vs-positioning branch 0.1sandbox/ToshikazuOhiwa/vs-positioning

4 files changed, 525 insertions, 171 deletions

diff --git a/positioning/client/src/POS_gps_API/Gps_API.cpp b/positioning/client/src/POS_gps_API/Gps_API.cpp
index b3da219e..7395f9d6 100644
--- a/positioning/client/src/POS_gps_API/Gps_API.cpp
+++ b/positioning/client/src/POS_gps_API/Gps_API.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.
@@ -67,9 +67,9 @@ POS_RET_API POS_ReqGPSReset(HANDLE hApp, PCSTR ResName, uint8_t mode) {  // NOLI
     /* Arguments & Support Configuration Check */
     if ((hApp == NULL) || (ResName == NULL)) {
         ret = POS_RET_ERROR_PARAM;
-//    } else if (GPS_RST_COLDSTART != mode) {
-//        /* Parameter error except */
-//        ret = POS_RET_ERROR_PARAM;
+    } else if (GPS_RST_COLDSTART != mode) {
+        /* Parameter error except */
+        ret = POS_RET_ERROR_PARAM;
     } else {
         /* Positioning Base API initialization */
         _pb_Setup_CWORD64_API(hApp);
@@ -95,7 +95,7 @@ POS_RET_API POS_ReqGPSReset(HANDLE hApp, PCSTR ResName, uint8_t mode) {  // NOLI
             if (VehicleGetResource() == TRUE) {
                 /* Event Generation */
                 rs_pno = _pb_CnvName2Pno(ResName);
-                pid = (u_int32)getpid();
+                pid = (uint32_t)getpid();
                 tid = GetTid();
 
                 snprintf(name, sizeof(name), "PR_p%u_t%u", pid, tid);
@@ -155,53 +155,6 @@ POS_RET_API POS_ReqGPSReset(HANDLE hApp, PCSTR ResName, uint8_t mode) {  // NOLI
 
 /**
  * @brief
- *  Get GPS version
- *
- *  Get GPS version information
- *
- * @param[in] hApp          HANDLE   - Application handle
- * @param[in] buf_size      uint8_t  - Storage size of version information(Byte)
- * @param[in] buf           int8_t*  - Pointer to store the version information
- * @param[in] size          uint8_t* - Size of the character string written to buf(Byte)
- *
- * @return  POS_RET_NORMAL           Normal completion(Include illegal)<br>
- *          POS_RET_ERROR_PARAM      Parameter error<br>
- *          POS_RET_ERROR_NOSUPPORT  Unsupported environment
- *
- */
-POS_RET_API POS_GetGPSVersion(HANDLE hApp,  // NOLINT(readability/nolint)
-                            uint8_t buf_size,
-                            int8_t* buf,  // NOLINT(readability/nolint)
-                            uint8_t* size) {
-    POS_RET_API  ret = POS_RET_NORMAL;     /* Return value */
-    UNIT_TYPE    type = UNIT_TYPE_NONE;    /* Supported HW Configuration Type */
-
-    FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
-
-    /* Positioning Base API initialization */
-    _pb_Setup_CWORD64_API(hApp);
-
-    /* Supported HW Configuration Check */
-    type = GetEnvSupportInfo();
-    if (UNIT_TYPE_GRADE1 == type) {
-        /* GRADE1 */
-        ret = POS_RET_ERROR_NOSUPPORT;
-    } else if (UNIT_TYPE_GRADE2 == type) {
-      /*
-       *  Note.
-       *  This feature branches processing depending on the unit type.
