopen(CAN_BUFFER_LOGOUT_NAME, "a"); /* Opening Log Files in Append Mode */
-
-    if (NULL != afp_log) {
-      /* When a log file is opened   */
-      CANDeliveryBufferOut(afp_log); /* CAN shipping table log output   */
-      (void)fprintf(afp_log, "\n\n\n\n\n");
-      CANCycleTransBufferOut(afp_log); /* CAN Periodic Transmission Table Log Output  */
-      (void)fprintf(afp_log, "\n\n\n\n\n");
-      CANCommWatchBufferOut(afp_log, CAN_PROTOCOL_TYPE_CAN); /* CAN communication disruption table log output  */
-      (void)fprintf(afp_log, "\n\n\n\n\n");
-
-      (void)fclose(afp_log);                                     /* Close the log file    */
-    }
-  }
-}
-// LCOV_EXCL_STOP
-
-/*******************************************************************************
- * MODULE    : CANDebugLogOut
- * ABSTRACT  : Debug log output processing
- * FUNCTION  : Output a debug log
- * ARGUMENT  : u_int16 err_code Error code
- *           : void* msg_ptr  Message start pointers
- * NOTE      :
- * RETURN    :
- ******************************************************************************/
-void CANDebugLogOut(uint16_t err_code, void *msg_ptr) {
-  CAN_MSG_DATA *can_msg;
-  uint16_t i;
-  uint16_t data_sz;
-  uint8_t *data_p;
-  int8_t out_cha[100];
-
-  can_msg = reinterpret_cast<CAN_MSG_DATA *>(msg_ptr);
-  data_p = reinterpret_cast<uint8_t *>(msg_ptr);
-//  data_sz = (uint16_t)((uint32_t)can_msg->stHead.hdr.msgbodysize + sizeof(T_APIMSG_MSGBUF_HEADER_COMM));
-  if (0x30 < (uint32_t)data_sz) {
-    data_sz = 0x30;
-  }
-  for (i = 0; i < data_sz; i++) {
-    (void)snprintf(reinterpret_cast<char *>(&out_cha[i * 2]), sizeof(char), "%02x", data_p[i]);
-  }
-  if ((uint16_t)CAN_DELIVERY_ERR == err_code) {  // LCOV_EXCL_BR_LINE 8: dead code(CAN_DELIVERY_ERR is impossible)
-    AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
-    FRAMEWORKUNIFIEDLOG(ZONE_CAN_DEBUG, __func__, "#CAN_thread# ERRCODE:%04x %s", err_code, &out_cha[0]);  // LCOV_EXCL_LINE 8:dead code  //NOLINT (readability/naming)
-  } else {
-    FRAMEWORKUNIFIEDLOG(ZONE_ERR, __func__, "#CAN_thread# ERRCODE:%04x %s", err_code, &out_cha[0]);
-  }
-}  // LCOV_EXCL_LINE 10: final line