Merge branch 'master' of ssh://git.projects.genivi.org/lbs/positioning

46 files changed, 790 insertions, 1100 deletions

diff --git a/.gitignore b/.gitignore
index c05fab7..75d2d4c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,5 @@
 build/
+CMakeFiles/
+CMakeCache.txt
 *~
 *.user
diff --git a/build-all.sh b/build-all.sh
index bfe68e2..fb3e2a7 100755
--- a/build-all.sh
+++ b/build-all.sh
@@ -14,6 +14,10 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to enable verbosity
+#		- generate the API of enhanced-position-service into the API folder
 # @licence end@
 ###########################################################################
 
@@ -21,10 +25,10 @@
 # Compiler Flags
 #--------------------------------------------------------------------------
 # modify the following flags as needed:
-GNSS_SERVICE_FLAGS='-DWITH_DLT=OFF -DWITH_GPSD=OFF -DWITH_REPLAYER=ON -DWITH_TESTS=ON'
-SENSORS_SERVICE_FLAGS='-DWITH_DLT=OFF -DWITH_REPLAYER=ON -DWITH_IPHONE=OFF -DWITH_TESTS=ON'
-ENHANCED_POSITION_SERVICE_FLAGS='-DWITH_DLT=OFF -DWITH_GPSD=OFF -DWITH_REPLAYER=ON -DWITH_IPHONE=OFF -DWITH_TESTS=ON'
-LOG_REPLAYER_FLAGS='-DWITH_DLT=OFF -DWITH_TESTS=ON'
+GNSS_SERVICE_FLAGS='-DWITH_DLT=OFF -DWITH_GPSD=OFF -DWITH_REPLAYER=ON -DWITH_TESTS=ON -DWITH_DEBUG=ON'
+SENSORS_SERVICE_FLAGS='-DWITH_DLT=OFF -DWITH_REPLAYER=ON -DWITH_IPHONE=OFF -DWITH_TESTS=ON -DWITH_DEBUG=ON'
+ENHANCED_POSITION_SERVICE_FLAGS='-DWITH_DLT=OFF -DWITH_GPSD=OFF -DWITH_REPLAYER=ON -DWITH_IPHONE=OFF -DWITH_TESTS=ON -DWITH_DEBUG=ON'
+LOG_REPLAYER_FLAGS='-DWITH_DLT=OFF -DWITH_TESTS=ON -DWITH_DEBUG=ON'
 #--------------------------------------------------------------------------
 
 TOP_SRC_DIR=$PWD
@@ -33,6 +37,7 @@ TOP_BIN_DIR=$PWD/build
 GNSS_SERVICE_SRC_DIR=$TOP_SRC_DIR/gnss-service
 SENSORS_SERVICE_SRC_DIR=$TOP_SRC_DIR/sensors-service
 ENHANCED_POSITION_SERVICE_SRC_DIR=$TOP_SRC_DIR/enhanced-position-service
+ENHANCED_POSITION_SERVICE_API_DIR=$ENHANCED_POSITION_SERVICE_SRC_DIR/api
 LOG_REPLAYER_SRC_DIR=$TOP_SRC_DIR/log-replayer
 
 GNSS_SERVICE_BIN_DIR=$TOP_BIN_DIR/gnss-service
@@ -84,6 +89,12 @@ buildEnhancedPositionService() {
 buildLogReplayer() {
     echo ''
     echo 'Building LogReplayer ->' $LOG_REPLAYER_SRC_DIR
+    echo ''
+    echo 'Generate DBus include files'
+	cd $ENHANCED_POSITION_SERVICE_API_DIR
+	cmake .
+    echo ''
+    echo 'Build the code'
     mkdir -p $LOG_REPLAYER_BIN_DIR
     cd $LOG_REPLAYER_BIN_DIR 
     cmake $LOG_REPLAYER_FLAGS $LOG_REPLAYER_SRC_DIR && make 
diff --git a/enhanced-position-service/.gitignore b/enhanced-position-service/.gitignore
new file mode 100644
index 0000000..d0cf84f
--- /dev/null
+++ b/enhanced-position-service/.gitignore
@@ -0,0 +1,3 @@
+*.user
+*.cmake
+
diff --git a/enhanced-position-service/CMakeLists.txt b/enhanced-position-service/CMakeLists.txt
index ed92182..f9a6a98 100644
--- a/enhanced-position-service/CMakeLists.txt
+++ b/enhanced-position-service/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -31,6 +34,9 @@ option(WITH_REPLAYER
 option(WITH_TESTS
     "Compile test applications" OFF)
 
+option(WITH_DEBUG 
+	"Enable the debug messages" OFF)
+
 message(STATUS)
 message(STATUS "---------------------------------------------------------")
 
@@ -56,7 +62,9 @@ else()
     message(STATUS "Invalid cmake options!")
 endif()
 
-include_directories(api src test ${gnss-service_INCLUDE_DIRS} ${sensors-service_INCLUDE_DIRS})
+set(enhanced-position-service_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/api/include")
+
+include_directories(${enhanced-position-service_INCLUDE_DIRS} src test ${gnss-service_INCLUDE_DIRS} ${sensors-service_INCLUDE_DIRS})
 
 add_subdirectory(src)
 
diff --git a/enhanced-position-service/api/.gitignore b/enhanced-position-service/api/.gitignore
new file mode 100644
index 0000000..c52045f
--- /dev/null
+++ b/enhanced-position-service/api/.gitignore
@@ -0,0 +1,2 @@
+include/
+Makefile
diff --git a/enhanced-position-service/api/CMakeLists.txt b/enhanced-position-service/api/CMakeLists.txt
new file mode 100644
index 0000000..3f2ab24
--- /dev/null
+++ b/enhanced-position-service/api/CMakeLists.txt
@@ -0,0 +1,95 @@
+###########################################################################
+# @licence app begin@
+# SPDX-License-Identifier: MPL-2.0
+#
+# Component Name: enhanced-position-service
+#
+# Author: Philippe Colliot
+#
+# Copyright (C) 2014, PCA Peugeot Citroën
+# 
+# License:
+# This Source Code Form is subject to the terms of the
+# Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
+# this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+#
+# @licence end@
+###########################################################################
+project(enhanced-position-service)
+cmake_minimum_required(VERSION 2.8)
+
+message(STATUS "generation of DBus files for enhanced-position-service")
+
+find_program(XSLTPROC xsltproc REQUIRED)
+find_program(DBUSXML2CPP dbusxx-xml2cpp REQUIRED)
+
+set(cmake_create_dir cmake -E make_directory)
+
+set(API_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+
+execute_process(
+	WORKING_DIRECTORY ${API_DIR}
+        COMMAND ${cmake_create_dir} include
+)
+
+set(TARGET_GENERATED_API_DIR ${API_DIR}/include)
+
+file (GLOB XML_TO_DBUS_PROXY 
+	${CMAKE_CURRENT_SOURCE_DIR}/genivi-positioning-configuration.xml
+	${CMAKE_CURRENT_SOURCE_DIR}/genivi-positioning-enhancedposition.xml
+	${CMAKE_CURRENT_SOURCE_DIR}/genivi-positioning-positionfeedback.xml
+)
+foreach (RAW_FILE ${XML_TO_DBUS_PROXY})
+	get_filename_component(FILE ${RAW_FILE} NAME_WE)
+	if(NOT EXISTS ${TARGET_GENERATED_API_DIR}/${FILE}_proxy.h)
+		execute_process(
+			COMMAND ${DBUSXML2CPP} ${RAW_FILE} --proxy=${TARGET_GENERATED_API_DIR}/${FILE}_proxy.h  
+		)
+	else()
+		if(${RAW_FILE} IS_NEWER_THAN ${TARGET_GENERATED_API_DIR}/${FILE}_proxy.h)
+			execute_process(
+				COMMAND ${DBUSXML2CPP} ${RAW_FILE} --proxy=${TARGET_GENERATED_API_DIR}/${FILE}_proxy.h  
+			)
+		endif()
+	endif()
+endforeach()
+
+file (GLOB XML_TO_DBUS_ADAPTOR
+	${CMAKE_CURRENT_SOURCE_DIR}/genivi-positioning-configuration.xml
+	${CMAKE_CURRENT_SOURCE_DIR}/genivi-positioning-enhancedposition.xml
+	${CMAKE_CURRENT_SOURCE_DIR}/genivi-positioning-positionfeedback.xml
+)
+foreach (RAW_FILE ${XML_TO_DBUS_ADAPTOR})
+	get_filename_component(FILE ${RAW_FILE} NAME_WE)
+	if(NOT EXISTS ${TARGET_GENERATED_API_DIR}/${FILE}_adaptor.h)
+		execute_process(
+			COMMAND ${DBUSXML2CPP} ${RAW_FILE} --adaptor=${TARGET_GENERATED_API_DIR}/${FILE}_adaptor.h  
+		)
+	else()
+		if(${RAW_FILE} IS_NEWER_THAN ${TARGET_GENERATED_API_DIR}/${FILE}_adaptor.h)
+			execute_process(
+				COMMAND ${DBUSXML2CPP} ${RAW_FILE} --adaptor=${TARGET_GENERATED_API_DIR}/${FILE}_adaptor.h  
+			)
+		endif()
+	endif()
+endforeach()
+
+file (GLOB XML_TO_DBUS_CONSTANT
+	${CMAKE_CURRENT_SOURCE_DIR}/genivi-positioning-constants.xml
+)
+foreach (RAW_FILE ${XML_TO_DBUS_CONSTANT})
+	get_filename_component(FILE ${RAW_FILE} NAME_WE)
+	if(NOT EXISTS ${TARGET_GENERATED_API_DIR}/${FILE}.h)
+		execute_process(
+			OUTPUT_FILE ${TARGET_GENERATED_API_DIR}/${FILE}.h
+			COMMAND ${XSLTPROC} ${CMAKE_CURRENT_SOURCE_DIR}/enum.xsl ${RAW_FILE}        
+		)
+	else()
+		if(${RAW_FILE} IS_NEWER_THAN ${TARGET_GENERATED_API_DIR}/${FILE}.h)
+			execute_process(
+				OUTPUT_FILE ${TARGET_GENERATED_API_DIR}/${FILE}.h
+				COMMAND ${XSLTPROC} ${CMAKE_CURRENT_SOURCE_DIR}/enum.xsl ${RAW_FILE}        
+			)
+		endif()
+	endif()
+endforeach()
diff --git a/enhanced-position-service/api/enum.xsl b/enhanced-position-service/api/enum.xsl
index b1c70ff..672d64d 100644
--- a/enhanced-position-service/api/enum.xsl
+++ b/enhanced-position-service/api/enum.xsl
@@ -30,8 +30,8 @@
 };
  -->
 
-enum EPOS_Constants {<xsl:for-each select="id">
-	POS_<xsl:value-of select="translate(@name,'-','_')"/> = <xsl:value-of select="@value"/>,</xsl:for-each>
+enum GENIVI_<xsl:value-of select="$constants"/>_Constants {<xsl:for-each select="id">
+	GENIVI_<xsl:value-of select="$constants"/>_<xsl:value-of select="translate(@name,'-','_')"/> = <xsl:value-of select="@value"/>,</xsl:for-each>
 };
   </xsl:template>
 </xsl:stylesheet>
diff --git a/enhanced-position-service/api/franca/Configuration.fidl b/enhanced-position-service/api/franca/Configuration.fidl
index 022d0c8..cc3ae71 100755
--- a/enhanced-position-service/api/franca/Configuration.fidl
+++ b/enhanced-position-service/api/franca/Configuration.fidl
@@ -12,32 +12,24 @@ package org.genivi.EnhancedPositionService
 

 import org.genivi.EnhancedPositionService.EnhancedPositionServiceTypes.* from "EnhancedPositionServiceTypes.fidl"

 

-<**

-	@description : Configuration = This interface allows a client application to set and retrieve configuration options

-**>

+<** @description : Configuration = This interface allows a client application to set and retrieve configuration options **>

 interface Configuration {

-	version {

-		major 0

-		minor 0

-	}

+        version {

+            major 0

+            minor 0

+        }

 	

-    <**

-	    @description : SatelliteSystem = satellite system (GPS, Glonass, ...)

-    **>

-	attribute UInt16 SatelliteSystem 

+        <** @description : SatSystem = satellite system (GPS, GLONASS, ...) **>

+	attribute SatelliteSystem SatSystem 

 	

-    <**

-	    @description : UpdateInterval = update interval

-    **>

+        <** @description : UpdateInterval = update interval **>

 	attribute Int32 UpdateInterval

 

-	<**

-		@description : GetVersion = This method returns the API version implemented by the server application.

-	**>

+	<** @description : GetVersion = This method returns the API version implemented by the server application **>

 	method GetVersion {

-		out {

-			Version ^version

-		}

-	}

+            out {

+                Version ^version

+            }

+        }

 	

 }

diff --git a/enhanced-position-service/api/franca/EnhancedPosition.fidl b/enhanced-position-service/api/franca/EnhancedPosition.fidl
index 5f47b07..8b7bdba 100755
--- a/enhanced-position-service/api/franca/EnhancedPosition.fidl
+++ b/enhanced-position-service/api/franca/EnhancedPosition.fidl
@@ -12,140 +12,67 @@ package org.genivi.EnhancedPositionService
 

 import org.genivi.EnhancedPositionService.EnhancedPositionServiceTypes.* from "EnhancedPositionServiceTypes.fidl"

 

-<**

-	@description : EnhancedPosition = This interface offers functionalities to retrieve the enhanced position of the vehicle

-**>

+<** @description : EnhancedPosition = This interface offers functionalities to retrieve the enhanced position of the vehicle **>

 interface EnhancedPosition {

-	version {

-		major 0

-		minor 0

-	}

+        version {

+            major 0

+            minor 0

+        }

 

-	<**

-		@description : GetVersion = This method returns the API version implemented by the server application

-	**>

+	<** @description : GetVersion = This method returns the API version implemented by the server application **>

 	method GetVersion {

-		out {

-			Version ^version

-		}

-	}

-

-	<**

-		@description : GetData = This method returns a given set of positioning data (e.g. Position, Course, Accuracy, Status, ... )

-		Note: If a requested value is invalid, it's not returned to the client application

-	**>

-	method GetData {

-		in {

-			PositionDataKey[] valuesToReturn

-		}

-		out {

-			PositionData data

-		}

-	}

-

-	<**

-		@description : GetPosition = This method returns the current position

-		Note: If a requested value is invalid, it's not returned to the client application

-	**>

-	method GetPosition {

-		out {

-			PositionInfo position

-		}

-	}

+            out {

+                Version ^version

+            }

+        }

 

-	<**

-		@description : GetRotationRate = This method returns the rotation rate

-		Note: If a requested value is invalid, it's not returned to the client application

-	**>

-	method GetRotationRate {

-		out {

-			RotationRate rotationRate

-		}

-	}

-

-	<**

-		@description : GetAccuracy = This method returns the accuracy

-		Note: If a requested value is invalid, it's not returned to the client application

+	<** @description : GetPositionInfo = This method returns a given set of positioning data (e.g. Position, Course, Accuracy, Status, ... )

+           Note: If a requested value is invalid, it's not returned to the client application

 	**>

-	method GetAccuracy {

-		out {

-			AccuracyInfo accuracy

-		}

-	}

-

+	method GetPositionInfo {

+            in {

+                <** @description : valuesToReturn = Bitmask obtained as result of a bitwise OR operation on the keys corresponding to the values to be returned **>

+                   Bitmask valuesToReturn

+               }

+            out {

+                <** @description : timestamp = Timestamp of the acquisition of the position data [ms] **>

+                Timestamp timestamp 

+                <** @description : data = Position data **>

+                PositionInfo[] data

+            }

+        }

+	

 	<**

 		@description : GetSatelliteInfo = This method returns information about the current satellite constellation

 		Note: If a requested value is invalid, it's not returned to the client application

 	**>

-	method GetSatelliteInfo {

-		out {

-			SatelliteInfo satelliteInfo

-		}

-	}

-

-	<**

-		@description : GetStatus = This method returns the status of this service

-		Note: If a requested value is invalid, it's not returned to the client application

-	**>

-	method GetStatus {

-		out {

-			StatusInfo status

-		}

-	}

-

-	<**

-		@description : GetTime = This method returns UTC time and date

-		Note: If a requested value is invalid, it's not returned to the client application

-	**>

-	method GetTime {

-		out {

-			TimeInfo time

-		}

-	}

-

-	<**

-		@description : PositionUpdate = This signal is called to notifiy a client application of a position change. The update frequency is implementation specific. The maximal allowed frequency is 10Hz

+        method GetSatelliteInfo {

+           out {

+               <** @description : timestamp = Timestamp of the acquisition of the satellite detail data [ms] **>

+               Timestamp timestamp

+               <** @description : satelliteInfo = satellite information **>

+               SatelliteInfo[] satelliteInfo

+           }

+        }

+

+	<** @description : GetTime = This method returns UTC time and date.