-       */
-        ret = POS_RET_ERROR_NOSUPPORT;
-    } else {
-        /* Environment error */
-        ret = POS_RET_ERROR_NOSUPPORT;
-    }
-    FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
-    return ret;
-}
-
-/**
- * @brief
  *  GPS time setting request delivery registration
  *
  *  Register delivery of GPS time setting request
@@ -295,67 +248,67 @@ POS_RET_API POS_RegisterListenerGPSTimeSetReq(HANDLE hApp,  // NOLINT(readabilit
  *         POS_RET_ERROR_NOSUPPORT      Unsupported environment
  *
  */
-//POS_RET_API POS_SetGPStime(HANDLE hApp, POS_DATETIME* pstDateTime) {  // NOLINT(readability/nolint)
-//    POS_RET_API    ret = POS_RET_NORMAL;     /* Return value of this function */
-//    UNIT_TYPE      type = UNIT_TYPE_NONE;    /* Supported HW Configuration Type */
-//
-//    FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
-//
-//    /* Arguments & Support Configuration Check */
-//    if ((pstDateTime == NULL) || (hApp == NULL)) {
-//        ret = POS_RET_ERROR_PARAM;
-//    } else {
-//        /* Positioning Base API initialization */
-//        _pb_Setup_CWORD64_API(hApp);
-//
-//        /* Supported HW Configuration Check */
-//        type = GetEnvSupportInfo();
-//        if (UNIT_TYPE_GRADE1 == type) {
-//            /* GRADE1 */
-//            ret = POS_RET_NORMAL;
-//        } else if (UNIT_TYPE_GRADE2 == type) {
-//          /*
-//           *  Note.
-//           *  This feature branches processing depending on the unit type.
-//           */
-//            ret = POS_RET_ERROR_NOSUPPORT;
-//        } else {
-//            /* Environment error */
-//            ret = POS_RET_ERROR_NOSUPPORT;
-//        }
-//    }
-//
-//    if (ret == POS_RET_NORMAL) {
-//        /* Parameter range check */
-//        /* Month */
-//        if (POS_RET_ERROR == POS_CHKPARAMU8(pstDateTime->month, 1, 12)) {
-//            return POS_RET_ERROR_PARAM;
-//        }
-//        /* Day */
-//        if (POS_RET_ERROR == POS_CHKPARAMU8(pstDateTime->date, 1, 31)) {
-//            return POS_RET_ERROR_PARAM;
-//        }
-//        /* Hour */
-//        if (POS_RET_ERROR == POS_CHKPARAMU8(pstDateTime->hour, 0, 23)) {
-//            return POS_RET_ERROR_PARAM;
-//        }
-//        /* Minutes */
-//        if (POS_RET_ERROR == POS_CHKPARAMU8(pstDateTime->minute, 0, 59)) {
-//            return POS_RET_ERROR_PARAM;
-//        }
-//        /* Second */
-//        if (POS_RET_ERROR == POS_CHKPARAMU8(pstDateTime->second, 0, 59)) {
-//            return POS_RET_ERROR_PARAM;
-//        }
-//
-//        /* Data setting(Immediate recovery)*/
-//        ret = PosSetProc(VEHICLE_DID_SETTINGTIME,
-//                         reinterpret_cast<void*>(pstDateTime), sizeof(POS_DATETIME), FALSE);
-//    }
-//
-//    FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
-//    return ret;
-//}
+POS_RET_API POS_SetGPStime(HANDLE hApp, POS_DATETIME* pstDateTime) {  // NOLINT(readability/nolint)
+    POS_RET_API    ret = POS_RET_NORMAL;     /* Return value of this function */
+    UNIT_TYPE      type = UNIT_TYPE_NONE;    /* Supported HW Configuration Type */
+
+    FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
+
+    /* Arguments & Support Configuration Check */
+    if ((pstDateTime == NULL) || (hApp == NULL)) {
+        ret = POS_RET_ERROR_PARAM;
+    } else {
+        /* Positioning Base API initialization */
+        _pb_Setup_CWORD64_API(hApp);
+
+        /* Supported HW Configuration Check */
+        type = GetEnvSupportInfo();
+        if (UNIT_TYPE_GRADE1 == type) {
+            /* GRADE1 */
+            ret = POS_RET_NORMAL;
+        } else if (UNIT_TYPE_GRADE2 == type) {
+          /*
+           *  Note.
+           *  This feature branches processing depending on the unit type.
