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

4 files changed, 407 insertions, 113 deletions

diff --git a/positioning/client/src/POS_sensor_API/Makefile b/positioning/client/src/POS_sensor_API/Makefile
index bde53d22..a4f627f4 100644
--- a/positioning/client/src/POS_sensor_API/Makefile
+++ b/positioning/client/src/POS_sensor_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.
@@ -17,21 +17,14 @@
 INST_SHLIBS = libPOS_sensor_API
 
 ######### compiled sources  #############
-VPATH += ../Vehicle_API/common  ./common
-
 libPOS_sensor_API_SRCS += Sensor_API.cpp
 libPOS_sensor_API_SRCS += Vehicle_API.cpp
 
 ######### add include path #############
-CPPFLAGS += -I./
-CPPFLAGS += -I./common/
 CPPFLAGS += -I../../../server/include/common
 CPPFLAGS += -I../../include
 CPPFLAGS += -I../../../server/include/nsfw
 
-CPPFLAGS += -I../Vehicle_API
-CPPFLAGS += -I../Vehicle_API/common
-
 ######### add compile option #############
 CPPFLAGS += -DLINUX -fPIC
 
diff --git a/positioning/client/src/POS_sensor_API/common/Sensor_API.cpp b/positioning/client/src/POS_sensor_API/Sensor_API.cpp
index a015998f..179eb926 100644
--- a/positioning/client/src/POS_sensor_API/common/Sensor_API.cpp
+++ b/positioning/client/src/POS_sensor_API/Sensor_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.
@@ -19,24 +19,21 @@
  *    System name        :GPF
  *    Subsystem name    :Sensor I/F library
  *    Program name    :SensorI/F API
- *    Module configuration    :SensorPkgDeliveryEntry()        Vehicle sensor information package delivery registration
- *                  :SensorGetSensorPkgData()        Vehicle sensor information package acquisition
  ******************************************************************************/
 
 #include <stdio.h>
-#include "Sensor_API.h"
+#include <vehicle_service/POS_sensor_API.h>
+#include <vehicle_service/POS_define.h>
+#include <vehicle_service/POS_sensor_API.h>
+#include <vehicle_service/positioning_base_library.h>
+#include "POS_sensor_private.h"
+#include "Sensor_Common_API.h"
 #include "Sensor_API_private.h"
-/* ++ GPS _CWORD82_ support */
-#include "Vehicle_API_Dummy.h"
-/* -- GPS _CWORD82_ support */
-
 #include "Sensor_Common_API.h"
+#include "Vehicle_API_Dummy.h"
 #include "Vehicle_API_private.h"
 #include "Naviinfo_API.h"
-#include <vehicle_service/POS_define.h>
-#include <vehicle_service/POS_sensor_API.h>
 #include "POS_private.h"
-#include <vehicle_service/positioning_base_library.h>
 