+            Note: If a requested value is invalid, it's not returned to the client application

 	**>

+        method GetTime {

+            out {

+                <** @description : timestamp = Timestamp of the acquisition of the UTC date/time [ms] **>

+                Timestamp timestamp

+                <** @description : time = UTC date/time **>

+                TimeInfo time

+            }

+        }

+

+	<** @description : PositionUpdate = This signal is called to notifiy a client application of a position change. The update frequency is implementation specific. The maximal allowed frequency is 10Hz **>

 	broadcast PositionUpdate {

-		out {

-			PositionDataKey[] changedValues

-		}

-	}

-

-	<**

-		@description : RotationRateUpdated = This signal is emitted when the rotation rate changes

-	**>

-	broadcast RotationRateUpdate {

-		out {

-			RotationRateKey[] changedValues

-		}

-	}

-

-	<**

-		@description : AccuracyUpdated = This signal is emitted when the accuracy changes

-	**>

-	broadcast AccuracyUpdate {

-		out {

-			AccuracyInfoKey[] changedValues

-		}

-	}

-

-	<**

-		@description : SatelliteInfoUpdate = This signal is emitted when information about the current satellite information is updated

-	**>

-	broadcast SatelliteInfoUpdate {

-		out {

-			SatelliteInfoKey[] changedValues

-		}

-	}

-

-	<**

-		@description : StatusUpdate = This signal is emitted when the status of this service changes

-	**>

-	broadcast StatusUpdate {

-		out {

-			StatusInfoKey[] changedValues

-		}

-	}

+            out {

+                <** @description : valuesToReturn = Bitmask obtained as result of a bitwise OR operation on the keys corresponding to the values that changed **>

+                Bitmask changedValues

+            }

+        }

 

 }

diff --git a/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl b/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl
index a16cb07..cdb66af 100755
--- a/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl
+++ b/enhanced-position-service/api/franca/EnhancedPositionServiceTypes.fidl
@@ -11,226 +11,121 @@
 package org.genivi.EnhancedPositionService

 

 typeCollection EnhancedPositionServiceTypes {

+

+        typedef Timestamp is UInt64

 	

-	typedef Handle is UInt32

+        <** @description: bitmask obtained as a result of an OR operation on enum values of type PositionInfoKey **>

+        typedef Bitmask is UInt64 

 	

-	<** @description: version.**>			

+        <** @description: version **>			

 	struct Version {

-		<** @description : when the major changes, then backward compatibility with previous releases is not granted.**>

-		UInt16 ^major

-		<** @description : when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added).**>

-		UInt16 ^minor

-		<** @description : when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications).**>

-		UInt16 ^micro

-		<** @description : release date (e.g. 21-06-2011).**>

-		String date

+            <** @description : when the major changes, then backward compatibility with previous releases is not granted **>

+            UInt16 ^major

+            <** @description : when the minor changes, then backward compatibility with previous releases is granted, but something changed in the implementation of the API (e.g. new methods may have been added) **>

+            UInt16 ^minor

+            <** @description : when the micro changes, then backward compatibility with previous releases is granted (bug fixes or documentation modifications) **>

+            UInt16 ^micro

+            <** @description : release date (e.g. 21-06-2011) **>

+            String date

 	}

 	

-	<** @description : genereic value (mapped to a dbus variant ('v') data type.**>

+	<** @description : Value = generic value (mapped to a dbus variant ('v') data type)**>

 	union Value {

-		UInt32 uInt32Value

-		String stringValue

-	}

-    

-	enumeration BasicEnum {

-		INVALID = 0x0000

-	}

-

-    <** @description: 2D geocoordinate.**>	

-	struct Coordinate2D {

-        <**	@description : latitude of a vertex of the polygon in format %3.6f. Range [-90:+90]. Example: 48.053250.**>

-		Double latitude

-        <**	@description : longitude of a vertex of the polygon in format %3.6f. Range [-180:+180]. Example: 48.053250.**>

-		Double longitude

+            UInt64 uInt64Value

+            String stringValue

 	}

 

-    <** @description: 3D geocoordinate.**>	

-	struct Coordinate3D extends Coordinate2D {

-        <**	@description : altitude above the sea level of the current position in meters.**>

-		Int32 altitude

-	}

-	

-	enumeration PositionDataKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-		LATITUDE        = 0x0020

-		LONGITUDE       = 0x0021

-		ALTITUDE        = 0x0022

-		HEADING         = 0x0030

-		SPEED           = 0x0031

-		CLIMB           = 0x0032

-		ROLL_RATE       = 0x0060

-		PITCH_RATE      = 0x0061

-		YAW_RATE        = 0x0062

-		PDOP            = 0x0080

-		HDOP            = 0x0081

-		VDOP            = 0x0082

-		SIGMA_LATITUDE  = 0x0083

-		SIGMA_LONGITUDE = 0x0084

-		SIGMA_ALTITUDE  = 0x0085

-		SIGMA_HEADING   = 0x0086

-		ALL             = 0xffff

-	} 

-	

-	<**	  

-       @description : PositioningData = array of tuples (key,value)

-	      key = enumeration PositionDataKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

-          key = LATITUDE, value = value of type 'Double', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250

-          key = LONGITUDE, value = value of type 'Double', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500

-          key = ALTITUDE, value = value of type 'Int32', that expresses the altitude above the sea level of the current position in meters

-          key = HEADING, value = value of type 'Int32', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west

-          key = SPEED, value = value of type 'Double', that expresses speed measured in m/s. A negative value indicates that the vehicle is moving backwards

-          key = CLIMB, value = value of type 'Int32', that expresses the road gradient in degrees

-          key = ROLL_RATE, value = value of type 'Int32', rotation rate around the X-axis in degrees/s. Range [-100:+100]

-          key = PITCH_RATE, value = value of type 'Int32', rotation rate around the Y-axis in degrees/s. Range [-100:+100]

-          key = YAW_RATE, value = value of type 'Int32', rotation rate around the Z-axis in degrees/s. Range [-100:+100]

-          key = PDOP, value = value of type 'Double', that represents the positional (3D) dilution of precision

-          key = HDOP, value = value of type 'Double', that represents the horizontal (2D) dilution of precision

-          key = VDOP, value = value of type 'Double', that represents vertical (altitude) dilution of precision

-          key = SIGMA_LATITUDE, value = value of type 'Double', that represents the standard deviation for latitude in m

-          key = SIGMA_LONGITUDE, value = value of type 'Double', that represents the standard deviation for longitude in m

-          key = SIGMA_ALTITUDE, value = value of type 'Double', that represents the standard deviation for altitude in m

-          key = SIGMA_HEADING, value = value of type 'Double', that represents the standard deviation for altitude in degrees

-    **>

-	map PositionData {

-		PositionDataKey to Value

-	}

-	

-	enumeration PositionInfoKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-		LATITUDE        = 0x0020

-		LONGITUDE       = 0x0021

-		ALTITUDE        = 0x0022

-		HEADING         = 0x0030

-		SPEED           = 0x0031

-		CLIMB           = 0x0032

+	enumeration PositionInfoKey {

+            LATITUDE           = "0x00000001"

+            LONGITUDE          = "0x00000002"

+            ALTITUDE           = "0x00000004"

+            HEADING            = "0x00000008"

+            SPEED              = "0x00000010"

+            CLIMB              = "0x00000020"

+            ROLL_RATE          = "0x00000040"

+            PITCH_RATE         = "0x00000080"

+            YAW_RATE           = "0x00000100"

+            PDOP               = "0x00000200"

+            HDOP               = "0x00000400"

+            VDOP               = "0x00000800"

+            USED_SATELLITES    = "0x00001000"

+            TRACKED_SATELLITES = "0x00002000"

+            VISIBLE_SATELLITES = "0x00004000"

+            SIGMA_HPOSITION    = "0x00008000"

+            SIGMA_ALTITUDE     = "0x00010000"

+            SIGMA_HEADING      = "0x00020000"

+            SIGMA_SPEED        = "0x00040000"

+            SIGMA_CLIMB        = "0x00080000"

+            GNSS_FIX_STATUS    = "0x00100000"

+            DR_STATUS          = "0x00200000"

+            RELIABILTY_INDEX   = "0x00400000"

 	} 

 	

-	<**	  

-       @description : PositionInfo = array of tuples (key,value)

-          key = enumeration PositionInfoKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

-          key = LATITUDE, value = value of type 'Double', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250

-          key = LONGITUDE, value = value of type 'Double', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500 

-          key = ALTITUDE, value = value of type 'Int32', that expresses the altitude above the sea level of the current position in meters

-          key = HEADING, value = value of type 'Int32', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west

-          key = SPEED, value = value of type 'Double', that expresses speed measured in m/s. A negative value indicates that the vehicle is moving backwards

-          key = CLIMB, value = value of type 'Int32', that expresses the road gradient in degrees

-    **>   

+        <** @description : PositionInfo = array of tuples (key,value)

+            key = enumeration PositionInfoKey

+            key = LATITUDE, value = value of type 'Double', that expresses the latitude of the current position. Range [-90:+90]. Example: 48.053250

+            key = LONGITUDE, value = value of type 'Double', that expresses the longitude of the current position. Range [-180:+180]. Example: 8.324500

+            key = ALTITUDE, value = value of type 'Double', that expresses the altitude above the sea level of the current position in meters

+            key = HEADING, value = value of type 'Double', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west

+            key = SPEED, value = value of type 'Double', that expresses speed measured in m/s. A negative value indicates that the vehicle is moving backwards

+            key = CLIMB, value = value of type 'Double', that expresses the road gradient in degrees

+            key = ROLL_RATE, value = value of type 'Double', rotation rate around the X-axis in degrees/s. Range [-100:+100]

+            key = PITCH_RATE, value = value of type 'Double', rotation rate around the Y-axis in degrees/s. Range [-100:+100]

+            key = YAW_RATE, value = value of type 'Double', rotation rate around the Z-axis in degrees/s. Range [-100:+100]

+            key = PDOP, value = value of type 'Double', that represents the positional (3D) dilution of precision

+            key = HDOP, value = value of type 'Double', that represents the horizontal (2D) dilution of precision

+            key = VDOP, value = value of type 'Double', that represents vertical (altitude) dilution of precision

+            key = USED_SATELLITES, value = value of type 'UInt8', that represents the number of used satellites

+            key = TRACKED_SATELLITES, value = value of type 'UInt8', that represents the number of tracked satellites 

+            key = VISIBLE_SATELLITES, value = value of type 'UInt8', that represents the number of visible satellites

+            key = SIGMA_HPOSITION, value = value of type 'Double', that represents the standard deviation for the horizontal position in m

+            key = SIGMA_ALTITUDE, value = value of type 'Double', that represents the standard deviation for altitude in m

+            key = SIGMA_HEADING, value = value of type 'Double', that represents the standard deviation for altitude in degrees

+            key = SIGMA_SPEED, value = value of type 'Double', that represents the standard error estimate of the speed in m/s</line>

+            key = SIGMA_CLIMB, value = value of type 'Double', that represents the standard error estimate of the climb in degrees</line>

+            key = GNSS_FIX_STATUS, value = value of type 'UInt16', that represents an enum(NO_FIX(0x01),TIME_FIX(0x01),2D_FIX(0x02),3D_FIX(0x03), ... )

+            key = DR_STATUS, value = value of type 'Boolean', where TRUE means that a dead-reckoning algorithm has been used to calculate the current position

+        **>

 	map PositionInfo {

-		PositionInfoKey to Value

-	}

-	

-	enumeration RotationRateKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-		ROLL_RATE       = 0x0060

-		PITCH_RATE      = 0x0061

-		YAW_RATE        = 0x0062

-	}

-	

-	<**	  

-       @description : RotationRate = array of tuples (key,value)

-          key = enumeration RotationRateKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

-          key = ROLL_RATE, value = rotation rate around the X-axis in degrees/s. Range [-100:+100]

-          key = PITCH_RATE, value = rotation rate around the Y-axis in degrees/s. Range [-100:+100]

-          key = YAW_RATE, value = rotation rate around the Z-axis in degrees/s. Range [-100:+100]

-    **>

-	map RotationRate {

-		RotationRateKey to Value

-	}

-	

-	enumeration AccuracyInfoKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-		PDOP            = 0x0080

-		HDOP            = 0x0081

-		VDOP            = 0x0082

-		SIGMA_LATITUDE  = 0x0083

-		SIGMA_LONGITUDE = 0x0084

-		SIGMA_ALTITUDE  = 0x0085

-		SIGMA_HEADING   = 0x0086

-	}	

-		

-    <**	  

-       @description : AccuracyInfo = array of tuples (key,value)

-          key = enumeration AccuracyInfoKey

-          key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms

-          key = PDOP, value = value of type 'd', that represents the positional (3D) dilution of precision

-          key = HDOP, value = value of type 'd', that represents the horizontal (2D) dilution of precision

-          key = VDOP, value = value of type 'd', that represents vertical (altitude) dilution of precision

-          key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard deviation for latitude in m

-          key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard deviation for longitude in m

-          key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard deviation for altitude in m

-          key = SIGMA_HEADING, value = value of type 'd', that represents the standard deviation for altitude in degrees

-    **>    

-	map AccuracyInfo {

-		AccuracyInfoKey to Value

+            PositionInfoKey to Value

 	}

-	

-	enumeration SatelliteInfoKey extends BasicEnum {

-	    TIMESTAMP           = 0x0001

-	    USED_SATELLITES     = 0x00c0

-	    TRACKED_SATELLITES  = 0x00c1

-	    VISIBLE_SATELLITES  = 0x00c2

-	    SATELLITE_DETAILS   = 0x00c3

-	}

-	

-	struct SatelliteDetails {

-		UInt32 satId

-		Boolean inUse

-		UInt32 elevation

-		UInt32 azimuth

-		UInt32 snr

-	}

-	

-	<**	

-	   @description : SatelliteInfo = array of tuples (key,value)

-          key = enumeration SatelliteInfoKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

-          key = USED_SATELLITES, value = value of type 'UInt8', that represents the number of used satellites

-          key = TRACKED_SATELLITES, value = value of type 'UInt8', that represents the number of tracked satellites 

-          key = VISIBLE_SATELLITES, value = value of type 'UInt8', that represents the number of visible satellites

-          key = SATELLITE_DETAILS, value = value of type SatelliteDetails[], that represents an array(struct(satId,inUse,elevation,azimuth,snr))

-                The satID numbering scheme shall be as defined by NMEA-0183 (v3.01 or later) for the GSV sentence:

-                1..32: GPS satellites (by PRN), 33..64: SBAS/WAAS satellites, 65..96: Glonass satellites

-                Note: Later NMEA-0183 versions probably already have Galileo support 

-    **>

-	map SatelliteInfo {

-		SatelliteInfoKey to Value

-	}

-	

-	enumeration StatusInfoKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-		GNSS_FIX_STATUS = 0x0070

-		DR_STATUS       = 0x0071

-	}

-	

-    <**	  

-       @description : StatusInfo = array of tuples (key,value)

-          key = enumeration StatusInfoKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

-          key = GNSS_FIX_STATUS, value = value of type 'UInt16', that represents an enum(INVALID(0x00),NO_FIX(0x01),TIME_FIX(0x02),2D_FIX(0x03),3D_FIX(0x04), ... )

-          key = DR_STATUS, value = value of type 'Boolean', where TRUE means that a dead-reckoning algorithm has been used to calculate the current position

-    **>    

-	map StatusInfo {

-		StatusInfoKey to Value

-	}

-	

-	enumeration TimeInfoKey extends BasicEnum {

-		TIMESTAMP       = 0x0001

-	    YEAR            = 0x00a0

-	    MONTH           = 0x00a1

-	    DAY             = 0x00a2

-	    HOUR            = 0x00a3

-	    MINUTE          = 0x00a4

-	    SECOND          = 0x00a5

-	    MS              = 0x00a6

+

+	enumeration SatelliteSystem {

+            GPS                  = "0x00000001"

+            GLONASS              = "0x00000002"

+            GALILEO              = "0x00000003" 

+            COMPASS              = "0x00000004" 

+        }

+	

+	<** @description : SatelliteInfo = array(struct(system,satelliteId,azimuth,elevation,snr,inUse))