+           */
+            ret = POS_RET_ERROR_NOSUPPORT;
+        } else {
+            /* Environment error */
+            ret = POS_RET_ERROR_NOSUPPORT;
+        }
+    }
+
+    if (ret == POS_RET_NORMAL) {
+        /* Parameter range check */
+        /* Month */
+        if (POS_RET_ERROR == POS_CHKPARAMU8(pstDateTime->month, 1, 12)) {
+            return POS_RET_ERROR_PARAM;
+        }
+        /* Day */
+        if (POS_RET_ERROR == POS_CHKPARAMU8(pstDateTime->date, 1, 31)) {
+            return POS_RET_ERROR_PARAM;
+        }
+        /* Hour */
+        if (POS_RET_ERROR == POS_CHKPARAMU8(pstDateTime->hour, 0, 23)) {
+            return POS_RET_ERROR_PARAM;
+        }
+        /* Minutes */
+        if (POS_RET_ERROR == POS_CHKPARAMU8(pstDateTime->minute, 0, 59)) {
+            return POS_RET_ERROR_PARAM;
+        }
+        /* Second */
+        if (POS_RET_ERROR == POS_CHKPARAMU8(pstDateTime->second, 0, 59)) {
+            return POS_RET_ERROR_PARAM;
+        }
+
+        /* Data setting(Immediate recovery)*/
+        ret = PosSetProc(VEHICLE_DID_SETTINGTIME,
+                         reinterpret_cast<void*>(pstDateTime), sizeof(POS_DATETIME), FALSE);
+    }
+
+    FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
+    return ret;
+}
 
 /**
  * @brief
@@ -448,56 +401,56 @@ SENSOR_RET_API POS_RegisterListenerGPStime(HANDLE hApp,  // NOLINT(readability/n
  *         POS_RET_ERROR_NOSUPPORT      Unsupported environment
  *
  */
-//POS_RET_API POS_GetGPStime(HANDLE hApp, SENSOR_GPSTIME* dat) {  // NOLINT(readability/nolint)
-//    POS_RET_API ret = POS_RET_NORMAL;          /* Return value */
-//    UNIT_TYPE   type = UNIT_TYPE_NONE;         /* Supported HW Configuration Type */
-//    DID         did = VEHICLE_DID_GPS_TIME;    /* DID */
-//    int32       ret_get_proc;                  /* POS_GetProc Return Values */
-//
-//    /* Internal debug log output */
-//    FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
-//
-//    /* Arguments & Support Configuration Check */
-//    if (hApp == NULL) {
-//        /* If the handler is NULL, the process terminates with an error. */
-//        ret = POS_RET_ERROR_PARAM;
-//    } else if (dat == NULL) {
-//        /* If the longitude/latitude data is NULL, it ends with an abnormal parameter. */
-//        ret = POS_RET_ERROR_PARAM;
-//    } else {
-//        /* Positioning Base API initialization */
-//        _pb_Setup_CWORD64_API(hApp);
-//
-//        /* Supported HW Configuration Check */
-//        type = GetEnvSupportInfo();
-//        if (UNIT_TYPE_GRADE1 == type) {
-//            ret = POS_RET_NORMAL;
-//        } else {
-//          /*
-//           *  Note.
-//           *  This feature branches processing depending on the unit type.
-//           */
-//            ret = POS_RET_ERROR_NOSUPPORT;
-//        }
-//    }
-//
-//    /* Sensor information acquisition */
-//    if (ret == POS_RET_NORMAL) {
-//        /* Data acquisition process */
-//        ret_get_proc = PosGetProc(did, reinterpret_cast<void*>(dat), sizeof(SENSOR_GPSTIME));
-//        if (static_cast<int32>(sizeof(SENSOR_GPSTIME)) > ret_get_proc) {
-//            /** Failed to acquire */
-//            if (ret_get_proc == POS_RET_ERROR_RESOURCE) {
-//                /** Insufficient resource */
-//                ret = POS_RET_ERROR_RESOURCE;
-//            } else {
-//                ret = POS_RET_ERROR_INNER;
-//            }
-//            FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosGetProc ERROR [ret = %d]", ret);
-//        }
-//    }
-//
-//    FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
-//
-//    return ret;
-//}
+POS_RET_API POS_GetGPStime(HANDLE hApp, SENSOR_GPSTIME* dat) {  // NOLINT(readability/nolint)
+    POS_RET_API ret = POS_RET_NORMAL;          /* Return value */
+    UNIT_TYPE   type = UNIT_TYPE_NONE;         /* Supported HW Configuration Type */
+    DID         did = VEHICLE_DID_GPS_TIME;    /* DID */
+    int32_t       ret_get_proc;                  /* POS_GetProc Return Values */
+
+    /* Internal debug log output */
+    FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "+");
+
+    /* Arguments & Support Configuration Check */
+    if (hApp == NULL) {
+        /* If the handler is NULL, the process terminates with an error. */
+        ret = POS_RET_ERROR_PARAM;
+    } else if (dat == NULL) {
+        /* If the longitude/latitude data is NULL, it ends with an abnormal parameter. */
+        ret = POS_RET_ERROR_PARAM;
+    } else {
+        /* Positioning Base API initialization */
+        _pb_Setup_CWORD64_API(hApp);
+
+        /* Supported HW Configuration Check */
+        type = GetEnvSupportInfo();
+        if (UNIT_TYPE_GRADE1 == type) {
+            ret = POS_RET_NORMAL;
+        } else {
+          /*
+           *  Note.
