From b6fc0eeaddf4edb45983a0d801f7a803d2e49327 Mon Sep 17 00:00:00 2001
From: David Rocha <dmtar@ua.pt>
Date: Fri, 14 Jan 2022 18:22:22 +0000
Subject: [PATCH 1/2] add can bus shmem readings; still have to decide what to
 process

---
 src/CMakeLists.txt |  1 +
 src/cam.c          | 21 +++++++++++++++++++++
 2 files changed, 22 insertions(+)

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index ba7d9f0..1f335a9 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -28,6 +28,7 @@ TARGET_LINK_LIBRARIES(it2s-itss-facilities
     -lit2s-asn-tpm
     -lit2s-tender
     -lm
+    -lrt
 )
 
 INSTALL(
diff --git a/src/cam.c b/src/cam.c
index 78ab791..d2a2eb3 100644
--- a/src/cam.c
+++ b/src/cam.c
@@ -7,16 +7,20 @@
 #include <itss-management/ManagementRequest.h>
 #include <camv2/CAM.h>
 
+#include <sys/mman.h>
 #include <stdint.h>
 #include <time.h>
 #include <zmq.h>
 #include <unistd.h>
 #include <syslog.h>
 #include <math.h>
+#include <fcntl.h>
 
 #include <it2s-tender/space.h>
 #include <it2s-tender/time.h>
 
+#include <it2s-obd/shmem.h>
+
 #define syslog_info(msg, ...) syslog(LOG_INFO, msg, ##__VA_ARGS__)
 #define syslog_emerg(msg, ...) syslog(LOG_EMERG, "%s:%d [" msg "]",  __func__, __LINE__, ##__VA_ARGS__)
 #define syslog_err(msg, ...) syslog(LOG_ERR, "%s:%d [" msg "]",  __func__, __LINE__, ##__VA_ARGS__)
@@ -88,6 +92,17 @@ static int permissions_check(int cid, uint8_t* permissions, uint8_t permissions_
 
 static int mk_cam(facilities_t* facilities, uint8_t *cam_oer, uint32_t *cam_len) {
     int rv = 0;
+    int shm_fd, shm_valid = 0;
+
+    shm_fd = shm_open("it2s-bluetooth-decoded", O_RDONLY, 0666);
+    if(shm_fd == -1)
+        syslog_err("[facilities] failed to open CAN shared memory\n");
+
+    decoded_can_values_shm *shared_message = (decoded_can_values_shm *)mmap(0, sizeof(decoded_can_values_shm), PROT_READ, MAP_SHARED, shm_fd, 0);
+    if(shared_message == MAP_FAILED)
+        syslog_err("[facilities] failed to map CAN shared memory\n");
+    else
+        shm_valid = 1;
 
     CAM_t *cam = calloc(1, sizeof(CAM_t));
 
@@ -289,6 +304,12 @@ static int mk_cam(facilities_t* facilities, uint8_t *cam_oer, uint32_t *cam_len)
         goto cleanup; 
     }
     *cam_len = (enc.encoded + 7) / 8;
+    
+    if(shm_valid){
+        munmap(shared_message, sizeof(can_values_shm));
+        if(close(shm_fd) == -1)
+            syslog_err("[facilities] failed to close CAN shared memory\n");
+    }
 
 cleanup:
     ASN_STRUCT_FREE(asn_DEF_CAM, cam);

From 6fc48c16885e2f71f62a2cda0b23465a0af021da Mon Sep 17 00:00:00 2001
From: David Rocha <dmtar@ua.pt>
Date: Fri, 14 Jan 2022 18:33:28 +0000
Subject: [PATCH 2/2] add it2s-obd to ci

---
 .gitlab-ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 65a0f10..ccb9d3d 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -8,7 +8,7 @@ stages:
 
 .dependencies:
   before_script: 
-    - pacman -Sy zeromq it2s-config-git it2s-asn-git it2s-tender-git it2s-gps-git --overwrite=* --noconfirm
+    - pacman -Sy zeromq it2s-config-git it2s-asn-git it2s-tender-git it2s-gps-git it2s-obd-git --overwrite=* --noconfirm
 
 build:
   stage: build