+            system = enum(GPS, GLONASS, GALILEO, COMPASS, ... )

+            satelliteId = satellite ID. This ID is unique within one satellite system

+            azimuth = satellite azimuth in degrees. Value range 0..359

+            elevation = satellite elevation in degrees. Value range 0..90

+            snr = SNR (C/No) in dBHz. Range 0 to 99, null when not tracking

+            inUse = flag indicating if the satellite is used for the fix (inUse=true)

+        **>

+	struct SatelliteInfo {

+            SatelliteSystem system

+            UInt32 satellitId

+            UInt32 azimuth

+            UInt32 elevation

+            UInt32 snr

+            Boolean inUse

+	}

+	

+	enumeration TimeInfoKey  {

+            YEAR            = "0x01000000"

+            MONTH           = "0x02000000"

+            DAY             = "0x04000000"

+            HOUR            = "0x08000000"

+            MINUTE          = "0x10000000"

+            SECOND          = "0x20000000"

+            MS              = "0x40000000"

 	}

 

-    <**	  

-       @description : TimeInfo = array of tuples (key,value)

+        <** @description : TimeInfo = array of tuples (key,value)

           key = enumeration TimeInfoKey

-          key = TIMESTAMP, value = value of type 'UInt64', that represents a timestamp in ms

           key = YEAR, value = value of type 'UInt16', 4 digits number that indicates the year. Example: 2012

           key = MONTH, value = value of type 'UInt8', 2 digits number that indicates the month. Example: 03 means March

           key = DAY, value = value of type 'UInt8', 2 digits number that indicates the day. Range [0:31]. Example: 07

@@ -240,7 +135,22 @@ typeCollection EnhancedPositionServiceTypes {
           key = MS, value = value of type 'UInt16', 3 digits number that represents the milliseconds. Range [0:999]. Example: 007

 	**>

 	map TimeInfo {

-		TimeInfoKey to Value

+            TimeInfoKey to Value

+	}

+	

+	enumeration PositionFeedbackKey {

+            LATITUDE         = "0x00000001"

+            LONGITUDE        = "0x00000002"

+            ALTITUDE         = "0x00000004"

+            HEADING          = "0x00000008"

+            SPEED            = "0x00000010"

+            CLIMB            = "0x00000020"

+            RELIABILTY_INDEX = "0x00400000"

+	}

+	

+	enumeration PositionFeedbackType {

+            MAP_MATCHED_FEEDBACK = "0x00000001"

+            TEST_FEEDBACK        = "0x00000002"

 	}

 	

 }

diff --git a/enhanced-position-service/api/franca/PositionFeedback.fidl b/enhanced-position-service/api/franca/PositionFeedback.fidl
index a4a4131..4700453 100755
--- a/enhanced-position-service/api/franca/PositionFeedback.fidl
+++ b/enhanced-position-service/api/franca/PositionFeedback.fidl
@@ -46,13 +46,13 @@ interface PositionFeedback {
 			<**

 				@description : feedbackType = enum(INVALID,MAP_MATCHED_FEEDBACK,TEST_FEEDBACK, ... )

 			**>

-			UInt16 feedbackType

+			PositionFeedbackType feedbackType

 		}

 	}

 	

     <**

 		@description : PositionFeedback = array of tuples (key,value)</line>

-          key = enum(INVALID,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,RELIABILTY_INDEX, ... )</line>

+          key = enum(LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,RELIABILTY_INDEX, ... )</line>

           key = LATITUDE, value = value of type ´d´, that expresses the latitude of the current position in format %3.6f. [-90,+90]. Example: 48.053250

           key = LONGITUDE, value = value of type ´d´, that expresses the longitude of the current position in format %3.6f. [-180,+180]. Example: 8.324500 

           key = ALTITUDE, value = value of type ´i´, that expresses the altitude above the sea level of the current position in meters

@@ -62,7 +62,7 @@ interface PositionFeedback {
           key = RELIABILTY_INDEX, value = value of type ´y´, that indicates the position feedabck reliabilty. It can assume values from 0 to 100

 	**>

 	map PositionFeedback {

-		UInt16 to Value

+		PositionFeedbackKey to Value

 	}

 

 }

diff --git a/enhanced-position-service/api/genivi-positioning-configuration.xml b/enhanced-position-service/api/genivi-positioning-configuration.xml
index 8ebedd3..5e74050 100644
--- a/enhanced-position-service/api/genivi-positioning-configuration.xml
+++ b/enhanced-position-service/api/genivi-positioning-configuration.xml
@@ -15,7 +15,7 @@
 <node name="/org/genivi/positioning/Configuration" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="introspect.xsd">

 

   <interface name="org.genivi.positioning.Configuration">

-    <version>3.0.0-alpha (05-08-2014)</version>

+    <version>3.0.0 (19-11-2014)</version>

     <doc>

       <line>Configuration = This interface allows a client application to set and retrieve configuration options</line>

     </doc>

diff --git a/enhanced-position-service/api/genivi-positioning-constants.xml b/enhanced-position-service/api/genivi-positioning-constants.xml
index b0bdb8c..4ffc8d8 100644
--- a/enhanced-position-service/api/genivi-positioning-constants.xml
+++ b/enhanced-position-service/api/genivi-positioning-constants.xml
@@ -12,84 +12,60 @@
 -->
 
 <constants  name="EnhancedPositionService">
-  <version>2.0.0 (04-06-2013)</version>
+  <version>3.0.0 (19-11-2014)</version>
   <doc>
     <line>This document defines the constants that are used in the EnhancedPositionService APIs</line>
+    <line>Constants for "Keys" are always individual bits within a 64 bit unsigned integer and are unique within the EnhancedPositionService</line>
+    <line>Constants for "Enums" increment consecutively and are only unique within the context of the specific enum</line>
   </doc>
 
-  <!-- special values -->
-  <id name="INVALID" value="0x0000" />
-  <id name="TIMESTAMP" value="0x0001" />
-  <id name="ALL" value="0xffff" />
-
-  <!-- Position -->
-  <id name="LATITUDE" value="0x0020" />
-  <id name="LONGITUDE" value="0x0021" />
-  <id name="ALTITUDE" value="0x0022" />
-
-  <!-- Course -->
-  <id name="HEADING" value="0x0030" />
-  <id name="SPEED" value="0x0031" />
-  <id name="CLIMB" value="0x0032" />
-
-  <!-- Address -->
-  <id name="COUNTRY" value="0x0040" />
-  <id name="CITY" value="0x0041" />
-  <id name="STREET" value="0x0042" />
-  <id name="NUMBER" value="0x0043" />
-  <id name="CROSSING" value="0x0044" />
-  <id name="DISTRICT" value="0x0045" />
-  <id name="TIMEZONE_OFFSET" value="0x0046" />
-  <id name="DAYLIGHT_OFFSET" value="0x0047" />
-  <id name="MATCH_TYPE" value="0x0048" />
-
-  <!-- RotationRate -->
-  <id name="ROLL_RATE" value="0x0060" />
-  <id name="PITCH_RATE" value="0x0061" />
-  <id name="YAW_RATE" value="0x0062" />
-
-  <!-- EnhancedPositionStatus -->
-  <id name="GNSS_FIX_STATUS" value="0x0070" />
-  <id name="DR_STATUS" value="0x0071" />
-
-  <!-- MapMatchedPositionStatus -->
-  <id name="MM_STATUS" value="0x0072" />
-
-  <!-- PositionFeedback -->
-  <id name="RELIABILTY_INDEX" value="0x0073" />
-  <id name="MAP_MATCHED_FEEDBACK" value="0x0074" />
-  <id name="TEST_FEEDBACK" value="0x0075" />
-
-  <!-- Accuracy -->
-  <id name="PDOP" value="0x0080" />
-  <id name="HDOP" value="0x0081" />
-  <id name="VDOP" value="0x0082" />
-  <id name="SIGMA_LATITUDE" value="0x0083" />
-  <id name="SIGMA_LONGITUDE" value="0x0084" />
-  <id name="SIGMA_ALTITUDE" value="0x0085" />
-  <id name="SIGMA_HEADING" value="0x0086" />
-
-  <!-- Time -->
-  <id name="YEAR" value="0x00a0" />
-  <id name="MONTH" value="0x00a1" />
-  <id name="DAY" value="0x00a2" />
-  <id name="HOUR" value="0x00a3" />
-  <id name="MINUTE" value="0x00a4" />
-  <id name="SECOND" value="0x00a5" />
-  <id name="MS" value="0x00a6" />
-
-  <!-- SatelliteSystem -->
-  <id name="GPS" value="0x00b0" />
-  <id name="GLONASS" value="0x00b1" />
-  <id name="GALILEO" value="0x00b2" />
-  <id name="COMPASS" value="0x00b3" />
-
-  <!-- SatelliteStatus -->
-
-  <id name="USED_SATELLITES"  value="0x00c0" />
-  <id name="TRACKED_SATELLITES"  value="0x00c1" />
-  <id name="VISIBLE_SATELLITES"  value="0x00c2" />
-  <id name="SATELLITE_DETAILS"  value="0x00c3" />
+  <!-- PositionInfo and PositionFeedback Keys - for use in bit mask -->
+  <id name="LATITUDE"               value="0x00000001" />
+  <id name="LONGITUDE"              value="0x00000002" />
+  <id name="ALTITUDE"               value="0x00000004" />
+  <id name="HEADING"                value="0x00000008" />
+  <id name="SPEED"                  value="0x00000010" />
+  <id name="CLIMB"                  value="0x00000020" />
+  <id name="ROLL_RATE"              value="0x00000040" />
+  <id name="PITCH_RATE"             value="0x00000080" />
+  <id name="YAW_RATE"               value="0x00000100" />
+  <id name="PDOP"                   value="0x00000200" />
+  <id name="HDOP"                   value="0x00000400" />
+  <id name="VDOP"                   value="0x00000800" />
+  <id name="USED_SATELLITES"        value="0x00001000" />
+  <id name="TRACKED_SATELLITES"     value="0x00002000" />
+  <id name="VISIBLE_SATELLITES"     value="0x00004000" />
+  <id name="SIGMA_HPOSITION"        value="0x00008000" />  
+  <id name="SIGMA_ALTITUDE"         value="0x00010000" />
+  <id name="SIGMA_HEADING"          value="0x00020000" />
+  <id name="SIGMA_SPEED"            value="0x00040000" />
+  <id name="SIGMA_CLIMB"            value="0x00080000" />  
+  <id name="GNSS_FIX_STATUS"        value="0x00100000" />
+  <id name="DR_STATUS"              value="0x00200000" />
+  <id name="RELIABILTY_INDEX"       value="0x00400000" />
+
+  <!-- Time Keys - for use in bit mask -->
+  <id name="YEAR"                   value="0x01000000" />
+  <id name="MONTH"                  value="0x02000000" />
+  <id name="DAY"                    value="0x04000000" />
+  <id name="HOUR"                   value="0x08000000" />
+  <id name="MINUTE"                 value="0x10000000" />
+  <id name="SECOND"                 value="0x20000000" />
+  <id name="MS"                     value="0x40000000" />
+
+  <!-- Generic "Enum" values -->
+  <id name="INVALID"                value="0x00000000" />
+
+  <!-- SatelliteSystem "Enum" -->
+  <id name="GPS"                    value="0x00000001" />
+  <id name="GLONASS"                value="0x00000002" />
+  <id name="GALILEO"                value="0x00000003" />
+  <id name="BEIDOU"                 value="0x00000004" /> <!-- Chinese Beidou Navigation Satellite System -->
+  <id name="COMPASS"                value="0x00000004" /> <!-- COMPASS is a synonym for BEIDOU -->
+
+  <!-- PositionFeedback "Enum" -->
+  <id name="MAP_MATCHED_FEEDBACK"   value="0x00000001" />
+  <id name="TEST_FEEDBACK"          value="0x00000002" />
 
   <!-- ... --> 
 </constants>
diff --git a/enhanced-position-service/api/genivi-positioning-enhancedposition.xml b/enhanced-position-service/api/genivi-positioning-enhancedposition.xml
index a8b1dda..283c3b0 100644
--- a/enhanced-position-service/api/genivi-positioning-enhancedposition.xml
+++ b/enhanced-position-service/api/genivi-positioning-enhancedposition.xml
@@ -15,7 +15,7 @@
 <node name="/org/genivi/positioning/EnhancedPosition" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="introspect.xsd">
 
   <interface name="org.genivi.positioning.EnhancedPosition">
-    <version>3.0.0-alpha (05-08-2014)</version>
+    <version>3.0.0 (19-11-2014)</version>
     <doc>
       <line>EnhancedPosition = This interface offers functionalities to retrieve the enhanced position of the vehicle</line>
     </doc>
@@ -35,141 +35,80 @@
       </arg>
     </method>
 
-    <method name="GetData">
+    <method name="GetPositionInfo">
       <doc>
-        <line>GetData = This method returns a given set of positioning data (e.g. Position, Course, Accuracy, Status, ... )</line>
+        <line>GetPositionInfo = This method returns a given set of positioning data (e.g. Position, Course, Accuracy, Status, ... )</line>
       </doc>
 
-      <arg name="valuesToReturn" type="aq" direction="in">
+      <arg name="valuesToReturn" type="t" direction="in">
         <doc>
-          <line>valuesToReturn= array[fieldType]</line>
-          <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,ROLL_RATE,PITCH_RATE,YAW_RATE,...,ALL)</line>
+          <line>valuesToReturn = Bitmask obtained as result of a bitwise OR operation on the keys corresponding to requested values</line>
+          <line>Keys: LATITUDE,LONGITUDE,ALTITUDE,</line>
+          <line> HEADING,SPEED,CLIMB,</line>
+          <line> ROLL_RATE,PITCH_RATE,YAW_RATE,</line>
+          <line> PDOP,HDOP,VDOP,</line>
+          <line> USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,</line>
+          <line> SIGMA_HPOSITION,SIGMA_ALTITUDE,</line>
+          <line> SIGMA_HEADING,SIGMA_SPEED,SIGMA_CLIMB,</line>
+          <line> GNSS_FIX_STATUS,DR_STATUS</line>
         </doc>
       </arg>
 