+           *  This feature branches processing depending on the unit type.
+           */
+          ret = POS_RET_ERROR_NOSUPPORT;
+        }
+    }
+
+    /* Sensor information acquisition */
+    if (ret == POS_RET_NORMAL) {
+        /* Data acquisition process */
+        ret_get_proc = PosGetProc(did, reinterpret_cast<void*>(dat), sizeof(SENSOR_GPSTIME));
+        if (static_cast<int32_t>(sizeof(SENSOR_GPSTIME)) > ret_get_proc) {
+            /* Failed to acquire */
+            if (ret_get_proc == POS_RET_ERROR_RESOURCE) {
+                /* Insufficient resource */
+                ret = POS_RET_ERROR_RESOURCE;
+            } else {
+                ret = POS_RET_ERROR_INNER;
+            }
+            FRAMEWORKUNIFIEDLOG(ZONE_ERR, __FUNCTION__, "PosGetProc ERROR [ret = %d]", ret);
+        }
+    }
+
+    FRAMEWORKUNIFIEDLOG(ZONE_26, __FUNCTION__, "- [ret = %d]", ret);
+
+    return ret;
+}
diff --git a/positioning/client/src/POS_gps_API/Makefile b/positioning/client/src/POS_gps_API/Makefile
index a2de3c80..c6391a9e 100644
--- a/positioning/client/src/POS_gps_API/Makefile
+++ b/positioning/client/src/POS_gps_API/Makefile
@@ -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.
@@ -17,13 +17,10 @@
 INST_SHLIBS = libPOS_gps_API
 
 ######### compiled sources  #############
-VPATH += ../POS_naviinfo_API/variant/awnavi/src
-
 libPOS_gps_API_SRCS += Gps_API.cpp
 libPOS_gps_API_SRCS += Naviinfo_API.cpp
 
 ######### add include path #############
-CPPFLAGS += -I./
 CPPFLAGS += -I../../../server/include/common
 CPPFLAGS += -I../../include
 CPPFLAGS += -I../../../server/include/nsfw
diff --git a/positioning/client/src/POS_gps_API/Naviinfo_API.cpp b/positioning/client/src/POS_gps_API/Naviinfo_API.cpp
new file mode 100644
index 00000000..cfe04ff8
--- /dev/null
+++ b/positioning/client/src/POS_gps_API/Naviinfo_API.cpp
@@ -0,0 +1,404 @@
+/*
+ * @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.