 /*************************************************/
 /*           Global variable                      */
@@ -51,31 +48,37 @@
  */
 static const SENSOR_RET_PKG g_ret_list_reg_lis_pkg_sens_data[SENSOR_PUBLIC_DID_NUM] = {
     /* GRADE2   GRADE1     DID (Key)     */
-    {TRUE,      FALSE,     POS_DID_SPEED_PULSE        },
-    {FALSE,     FALSE,     POS_DID_SPEED_KMPH         },
-    {TRUE,      FALSE,     POS_DID_GYRO               },
-    {TRUE,      FALSE,     POS_DID_GSNS_X             },
-    {TRUE,      FALSE,     POS_DID_GSNS_Y             },
-    {FALSE,     FALSE,     POS_DID_GPS_ANTENNA        },
-    {TRUE,      FALSE,     POS_DID_SNS_COUNTER        },
-    {FALSE,     FALSE,     POS_DID_SPEED_PULSE_FST    },
-    {FALSE,     FALSE,     POS_DID_GYRO_FST           },
-    {FALSE,     FALSE,     POS_DID_GPS__CWORD82__NMEA       },
-    {FALSE,     FALSE,     POS_DID_GPS__CWORD82___CWORD44_GP4   },
-    {FALSE,     FALSE,     POS_DID_GPS__CWORD82__FULLBINARY },
-    {FALSE,     FALSE,     POS_DID_GPS_NMEA           },
-    {TRUE,      FALSE,     POS_DID_REV                },
-    {FALSE,     FALSE,     POS_DID_REV_FST            },
-    {TRUE,      FALSE,     POS_DID_GYRO_TEMP          },
-    {FALSE,     FALSE,     POS_DID_GYRO_TEMP_FST      },
-    {FALSE,     FALSE,     POS_DID_GSNS_X_FST         },
-    {FALSE,     FALSE,     POS_DID_GSNS_Y_FST         },
-    {TRUE,      FALSE,     POS_DID_PULSE_TIME         },
-    {FALSE,     FALSE,     POS_DID_GPS_CLOCK_DRIFT    },
-    {FALSE,     FALSE,     POS_DID_GPS_CLOCK_FREQ     },
-    {FALSE,     FALSE,     VEHICLE_DID_GPS_TIME           }, /* For local use */
-    {FALSE,     FALSE,     VEHICLE_DID_GPS_TIME_RAW       }, /* For local use */
-    {FALSE,     FALSE,     VEHICLE_DID_GPS_WKNROLLOVER    }  /* For local use */
+    {TRUE,      TRUE,     POS_DID_SPEED_PULSE        },
+    {FALSE,     TRUE,     POS_DID_SPEED_KMPH         },
+    {TRUE,      TRUE,     POS_DID_GYRO_X             },
+    {TRUE,      TRUE,     POS_DID_GYRO_Y             },
+    {TRUE,      TRUE,     POS_DID_GYRO_Z             },
+    {TRUE,      TRUE,     POS_DID_GSNS_X             },
+    {TRUE,      TRUE,     POS_DID_GSNS_Y             },
+    {TRUE,      TRUE,     POS_DID_GSNS_Z             },
+    {FALSE,     TRUE,     POS_DID_GPS_ANTENNA        },
+    {TRUE,      TRUE,     POS_DID_SNS_COUNTER        },
+    {FALSE,     TRUE,     POS_DID_SPEED_PULSE_FST    },
+    {FALSE,     TRUE,     POS_DID_GYRO_X_FST         },
+    {FALSE,     TRUE,     POS_DID_GYRO_Y_FST         },
+    {FALSE,     TRUE,     POS_DID_GYRO_Z_FST         },
+    {FALSE,     TRUE,     POS_DID_GPS__CWORD82__NMEA },
+    {FALSE,     TRUE,     POS_DID_GPS__CWORD82___CWORD44_GP4   },
+    {FALSE,     TRUE,     POS_DID_GPS__CWORD82__FULLBINARY },
+    {FALSE,     TRUE,     POS_DID_GPS_NMEA           },
+    {TRUE,      TRUE,     POS_DID_REV                },
+    {FALSE,     TRUE,     POS_DID_REV_FST            },
+    {TRUE,      TRUE,     POS_DID_GYRO_TEMP          },
+    {FALSE,     TRUE,     POS_DID_GYRO_TEMP_FST      },
+    {FALSE,     TRUE,     POS_DID_GSNS_X_FST         },
+    {FALSE,     TRUE,     POS_DID_GSNS_Y_FST         },
+    {FALSE,     TRUE,     POS_DID_GSNS_Z_FST         },
+    {TRUE,      TRUE,     POS_DID_PULSE_TIME         },
+    {FALSE,     TRUE,     POS_DID_GPS_CLOCK_DRIFT    },
+    {FALSE,     TRUE,     POS_DID_GPS_CLOCK_FREQ     },
+    {FALSE,     TRUE,     VEHICLE_DID_GPS_TIME       }, /* For local use */
+    {FALSE,     TRUE,     VEHICLE_DID_GPS_TIME_RAW   }, /* For local use */
+    {FALSE,     TRUE,     VEHICLE_DID_GPS_WKNROLLOVER}  /* For local use */
 };
 