-      <arg name="data" type="a{qv}" direction="out">
+      <arg name="timestamp" type="t" direction="out">
         <doc>
-          <line>data = dictionary[key,value]</line>
-          <line>dictionary = array of tuples (key,value)</line>
-          <line>Invalid data is not be returned to the client application</line>
-          <line>The vehicle axis system is defined by ISO 8855: In short, the X-axis pointing is forwards, the Y-axis is pointing left, the Z-axis is pointing upwards</line>
-          <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,ROLL_RATE,PITCH_RATE,YAW_RATE,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING,... ,ALL</line>
-          <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>
-          <line>key = LATITUDE, value = value of type 'd', that expresses the WGS84 latitude of the current position in degrees. Range [-90:+90]. Example: 48.053250</line>
-          <line>key = LONGITUDE, value = value of type 'd', that expresses the WGS84 longitude of the current position in degrees. Range [-180:+180]. Example: 8.324500</line>
-          <line>key = ALTITUDE, value = value of type 'd', that expresses the altitude above the sea level of the current position in meters</line>
-          <line>key = HEADING, value = value of type 'd', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west</line>
-          <line>key = SPEED, value = value of type 'd', that expresses speed measured in m/s. A negative value indicates that the vehicle is moving backwards</line>
-          <line>key = CLIMB, value = value of type 'd', that expresses the road gradient in degrees. Range [-180:+180]. A positive value means upwards. </line>
-          <line>key = ROLL_RATE, value = value of type 'd', rotation rate around the X-axis in degrees/s. Range [-100:+100]</line>
-          <line>key = PITCH_RATE, value = value of type 'd', rotation rate around the Y-axis in degrees/s. Range [-100:+100]</line>
-          <line>key = YAW_RATE, value = value of type 'd', rotation rate around the Z-axis in degrees/s. Range [-100:+100]</line>
-          <line>key = PDOP, value = value of type 'd', that represents the positional (3D) dilution of precision</line>
-          <line>key = HDOP, value = value of type 'd', that represents the horizontal (2D) dilution of precision</line>
-          <line>key = VDOP, value = value of type 'd', that represents vertical (altitude) dilution of precision</line>
-          <line>key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard error estimate of the latitude in m</line>
-          <line>key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard error estimate of the longitude in m</line>
-          <line>key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard error estimate of the altitude in m</line>
-          <line>key = SIGMA_HEADING, value = value of type 'd', that represents the standard error estimate of the heading in degrees</line>
+          <line>timestamp = Timestamp of the acquisition of the position data [ms]</line>
+          <line> Note: All timestamps must be based on the same time source.</line>
         </doc>
       </arg>
-    </method>
-
-    <method name="GetPosition">
-      <doc>
-        <line>GetPosition = This method returns the current position</line>
-      </doc>
-
-      <arg name="position" type="a{qv}" direction="out">
+      
+      <arg name="data" type="a{tv}" direction="out">
         <doc>
-          <line>position = dictionary[key,value]</line>
+          <line>data = dictionary[key,value]</line>
           <line>dictionary = array of tuples (key,value)</line>
           <line>Invalid data is not be returned to the client application</line>
-          <line>key = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,...)</line>
-          <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>
+          <line>The vehicle axis system is defined by ISO 8855: In short, the X-axis pointing is forwards, the Y-axis is pointing left, the Z-axis is pointing upwards</line>
+          <line>key = enum(LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,ROLL_RATE,PITCH_RATE,YAW_RATE,PDOP,HDOP,VDOP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SIGMA_HPOSITION,SIGMA_ALTITUDE,SIGMA_HEADING,SIGMA_SPEED,SIGMA_CLIMB,GNSS_FIX_STATUS,DR_STATUS)</line>
           <line>key = LATITUDE, value = value of type 'd', that expresses the WGS84 latitude of the current position in degrees. Range [-90:+90]. Example: 48.053250</line>
           <line>key = LONGITUDE, value = value of type 'd', that expresses the WGS84 longitude of the current position in degrees. Range [-180:+180]. Example: 8.324500</line>
           <line>key = ALTITUDE, value = value of type 'd', that expresses the altitude above the sea level of the current position in meters</line>
           <line>key = HEADING, value = value of type 'd', that expresses the course angle in degree. Range [0:360]. 0 = north, 90 = east, 180 = south, 270 = west</line>
           <line>key = SPEED, value = value of type 'd', that expresses speed measured in m/s. A negative value indicates that the vehicle is moving backwards</line>
           <line>key = CLIMB, value = value of type 'd', that expresses the road gradient in degrees. Range [-180:+180]. A positive value means upwards. </line>
-        </doc>
-      </arg>
-    </method>
-
-    <signal name="PositionUpdate">
-      <doc>
-        <line>PositionUpdate = This signal is called to notifiy a client application of a position change. The update frequency is implementation specific. The maximal allowed frequency is 10Hz</line>
-      </doc>
-      <arg name="changedValues" type="aq">
-        <doc>
-          <line>changedValues = array[value]</line>
-          <line>value = enum(INVALID,TIMESTAMP,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,... )</line>
-        </doc>
-      </arg>
-    </signal>
-
-    <method name="GetRotationRate">
-      <doc>
-        <line>GetRotationRate = This method returns the rotation rate</line>
-      </doc>
-      <arg name="rotationRate" type="a{qv}" direction="out">
-        <doc>
-          <line>rotationRate = dictionary[key,value]</line>
-          <line>dictionary = array of tuples (key,value)</line>
-          <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>
-          <line>The vehicle axis system is defined by ISO 8855: In short, the X-axis pointing is forwards, the Y-axis is pointing left, the Z-axis is pointing upwards</line>
-          <line>key = enum(INVALID,TIMESTAMP,ROLL_RATE,PITCH_RATE,YAW_RATE, ... )</line>
-          <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>
           <line>key = ROLL_RATE, value = value of type 'd', rotation rate around the X-axis in degrees/s. Range [-100:+100]</line>
           <line>key = PITCH_RATE, value = value of type 'd', rotation rate around the Y-axis in degrees/s. Range [-100:+100]</line>
           <line>key = YAW_RATE, value = value of type 'd', rotation rate around the Z-axis in degrees/s. Range [-100:+100]</line>
-        </doc>
-      </arg>
-    </method>
-
-    <signal name="RotationRateUpdate">
-      <doc>
-        <line>RotationRateUpdated = This signal is emitted when the rotation rate changes</line>
-      </doc>
-      <arg name="changedValues" type="aq">
-        <doc>
-          <line>changedValues = array[key]</line>
-          <line>key = enum(INVALID,TIMESTAMP,ROLL_RATE,PITCH_RATE,YAW_RATE, ... )</line>
-        </doc>
-      </arg>
-    </signal>
-
-    <method name="GetAccuracy">
-      <doc>
-        <line>GetAccuracy = This method returns the accuracy</line>
-      </doc>
-      <arg name="accuracy" type="a{qv}" direction="out">
-        <doc>
-          <line>accuracy = dictionary[key,value]</line>
-          <line>dictionary = array of tuples (key,value)</line>
-          <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>
-          <line>key = enum(INVALID,TIMESTAMP,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING,... )</line>
-          <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>
           <line>key = PDOP, value = value of type 'd', that represents the positional (3D) dilution of precision</line>
           <line>key = HDOP, value = value of type 'd', that represents the horizontal (2D) dilution of precision</line>
           <line>key = VDOP, value = value of type 'd', that represents vertical (altitude) dilution of precision</line>
-          <line>key = SIGMA_LATITUDE, value = value of type 'd', that represents the standard error estimate of the latitude in m</line>
-          <line>key = SIGMA_LONGITUDE, value = value of type 'd', that represents the standard error estimate of the longitude in m</line>
+          <line>key = USED_SATELLITES, value = value of type 'y', that represents the number of used satellites</line> 
+          <line>key = TRACKED_SATELLITES, value = value of type 'y', that represents the number of tracked satellites</line> 
+          <line>key = VISIBLE_SATELLITES, value = value of type 'y', that represents the number of visible satellites</line>
+          <line>key = SIGMA_HPOSITION, value = value of type 'd', that represents the standard error estimate of the horizontal position in m</line>
           <line>key = SIGMA_ALTITUDE, value = value of type 'd', that represents the standard error estimate of the altitude in m</line>
           <line>key = SIGMA_HEADING, value = value of type 'd', that represents the standard error estimate of the heading in degrees</line>
+          <line>key = SIGMA_SPEED, value = value of type 'd', that represents the standard error estimate of the speed in m/s</line>
+          <line>key = SIGMA_CLIMB, value = value of type 'd', that represents the standard error estimate of the climb in degrees</line>
+          <line>key = GNSS_FIX_STATUS, value = value of type 'q', that represents an enum(NO_FIX(0x00),TIME_FIX(0x01),2D_FIX(0x02),3D_FIX(0x03), ... )</line>
+          <line>key = DR_STATUS, value = value of type 'b', where TRUE means that a dead-reckoning algorithm has been used to calculate the current position</line>
         </doc>
       </arg>
     </method>
 
-    <signal name="AccuracyUpdate">
+    <signal name="PositionUpdate">
       <doc>
-        <line>AccuracyUpdated = This signal is emitted when the accuracy changes</line>
+        <line>PositionUpdate = This signal is called to notifiy a client application that updated positioning data is available. The update frequency is implementation specific. The maximum allowed frequency is 10Hz</line>
       </doc>
-      <arg name="changedValues" type="aq">
+      <arg name="changedValues" type="t">
         <doc>
-          <line>changedValues = array[value]</line>
-          <line>value = enum(INVALID,TIMESTAMP,PDOP,HDOP,VDOP,SIGMA_LATITUDE,SIGMA_LONGITUDE,SIGMA_ALTITUDE,SIGMA_HEADING, ... )</line>
+          <line>changedValues = Bitmask obtained as result of a bitwise OR operation on the keys corresponding to updated values</line>
+          <line>LATITUDE,LONGITUDE,ALTITUDE,</line>
+          <line> HEADING,SPEED,CLIMB,</line>
+          <line> ROLL_RATE,PITCH_RATE,YAW_RATE,</line>
+          <line> PDOP,HDOP,VDOP,</line>
+          <line> USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,</line>
+          <line> SIGMA_HPOSITION,SIGMA_ALTITUDE,</line>
+          <line> SIGMA_HEADING,SIGMA_SPEED,SIGMA_CLIMB,</line>
+          <line> GNSS_FIX_STATUS,DR_STATUS</line>
         </doc>
       </arg>
     </signal>
@@ -178,77 +117,41 @@
       <doc>
         <line>GetSatelliteInfo = This method returns information about the current satellite constellation</line>
       </doc>
-      <arg name="satelliteInfo" type="a{qv}" direction="out">
+      <arg name="timestamp" type="t" direction="out">
         <doc>
-          <line>satelliteInfo = dictionary[key,value]</line>
-          <line>dictionary = array of tuples (key,value)</line>
-          <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>
-          <line>key = enum(INVALID,TIMESTAMP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SATELLITE_DETAILS, ...)</line>
-          <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>  
-          <line>key = USED_SATELLITES, value = value of type 'y', that represents the number of used satellites</line> 
-          <line>key = TRACKED_SATELLITES, value = value of type 'y', that represents the number of tracked satellites</line> 
-          <line>key = VISIBLE_SATELLITES, value = value of type 'y', that represents the number of visible satellites</line> 
-          <line>key = SATELLITE_DETAILS, value = value of type 'a(ubuuu)', that represents an array(struct(satId,inUse,elevation,azimuth,snr).
-                The satID numbering scheme shall be as defined by NMEA-0183 (v3.01 or later) for the GSV sentence:
-                1..32: GPS satellites (by PRN), 33..64: SBAS/WAAS satellites, 65..96: Glonass satellites
-                Note: Later NMEA-0183 versions probably already have Galileo support
-          </line>  
+          <line>timestamp = Timestamp of the acquisition of the satellite detail data [ms]</line>
+          <line> Note: All timestamps must be based on the same time source.</line>
         </doc>
-      </arg>
-    </method>
-
-    <signal name="SatelliteInfoUpdate">
-      <doc>
-        <line>SatelliteInfoUpdate = This signal is emitted when information about the current satellite information is updated</line>
-      </doc>
-      <arg name="changedValues" type="aq">
+      </arg>        
+      <arg name="satelliteInfo" type="a(qqqqqb)" direction="out">
         <doc>
-          <line>changedValues = array[value]</line>
-          <line>key = enum(INVALID,TIMESTAMP,USED_SATELLITES,TRACKED_SATELLITES,VISIBLE_SATELLITES,SATELLITE_DETAILS, ...)</line>
-        </doc>
-      </arg>
-    </signal>
-
-    <method name="GetStatus">
-      <doc>
-        <line>GetStatus = This method returns the status of this service</line>
-      </doc>
-      <arg name="status" type="a{qv}" direction="out">
-        <doc>
-          <line>status = dictionary[key,value]</line>
-          <line>dictionary = array of tuples (key,value)</line>
-          <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>
-          <line>key = enum(INVALID,TIMESTAMP,GNSS_FIX_STATUS,DR_STATUS, ... )</line>
-          <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line> 
-          <line>key = GNSS_FIX_STATUS, value = value of type 'q', that represents an enum(INVALID(0x00),NO_FIX(0x01),TIME_FIX(0x02),2D_FIX(0x03),3D_FIX(0x04), ... )</line>
-          <line>key = DR_STATUS, value = value of type 'b', where TRUE means that a dead-reckoning algorithm has been used to calculate the current position</line>
+          <line>satelliteInfo = array(struct(system,satelliteId,azimuth,elevation,snr,inUse))</line> 
+          <line> system = enum(GPS, GLONASS, GALILEO, COMPASS, ... )</line> 
+          <line> satelliteId = satellite ID. This ID is unique within one satellite system</line> 
+          <line> azimuth = satellite azimuth in degrees. Value range 0..359</line> 
+          <line> elevation = satellite elevation in degrees. Value range 0..90</line> 
+          <line> snr = SNR (C/No) in dBHz. Range 0 to 99, null when not tracking</line> 
+          <line> inUse = flag indicating if the satellite is used for the fix (inUse=true)</line> 
         </doc>
       </arg>
     </method>
 
-    <signal name="StatusUpdate">
-      <doc>
-        <line>StatusUpdate = This signal is emitted when the status of this service changes</line>
-      </doc>
-      <arg name="changedValues" type="aq">
-        <doc>
-          <line>changedValues = array[value]</line>
-          <line>key = enum(INVALID,TIMESTAMP,GNSS_FIX_STATUS,DR_STATUS, ... )</line>
-        </doc>
-      </arg>
-    </signal>
-
     <method name="GetTime">
       <doc>
         <line>GetTime = This method returns UTC time and date</line>
       </doc>
-      <arg name="time" type="a{qv}" direction="out">
+      <arg name="timestamp" type="t" direction="out">
+        <doc>
+          <line>timestamp = Timestamp of the acquisition of the UTC date/time [ms]</line>
+          <line> Note: All timestamps must be based on the same time source.</line>
+        </doc>
+      </arg>        
+      <arg name="time" type="a{tv}" direction="out">
         <doc>
           <line>time = dictionary[key,value]</line>
           <line>dictionary = array of tuples (key,value)</line>
           <line>If you request for a specific value which is invalid, it's not returned in the dictionary.</line>
-          <line>key = enum(INVALID,TIMESTAMP,YEAR,MONTH,DAY,HOUR,MINUTE,SECOND,MS, ... )</line>
-          <line>key = TIMESTAMP, value = value of type 't', that represents a timestamp in ms</line>
+          <line>key = enum(YEAR,MONTH,DAY,HOUR,MINUTE,SECOND,MS, ... )</line>
           <line>key = YEAR, value = value of type 'q', 4 digits number that indicates the year. Example: 2012</line>
           <line>key = MONTH, value = value of type 'y', 2 digits number that indicates the month. Example: 03 means March</line>
           <line>key = DAY, value = value of type 'y', 2 digits number that indicates the day. Range [0:31]. Example: 07</line>
diff --git a/enhanced-position-service/api/genivi-positioning-positionfeedback.xml b/enhanced-position-service/api/genivi-positioning-positionfeedback.xml
index 55418fd..142bdbf 100644
--- a/enhanced-position-service/api/genivi-positioning-positionfeedback.xml
+++ b/enhanced-position-service/api/genivi-positioning-positionfeedback.xml
@@ -14,7 +14,7 @@
 <node name="/org/genivi/positioning/PositionFeedback" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="introspect.xsd">

 

   <interface name="org.genivi.positioning.PositionFeedback">

-    <version>3.0.0-alpha (05-08-2014)</version>

+    <version>3.0.0 (19-11-2014)</version>

     <doc>

       <line>PositionFeedback = This interface allows the application implementing the map-matching algorithm to provide a position feedback to the EnahncedPositionService</line>

     </doc>

@@ -40,12 +40,12 @@
         <line>Note: This interface is typically used by the application that implements the map-matching algorithm</line>

         <line>Such application can hand over to the EnhancedPositionService an array of map-matched positions with different values of reliability</line>

       </doc>

-      <arg name="feedback" type="aa{qv}" direction="in">

+      <arg name="feedback" type="aa{tv}" direction="in">

         <doc>

           <line>feedback = array[position]</line>

           <line>position = dictionary[key,value]</line>

           <line>dictionary = array of tuples (key,value)</line>

-          <line>key = enum(INVALID,LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,RELIABILTY_INDEX, ... )</line>

+          <line>key = enum(LATITUDE,LONGITUDE,ALTITUDE,HEADING,SPEED,CLIMB,RELIABILTY_INDEX, ... )</line>

           <line>key = LATITUDE, value = value of type 'd', that expresses the WGS84 latitude of the current position in degrees. Range [-90:+90]. Example: 48.053250</line>

           <line>key = LONGITUDE, value = value of type 'd', that expresses the WGS84 longitude of the current position in degrees. Range [-180:+180]. Example: 8.324500</line>

           <line>key = ALTITUDE, value = value of type 'd', that expresses the altitude above the sea level of the current position in meters</line>

@@ -57,7 +57,8 @@
       </arg>

       <arg name="timestamp" type="t" direction="in">

         <doc>

-          <line>timestamp = timestamp in ms</line>

+          <line>timestamp = Original timestamp of the corresponding position data received from the EnhancedPosition API [ms]</line>

+          <line> Note: All timestamps must be based on the same time source.</line>

         </doc>

       </arg>

       <arg name="feedbackType" type="q" direction="in">

diff --git a/enhanced-position-service/src/CMakeLists.txt b/enhanced-position-service/src/CMakeLists.txt
index 34ea850..ddc507a 100644
--- a/enhanced-position-service/src/CMakeLists.txt
+++ b/enhanced-position-service/src/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -24,31 +27,17 @@ message(STATUS "WITH_DLT = ${WITH_DLT}")
 message(STATUS "WITH_GPSD = ${WITH_GPSD}")
 message(STATUS "WITH_REPLAYER = ${WITH_REPLAYER}")
 message(STATUS "WITH_TESTS = ${WITH_TESTS}")
+message(STATUS "WITH_DEBUG = ${WITH_DEBUG}")
 
 find_package(PkgConfig REQUIRED)
 
 pkg_check_modules(DBUS_CPP dbus-c++-1)
 