+ */
+
+/******************************************************************************
+@file       Naviinfo_API.cpp
+@detail     Naviinfo_API Functions
+@lib        libNaviinfo_API.so
+******************************************************************************/
+
+/*****************************************************************************
+ *            Include                                                        *
+ *****************************************************************************/
+#include "Naviinfo_API.h"
+#include <vehicle_service/POS_define.h>
+#include <vehicle_service/POS_sensor_API.h>
+#include <vehicle_service/POS_gps_API.h>
+#include "Vehicle_API_Dummy.h"
+#include "POS_private.h"
+#include <native_service/frameworkunified_types.h>  // NOLINT(build/include_order)
+
+void PosCnvGpsInfo(NAVIINFO_ALL *navi_loc_info);
+
+
+/**
+ * @brief
+ *  GPS information setting
+ *
+ *  Set GPS information
+ *
+ * @param[in]  hApp         HANDLE        - Application handle
+ * @param[in]  navilocinfo  NAVIINFO_ALL* - Pointer to GPS information storage area
+ *
+ * @return NAVIINFO_RET_NORMAL              Normal completion<br>
+ *         NAVIINFO_RET_ERROR_PARAM         Parameter error<br>
+ *         NAVIINFO_RET_ERROR_INNER         Internal error<br>
+ *         NAVIINFO_RET_ERROR_NOSUPPORT     Unsupported environment
+ *
+ */
+NAVIINFO_RET_API POS_SetGPSInfo(HANDLE hApp, NAVIINFO_ALL *navilocinfo)
+{
+    NAVIINFO_RET_API        ret = NAVIINFO_RET_NORMAL;    /* Return value of this function    */
+    UNIT_TYPE               type = UNIT_TYPE_NONE;        /* Supported HW Configuration Type    */
+    NAVIINFO_ALL            navi_loc_info_tmp;            /* Conversion quantity area */
+    RET_API                 ret_api;
+
+    /** NULL checking */
+    if (navilocinfo == NULL) {
+        /** Parameter error */
+        ret = NAVIINFO_RET_ERROR_PARAM;
+    } else if (hApp == NULL) {
+        /** Parameter error */
+        ret = NAVIINFO_RET_ERROR_PARAM;
+    } else {
+        /* Positioning Base API initialization */
+        _pb_Setup_CWORD64_API(hApp);
+
+        /* Supported HW Configuration Check */
+        type = GetEnvSupportInfo();
+        if (UNIT_TYPE_GRADE1 == type) {
+            /* GRADE1 */
+            ret = NAVIINFO_RET_NORMAL;
+        } else if (UNIT_TYPE_GRADE2 == type) {
+          /*
+           *  Note.
+           *  This feature branches processing depending on the unit type.
+           */
+            ret = NAVIINFO_RET_ERROR_NOSUPPORT;
+        } else {
+            /* Environment error */
+            ret = NAVIINFO_RET_ERROR_NOSUPPORT;
+        }
+    }
+
+    if (ret == NAVIINFO_RET_NORMAL) {
+        /* Parameter range check */
+        if (navilocinfo->stNaviGps.tdsts != 0) { /* Other than ""Time not calibrated after receiver reset"" */
+            /* Positioning status information */
+            if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stDiagGps.stFix.ucFixSts, 0, 2)) {
+                return NAVIINFO_RET_ERROR_PARAM;
+            }
+            /* Latitude */
+            if (POS_RET_ERROR == POS_CHKPARAM32(navilocinfo->stDiagGps.stFix.stWgs84.lLat, -82944000, 82944000)) {
+                return NAVIINFO_RET_ERROR_PARAM;
+            }
+            /* Longitude */
+            if (POS_RET_ERROR == POS_CHKPARAM32(navilocinfo->stDiagGps.stFix.stWgs84.lLon, -165888000, 165888000)) {
+                return NAVIINFO_RET_ERROR_PARAM;
+            }
+            /* Measurement Azimuth */
+            if (POS_RET_ERROR == POS_CHKPARAMU16(navilocinfo->stNaviGps.heading, 0, 3599)) {
+                return NAVIINFO_RET_ERROR_PARAM;
+            }
+            /* UTC(Month) */
