add can bus shmem readings; still have to decide what to process

src/CMakeLists.txt

@@ -28,6 +28,7 @@ TARGET_LINK_LIBRARIES(it2s-itss-facilities
     -lit2s-asn-tpm
     -lit2s-tender
     -lm
+    -lrt
 )
 
 INSTALL(

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));
 
@@ -290,6 +305,12 @@ static int mk_cam(facilities_t* facilities, uint8_t *cam_oer, uint32_t *cam_len)
     }
     *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);