-include_directories("${PROJECT_SOURCE_DIR}/../api")
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 include_directories(${DBUS_CPP_INCLUDE_DIRS})
 include_directories(${gnss-service_INCLUDE_DIRS})
 include_directories(${sensors-service_INCLUDE_DIRS})
-
-# Generate the client glue code before building the client
-add_custom_command(
-  OUTPUT  enhanced-position-adaptor.h 
-  COMMAND dbusxx-xml2cpp ${CMAKE_CURRENT_SOURCE_DIR}/../api/genivi-positioning-enhancedposition.xml 
-  --adaptor=enhanced-position-adaptor.h
-  OUTPUT  position-feedback-adaptor.h 
-  COMMAND dbusxx-xml2cpp ${CMAKE_CURRENT_SOURCE_DIR}/../api/genivi-positioning-positionfeedback.xml 
-  --adaptor=position-feedback-adaptor.h
-  OUTPUT  configuration-adaptor.h 
-  COMMAND dbusxx-xml2cpp ${CMAKE_CURRENT_SOURCE_DIR}/../api/genivi-positioning-configuration.xml
-  --adaptor=configuration-adaptor.h
-  OUTPUT positioning-constants.h 
-  COMMAND xsltproc ${CMAKE_CURRENT_SOURCE_DIR}/../api/enum.xsl ${CMAKE_CURRENT_SOURCE_DIR}/../api/genivi-positioning-constants.xml > positioning-constants.h
-)
+include_directories(${enhanced-position-service_INCLUDE_DIRS})
 
 link_directories(
     ${DBUS_CPP_LIBRARY_DIRS}
@@ -59,13 +48,13 @@ add_executable(enhanced-position-service
     main.cpp
     enhanced-position.cpp
     enhanced-position.h
-    enhanced-position-adaptor.h
+    ${enhanced-position-service_INCLUDE_DIRS}/genivi-positioning-enhancedposition_adaptor.h
     position-feedback.cpp
     position-feedback.h
-    position-feedback-adaptor.h
+    ${enhanced-position-service_INCLUDE_DIRS}/genivi-positioning-positionfeedback_adaptor.h
     configuration.cpp
     configuration.h
-    configuration-adaptor.h
+    ${enhanced-position-service_INCLUDE_DIRS}/genivi-positioning-configuration_adaptor.h
 )
 
 set(LIBRARIES 
@@ -82,6 +71,10 @@ if(WITH_DLT)
     set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES})
 endif()
 
+if(WITH_DEBUG)
+    add_definitions("-DDEBUG_ENABLED=1")
+endif()
+
 target_link_libraries(enhanced-position-service ${LIBRARIES})
 
 message(STATUS "DBUS_CPP_LIBRARIES: " ${DBUS_CPP_LIBRARIES})
diff --git a/enhanced-position-service/src/configuration.cpp b/enhanced-position-service/src/configuration.cpp
index 959c4aa..29ea664 100644
--- a/enhanced-position-service/src/configuration.cpp
+++ b/enhanced-position-service/src/configuration.cpp
@@ -17,7 +17,7 @@
 **************************************************************************/
 
 #include "configuration.h"
-#include "positioning-constants.h"
+#include "genivi-positioning-constants.h"
 #include "log.h"
 
 DLT_IMPORT_CONTEXT(gCtx);
@@ -80,7 +80,7 @@ std::map< std::string, ::DBus::Variant > Configuration::GetProperties()
   std::map< std::string, ::DBus::Variant > Properties;
 
   Properties["UpdateInterval"] = variant_int32(1000);
-  Properties["SatelliteSystem"] = variant_uint16(POS_GPS);
+  Properties["SatelliteSystem"] = variant_uint16(GENIVI_ENHANCEDPOSITIONSERVICE_GPS);
 
   return Properties;
 }
@@ -98,10 +98,10 @@ std::map< std::string, ::DBus::Variant > Configuration::GetSupportedProperties()
   updateIntervals.push_back(1000);
 
   std::vector< uint16_t > satelliteSystems;
-  satelliteSystems.push_back(POS_GPS);
-  satelliteSystems.push_back(POS_GLONASS);
-  satelliteSystems.push_back(POS_GALILEO);
-  satelliteSystems.push_back(POS_COMPASS);
+  satelliteSystems.push_back(GENIVI_ENHANCEDPOSITIONSERVICE_GPS);
+  satelliteSystems.push_back(GENIVI_ENHANCEDPOSITIONSERVICE_GLONASS);
+  satelliteSystems.push_back(GENIVI_ENHANCEDPOSITIONSERVICE_GALILEO);
+  satelliteSystems.push_back(GENIVI_ENHANCEDPOSITIONSERVICE_COMPASS);
 
   SupportedProperties["UpdateInterval"] = variant_array_int32(updateIntervals);
   SupportedProperties["SatelliteSystem"] =  variant_array_uint16(satelliteSystems);
diff --git a/enhanced-position-service/src/configuration.h b/enhanced-position-service/src/configuration.h
index 78c319a..85ac9d1 100644
--- a/enhanced-position-service/src/configuration.h
+++ b/enhanced-position-service/src/configuration.h
@@ -19,7 +19,7 @@
 #define ___CONFIGURATION_H
 
 #include <dbus-c++/dbus.h>
-#include "configuration-adaptor.h"
+#include "genivi-positioning-configuration_adaptor.h"
 
 class Configuration
   : public org::genivi::positioning::Configuration_adaptor
diff --git a/enhanced-position-service/src/enhanced-position.cpp b/enhanced-position-service/src/enhanced-position.cpp
index a1b999e..26e7dea 100644
--- a/enhanced-position-service/src/enhanced-position.cpp
+++ b/enhanced-position-service/src/enhanced-position.cpp
@@ -19,7 +19,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include "enhanced-position.h"
-#include "positioning-constants.h"
+#include "genivi-positioning-constants.h"
 #include "log.h"
 
 DLT_IMPORT_CONTEXT(gCtx);
@@ -80,162 +80,86 @@ EnhancedPosition::~EnhancedPosition()
 
   return Version;
 }
-    
-std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetData(const std::vector< uint16_t >& valuesToReturn)
+
+
+
+void EnhancedPosition::GetPositionInfo(const uint64_t& valuesToReturn, uint64_t& timestamp, std::map< uint64_t, ::DBus::Variant >& data)
 {
-  std::map< uint16_t, ::DBus::Variant > Data;
+  //std::map< uint64_t, ::DBus::Variant > Data;
 
   TGNSSPosition position;
 
   bool isPosRequested = false;
   bool isCourseRequested = false;
 
-  for (int i = 0; i < valuesToReturn.size(); i++)
+  if ((valuesToReturn & GENIVI_ENHANCEDPOSITIONSERVICE_LATITUDE) ||
+      (valuesToReturn & GENIVI_ENHANCEDPOSITIONSERVICE_LONGITUDE) ||
+      (valuesToReturn & GENIVI_ENHANCEDPOSITIONSERVICE_ALTITUDE))
   {
-    if ((valuesToReturn[i] == POS_LATITUDE) || 
-        (valuesToReturn[i] == POS_LONGITUDE) || 
-        (valuesToReturn[i] == POS_ALTITUDE))
-    {
-      isPosRequested = true;
-    }
-
-    if ((valuesToReturn[i] == POS_HEADING) || 
-        (valuesToReturn[i] == POS_SPEED) || 
-        (valuesToReturn[i] == POS_CLIMB ))
-    {
-      isCourseRequested = true;
-    }
+    isPosRequested = true;
   }
 
-  if(isPosRequested)
+  if ((valuesToReturn & GENIVI_ENHANCEDPOSITIONSERVICE_HEADING) ||
+      (valuesToReturn & GENIVI_ENHANCEDPOSITIONSERVICE_SPEED) ||
+      (valuesToReturn & GENIVI_ENHANCEDPOSITIONSERVICE_CLIMB ))
   {
-    if(gnssGetPosition(&position))
-    {
-      if (position.validityBits & GNSS_POSITION_LATITUDE_VALID)
-      {
-        Data[POS_LATITUDE] = variant_double(position.latitude);
-      }
-
-      if (position.validityBits & GNSS_POSITION_LONGITUDE_VALID)
-      {
-        Data[POS_LONGITUDE] = variant_double(position.longitude);
-      }
-
-      if (position.validityBits & GNSS_POSITION_ALTITUDEMSL_VALID)
-      {
-        Data[POS_ALTITUDE] = variant_double(position.altitudeMSL);
-      }
-    }
+    isCourseRequested = true;
   }
 
-  if(isCourseRequested)
+  if(gnssGetPosition(&position))
   {
-    if(gnssGetPosition(&position))
-    {
-      if (position.validityBits & GNSS_POSITION_HEADING_VALID)
-      {
-        Data[POS_HEADING] = variant_double(position.heading);
-      }
 
-      if (position.validityBits & GNSS_POSITION_HSPEED_VALID)
-      {
-        Data[POS_SPEED] = variant_double(position.hSpeed);
-      }
+    timestamp = position.timestamp;
 
-      if (position.validityBits & GNSS_POSITION_VSPEED_VALID)
-      {
-        Data[POS_CLIMB] = variant_double(position.vSpeed);
-      }
-    }
-  }
-
-  return Data;
-}   
-
-std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetPosition()
-{
-  std::map< uint16_t, ::DBus::Variant > Position;
-  TGNSSPosition position;
-   
-    if(gnssGetPosition(&position))
+    if(isPosRequested)
     {
       if (position.validityBits & GNSS_POSITION_LATITUDE_VALID)
       {
-        Position[POS_LATITUDE] = variant_double(position.latitude);
+        data[GENIVI_ENHANCEDPOSITIONSERVICE_LATITUDE] = variant_double(position.latitude);
       }
 
       if (position.validityBits & GNSS_POSITION_LONGITUDE_VALID)
       {
-        Position[POS_LONGITUDE] = variant_double(position.longitude);
+        data[GENIVI_ENHANCEDPOSITIONSERVICE_LONGITUDE] = variant_double(position.longitude);
       }
 
       if (position.validityBits & GNSS_POSITION_ALTITUDEMSL_VALID)
       {
-        Position[POS_ALTITUDE] = variant_double(position.altitudeMSL);
+        data[GENIVI_ENHANCEDPOSITIONSERVICE_ALTITUDE] = variant_double(position.altitudeMSL);
       }
+    }
 
+    if(isCourseRequested)
+    {
       if (position.validityBits & GNSS_POSITION_HEADING_VALID)
       {
-        Position[POS_HEADING] = variant_double(position.heading);
+        data[GENIVI_ENHANCEDPOSITIONSERVICE_HEADING] = variant_double(position.heading);
       }
 
       if (position.validityBits & GNSS_POSITION_HSPEED_VALID)
       {
-        Position[POS_SPEED] = variant_double(position.hSpeed);
+        data[GENIVI_ENHANCEDPOSITIONSERVICE_SPEED] = variant_double(position.hSpeed);
       }
 
       if (position.validityBits & GNSS_POSITION_VSPEED_VALID)
       {
-        Position[POS_CLIMB] = variant_double(position.vSpeed);
-      }      
+        data[GENIVI_ENHANCEDPOSITIONSERVICE_CLIMB] = variant_double(position.vSpeed);
+      }
     }
+  }
 
-  return Position;
-}  
-
-std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetRotationRate()
-{
-  std::map< uint16_t, ::DBus::Variant > RotationRate;
-
-  throw DBus::ErrorNotSupported("Method not supported yet");
-
-  return RotationRate;
 }
 
-std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetAccuracy()
-{
-  std::map< uint16_t, ::DBus::Variant > Accuracy;
-
-  throw DBus::ErrorNotSupported("Method not supported yet");
 
-  return Accuracy;
-}
 
-std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetSatelliteInfo()
+void EnhancedPosition::GetSatelliteInfo(uint64_t& timestamp, std::vector< ::DBus::Struct< uint16_t, uint16_t, uint16_t, uint16_t, uint16_t, bool > >& satelliteInfo)
 {
-  std::map< uint16_t, ::DBus::Variant > SatelliteInfo;
-
   throw DBus::ErrorNotSupported("Method not supported yet");
-
-  return SatelliteInfo;
 }
 
-std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetStatus()
+void EnhancedPosition::GetTime(uint64_t& timestamp, std::map< uint64_t, ::DBus::Variant >& time)
 {
-  std::map< uint16_t, ::DBus::Variant > Status;
-
   throw DBus::ErrorNotSupported("Method not supported yet");
-
-  return Status;
-}
-
-std::map< uint16_t, ::DBus::Variant > EnhancedPosition::GetTime()
-{
-  std::map< uint16_t, ::DBus::Variant > Time;
-
-  throw DBus::ErrorNotSupported("Method not supported yet");
-
-  return Time;
 }
 
 void EnhancedPosition::sigPositionUpdate(const TGNSSPosition position[], uint16_t numElements)
@@ -246,7 +170,14 @@ void EnhancedPosition::sigPositionUpdate(const TGNSSPosition position[], uint16_
   bool speedChanged = false;
   bool headingChanged = false;
   bool climbChanged = false;
+  bool pdopChanged = false;
+  bool hdopChanged = false;
+  bool vdopChanged = false;
+  bool usatChanged = false; //used satellites
+  bool fixStatusChanged = false;
+  bool fixTypeBitsChanged = false;
 
+  uint64_t changedValues = 0;
 
   if (position == NULL || numElements < 1)
   {
@@ -262,7 +193,23 @@ void EnhancedPosition::sigPositionUpdate(const TGNSSPosition position[], uint16_
              position[i].latitude, 
              position[i].longitude,
              position[i].altitudeMSL);
-        
+
+      LOG_INFO(gCtx,"Accuracy Update[%d/%d]: pdop=%f hdop=%f vdop=%f \
+               sigmaHPosition=%f sigmaAltitude=%f",
+               i+1,
+               numElements,
+               position[i].pdop, 
+               position[i].hdop,
+               position[i].vdop,
+               position[i].sigmaHPosition,
+               position[i].sigmaAltitude);
+
+      LOG_INFO(gCtx,"Status Update[%d/%d]: fixStatus=%d fixTypeBits=0x%08X",
+               i+1,
+               numElements,
+               position[i].fixStatus,
+               position[i].fixTypeBits);
+
     if (latChanged == false)
     {
       latChanged = (position[i].validityBits & GNSS_POSITION_LATITUDE_VALID);
@@ -293,83 +240,6 @@ void EnhancedPosition::sigPositionUpdate(const TGNSSPosition position[], uint16_
       climbChanged = (position[i].validityBits & GNSS_POSITION_VSPEED_VALID);
     }
 
-  }
-
-  //in a real product, the coordinates would be used for dead-reckoning.
-  //in this proof of concept, the client application is simply notified 
-  //about changes of latitude, longitude and/or altitude
-  std::vector< uint16_t > changedValues;
-  std::vector<uint16_t>::iterator it;
-  it = changedValues.begin();
-
-  if (latChanged)
-  {
-     it = changedValues.insert(it,POS_LATITUDE);
-  }
-
-  if (lonChanged)
-  {
-     it = changedValues.insert(it,POS_LONGITUDE);
-  }
-
-  if (altChanged)
-  {
-     it = changedValues.insert(it,POS_ALTITUDE);
-  }
-
-  if (speedChanged)
-  {
-     it = changedValues.insert(it,POS_SPEED);
-  }
-
-  if (headingChanged)
-  {
-     it = changedValues.insert(it,POS_HEADING);
-  }
-
-  if (climbChanged)
-  {
-     it = changedValues.insert(it,POS_CLIMB);
-  }
-
-  if (!mpSelf)
-  {
-    LOG_ERROR_MSG(gCtx,"Null pointer!");    
-    return;
-  }
-    
-  //notify clients
-  mpSelf->PositionUpdate(changedValues);
-
-
-}
-
-void EnhancedPosition::sigAccuracyUpdate(const TGNSSPosition position[], uint16_t numElements)
-{ 
-  bool pdopChanged = false;
-  bool hdopChanged = false;
-  bool vdopChanged = false;
-  bool sigmaHPosChanged = false;
-  bool sigmaAltitudeChanged = false;
-
-  if (position == NULL || numElements < 1)
-  {
-      LOG_ERROR_MSG(gCtx,"sigAccuracyUpdate failed!");
-      return;
-  }
-
-  for (int i = 0; i< numElements; i++)
-  {
-      LOG_INFO(gCtx,"Accuracy Update[%d/%d]: pdop=%f hdop=%f vdop=%f \
-               sigmaHPosition=%f sigmaAltitude=%f",
-               i+1,
-               numElements,
-               position[i].pdop, 
-               position[i].hdop,
-               position[i].vdop,
-               position[i].sigmaHPosition,
-               position[i].sigmaAltitude);
-
     if (pdopChanged == false)
     {
       pdopChanged = (position[i].validityBits & GNSS_POSITION_PDOP_VALID);
@@ -385,200 +255,98 @@ void EnhancedPosition::sigAccuracyUpdate(const TGNSSPosition position[], uint16_
       vdopChanged = (position[i].validityBits & GNSS_POSITION_VDOP_VALID);
     }
 