+            if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.utc.month, 1, 12)) {
+                return NAVIINFO_RET_ERROR_PARAM;
+            }
+            /* UTC(Day) */
+            if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.utc.date, 1, 31)) {
+                return NAVIINFO_RET_ERROR_PARAM;
+            }
+            /* UTC(Hour) */
+            if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.utc.hour, 0, 23)) {
+                return NAVIINFO_RET_ERROR_PARAM;
+            }
+            /* UTC(Minutes) */
+            if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.utc.minute, 0, 59)) {
+                return NAVIINFO_RET_ERROR_PARAM;
+            }
+            /* UTC(Second) */
+            if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.utc.second, 0, 59)) {
+                return NAVIINFO_RET_ERROR_PARAM;
+            }
+        }
+        /* Date and Time Status */
+        if (POS_RET_ERROR == POS_CHKPARAMU8(navilocinfo->stNaviGps.tdsts, 0, 2)) {
+            return NAVIINFO_RET_ERROR_PARAM;
+        }
+
+        /* Copy to conversion area  */
+        memcpy(&navi_loc_info_tmp, navilocinfo, sizeof(NAVIINFO_ALL));
+        /** Data unit conversion */
+        PosCnvGpsInfo(&navi_loc_info_tmp);
+
+        /* Resource acquisition */
+        if (VehicleGetResource() == TRUE) {
+
+        /** Send navigation information to vehicle sensor */
+            ret_api = _pb_SndMsg_Ext(POS_THREAD_NAME,
+                                     CID_NAVIINFO_DELIVER,
+                                     sizeof(NAVIINFO_ALL),
+                                     reinterpret_cast<void*>(&navi_loc_info_tmp), 0);
+            if (ret_api != RET_NORMAL) {
+                /** Message transmission failure */
+                ret = NAVIINFO_RET_ERROR_INNER;
+            }
+        } else {
+            /* When resource shortage occurs, the system terminates with an insufficient resource error. */
+            ret = NAVIINFO_RET_ERROR_RESOURCE;
+        }
+        /* Resource release */
+        VehicleReleaseResource();
+    }
+
+    return ret;
+}
+
+/**
+ * @brief
+ *   GPS information acquisition
+ *
+ *   Access GPS information
+ *
+ * @param[in]  hApp         HANDLE             - Application handle
+ * @param[in]  navidiaginfo NAVIINFO_DIAG_GPS* - Pointer to GPS information storage area
+ *
+ * @return  NAVIINFO_RET_NORMAL             Normal completion<br>
+ *          NAVIINFO_RET_ERROR_PARAM        Parameter error<br>
+ *          NAVIINFO_RET_ERROR_INNER        Internal error<br>
+ *          NAVIINFO_RET_ERROR_NOSUPPORT    Unsupported environment
+ *
+ */
+NAVIINFO_RET_API POS_GetGPSInfo(HANDLE hApp, NAVIINFO_DIAG_GPS *navidiaginfo)
+{
+    NAVIINFO_RET_API     ret = NAVIINFO_RET_NORMAL;    /* Return value of this function    */
+    UNIT_TYPE            type = UNIT_TYPE_NONE;        /* Supported HW Configuration Type    */
+    int32_t              ret_veh;                      /* VehicleAPI Return Values */
+    NAVIINFO_DIAG_GPS    dest_data;                    /* Data acquisition area */
+
+    /** NULL checking */
+    if (navidiaginfo == NULL) {
+        /** Parameter error */
+        ret = NAVIINFO_RET_ERROR_PARAM;
+    } else if (hApp == NULL) {
+        /** Parameter error */
+        ret = NAVIINFO_RET_ERROR_PARAM;
+    } else {
+        /* Positioning Base API initialization */
+        _pb_Setup_CWORD64_API(hApp);
+
+        /* Supported HW Configuration Check */
+        type = GetEnvSupportInfo();
+        if (UNIT_TYPE_GRADE1 == type) {
+            /* GRADE1 */
+            ret = NAVIINFO_RET_NORMAL;
+        } else if (UNIT_TYPE_GRADE2 == type) {
+          /*
+           *  Note.
+           *  This feature branches processing depending on the unit type.