 /**
@@ -84,30 +87,36 @@ static const SENSOR_RET_PKG g_ret_list_reg_lis_pkg_sens_data[SENSOR_PUBLIC_DID_N
 static const SENSOR_RET_PKG g_ret_list_reg_lis_sens_data[SENSOR_PUBLIC_DID_NUM] = {
     /* GRADE2   GRADE1     DID (Key)     */
     {TRUE,      TRUE,      POS_DID_SPEED_PULSE        },
-    {FALSE,     FALSE,     POS_DID_SPEED_KMPH         },
-    {TRUE,      FALSE,     POS_DID_GYRO               },
-    {TRUE,      FALSE,     POS_DID_GSNS_X             },
-    {TRUE,      FALSE,     POS_DID_GSNS_Y             },
+    {FALSE,     TRUE,      POS_DID_SPEED_KMPH         },
+    {TRUE,      TRUE,      POS_DID_GYRO_X             },
+    {TRUE,      TRUE,      POS_DID_GYRO_Y             },
+    {TRUE,      TRUE,      POS_DID_GYRO_Z             },
+    {TRUE,      TRUE,      POS_DID_GSNS_X             },
+    {TRUE,      TRUE,      POS_DID_GSNS_Y             },
+    {TRUE,      TRUE,      POS_DID_GSNS_Z             },
     {TRUE,      TRUE,      POS_DID_GPS_ANTENNA        },
-    {FALSE,     FALSE,     POS_DID_SNS_COUNTER        },
-    {TRUE,      FALSE,     POS_DID_SPEED_PULSE_FST    },
-    {TRUE,      FALSE,     POS_DID_GYRO_FST           },
-    {TRUE,      FALSE,     POS_DID_GPS__CWORD82__NMEA       },
-    {FALSE,     FALSE,     POS_DID_GPS__CWORD82___CWORD44_GP4   },
-    {TRUE,      FALSE,     POS_DID_GPS__CWORD82__FULLBINARY },
+    {FALSE,     TRUE,      POS_DID_SNS_COUNTER        },
+    {TRUE,      TRUE,      POS_DID_SPEED_PULSE_FST    },
+    {TRUE,      TRUE,      POS_DID_GYRO_X_FST         },
+    {TRUE,      TRUE,      POS_DID_GYRO_Y_FST         },
+    {TRUE,      TRUE,      POS_DID_GYRO_Z_FST         },
+    {TRUE,      TRUE,      POS_DID_GPS__CWORD82__NMEA },
+    {FALSE,     TRUE,      POS_DID_GPS__CWORD82___CWORD44_GP4   },
+    {TRUE,      TRUE,      POS_DID_GPS__CWORD82__FULLBINARY },
     {FALSE,     TRUE,      POS_DID_GPS_NMEA           },
-    {FALSE,     FALSE,     POS_DID_REV                },
-    {TRUE,      FALSE,     POS_DID_REV_FST            },
-    {TRUE,      FALSE,     POS_DID_GYRO_TEMP          },
-    {TRUE,      FALSE,     POS_DID_GYRO_TEMP_FST      },
-    {TRUE,      FALSE,     POS_DID_GSNS_X_FST         },
-    {TRUE,      FALSE,     POS_DID_GSNS_Y_FST         },
-    {FALSE,     FALSE,     POS_DID_PULSE_TIME         },
+    {FALSE,     TRUE,      POS_DID_REV                },
+    {TRUE,      TRUE,      POS_DID_REV_FST            },
+    {TRUE,      TRUE,      POS_DID_GYRO_TEMP          },
+    {TRUE,      TRUE,      POS_DID_GYRO_TEMP_FST      },
+    {TRUE,      TRUE,      POS_DID_GSNS_X_FST         },
+    {TRUE,      TRUE,      POS_DID_GSNS_Y_FST         },
+    {TRUE,      TRUE,      POS_DID_GSNS_Z_FST         },
+    {FALSE,     TRUE,      POS_DID_PULSE_TIME         },
     {FALSE,     TRUE,      POS_DID_GPS_CLOCK_DRIFT    },
     {FALSE,     TRUE,      POS_DID_GPS_CLOCK_FREQ     },
-    {FALSE,     FALSE,     VEHICLE_DID_GPS_TIME           }, /* For local use */
-    {FALSE,     FALSE,     VEHICLE_DID_GPS_TIME_RAW       }, /* For local use */
-    {FALSE,     FALSE,     VEHICLE_DID_GPS_WKNROLLOVER    }  /* For local use */
+    {FALSE,     TRUE,      VEHICLE_DID_GPS_TIME           }, /* For local use */
+    {FALSE,     TRUE,      VEHICLE_DID_GPS_TIME_RAW       }, /* For local use */
+    {FALSE,     TRUE,      VEHICLE_DID_GPS_WKNROLLOVER    }  /* For local use */
 };
 