-    if (sigmaHPosChanged == false)
+    if (usatChanged == false)
     {
-      sigmaHPosChanged = (position[i].validityBits & GNSS_POSITION_SHPOS_VALID);
+      usatChanged = (position[i].validityBits & GNSS_POSITION_USAT_VALID);
     }
 
-    if (sigmaAltitudeChanged == false)
+    if (fixStatusChanged == false)
     {
-      sigmaAltitudeChanged = (position[i].validityBits & GNSS_POSITION_SALT_VALID);
+      fixStatusChanged = (position[i].validityBits & GNSS_POSITION_STAT_VALID);
     }
-  }
 
-  //in a real product, the accuracy would be used for dead-reckoning.
-  //in this proof of concept, the client application is simply notified 
-  //about accuracy changes
-  std::vector<uint16_t>::iterator it;
-  
-  std::vector< uint16_t > changedAccuracyValues;
-  it = changedAccuracyValues.begin();
+    if (fixTypeBitsChanged == false)
+    {
+      fixTypeBitsChanged = (position[i].validityBits & GNSS_POSITION_TYPE_VALID);
+    }
 
-  if (pdopChanged)
-  {
-    it = changedAccuracyValues.insert(it,POS_PDOP);
   }
 
-  if (hdopChanged)
-  {
-    it = changedAccuracyValues.insert(it,POS_HDOP);
-  }
-  
-  if (vdopChanged)
-  {
-    it = changedAccuracyValues.insert(it,POS_VDOP);
-  }  
 
-  if (sigmaHPosChanged)
-  {
-    it = changedAccuracyValues.insert(it,POS_SIGMA_LATITUDE);
-    it = changedAccuracyValues.insert(it,POS_SIGMA_LONGITUDE);
-  }
+  //in a real product, the coordinates would be used for dead-reckoning.
+  //in this proof of concept, the client application is simply notified 
+  //about changes of latitude, longitude and/or altitude
 
-  if (sigmaAltitudeChanged)
+  if (latChanged)
   {
-    it = changedAccuracyValues.insert(it,POS_VISIBLE_SATELLITES);
+     changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_LATITUDE;
   }
 
-  //todo: handle other field-changes here (accuracy and status)
-
-  if (!mpSelf)
+  if (lonChanged)
   {
-    LOG_ERROR_MSG(gCtx,"Null pointer!");    
-    return;
+     changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_LONGITUDE;
   }
-  
-  mpSelf->AccuracyUpdate(changedAccuracyValues);
-}
 
-void EnhancedPosition::sigStatusUpdate(const TGNSSPosition position[], uint16_t numElements)
-{ 
-
-  bool fixStatusChanged = false;
-  bool fixTypeBitsChanged = false;
-
-  if (position == NULL || numElements < 1)
+  if (altChanged)
   {
-      LOG_ERROR_MSG(gCtx,"sigStatusUpdate failed!");
-      return;
+     changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_ALTITUDE;
   }
 
-  for (int i = 0; i< numElements; i++)
+  if (speedChanged)
   {
-      LOG_INFO(gCtx,"Status Update[%d/%d]: fixStatus=%d fixTypeBits=0x%08X",
-               i+1,
-               numElements,
-               position[i].fixStatus,
-               position[i].fixTypeBits);
-               
-    if (fixStatusChanged == false)
-    {
-      fixStatusChanged = (position[i].validityBits & GNSS_POSITION_STAT_VALID);
-    }
-
-    if (fixTypeBitsChanged == false)
-    {
-      fixTypeBitsChanged = (position[i].validityBits & GNSS_POSITION_TYPE_VALID);
-    }
-
+     changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_SPEED;
   }
 
-  //in a real product, the accuracy would be used for dead-reckoning.
-  //in this proof of concept, the client application is simply notified 
-  //about status changes
-  std::vector<uint16_t>::iterator it;
-  
-  std::vector< uint16_t > changedStatusValues;
-  it = changedStatusValues.begin();
-
-  if (fixStatusChanged)
+  if (headingChanged)
   {
-    it = changedStatusValues.insert(it,POS_GNSS_FIX_STATUS);
+     changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_HEADING;
   }
 
-  if (!mpSelf)
+  if (climbChanged)
   {
-    LOG_ERROR_MSG(gCtx,"Null pointer!");    
-    return;
+     changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_CLIMB;
   }
-  
-  mpSelf->StatusUpdate(changedStatusValues);
-}
-
-
-
-void EnhancedPosition::sigSatelliteInfoUpdate(const TGNSSPosition position[], uint16_t numElements)
-{ 
-  //satellite info
-  bool usedSatellitesChanged = false;
-  bool trackedSatellitesChanged = false;
-  bool visibleSatellitesChanged = false;
-  
 
-  
-  if (position == NULL || numElements < 1)
+  if (pdopChanged)
   {
-      LOG_ERROR_MSG(gCtx,"sigSatelliteInfoUpdate failed!");
-      return;
+    changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_PDOP;
   }
 
-  for (int i = 0; i< numElements; i++)
+  if (hdopChanged)
   {
-      LOG_INFO(gCtx,"SatelliteInfo Update[%d/%d]: usedSatellites=%d trackedSatellites=%d visibleSatellites=%d",
-               i+1,
-               numElements,
-               position[i].usedSatellites, 
-               position[i].trackedSatellites,
-               position[i].visibleSatellites);
-
-    if (usedSatellitesChanged == false)
-    {
-      usedSatellitesChanged = (position[i].validityBits & GNSS_POSITION_USAT_VALID);
-    }
-
-    if (trackedSatellitesChanged == false)
-    {
-      trackedSatellitesChanged = (position[i].validityBits & GNSS_POSITION_TSAT_VALID);
-    }
-
-    if (visibleSatellitesChanged == false)
-    {
-      visibleSatellitesChanged = (position[i].validityBits & GNSS_POSITION_VSAT_VALID);
-    }
-
+    changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_HDOP;
   }
-
-  //in a real product, the accuracy would be used for dead-reckoning.
-  //in this proof of concept, the client application is simply notified 
-  //about accuracy changes
-  std::vector<uint16_t>::iterator it;
   
-  std::vector< uint16_t > changedSatelliteInfoValues;
-  it = changedSatelliteInfoValues.begin();
-
-  if (usedSatellitesChanged)
+  if (vdopChanged)
   {
-    it = changedSatelliteInfoValues.insert(it,POS_USED_SATELLITES);
-  }
+    changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_VDOP;
+  }  
 
-  if (trackedSatellitesChanged)
+  if (usatChanged)
   {
-    it = changedSatelliteInfoValues.insert(it,POS_TRACKED_SATELLITES);
+    changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_USED_SATELLITES;
   }
 
-  if (visibleSatellitesChanged)
+  if (fixStatusChanged)
   {
-    it = changedSatelliteInfoValues.insert(it,POS_VISIBLE_SATELLITES);
+    changedValues |= GENIVI_ENHANCEDPOSITIONSERVICE_GNSS_FIX_STATUS;
   }
 
-  //todo: handle other field-changes here (accuracy and status)
-
   if (!mpSelf)
   {
     LOG_ERROR_MSG(gCtx,"Null pointer!");    
     return;
   }
-  
-  mpSelf->SatelliteInfoUpdate(changedSatelliteInfoValues);
+
+  //notify clients
+  mpSelf->PositionUpdate(changedValues);
 
 }
 
+
 void EnhancedPosition::cbPosition(const TGNSSPosition position[], uint16_t numElements)
 {
     sigPositionUpdate(position, numElements);
-    sigAccuracyUpdate(position, numElements);
-    sigStatusUpdate(position, numElements);
-    sigSatelliteInfoUpdate(position, numElements);
 }
 
 
diff --git a/enhanced-position-service/src/enhanced-position.h b/enhanced-position-service/src/enhanced-position.h
index eef2b0c..7b35a5d 100644
--- a/enhanced-position-service/src/enhanced-position.h
+++ b/enhanced-position-service/src/enhanced-position.h
@@ -20,7 +20,7 @@
 
 #include <dbus-c++/dbus.h>
 
-#include "enhanced-position-adaptor.h"
+#include "genivi-positioning-enhancedposition_adaptor.h"
 #include "gnss-init.h"
 #include "gnss.h"
 
@@ -36,20 +36,10 @@ public:
   ~EnhancedPosition();
 
   ::DBus::Struct< uint16_t, uint16_t, uint16_t, std::string > GetVersion();
-    
-  std::map< uint16_t, ::DBus::Variant > GetData(const std::vector< uint16_t >& valuesToReturn);
 
-  std::map< uint16_t, ::DBus::Variant > GetPosition();
-
-  std::map< uint16_t, ::DBus::Variant > GetRotationRate();
-
-  std::map< uint16_t, ::DBus::Variant > GetAccuracy();
-
-  std::map< uint16_t, ::DBus::Variant > GetSatelliteInfo();
-  
-  std::map< uint16_t, ::DBus::Variant > GetStatus();
-
-  std::map< uint16_t, ::DBus::Variant > GetTime();
+  void GetPositionInfo(const uint64_t& valuesToReturn, uint64_t& timestamp, std::map< uint64_t, ::DBus::Variant >& data);
+  void GetSatelliteInfo(uint64_t& timestamp, std::vector< ::DBus::Struct< uint16_t, uint16_t, uint16_t, uint16_t, uint16_t, bool > >& satelliteInfo);
+  void GetTime(uint64_t& timestamp, std::map< uint64_t, ::DBus::Variant >& time);
 
   void run();
 
@@ -60,15 +50,9 @@ private:
   bool checkMajorVersion(int expectedMajor);
 
   static void cbSatelliteDetail(const TGNSSSatelliteDetail satelliteDetail[], uint16_t numElements);
-
   static void cbPosition(const TGNSSPosition position[], uint16_t numElements);
+
   static void sigPositionUpdate(const TGNSSPosition position[], uint16_t numElements);
-  static void sigAccuracyUpdate(const TGNSSPosition position[], uint16_t numElements);
-  static void sigStatusUpdate(const TGNSSPosition position[], uint16_t numElements);  
-  static void sigSatelliteInfoUpdate(const TGNSSPosition position[], uint16_t numElements);
-  
-  
-  
 
   static EnhancedPosition* mpSelf;
 };
diff --git a/enhanced-position-service/src/log.h b/enhanced-position-service/src/log.h
index f310461..4d946fb 100644
--- a/enhanced-position-service/src/log.h
+++ b/enhanced-position-service/src/log.h
@@ -20,7 +20,7 @@
 #define INCLUDE_LOG
 
 // turn-on via cmake define:
-// $ cmake -DWITH_DLT=1 ..
+// $ cmake -DWITH_DLT=1 -DDEBUG_ENABLED=1 ..
 
 #if (!DLT_ENABLED)
 /*****************************************************************************/
@@ -46,6 +46,22 @@ typedef const char* NoDltContext;
 #define dlt_free() ;
 
 // log calls
+#if (!DEBUG_ENABLED)
+
+#define LOG_VERBOSE_MSG(context, msg) ;
+#define LOG_VERBOSE(context, fmt, ...) ;
+
+#define LOG_DEBUG_MSG(context, msg) ;
+#define LOG_DEBUG(context, fmt, ...) ;
+
+#define LOG_INFO_MSG(context, msg) ;
+#define LOG_INFO(context, fmt, ...) ;
+
+#define LOG_WARNING_MSG(context, msg) ;
+#define LOG_WARNING(context, fmt, ...) ;
+
+#else
+
 #define LOG_VERBOSE_MSG(context, msg) \
         fprintf(stderr, "[VERBO][%4s] " msg "\n", context)
 #define LOG_VERBOSE(context, fmt, ...) \
@@ -65,6 +81,7 @@ typedef const char* NoDltContext;
         fprintf(stderr, "[WARN ][%4s] " msg "\n", context)
 #define LOG_WARNING(context, fmt, ...) \
         fprintf(stderr, "[WARN ][%4s] " fmt "\n", context, __VA_ARGS__)
+#endif
 
 #define LOG_ERROR_MSG(context, msg) \
         fprintf(stderr, "[ERROR][%4s] " msg "\n", context)
diff --git a/enhanced-position-service/src/position-feedback.cpp b/enhanced-position-service/src/position-feedback.cpp
index 21251b9..0538c0c 100644
--- a/enhanced-position-service/src/position-feedback.cpp
+++ b/enhanced-position-service/src/position-feedback.cpp
@@ -42,7 +42,7 @@ PositionFeedback::~PositionFeedback()
   return Version;
 }
 
-void PositionFeedback::SetPositionFeedback(const std::vector< std::map< uint16_t, ::DBus::Variant > >& feedback, const uint64_t& timestamp, const uint16_t& feedbackType)
+void PositionFeedback::SetPositionFeedback(const std::vector< std::map< uint64_t, ::DBus::Variant > >& feedback, const uint64_t& timestamp, const uint16_t& feedbackType)
 {
   throw DBus::ErrorNotSupported("Method not supported yet");
 }
diff --git a/enhanced-position-service/src/position-feedback.h b/enhanced-position-service/src/position-feedback.h
index c030073..37db3ba 100644
--- a/enhanced-position-service/src/position-feedback.h
+++ b/enhanced-position-service/src/position-feedback.h
@@ -20,7 +20,7 @@
 #define ___POSITION_FEEDBACK_H
 
 #include <dbus-c++/dbus.h>
-#include "position-feedback-adaptor.h"
+#include "genivi-positioning-positionfeedback_adaptor.h"
 
 class PositionFeedback
   : public org::genivi::positioning::PositionFeedback_adaptor
@@ -36,7 +36,7 @@ public:
 
   ::DBus::Struct< uint16_t, uint16_t, uint16_t, std::string > GetVersion();
 
-  void SetPositionFeedback(const std::vector< std::map< uint16_t, ::DBus::Variant > >& feedback, const uint64_t& timestamp, const uint16_t& feedbackType);
+  void SetPositionFeedback(const std::vector< std::map< uint64_t, ::DBus::Variant > >& feedback, const uint64_t& timestamp, const uint16_t& feedbackType);
   
   void run();
 
diff --git a/enhanced-position-service/test/CMakeLists.txt b/enhanced-position-service/test/CMakeLists.txt
index d35f92c..5da50ce 100644
--- a/enhanced-position-service/test/CMakeLists.txt
+++ b/enhanced-position-service/test/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -21,39 +24,25 @@ cmake_minimum_required(VERSION 2.6.0)
 
 message(STATUS "ENHANCED-POSITION-CLIENT")
 message(STATUS "WITH_DLT = ${WITH_DLT}")
+message(STATUS "WITH_DEBUG = ${WITH_DEBUG}")
 
 find_package(PkgConfig REQUIRED)
 
 pkg_check_modules(DBUS_CPP dbus-c++-1)
 