+           */
+            ret = NAVIINFO_RET_ERROR_NOSUPPORT;
+        } else {
+            /* Environment error */
+            ret = NAVIINFO_RET_ERROR_NOSUPPORT;
+        }
+    }
+
+    if (ret == NAVIINFO_RET_NORMAL) {
+        /** Acquisition of navigation data for Diag provide */
+        ret_veh = PosGetProc(
+                             (DID)VEHICLE_DID_NAVIINFO_DIAG_GPS,
+                             reinterpret_cast<void*>(&dest_data),
+                             (u_int16)sizeof(dest_data));
+
+        if (static_cast<int32_t>(sizeof(NAVIINFO_DIAG_GPS)) > ret_veh) {
+            /** Failed to acquire */
+            if (ret_veh == POS_RET_ERROR_RESOURCE) {
+                ret = NAVIINFO_RET_ERROR_RESOURCE;
+            } else {
+                ret = NAVIINFO_RET_ERROR_INNER;
+            }
+        } else {
+            /** Successful acquisition */
+            memcpy( navidiaginfo, &dest_data, sizeof(NAVIINFO_DIAG_GPS));
+        }
+    }
+
+    return ret;
+}
+
+/* ++ GPS _CWORD82_ support */
+/**
+ * @brief
+ *   GPS setting transmission request
+ *
+ *   Requesting GPS Settings with Complete Return
+ *
+ * @param[in]  hApp     HANDLE               - Application handle
+ * @param[in]  p_data   SENSOR_MSG_SEND_DAT* - GPS setting information to be sent
+ *
+ * @return  SENSOR_RET_NORMAL              Normal completion<br>
+ *          SENSOR_RET_ERROR_CREATE_EVENT  Event generation failure<br>
+ *          SENSOR_RET_ERROR_PARAM         Parameter error<br>
+ *          SENSOR_RET_ERROR_DID           Unregistered DID<br>
+ *          SENSOR_RET_ERROR_NOSUPPORT     Unsupported environment
+ *
+ */
+int32 POS_ReqGPSSetting(HANDLE hApp, SENSOR_MSG_SEND_DAT *p_data) {    /* Ignore->MISRA-C++:2008 Rule 7-1-2 */
+    SENSOR_RET_API    ret = SENSOR_RET_NORMAL;        /* Return value                                */
+    RET_API           ret_api;                        /* System API return value                     */
+    uint16_t          expected_size;                  /* Message size for the specified DID */
+
+    UNIT_TYPE         type = UNIT_TYPE_NONE;          /* Supported HW Configuration Type    */
+
+    if (hApp == NULL) {
+        /* Parameter error */
+        ret = SENSOR_RET_ERROR_PARAM;
+    }
+
+    if (ret == SENSOR_RET_NORMAL) {
+        /* Positioning Base API initialization */
+        _pb_Setup_CWORD64_API(hApp);
+
+        /* Argument check (DID) + Size calculation */
+        if (p_data != reinterpret_cast<SENSOR_MSG_SEND_DAT*>(NULL)) {
+            switch (p_data->did) {
+                case VEHICLE_DID_GPS__CWORD82__SETINITIAL:
+                {
+                    expected_size = 71;
+                    break;
+                }
+                case VEHICLE_DID_GPS__CWORD82__SETRMODE:
+                {
+                    expected_size = 50;
+                    break;
+                }
+                case VEHICLE_DID_GPS__CWORD82__SETRMODEEX:
+                {
+                    expected_size = 63;
+                    break;
+                }
+                case VEHICLE_DID_GPS__CWORD82__SELSENT:
+                {
+                    expected_size = 21;
+                    break;
+                }
+                case VEHICLE_DID_GPS__CWORD82__SETSBAS:
+                {
+                    expected_size = 34;
+                    break;
+                }
+                case VEHICLE_DID_GPS__CWORD82__SETCONF1:
+                {
+                    expected_size = 37;
+                    break;
+                }
+                case VEHICLE_DID_GPS__CWORD82__SETCONF2:
+                {
+                    expected_size = 45;
+                    break;
+                }
+                default:    /* Ignore->MISRA-C++:2008 Rule 6-3-1, 6-4-1 */
+                    ret = SENSOR_RET_ERROR_DID;
+                    break;
+            }
+        } else {
+            ret = SENSOR_RET_ERROR_PARAM;
+        }
+    }
+
+    /* Supported HW Configuration Check */
+    if (ret == SENSOR_RET_NORMAL) {
+        type = GetEnvSupportInfo();
+        if (UNIT_TYPE_GRADE1 == type) {
+            /* GRADE1 */
+            ret = SENSOR_RET_NORMAL;
+        } else if (UNIT_TYPE_GRADE2 == type) {
+          /*
+           *  Note.