 /**
@@ -116,25 +125,31 @@ static const SENSOR_RET_PKG g_ret_list_reg_lis_sens_data[SENSOR_PUBLIC_DID_NUM]
 static const SENSOR_RET_PKG g_ret_list_get_sens_data[SENSOR_PUBLIC_DID_NUM] = {
     /* GRADE2   GRADE1     DID (Key)     */
     {TRUE,      TRUE,      POS_DID_SPEED_PULSE        },
-    {FALSE,     FALSE,     POS_DID_SPEED_KMPH         },
-    {TRUE,      FALSE,     POS_DID_GYRO               },
-    {TRUE,      FALSE,     POS_DID_GSNS_X             },
-    {TRUE,      FALSE,     POS_DID_GSNS_Y             },
+    {FALSE,     TRUE,      POS_DID_SPEED_KMPH         },
+    {TRUE,      TRUE,      POS_DID_GYRO_X             },
+    {TRUE,      TRUE,      POS_DID_GYRO_Y             },
+    {TRUE,      TRUE,      POS_DID_GYRO_Z             },
+    {TRUE,      TRUE,      POS_DID_GSNS_X             },
+    {TRUE,      TRUE,      POS_DID_GSNS_Y             },
+    {TRUE,      TRUE,      POS_DID_GSNS_Z             },
     {TRUE,      TRUE,      POS_DID_GPS_ANTENNA        },
-    {FALSE,     FALSE,     POS_DID_SNS_COUNTER        },
-    {FALSE,     FALSE,     POS_DID_SPEED_PULSE_FST    },
-    {FALSE,     FALSE,     POS_DID_GYRO_FST           },
-    {TRUE,      FALSE,     POS_DID_GPS__CWORD82__NMEA       },
-    {FALSE,     FALSE,     POS_DID_GPS__CWORD82___CWORD44_GP4   },
-    {TRUE,      FALSE,     POS_DID_GPS__CWORD82__FULLBINARY },
+    {FALSE,     TRUE,      POS_DID_SNS_COUNTER        },
+    {FALSE,     TRUE,      POS_DID_SPEED_PULSE_FST    },
+    {FALSE,     TRUE,      POS_DID_GYRO_X_FST         },
+    {FALSE,     TRUE,      POS_DID_GYRO_Y_FST         },
+    {FALSE,     TRUE,      POS_DID_GYRO_Z_FST         },
+    {TRUE,      TRUE,      POS_DID_GPS__CWORD82__NMEA       },
+    {FALSE,     TRUE,      POS_DID_GPS__CWORD82___CWORD44_GP4   },
+    {TRUE,      TRUE,      POS_DID_GPS__CWORD82__FULLBINARY },
     {FALSE,     TRUE,      POS_DID_GPS_NMEA           },
-    {FALSE,     FALSE,     POS_DID_REV                },
-    {FALSE,     FALSE,     POS_DID_REV_FST            },
-    {TRUE,      FALSE,     POS_DID_GYRO_TEMP          },
-    {FALSE,     FALSE,     POS_DID_GYRO_TEMP_FST      },
-    {FALSE,     FALSE,     POS_DID_GSNS_X_FST         },
-    {FALSE,     FALSE,     POS_DID_GSNS_Y_FST         },
-    {FALSE,     FALSE,     POS_DID_PULSE_TIME         },
+    {FALSE,     TRUE,      POS_DID_REV                },
+    {FALSE,     TRUE,      POS_DID_REV_FST            },
+    {TRUE,      TRUE,      POS_DID_GYRO_TEMP          },
+    {FALSE,     TRUE,      POS_DID_GYRO_TEMP_FST      },
+    {FALSE,     TRUE,      POS_DID_GSNS_X_FST         },
+    {FALSE,     TRUE,      POS_DID_GSNS_Y_FST         },
+    {FALSE,     TRUE,      POS_DID_GSNS_Z_FST         },
+    {FALSE,     TRUE,      POS_DID_PULSE_TIME         },
     {FALSE,     TRUE,      POS_DID_GPS_CLOCK_DRIFT    },
     {FALSE,     TRUE,      POS_DID_GPS_CLOCK_FREQ     },
     {FALSE,     TRUE,      VEHICLE_DID_GPS_TIME           }, /* For local use */
@@ -260,9 +275,9 @@ SENSOR_RET_API POS_RegisterListenerPkgSensData(HANDLE hApp,
     BOOL                             ret_b;
     RET_API                          ret_api;      /* System API return value */
     EventID                          event_id;     /* Event ID */
-    int32                            event_val;    /* Event value */
+    int32_t                          event_val;    /* Event value */
     SENSOR_MSG_DELIVERY_ENTRY_DAT    data;         /* Message data */
-    int32                            i;            /* Generic counters */
+    int32_t                          i;            /* Generic counters */
     PNO                              ch_pno;       /* Converted internal PNO    */
     UNIT_TYPE                        type;         /* Supported HW Configuration Type    */
 
@@ -363,19 +378,14 @@ SENSOR_RET_API POS_RegisterListenerPkgSensData(HANDLE hApp,
             data.ctrl_flg        = ucCtrlFlg;
             data.event_id        = event_id;
             for (i = 0; i < ucPkgNum; i++) {
-                if (pulDid[i] == POS_DID_GYRO) {
-                    /* Replaced because POS_DID_GYRO is treated internally as VEHICLE_DID_GYRO_EXT. */
-                    data.did[i] = VEHICLE_DID_GYRO_EXT;
-                } else {
-                    data.did[i] = pulDid[i];
-                }
+                data.did[i] = pulDid[i];
             }
 
             /* Messaging */
             ret_api = PosSndMsg(ch_pno,
                                 PNO_VEHICLE_SENSOR,
                                 CID_SENSORIF_PKG_DELIVERY_ENTRY_EXT,
-                                (u_int16)sizeof(SENSOR_MSG_DELIVERY_ENTRY_DAT),
+                                (uint16_t)sizeof(SENSOR_MSG_DELIVERY_ENTRY_DAT),
                                 (const void *)&data);
 
             if (RET_NORMAL == ret_api) {
@@ -485,12 +495,12 @@ RET_API PosDeleteEvent(EventID event_id) {
  * RETURN    : RET_NORMAL    : Normal completion
  *           : RET_ERROR    : There is no shared memory area.
  ******************************************************************************/
-RET_API SensorLinkShareData(void **share_top, u_int32 *share_size, u_int16 *offset) {  // LCOV_EXCL_START 8:dead code
+RET_API SensorLinkShareData(void **share_top, uint32_t *share_size, uint16_t *offset) {  // LCOV_EXCL_START 8:dead code
     AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
     RET_API         ret_api;    /* System API return value */
     SemID           sem_id;     /* Semaphore ID */
     SENSOR_SHARE    *share_top_tmp;
-    int32           i;
+    int32_t         i;
 