-include_directories(${DBUS_CPP_INCLUDE_DIRS})
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 include_directories(${DBUS_CPP_INCLUDE_DIRS})
-
-# Generate the client glue code before building the client
-add_custom_command(
-  OUTPUT  enhanced-position-proxy.h 
-  COMMAND dbusxx-xml2cpp ${CMAKE_CURRENT_SOURCE_DIR}/../api/genivi-positioning-enhancedposition.xml 
-  --proxy=enhanced-position-proxy.h
-  OUTPUT  position-feedback-proxy.h 
-  COMMAND dbusxx-xml2cpp ${CMAKE_CURRENT_SOURCE_DIR}/../api/genivi-positioning-positionfeedback.xml 
-  --proxy=position-feedback-proxy.h
-  OUTPUT  configuration-proxy.h 
-  COMMAND dbusxx-xml2cpp ${CMAKE_CURRENT_SOURCE_DIR}/../api/genivi-positioning-configuration.xml
-  --proxy=configuration-proxy.h
-  OUTPUT positioning-constants.h 
-  COMMAND xsltproc ${CMAKE_CURRENT_SOURCE_DIR}/../api/enum.xsl ${CMAKE_CURRENT_SOURCE_DIR}/../api/genivi-positioning-constants.xml > positioning-constants.h
-)
+include_directories(${enhanced-position-service_INCLUDE_DIRS})
 
 link_directories(${DBUS_CPP_LIBRARY_DIRS})
 
 add_executable(enhanced-position-client
-    enhanced-position-proxy.h
+    ${enhanced-position-service_INCLUDE_DIRS}/genivi-positioning-enhancedposition_proxy.h
     enhanced-position-client.h
     enhanced-position-client.cpp
-    position-feedback-proxy.h
-    configuration-proxy.h
-    positioning-constants.h
+    ${enhanced-position-service_INCLUDE_DIRS}/genivi-positioning-positionfeedback_proxy.h
+    ${enhanced-position-service_INCLUDE_DIRS}/genivi-positioning-configuration_proxy.h
+    ${enhanced-position-service_INCLUDE_DIRS}/genivi-positioning-constants.h
 )
 
 set(LIBRARIES 
@@ -68,6 +57,10 @@ if(WITH_DLT)
     set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES})
 endif()
 
+if(WITH_DEBUG)
+    add_definitions("-DDEBUG_ENABLED=1")
+endif()
+
 target_link_libraries(enhanced-position-client ${LIBRARIES})
 
 message(STATUS "DBUS_CPP_LIBRARIES: " ${DBUS_CPP_LIBRARIES})
diff --git a/enhanced-position-service/test/compliance-test/CMakeLists.txt b/enhanced-position-service/test/compliance-test/CMakeLists.txt
index 8409e5a..9386074 100644
--- a/enhanced-position-service/test/compliance-test/CMakeLists.txt
+++ b/enhanced-position-service/test/compliance-test/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- generate the API of enhanced-position-service into the API folder
 # @licence end@
 ###########################################################################
 
@@ -20,7 +23,6 @@ message(STATUS "ENHANCED-POSITION-SERVICE-COMPLIANCE-TEST")
 
 INCLUDE(UsePkgConfig)
 
-include_directories("${PROJECT_SOURCE_DIR}/api")
 include_directories("${PROJECT_SOURCE_DIR}/../common")
 
 find_package(PkgConfig)
diff --git a/enhanced-position-service/test/enhanced-position-client.cpp b/enhanced-position-service/test/enhanced-position-client.cpp
index 01717f3..2a00ab2 100644
--- a/enhanced-position-service/test/enhanced-position-client.cpp
+++ b/enhanced-position-service/test/enhanced-position-client.cpp
@@ -20,7 +20,7 @@
 #include <stdio.h>
 
 #include "enhanced-position-client.h"
-#include "positioning-constants.h"
+#include "genivi-positioning-constants.h"
 #include "log.h"
 
 using namespace std;
@@ -34,66 +34,47 @@ EnhancedPositionClient::EnhancedPositionClient(DBus::Connection &connection, con
 {
 }
 
-void EnhancedPositionClient::PositionUpdate(const std::vector< uint16_t >& changedValues)
+void EnhancedPositionClient::PositionUpdate(const uint64_t& changedValues)
 {
   LOG_INFO_MSG(gCtx,"Position Update");
   
   // retrieve the data 
-  std::map< uint16_t, ::DBus::Variant > posData = GetData(changedValues);
+  uint64_t timestamp;
+  std::map< uint64_t, ::DBus::Variant > posData;
+    
+  GetPositionInfo(changedValues, timestamp, posData);
 
-  for (int i = 0; i < changedValues.size(); i++)
+  if (changedValues & GENIVI_ENHANCEDPOSITIONSERVICE_LATITUDE)
   {
-    if (changedValues[i] == POS_LATITUDE)
-    {
-      LOG_INFO(gCtx,"LAT=%lf", posData[POS_LATITUDE].reader().get_double());
-    }
-
-    if (changedValues[i] == POS_LONGITUDE)
-    {
-      LOG_INFO(gCtx,"LON=%lf", posData[POS_LONGITUDE].reader().get_double());
-    }
-
-    if (changedValues[i] == POS_ALTITUDE)
-    {
-      LOG_INFO(gCtx,"ALT=%lf", posData[POS_ALTITUDE].reader().get_double());
-    }
-
-    if (changedValues[i] == POS_SPEED)
-    {
-      LOG_INFO(gCtx,"SPEED=%lf", posData[POS_SPEED].reader().get_double());
-    }
-
-    if (changedValues[i] == POS_CLIMB)
-    {
-      LOG_INFO(gCtx,"CLIMB=%lf", posData[POS_CLIMB].reader().get_double());
-    }
-
-    if (changedValues[i] == POS_HEADING)
-    {
-      LOG_INFO(gCtx,"HEADING=%lf", posData[POS_HEADING].reader().get_double());
-    }
+    LOG_INFO(gCtx,"LAT=%lf", posData[GENIVI_ENHANCEDPOSITIONSERVICE_LATITUDE].reader().get_double());
   }
 
-}
+  if (changedValues & GENIVI_ENHANCEDPOSITIONSERVICE_LONGITUDE)
+  {
+    LOG_INFO(gCtx,"LON=%lf", posData[GENIVI_ENHANCEDPOSITIONSERVICE_LONGITUDE].reader().get_double());
+  }
 
-void EnhancedPositionClient::RotationRateUpdate(const std::vector< uint16_t >& changedValues)
-{
-  LOG_INFO_MSG(gCtx,"RotationRateUpdate");
-}
+  if (changedValues & GENIVI_ENHANCEDPOSITIONSERVICE_ALTITUDE)
+  {
+    LOG_INFO(gCtx,"ALT=%lf", posData[GENIVI_ENHANCEDPOSITIONSERVICE_ALTITUDE].reader().get_double());
+  }
 
-void EnhancedPositionClient::AccuracyUpdate(const std::vector< uint16_t >& changedValues)
-{
-  LOG_INFO_MSG(gCtx,"AccuracyUpdate");
-}
+  if (changedValues & GENIVI_ENHANCEDPOSITIONSERVICE_SPEED)
+  {
+    LOG_INFO(gCtx,"SPEED=%lf", posData[GENIVI_ENHANCEDPOSITIONSERVICE_SPEED].reader().get_double());
+  }
+
+  if (changedValues & GENIVI_ENHANCEDPOSITIONSERVICE_CLIMB)
+  {
+    LOG_INFO(gCtx,"CLIMB=%lf", posData[GENIVI_ENHANCEDPOSITIONSERVICE_CLIMB].reader().get_double());
+  }
+
+  if (changedValues & GENIVI_ENHANCEDPOSITIONSERVICE_HEADING)
+  {
+    LOG_INFO(gCtx,"HEADING=%lf", posData[GENIVI_ENHANCEDPOSITIONSERVICE_HEADING].reader().get_double());
+  }
 
-void EnhancedPositionClient::SatelliteInfoUpdate(const std::vector< uint16_t >& changedValues)
-{
-  LOG_INFO_MSG(gCtx,"SatelliteInfoUpdate");
-}
 
-void EnhancedPositionClient::StatusUpdate(const std::vector< uint16_t >& changedValues)
-{
-  LOG_INFO_MSG(gCtx,"StatusUpdate");
 }
 
 void signalhandler(int sig)
diff --git a/enhanced-position-service/test/enhanced-position-client.h b/enhanced-position-service/test/enhanced-position-client.h
index 4519bb3..02817e1 100644
--- a/enhanced-position-service/test/enhanced-position-client.h
+++ b/enhanced-position-service/test/enhanced-position-client.h
@@ -19,7 +19,7 @@
 #define __ENHANCED_POSITION_CLIENT_H
 
 #include <dbus-c++/dbus.h>
-#include "enhanced-position-proxy.h"
+#include "genivi-positioning-enhancedposition_proxy.h"
 
 class EnhancedPositionClient
   : public org::genivi::positioning::EnhancedPosition_proxy,
@@ -30,11 +30,7 @@ public:
 
   EnhancedPositionClient(DBus::Connection &connection, const char *path, const char *name);
 
-  void PositionUpdate(const std::vector< uint16_t >& changedValues);
-  void RotationRateUpdate(const std::vector< uint16_t >& changedValues);
-  void AccuracyUpdate(const std::vector< uint16_t >& changedValues);
-  void SatelliteInfoUpdate(const std::vector< uint16_t >& changedValues);
-  void StatusUpdate(const std::vector< uint16_t >& changedValues);
+  void PositionUpdate(const uint64_t& changedValues);
 
 };
 
diff --git a/enhanced-position-service/test/test-scripts/test-enhanced-position-service-tk-gui.py b/enhanced-position-service/test/test-scripts/test-enhanced-position-service-tk-gui.py
index 2265e18..6ef7fc0 100644
--- a/enhanced-position-service/test/test-scripts/test-enhanced-position-service-tk-gui.py
+++ b/enhanced-position-service/test/test-scripts/test-enhanced-position-service-tk-gui.py
@@ -57,12 +57,12 @@ import Queue
 from Tkinter import *
 
 #constants as defined in the Positioning API
-LATITUDE = 0x0020
-LONGITUDE = 0x0021
-ALTITUDE = 0x0022
-CLIMB = 0x0032
-SPEED = 0x0031
-HEADING = 0x0030
+LATITUDE  = 0x00000001
+LONGITUDE = 0x00000002
+ALTITUDE  = 0x00000004
+CLIMB     = 0x00000020
+SPEED     = 0x00000010
+HEADING   = 0x00000008
 
 if __name__ == '__main__':
 #According http://dbus.freedesktop.org/doc/dbus-python/doc/tutorial.html#setting-up-an-event-loop
@@ -96,20 +96,23 @@ def signalPositionUpdate(event):
     #print("signalPositionUpdate Event received by GUI thread")
     changedValues = commQueue.get()
     #print changedValues
-    position = enhanced_position_interface.GetPosition(changedValues)
-    for val in changedValues:
-        if val == LATITUDE:
-            labelLat.config(text='LATITUDE:' + str(position[dbus.UInt16(val)]))
-        if val == LONGITUDE:
-            labelLon.config(text='LONGITUDE:' + str(position[dbus.UInt16(val)]))   
-        if val == ALTITUDE:
-            labelAlt.config(text='ALTITUDE:' + str(position[dbus.UInt16(val)]))
-        if val == CLIMB:
-            labelClimb.config(text='CLIMB:' + str(position[dbus.UInt16(val)]))
-        if val == SPEED:
-            labelSpeed.config(text='SPEED:' + str(position[dbus.UInt16(val)]))
-        if val == HEADING:
-            labelHeading.config(text='HEADING:' + str(position[dbus.UInt16(val)]))
+    position = enhanced_position_interface.GetPositionInfo(changedValues)
+    timestamp = position[0]
+    #print 'TIMESTAMP:' +str(timestamp)
+    data = position[1]
+    for key in data:
+        if key == LATITUDE:
+            labelLat.config(text='LATITUDE:' + str(data[dbus.UInt16(key)]))
+        if key == LONGITUDE:
+            labelLon.config(text='LONGITUDE:' + str(data[dbus.UInt16(key)]))
+        if key == ALTITUDE:
+            labelAlt.config(text='ALTITUDE:' + str(data[dbus.UInt16(key)]))
+        if key == CLIMB:
+            labelClimb.config(text='CLIMB:' + str(data[dbus.UInt16(key)]))
+        if key == SPEED:
+            labelSpeed.config(text='SPEED:' + str(data[dbus.UInt16(key)]))
+        if key == HEADING:
+            labelHeading.config(text='HEADING:' + str(data[dbus.UInt16(key)]))
     #It's important to call update_idletasks() to update the GUI
     tk_root.update_idletasks()
 
diff --git a/enhanced-position-service/test/test-scripts/test-enhanced-position-service.py b/enhanced-position-service/test/test-scripts/test-enhanced-position-service.py
index 9ae6f72..ee784aa 100755
--- a/enhanced-position-service/test/test-scripts/test-enhanced-position-service.py
+++ b/enhanced-position-service/test/test-scripts/test-enhanced-position-service.py
@@ -31,12 +31,12 @@ import gobject
 import dbus.mainloop.glib
 
 #constants as defined in the Positioning API
-LATITUDE = 0x0020
-LONGITUDE = 0x0021
-ALTITUDE = 0x0022
-CLIMB = 0x0032
-SPEED = 0x0031
-HEADING = 0x0030
+LATITUDE  = 0x00000001
+LONGITUDE = 0x00000002
+ALTITUDE  = 0x00000004
+CLIMB     = 0x00000020
+SPEED     = 0x00000010
+HEADING   = 0x00000008
 
 print '\n--------------------------'
 print 'Positioning Test'
@@ -51,21 +51,24 @@ bus = dbus.SessionBus()
 #signal receiver
 def catchall_positioning_signals_handler(changedValues):
     print 'PositonUpdate'
-    changedfields = dbus.Array(signature='q')
-    position = enhanced_position_interface.GetPosition(changedValues)
-    for val in changedValues:
-        if val == LATITUDE:
-            print 'LATITUDE:' + str(position[dbus.UInt16(val)])
-        if val == LONGITUDE:
-            print 'LONGITUDE:' + str(position[dbus.UInt16(val)])    
-        if val == ALTITUDE:
-            print 'ALTITUDE:' + str(position[dbus.UInt16(val)])
-        if val == CLIMB:
-            print 'CLIMB:' + str(position[dbus.UInt16(val)])
-        if val == SPEED:
-            print 'SPEED:' + str(position[dbus.UInt16(val)])    
-        if val == HEADING:
-            print 'HEADING:' + str(position[dbus.UInt16(val)])
+    position = enhanced_position_interface.GetPositionInfo(changedValues)
+    timestamp = position[0]
+    print 'TIMESTAMP:' +str(timestamp)
+    data = position[1]
+    #print(data)
+    for key in data:
+        if key == LATITUDE:
+            print 'LATITUDE:' + str(data[dbus.UInt64(key)])
+        if key == LONGITUDE:
+            print 'LONGITUDE:' + str(data[dbus.UInt64(key)])
+        if key == ALTITUDE:
+            print 'ALTITUDE:' + str(data[dbus.UInt64(key)])
+        if key == CLIMB:
+            print 'CLIMB:' + str(data[dbus.UInt64(key)])
+        if key == SPEED:
+            print 'SPEED:' + str(data[dbus.UInt64(key)])
+        if key == HEADING:
+            print 'HEADING:' + str(data[dbus.UInt64(key)])
 
 #add signal receiver
 bus.add_signal_receiver(catchall_positioning_signals_handler, \
diff --git a/gnss-service/CMakeLists.txt b/gnss-service/CMakeLists.txt
index 83dde1b..ddf8fab 100644
--- a/gnss-service/CMakeLists.txt
+++ b/gnss-service/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -31,6 +34,9 @@ option(WITH_REPLAYER
 option(WITH_TESTS
     "Compile test applications" OFF)
 
+option(WITH_DEBUG 
+	"Enable the debug messages" OFF)
+
 SET(CMAKE_INSTALL_RPATH "")
 #SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE) 
 
diff --git a/gnss-service/api/gnss.h b/gnss-service/api/gnss.h
index 9c72c71..21d18a3 100644
--- a/gnss-service/api/gnss.h
+++ b/gnss-service/api/gnss.h
@@ -103,7 +103,8 @@ typedef enum {
  * Note: the uncommon numbering of day and month is chosen to be compatible with the struct tm from the standard C-Library
  */
 typedef struct {
-    uint64_t timestamp;             /**< Timestamp of the acquisition of the UTC date/time. */
+    uint64_t timestamp;             /**< Timestamp of the acquisition of the UTC date/time [ms].
+                                         All sensor/GNSS timestamps must be based on the same time source. */
     uint16_t year;                  /**< Year fraction of the UTC time. Unit: [year] Number equivalent to the year (4 digits) */
     uint8_t month;                  /**< Month fraction of the UTC time. Unit: [month] Number betweeen 0 and 11 */
     uint8_t day;                    /**< Day of month fraction of the UTC time. Unit: [day]. Number between 1 and 31 */   
@@ -162,7 +163,8 @@ typedef enum {
  * Detailed data from one GNSS satellite.
  */
 typedef struct {
-    uint64_t timestamp;             /**< Timestamp of the acquisition of the satellite detail data. */
+    uint64_t timestamp;             /**< Timestamp of the acquisition of the satellite detail data [ms].
+                                         All sensor/GNSS timestamps must be based on the same time source. */
     EGNSSSystem system;             /**< Value representing the GNSS system. */
     uint16_t satelliteId;           /**< Satellite ID.
                                          Satellite IDs are only unique within one satellite system.
@@ -224,7 +226,8 @@ typedef enum {
  * for positioning applications such as GNSS/Dead Reckoning sensor fusion.
  */
 typedef struct {
-    uint64_t timestamp;             /**< Timestamp of the acquisition of the GNSS data. [ms] */ 
+    uint64_t timestamp;             /**< Timestamp of the acquisition of the GNSS data [ms].
+                                         All sensor/GNSS timestamps must be based on the same time source. */
     //position
     double latitude;                /**< Latitude in WGS84 in degrees. */ 
     double longitude;               /**< Longitude in WGS84 in degrees. */ 
diff --git a/gnss-service/src/CMakeLists.txt b/gnss-service/src/CMakeLists.txt
index fa6dbbb..f4c66db 100644
--- a/gnss-service/src/CMakeLists.txt
+++ b/gnss-service/src/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -21,6 +24,7 @@ message(STATUS "WITH_DLT = ${WITH_DLT}")
 message(STATUS "WITH_GPSD = ${WITH_GPSD}")
 message(STATUS "WITH_REPLAYER = ${WITH_REPLAYER}")
 message(STATUS "WITH_TESTS = ${WITH_TESTS}")
+message(STATUS "WITH_DEBUG = ${WITH_DEBUG}")
 
 include_directories("${PROJECT_SOURCE_DIR}/api")
 
@@ -36,6 +40,10 @@ if(WITH_DLT)
     set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES})
 endif()
 
+if(WITH_DEBUG)
+    add_definitions("-DDEBUG_ENABLED=1")
+endif()
+
 if(WITH_GPSD)
     pkg_check_modules(GPSD libgps>=2.94)
     #generate library using gpsd as input
diff --git a/gnss-service/src/log.h b/gnss-service/src/log.h
index f310461..4d946fb 100644
--- a/gnss-service/src/log.h
+++ b/gnss-service/src/log.h
@@ -20,7 +20,7 @@
 #define INCLUDE_LOG
 
 // turn-on via cmake define:
-// $ cmake -DWITH_DLT=1 ..
+// $ cmake -DWITH_DLT=1 -DDEBUG_ENABLED=1 ..
 