+           *  This feature branches processing depending on the unit type.
+           */
+            ret = SENSOR_RET_ERROR_NOSUPPORT;
+        } else {
+            /* Environment error */
+            ret = SENSOR_RET_ERROR_NOSUPPORT;
+        }
+    }
+
+    if (ret == SENSOR_RET_NORMAL) {
+        /* Argument check (Size)*/
+        if (expected_size != p_data->usSize) {
+            ret = SENSOR_RET_ERROR_PARAM;
+        } else {
+            /* Message buffer initialization */
+
+            /* Create message data */
+
+            /* Resource acquisition */
+            if (VehicleGetResource() == TRUE) {
+            /* External Process Transmission and Reception Messages */
+            FRAMEWORKUNIFIEDLOG(ZONE_27, __FUNCTION__, 
+                          "POSITIONING: POS_ReqGPSSetting() --> cid = %d",
+                          CID_SENSORIF__CWORD82__REQUEST);
+            ret_api = _pb_SndMsg_Ext(POS_THREAD_NAME,
+                                     CID_SENSORIF__CWORD82__REQUEST,
+                                     sizeof(SENSOR_MSG_SEND_DAT),
+                                     reinterpret_cast<void *>(p_data), 0);
+            FRAMEWORKUNIFIEDLOG(ZONE_27, __FUNCTION__, "POSITIONING: POS_ReqGPSSetting() <--");
+
+            if (ret_api != RET_NORMAL) {
+                ret = SENSOR_RET_ERROR_CREATE_EVENT;
+            }
+            } else {
+                /* When resource shortage occurs, the system terminates with an insufficient resource error. */
+                ret = SENSOR_RET_ERROR_RESOURCE;
+            }
+            /* Resource release */
+            VehicleReleaseResource();
+        }
+    }
+
+    return ret;
+}
+/* -- GPS _CWORD82_ support */
+
+/**
+ * @brief
+ *   GPS information conversion process
+ *
+ *   Convert GPS information to a format to be provided to the vehicle sensor
+ *
+ * @param[in]  none
+ * @param[in]  navi_loc_info NAVIINFO_ALL* - GPS information pointer
+ *
+ * @return  none
+ */
+void PosCnvGpsInfo(NAVIINFO_ALL *navi_loc_info) {
+    int32_t    altitude;
+    int64_t    tmp;
+    uint16_t   heading;
+
+    /* Unit conversion of fix altitude[1m]->[0.01m] */
+    tmp = (int64_t)((int64_t)(navi_loc_info->stNaviGps.altitude) * 100);
+    if (tmp > static_cast<int32_t>(0x7FFFFFFF)) {
+        /* +Overflow of digits */
+        altitude = static_cast<int32_t>(0x7FFFFFFF);
+    } else if (tmp < static_cast<int32_t>(0x80000000)) {    /* Ignore->MISRA-C:2004 Rule 3.1 */
+        /* -Overflow of digits */
+        altitude = static_cast<int32_t>(0x80000000);        /* Ignore->MISRA-C:2004 Rule 3.1 */
+    } else {
+        altitude = static_cast<int32_t>(tmp);
+    }
+    navi_loc_info->stNaviGps.altitude = altitude;
+
+    /* Measurement Azimuth Conversion[0.Once]->[0.01 degree] */
+    heading = navi_loc_info->stNaviGps.heading;
+    heading = static_cast<uint16_t>(heading - ((heading / 3600) * 3600));
+    heading = static_cast<uint16_t>(heading * 10);
+    navi_loc_info->stNaviGps.heading = heading;
+
+    return;
+}
diff --git a/positioning/client/src/POS_gps_API/libPOS_gps_API.ver b/positioning/client/src/POS_gps_API/libPOS_gps_API.ver
index 93578dec..038c99ec 100644
--- a/positioning/client/src/POS_gps_API/libPOS_gps_API.ver
+++ b/positioning/client/src/POS_gps_API/libPOS_gps_API.ver
@@ -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.