     /* Initialization */
     ret_api = RET_ERROR;
@@ -519,7 +529,7 @@ RET_API SensorLinkShareData(void **share_top, u_int32 *share_size, u_int16 *offs
                     share_top_tmp->mng.lock_info[i] = SENSOR_SHARE_LOCK;
 
                     /* Calculate the offset to the block */
-                    *offset = static_cast<u_int16>(i * SENSOR_SHARE_BLOCK_SIZE);
+                    *offset = static_cast<uint16_t>(i * SENSOR_SHARE_BLOCK_SIZE);
 
                     /* Normal completion */
                     ret_api = RET_NORMAL;
@@ -556,11 +566,11 @@ RET_API SensorLinkShareData(void **share_top, u_int32 *share_size, u_int16 *offs
  * RETURN    : RET_NORMAL    : Normal completion
  *           : RET_ERROR    : There is no shared memory area./semaphore error
  ******************************************************************************/
-RET_API SensorUnLinkShareData(SENSOR_SHARE *share_top, u_int16 offset) {  // LCOV_EXCL_START 8:dead code
+RET_API SensorUnLinkShareData(SENSOR_SHARE *share_top, uint16_t offset) {  // LCOV_EXCL_START 8:dead code
     AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
     RET_API    ret_api;    /* System API return value */
     SemID      sem_id;     /* Semaphore ID */
-    int32      i;
+    int32_t    i;
 
     /* Initialization */
     ret_api = RET_ERROR;
@@ -604,12 +614,12 @@ RET_API SensorUnLinkShareData(SENSOR_SHARE *share_top, u_int16 offset) {  // LCO
  * NOTE      :
  * RETURN    : void
  ******************************************************************************/
-void SensorSetShareData(void *share_top, u_int16 offset, const void *data_src, u_int16 size_src) {  // LCOV_EXCL_START 8:dead code  // NOLINT(whitespace/line_length)
+void SensorSetShareData(void *share_top, uint16_t offset, const void *data_src, uint16_t size_src) {  // LCOV_EXCL_START 8:dead code  // NOLINT(whitespace/line_length)
     AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
     SENSOR_SHARE_BLOCK_DAT *share_dat;
 
     /* Calculate Shared Memory Write Address */
-    share_dat = reinterpret_cast<SENSOR_SHARE_BLOCK_DAT *>(reinterpret_cast<u_int8 *>(share_top) + offset);
+    share_dat = reinterpret_cast<SENSOR_SHARE_BLOCK_DAT *>(reinterpret_cast<uint8_t *>(share_top) + offset);
     /* #QAC confirmation Rule11.4 Use structure for member reference(Cast according to shared memory link IF) */
 
     /* Clear Shared Memory */
@@ -638,7 +648,7 @@ void SensorSetShareData(void *share_top, u_int16 offset, const void *data_src, u
  *           : RET_ERRMSGFULL    : Message queue overflows
  *           : RET_ERRPARAM        : Buffer size error
  ******************************************************************************/
-RET_API PosSndMsg(PNO pno_src, PNO pno_dest, CID cid, u_int16 msg_len, const void *msg_data) {
+RET_API PosSndMsg(PNO pno_src, PNO pno_dest, CID cid, uint16_t msg_len, const void *msg_data) {
     SENSOR_INTERNAL_MSG_BUF   msg_buf;        /* message buffer */
     T_APIMSG_MSGBUF_HEADER    *msg_hdr;       /* Pointer to the message header */
     RET_API                   ret_api;        /* Return value */
@@ -684,7 +694,7 @@ RET_API PosSndMsg(PNO pno_src, PNO pno_dest, CID cid, u_int16 msg_len, const voi
 
         /* Internal Process Transmission and Reception Messages */
         ret_api = _pb_SndMsg(pno_dest,
-                             (u_int16)(sizeof(T_APIMSG_MSGBUF_HEADER) + msg_len),/* Ignore->MISRA-C++:2008 Rule 5-0-5 */
+                             (uint16_t)(sizeof(T_APIMSG_MSGBUF_HEADER) + msg_len),/* Ignore->MISRA-C++:2008 Rule 5-0-5 */
                              reinterpret_cast<void *>(&msg_buf), 0);
     } else {
         /* Internal debug log output */
@@ -694,7 +704,7 @@ RET_API PosSndMsg(PNO pno_src, PNO pno_dest, CID cid, u_int16 msg_len, const voi
         /* External Process Transmission and Reception Messages */
         ret_api = _pb_SndMsg_Ext(thread_name,
                                  cid,
-                                 (u_int16)(msg_len),    /* Ignore->MISRA-C++:2008 Rule 5-0-5 */
+                                 (uint16_t)(msg_len),    /* Ignore->MISRA-C++:2008 Rule 5-0-5 */
                                  reinterpret_cast<void *>(&(msg_buf.data)), 0);
     }
     /* If RET_ERROR,Register a dialog if called from a Vehicle related thread */ /* Task_30332 */
@@ -758,18 +768,17 @@ POS_RET_API POS_GetSensData(HANDLE hApp, DID did, void *dest_data, uint16_t dest
         }
     }
 