 #if (!DLT_ENABLED)
 /*****************************************************************************/
@@ -46,6 +46,22 @@ typedef const char* NoDltContext;
 #define dlt_free() ;
 
 // log calls
+#if (!DEBUG_ENABLED)
+
+#define LOG_VERBOSE_MSG(context, msg) ;
+#define LOG_VERBOSE(context, fmt, ...) ;
+
+#define LOG_DEBUG_MSG(context, msg) ;
+#define LOG_DEBUG(context, fmt, ...) ;
+
+#define LOG_INFO_MSG(context, msg) ;
+#define LOG_INFO(context, fmt, ...) ;
+
+#define LOG_WARNING_MSG(context, msg) ;
+#define LOG_WARNING(context, fmt, ...) ;
+
+#else
+
 #define LOG_VERBOSE_MSG(context, msg) \
         fprintf(stderr, "[VERBO][%4s] " msg "\n", context)
 #define LOG_VERBOSE(context, fmt, ...) \
@@ -65,6 +81,7 @@ typedef const char* NoDltContext;
         fprintf(stderr, "[WARN ][%4s] " msg "\n", context)
 #define LOG_WARNING(context, fmt, ...) \
         fprintf(stderr, "[WARN ][%4s] " fmt "\n", context, __VA_ARGS__)
+#endif
 
 #define LOG_ERROR_MSG(context, msg) \
         fprintf(stderr, "[ERROR][%4s] " msg "\n", context)
diff --git a/gnss-service/test/CMakeLists.txt b/gnss-service/test/CMakeLists.txt
index c40ef32..78f87bc 100755
--- a/gnss-service/test/CMakeLists.txt
+++ b/gnss-service/test/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -20,6 +23,7 @@ message(STATUS "GNSS-SERVICE-CLIENT")
 message( STATUS "WITH_DLT = ${WITH_DLT}")
 message( STATUS "WITH_GPSD = ${WITH_GPSD}")
 message( STATUS "WITH_REPLAYER = ${WITH_REPLAYER}")
+message(STATUS "WITH_DEBUG = ${WITH_DEBUG}")
 
 include_directories("${PROJECT_SOURCE_DIR}/api")
 include_directories("${PROJECT_SOURCE_DIR}/src")
@@ -46,5 +50,9 @@ if(WITH_DLT)
     set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES})
 endif()
 
+if(WITH_DEBUG)
+    add_definitions("-DDEBUG_ENABLED=1")
+endif()
+
 target_link_libraries(gnss-service-client ${LIBRARIES})
 
diff --git a/gnss-service/test/compliance-test/CMakeLists.txt b/gnss-service/test/compliance-test/CMakeLists.txt
index 51da891..416eb75 100644
--- a/gnss-service/test/compliance-test/CMakeLists.txt
+++ b/gnss-service/test/compliance-test/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -20,6 +23,7 @@ message(STATUS "GNSS-SERVICE-COMPLIANCE-TEST")
 message( STATUS "WITH_DLT = ${WITH_DLT}")
 message( STATUS "WITH_GPSD = ${WITH_GPSD}")
 message( STATUS "WITH_REPLAYER = ${WITH_REPLAYER}")
+message(STATUS "WITH_DEBUG = ${WITH_DEBUG}")
 
 include_directories("${PROJECT_SOURCE_DIR}/api")
 include_directories("${PROJECT_SOURCE_DIR}/src")
@@ -47,5 +51,9 @@ if(WITH_DLT)
     set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES})
 endif()
 
+if(WITH_DEBUG)
+    add_definitions("-DDEBUG_ENABLED=1")
+endif()
+
 target_link_libraries(gnss-service-compliance-test ${LIBRARIES})
 
diff --git a/gnss-service/test/compliance-test/gnss-service-compliance-test.c b/gnss-service/test/compliance-test/gnss-service-compliance-test.c
index 2856b4b..760ae9f 100644
--- a/gnss-service/test/compliance-test/gnss-service-compliance-test.c
+++ b/gnss-service/test/compliance-test/gnss-service-compliance-test.c
@@ -70,7 +70,7 @@ bool checkMajorVersion(int expectedMajor)
 
 bool init()
 {
-    if(!checkMajorVersion(2))
+    if(!checkMajorVersion(GENIVI_GNSS_API_MAJOR))
     {
         return false;
     }
diff --git a/gnss-service/test/gnss-service-client.c b/gnss-service/test/gnss-service-client.c
index c928380..420b257 100644
--- a/gnss-service/test/gnss-service-client.c
+++ b/gnss-service/test/gnss-service-client.c
@@ -134,7 +134,7 @@ bool checkMajorVersion(int expectedMajor)
 
 void init()
 {
-    if(!checkMajorVersion(3))
+    if(!checkMajorVersion(GENIVI_GNSS_API_MAJOR))
     {
         exit(EXIT_FAILURE);
     }
diff --git a/log-replayer/CMakeLists.txt b/log-replayer/CMakeLists.txt
index f13e1ec..3d21b2b 100644
--- a/log-replayer/CMakeLists.txt
+++ b/log-replayer/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -25,6 +28,9 @@ option(WITH_DLT
 option(WITH_TESTS
     "Compile test applications" OFF)
     
+option(WITH_DEBUG 
+	"Enable the debug messages" OFF)
+
 message(STATUS)
 message(STATUS "---------------------------------------------------------")
 
diff --git a/log-replayer/src/log.h b/log-replayer/src/log.h
index a683b6f..fa5c3ca 100644
--- a/log-replayer/src/log.h
+++ b/log-replayer/src/log.h
@@ -20,7 +20,7 @@
 #define INCLUDE_LOG
 
 // turn-on via cmake define:
-// $ cmake -DWITH_DLT=1 ..
+// $ cmake -DWITH_DLT=1 -DDEBUG_ENABLED=1 ..
 
 #if (!DLT_ENABLED)
 /*****************************************************************************/
@@ -46,6 +46,22 @@ typedef const char* NoDltContext;
 #define dlt_free() ;
 
 // log calls
+#if (!DEBUG_ENABLED)
+
+#define LOG_VERBOSE_MSG(context, msg) ;
+#define LOG_VERBOSE(context, fmt, ...) ;
+
+#define LOG_DEBUG_MSG(context, msg) ;
+#define LOG_DEBUG(context, fmt, ...) ;
+
+#define LOG_INFO_MSG(context, msg) ;
+#define LOG_INFO(context, fmt, ...) ;
+
+#define LOG_WARNING_MSG(context, msg) ;
+#define LOG_WARNING(context, fmt, ...) ;
+
+#else
+
 #define LOG_VERBOSE_MSG(context, msg) \
         fprintf(stderr, "[VERBO][%4s] " msg "\n", context)
 #define LOG_VERBOSE(context, fmt, ...) \
@@ -65,6 +81,7 @@ typedef const char* NoDltContext;
         fprintf(stderr, "[WARN ][%4s] " msg "\n", context)
 #define LOG_WARNING(context, fmt, ...) \
         fprintf(stderr, "[WARN ][%4s] " fmt "\n", context, __VA_ARGS__)
+#endif
 
 #define LOG_ERROR_MSG(context, msg) \
         fprintf(stderr, "[ERROR][%4s] " msg "\n", context)
diff --git a/log-replayer/test/CMakeLists.txt b/log-replayer/test/CMakeLists.txt
index eab70a9..a0cb59c 100644
--- a/log-replayer/test/CMakeLists.txt
+++ b/log-replayer/test/CMakeLists.txt
@@ -13,11 +13,15 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
 message(STATUS "TEST-LOG-REPLAYER")
 message(STATUS "WITH_DLT = ${WITH_DLT}")
+message(STATUS "WITH_DEBUG = ${WITH_DEBUG}")
 
 include_directories("${PROJECT_SOURCE_DIR}/src")
 
@@ -35,6 +39,10 @@ if(WITH_DLT)
     set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES})
 endif()
 
+if(WITH_DEBUG)
+    add_definitions("-DDEBUG_ENABLED=1")
+endif()
+
 target_link_libraries(test-log-replayer ${LIBRARIES})
 
 
diff --git a/sensors-service/CMakeLists.txt b/sensors-service/CMakeLists.txt
index 07a7ba9..b51fef7 100644
--- a/sensors-service/CMakeLists.txt
+++ b/sensors-service/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -34,6 +37,9 @@ option(WITH_IPHONE
 option(WITH_TESTS
     "Compile test applications" OFF)
 
+option(WITH_DEBUG 
+	"Enable the debug messages" OFF)
+
 message(STATUS)
 message(STATUS "---------------------------------------------------------")
 
diff --git a/sensors-service/api/sns-init.h b/sensors-service/api/sns-init.h
index 026d6ed..f409166 100644
--- a/sensors-service/api/sns-init.h
+++ b/sensors-service/api/sns-init.h
@@ -12,7 +12,7 @@
 #define INCLUDE_GENIVI_SNS
 
 // API Version
-#define GENIVI_SNS_API_MAJOR 2
+#define GENIVI_SNS_API_MAJOR 3
 #define GENIVI_SNS_API_MINOR 0
 #define GENIVI_SNS_API_MICRO 0
 
diff --git a/sensors-service/src/CMakeLists.txt b/sensors-service/src/CMakeLists.txt
index c4c5aed..f0b5ea6 100644
--- a/sensors-service/src/CMakeLists.txt
+++ b/sensors-service/src/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -21,6 +24,7 @@ message(STATUS "WITH_DLT = ${WITH_DLT}")
 message(STATUS "WITH_IPHONE = ${WITH_IPHONE}")
 message(STATUS "WITH_REPLAYER = ${WITH_REPLAYER}")
 message(STATUS "WITH_TESTS = ${WITH_TESTS}")
+message(STATUS "WITH_DEBUG = ${WITH_DEBUG}")
 
 include_directories("${PROJECT_SOURCE_DIR}/api")
 
@@ -36,6 +40,10 @@ if(WITH_DLT)
     set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES})
 endif()
 
+if(WITH_DEBUG)
+    add_definitions("-DDEBUG_ENABLED=1")
+endif()
+
 if(WITH_IPHONE)
     #generate library using iphone as input
     set(LIB_SRC_USE_IPHONE ${CMAKE_SOURCE_DIR}/src/sns-use-iphone.c 
diff --git a/sensors-service/src/log.h b/sensors-service/src/log.h
index a683b6f..fa5c3ca 100644
--- a/sensors-service/src/log.h
+++ b/sensors-service/src/log.h
@@ -20,7 +20,7 @@
 #define INCLUDE_LOG
 
 // turn-on via cmake define:
-// $ cmake -DWITH_DLT=1 ..
+// $ cmake -DWITH_DLT=1 -DDEBUG_ENABLED=1 ..
 
 #if (!DLT_ENABLED)
 /*****************************************************************************/
@@ -46,6 +46,22 @@ typedef const char* NoDltContext;
 #define dlt_free() ;
 
 // log calls
+#if (!DEBUG_ENABLED)
+
+#define LOG_VERBOSE_MSG(context, msg) ;
+#define LOG_VERBOSE(context, fmt, ...) ;
+
+#define LOG_DEBUG_MSG(context, msg) ;
+#define LOG_DEBUG(context, fmt, ...) ;
+
+#define LOG_INFO_MSG(context, msg) ;
+#define LOG_INFO(context, fmt, ...) ;
+
+#define LOG_WARNING_MSG(context, msg) ;
+#define LOG_WARNING(context, fmt, ...) ;
+
+#else
+
 #define LOG_VERBOSE_MSG(context, msg) \
         fprintf(stderr, "[VERBO][%4s] " msg "\n", context)
 #define LOG_VERBOSE(context, fmt, ...) \
@@ -65,6 +81,7 @@ typedef const char* NoDltContext;
         fprintf(stderr, "[WARN ][%4s] " msg "\n", context)
 #define LOG_WARNING(context, fmt, ...) \
         fprintf(stderr, "[WARN ][%4s] " fmt "\n", context, __VA_ARGS__)
+#endif
 
 #define LOG_ERROR_MSG(context, msg) \
         fprintf(stderr, "[ERROR][%4s] " msg "\n", context)
diff --git a/sensors-service/test/CMakeLists.txt b/sensors-service/test/CMakeLists.txt
index 8b67f2a..d977016 100644
--- a/sensors-service/test/CMakeLists.txt
+++ b/sensors-service/test/CMakeLists.txt
@@ -13,6 +13,9 @@
 # Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
 # this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 #
+# Update (2014/12/02) : Philippe Colliot <philippe.colliot@mpsa.com>,
+#				PSA Peugeot Citroen
+#		- introduce debug flag to disable verbosity
 # @licence end@
 ###########################################################################
 
@@ -20,6 +23,7 @@ message(STATUS "SENSORS-SERVICE-CLIENT")
 message(STATUS "WITH_DLT = ${WITH_DLT}")
 message(STATUS "WITH_IPHONE = ${WITH_IPHONE}")
 message(STATUS "WITH_REPLAYER = ${WITH_REPLAYER}")
+message(STATUS "WITH_DEBUG = ${WITH_DEBUG}")
 
 include_directories("${PROJECT_SOURCE_DIR}/api")
 include_directories("${PROJECT_SOURCE_DIR}/src")
@@ -43,6 +47,10 @@ if(WITH_DLT)
     set(LIBRARIES ${LIBRARIES} ${DLT_LIBRARIES})
 endif()
 
+if(WITH_DEBUG)
+    add_definitions("-DDEBUG_ENABLED=1")
+endif()
+
 set(SRCS ${CMAKE_SOURCE_DIR}/test/sensors-service-client.c)
 add_executable(sensors-service-client ${SRCS})
 target_link_libraries(sensors-service-client ${LIBRARIES})
diff --git a/sensors-service/test/sensors-service-client.c b/sensors-service/test/sensors-service-client.c
index c0b9b1a..beb9738 100644
--- a/sensors-service/test/sensors-service-client.c
+++ b/sensors-service/test/sensors-service-client.c
@@ -117,7 +117,7 @@ bool checkMajorVersion(int expectedMajor)
 
 void init()
 {
-    if(!checkMajorVersion(2))
+    if(!checkMajorVersion(GENIVI_SNS_API_MAJOR))
     {
     	exit(EXIT_FAILURE);
     }