-//    if (ret == NAVIINFO_RET_NORMAL) {
-//        /* Judge DID*/
-//        ret_b = SENSOR_DID_JUDGE_GET(did);
-//        if (ret_b == FALSE) {
-//            /* An unacceptable ID is regarded as a parameter error. */
-//            ret = POS_RET_ERROR_PARAM;
-//        } else {
-//            /* Data acquisition process */
-//            ret = PosGetProc(did, dest_data, dest_size);
-//        }
-//    }
+    if (ret == NAVIINFO_RET_NORMAL) {
+        /* Judge DID*/
+        ret_b = SENSOR_DID_JUDGE_GET(did);
+        if (ret_b == FALSE) {
+            /* An unacceptable ID is regarded as a parameter error. */
+            ret = POS_RET_ERROR_PARAM;
+        } else {
+            /* Data acquisition process */
+            ret = PosGetProc(did, dest_data, dest_size);
+        }
+    }
 
     return ret;
 }
-
diff --git a/positioning/client/src/POS_sensor_API/Vehicle_API.cpp b/positioning/client/src/POS_sensor_API/Vehicle_API.cpp
new file mode 100644
index 00000000..3cd97f86
--- /dev/null
+++ b/positioning/client/src/POS_sensor_API/Vehicle_API.cpp
@@ -0,0 +1,292 @@
+/*
+ * @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 name        :Vehicle_API.cpp
+ *    System name        :GPF
+ *    Subsystem name    :Vehicle I/F library
+ *    Program name    :Vehicle I/F API
+ *    Module configuration    :POS_RegisterListenerSensData()    Vehicle sensor information delivery registration
+ ******************************************************************************/
+#include <vehicle_service/positioning_base_library.h>
+#include <stdio.h>
+#include <vehicle_service/POS_sensor_API.h>
+#include "Sensor_API_private.h"
+#include "Vehicle_API_Dummy.h"
+#include "Vehicle_API_private.h"
+#include "POS_private.h"
+
+/*************************************************/
+/*           Global variable                      */
+/*************************************************/
+
+/*******************************************************************************
+ * initialize
+******************************************************************************/
+VEHICLE_RET_API VehicleInitialize(u_int32 (*sighand)()) {  // LCOV_EXCL_START 8:dead code // NOLINT(readability/nolint)
+    AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
+    RET_API _CWORD64_api_ret;
+    VEHICLE_RET_API ret;
+
+    _CWORD64_api_ret = _pb_Setup_CWORD64_API(NULL);
+
+    if (_CWORD64_api_ret == RET_NORMAL) {
+        ret = RET_NORMAL;
+    } else {
+        ret = RET_ERROR;
+    }
+    return ret;
+}
+// LCOV_EXCL_STOP
+
+/**
+ * @brief
+ *    Vehicle sensor information delivery registration
+ *  Register delivery of vehicle sensor information
+ *
+ * @param[in]  hApp                    Application handle
+ * @param[in]  notifyName            Destination thread name
+ * @param[in]  ulDid                Pointer to an array of data IDs for vehicle information
+ * @param[in]  ucCtrlFlg            Delivery control<br>
+ *                Delivery registration: SENSOR_DELIVERY_REGIST<br>
+ *                Delivery stop: SENSOR_DELIVERY_STOP        (Note: Not mounted)<br>
+ *                Resume delivery: SENSOR_DELIVERY_RESTART    (Note: Not mounted)
+ * @param[in]  ucDeliveryTiming        Delivery timing<br>
+ *                Updating    : SENSOR_DELIVERY_TIMING_UPDATE<br>
+ *                Changing    : SENSOR_DELIVERY_TIMING_CHANGE
+ *
+ * @return    SENSOR_RET_NORMAL                Successful registration<br>
+ *            SENSOR_RET_ERROR_CREATE_EVENT    Event generation failure<br>
+ *            SENSOR_RET_ERROR_PARAM            Parameter error<br>
+ *            SENSOR_RET_ERROR_DID            Unregistered ID<br>
+ *            SENSOR_RET_ERROR_BUFFULL        FULL of delivery registers<br>
+ *            SENSOR_RET_ERROR_NOSUPPORT        Unsupported environment
+ *
+ */
+SENSOR_RET_API POS_RegisterListenerSensData(HANDLE hApp,
+                                            PCSTR notifyName, DID ulDid, u_int8 ucCtrlFlg, u_int8 ucDeliveryTiming) {
+    SENSOR_RET_API    ret;     /* Return value */
+    UNIT_TYPE         type;    /* Supported HW Configuration Type    */
+    BOOL              ret_b;
+
+    /* Internal debug log output */
+    FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "+");
+
+    /* Check Delivery Control Designation */
+    ret = SENSOR_RET_NORMAL;
+    /* Arguments & Support Configuration Check */
+    if ((ucDeliveryTiming != SENSOR_DELIVERY_TIMING_CHANGE) &&
+        (ucDeliveryTiming != SENSOR_DELIVERY_TIMING_UPDATE)) {
+        /* Change delivery timing,Terminate as a parameter error except update */
+        ret = SENSOR_RET_ERROR_PARAM;
+    } else if (SENSOR_DELIVERY_REGIST != ucCtrlFlg) {
+        /* Parameters other than delivery registration terminated abnormally. */
+        ret = SENSOR_RET_ERROR_PARAM;
+    } else if (hApp == NULL) {
+        /* Check Handle */
+        /* NULL terminates with an abnormal parameter */
+        ret = SENSOR_RET_ERROR_PARAM;
+    } else if (notifyName == NULL) {
+        /* Check Thread Name */
+        /* NULL terminates with an abnormal parameter */
+        ret = SENSOR_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 = 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 (SENSOR_RET_NORMAL == ret) {
+        /* Judge DID */
+        ret_b = SENSOR_DID_JUDGE_REGLIS(ulDid);
+        if (ret_b == FALSE) {
+            /* An unacceptable ID is regarded as a parameter error. */
+            ret = SENSOR_RET_ERROR_PARAM;
+        } else {
+            /* Delivery registration process */
+            ret = PosRegisterListenerProc(notifyName, ulDid, ucCtrlFlg, ucDeliveryTiming);
+        }
+    }
+
+    /* Internal debug log output */
+    FRAMEWORKUNIFIEDLOG(ZONE_INFO, __FUNCTION__, "- [ret = %d]", ret);
+
+    return ret;
+}
+
+/*******************************************************************************
+ * MODULE    : PosSetShareData
+ * ABSTRACT  : Write processing to shared memory
+ * FUNCTION  : Write shared memory
+ * ARGUMENT  : *share_top    : Start address of shared memory
+ *           : offset        : Offsets to shared memory write destination
+ *           : *data_src    : Data
+ *           : size_src    : Size
+ * NOTE      :
+ * RETURN    : void
+ ******************************************************************************/
+void PosSetShareData(void *share_top, u_int16 offset, const void *data_src, u_int16 size_src) {
+    VEHICLE_SHARE_BLOCK_DAT *share_dat;
+    /* Calculate Shared Memory Write Address */
+    share_dat = reinterpret_cast<VEHICLE_SHARE_BLOCK_DAT *>(reinterpret_cast<u_int8 *>(share_top) + offset);
+
+    /* _CWORD71_ processing speed(Memset modification) */
+    /* Clear Shared Memory(Unused area) */
+    share_dat->reserve[0] = 0;
+    share_dat->reserve[1] = 0;
+
+    /* Set write size to shared memory */
+    share_dat->size = size_src;
+
+    /* Set specified data in shared memory */
+    memcpy(reinterpret_cast<void *>(share_dat->data), data_src, (size_t)size_src);
+}
+
+/*******************************************************************************
+* MODULE    : VehicleGetDrData
+* ABSTRACT  : DR information acquisition
+* FUNCTION  : Retrieves DR information (optional data) by returning to completion.
+* ARGUMENT  : pno        : Thread ID
+*           : did        : Data ID for DR information
+*           : *dest_data    : Pointer to the storage destination of DR information
+*           : dest_size    : Storage destination size of DR information(byte)
+* NOTE      :
+* RETURN    : Zero or more                            : Stored data size
+*           : VEHICLE_RET_ERROR_CREATE_EVENT    : Event generation failure
+*           : VEHICLE_RET_ERROR_OUTOF_MEMORY    : Shared memory allocation failed
+*           : VEHICLE_RET_ERROR_SIZE            : Storage destination size error
+*           : VEHICLE_RET_ERROR_DID            : Unregistered ID
+******************************************************************************/
+int32 VehicleGetDrData(PNO pno, DID did, void *dest_data, u_int16 dest_size) {  // LCOV_EXCL_START 8:dead code
+    AGL_ASSERT_NOT_TESTED();  // LCOV_EXCL_LINE 200: test assert
+    VEHICLE_RET_API    ret;                            /* Return value */
+    RET_API            ret_api;                        /* System API return value */
+    EventID            event_id;                       /* Event ID */
+    int32              event_val;                      /* Event value */
+    void               *share_top;                     /* Start address of shared memory */
+    u_int32            share_size;                     /* Size of shared memory area */
+    u_int16            offset;                         /* Offset to free shared memory area */
+    VEHICLE_SHARE_BLOCK_DAT             *share_dat;    /* Address of free shared memory area */
+    VEHICLE_MSG_GET_VEHICLE_DATA_DAT    data;          /* Message data */
+
+    /* Initialization */
+    event_id = 0;
+    event_val = 0;
+    memset(reinterpret_cast<void *>(&data), 0, sizeof(VEHICLE_MSG_GET_VEHICLE_DATA_DAT));
+
+    /* Event Generation */
+    event_id = VehicleCreateEvent(pno);
+
+    if (0 != event_id) {
+        /* Successful event generation */
+        /* Allocate shared memory */
+        ret_api = VehicleLinkShareData(reinterpret_cast<void **>(&share_top), &share_size, &offset);
+        if (RET_NORMAL != ret_api) {
+            /* Failed to allocate shared memory */
+            ret = VEHICLE_RET_ERROR_OUTOF_MEMORY;
+        } else {
+            /* When the shared memory is allocated successfully */
+
+            /* Calculate start address of free shared memory area */
+            share_dat = reinterpret_cast<VEHICLE_SHARE_BLOCK_DAT *>(reinterpret_cast<u_int8 *>(share_top) + offset);
+
+            /* Send vehicle sensor information acquisition message */
+            data.did         = did;
+            data.pno         = pno;
+            data.offset      = offset;
+            data.size        = VEHICLE_SHARE_BLOCK_DSIZE;
+            data.event_id    = event_id;
+            /* Messaging */
+
+            ret_api = VehicleSndMsg(pno,
+                                    PNO_VEHICLE_SENSOR,
+                                    CID_VEHICLEIF_GET_DR_DATA,
+                                    sizeof(VEHICLE_MSG_GET_VEHICLE_DATA_DAT),
+                                    (const void *)&data);
+
+            if (RET_NORMAL == ret_api) {
+                /* Message transmission processing is successful */
+                /* Wait for completion event from vehicle sensor thread */
+                ret_api = _pb_WaitEvent(event_id,
+                                        SAPI_EVWAIT_VAL,
+                                        VEHICLE_RET_ERROR_MIN, VEHICLE_RET_NORMAL, &event_val, INFINITE);
+                if (RET_NORMAL != ret_api) {
+                    /* When not put in event wait state */
+                    /* Return an event generation failure */
+                    ret = VEHICLE_RET_ERROR_CREATE_EVENT;
+                } else {
+                    /* Return from Event Wait */
+
+                    /* Link to shared memory */
+                    ret_api = _pb_LinkShareData(const_cast<char *>(VEHICLE_SHARE_NAME), &share_top, &share_size);
+
+                    /* Calculate the address of the shared memory storage area. */
+                    share_dat = reinterpret_cast<VEHICLE_SHARE_BLOCK_DAT *>(reinterpret_cast<u_int8 *>(share_top)
+                                + offset);
+
+                    if (event_val < 0) {
+                        /* Vehicle sensor information acquisition failure */
+                        ret = (VEHICLE_RET_API)event_val;
+                    } else if (RET_NORMAL != ret_api) {
+                        /* Shared memory error */
+                        ret = VEHICLE_RET_ERROR_OUTOF_MEMORY;
+                    } else if (dest_size < share_dat->size) {
+                        /* Storage destination size error */
+                        ret = VEHICLE_RET_ERROR_SIZE;
+                    } else {
+                        /* Vehicle sensor information acquisition success */
+
+                        /* Copy from shared memory to user memory */
+                        memcpy(dest_data, share_dat->data, (size_t)share_dat->size);
+
+                        /* Set Write Size to Return Value */
+                        ret = static_cast<int32>(share_dat->size);
+                    }
+                }
+            } else {
+                /* Message transmission processing failed */
+                /* Return an event generation failure */
+                ret = VEHICLE_RET_ERROR_CREATE_EVENT;
+            }
+            /* Free shared memory */
+            (void)VehicleUnLinkShareData(reinterpret_cast<VEHICLE_SHARE*>(share_top), offset);
+        }
+
+        /* Event deletion */
+        ret_api = VehicleDeleteEvent(event_id);
+
+    } else {
+        /* Event generation failure */
+        ret = VEHICLE_RET_ERROR_CREATE_EVENT;
+    }
+    return ret;
+}
+// LCOV_EXCL_STOP
diff --git a/positioning/client/src/POS_sensor_API/libPOS_sensor_API.ver b/positioning/client/src/POS_sensor_API/libPOS_sensor_API.ver
index 5cb4bc2b..10fd95bc 100644
--- a/positioning/client/src/POS_sensor_API/libPOS_sensor_API.ver
+++ b/positioning/client/src/POS_sensor_API/libPOS_sensor_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.