#include "cam.h"
#include "facilities.h"

#include <camv2/INTEGER.h>
#include <itss-transport/TransportRequest.h>
#include <itss-facilities/FacilitiesIndication.h>
#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-tender/database.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__)

#ifndef NDEBUG
#define syslog_debug(msg, ...) syslog(LOG_DEBUG, "%s:%d " msg "", __func__, __LINE__, ##__VA_ARGS__)
#else
#define syslog_debug(msg, ...)
#endif

#define LEAP_SECONDS 5

#define EARTH_RADIUS 6369000
#define RAD_PER_DEG M_PI/180.0

double haversine(double lat1, double lon1, double lat2, double lon2) {
    double d_lat = (lat1-lat2) * RAD_PER_DEG;
    double d_lon = (lon1-lon2) * RAD_PER_DEG;

    double a = pow(sin(d_lat/2.0), 2) + cos(lat1 * RAD_PER_DEG) * cos(lat2 * RAD_PER_DEG) * pow(sin(d_lon/2.0), 2);
    double c = 2 * atan2(sqrt(a), sqrt(1-a));
    return EARTH_RADIUS * c;
}


const cid_ssp_bm_t CID_SSP_BM_MAP[] = {
    {"CenDsrcTollingZone/ProtectedCommunicationZonesRSU",                            0x8000},
    {"publicTransport/publicTransportContainer",                                     0x4000},
    {"specialTransport/specialTransportContainer",                                   0x2000},
    {"dangerousGoods/dangerousGoodsContainer",                                       0x1000},
    {"roadwork/roadWorksContainerBasic",                                             0x0800},
    {"rescue/rescueContainer",                                                       0x0400},
    {"emergency/emergencyContainer",                                                 0x0200},
    {"safetyCar/safetyCarContainer",                                                 0x0100},
    {"closedLanes/RoadworksContainerBasic",                                          0x0080},
    {"requestForRightOfWay/EmergencyContainer: EmergencyPriority",                   0x0040},
    {"requestForFreeCrossingAtATrafficLight/EmergencyContainer: EmergencyPriority",  0x0020},
    {"noPassing/SafetyCarContainer: TrafficRule",                                    0x0010},
    {"noPassingForTrucks/SafetyCarContainer: TrafficRule",                           0x0008},
    {"speedLimit/SafetyCarContainer",                                                0x0004},
    {"reserved0",                                                                    0x0002},
    {"reserved1",                                                                    0x0001},
};

static int permissions_check(int cid, uint8_t* permissions, uint8_t permissions_len) {
    /* CAM SSP scheme
     *
     * byte | description
     * ---------------------------------
     * 0    | SSP version control
     * 1-2  | Service-specific parameter
     * 3-30 | Reserved
     */

    if (permissions_len < 3) {
        syslog_debug("[facilities] [ca] permissions length too small");
        return 0;
    }

    uint16_t perms_int = *(uint16_t*)(permissions+1);

    uint16_t perm_val = CID_SSP_BM_MAP[cid].bitmap_val;
    perm_val = (perm_val>>8) | (perm_val<<8);

    if ((perm_val & perms_int) == perm_val) return 1;
    else return 0;

}

static int mk_cam(facilities_t* facilities, uint8_t *cam_oer, uint32_t *cam_len) {
    int rv = 0;
    int shm_fd, shm_valid = 0;
    decoded_can_values_shm* shared_message;

    if(facilities->lightship->use_obd){
        shm_fd = shm_open("it2s-bluetooth-decoded", O_RDONLY, 0666);
        if(shm_fd == -1)
            syslog_err("[facilities] failed to open CAN shared memory\n");
        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");
    }

    CAM_t *cam = calloc(1, sizeof(CAM_t));

    cam->header.protocolVersion = 2;
    cam->header.messageID = ItsPduHeader__messageID_cam;
    pthread_mutex_lock(&facilities->id.lock);
    cam->header.stationID = facilities->id.station_id;
    pthread_mutex_unlock(&facilities->id.lock);
    cam->cam.camParameters.basicContainer.stationType = facilities->station_type;

    BasicContainer_t* bc = &cam->cam.camParameters.basicContainer;

    uint64_t now = it2s_tender_get_clock(&facilities->epv);

    lightship_t* lightship = facilities->lightship;
    pthread_mutex_lock(&lightship->lock);

    if (facilities->station_type != StationType_roadSideUnit) {
        cam->cam.generationDeltaTime = now % 65536;

        it2s_tender_lock_space(&facilities->epv);
        it2s_tender_get_space(&facilities->epv);
        bc->referencePosition.altitude.altitudeValue = facilities->epv.space.altitude;
        bc->referencePosition.altitude.altitudeConfidence = facilities->epv.space.altitude_conf;

        // Set GPS coordinates
        bc->referencePosition.latitude = facilities->epv.space.latitude;
        bc->referencePosition.longitude = facilities->epv.space.longitude;
        uint16_t lat_conf = facilities->epv.space.latitude_conf;
        uint16_t lon_conf = facilities->epv.space.longitude_conf;

        cam->cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency;
        BasicVehicleContainerHighFrequency_t* bvc_hf = &cam->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency;

	if(facilities->lightship->use_obd){
	    uint8_t ac = 0x00;

	    // Speed (already getting set bellow)
            // bvc_hf.speed.speedValue = ceil(shared_message->speed_value ÷ 0.036);
	    // bvc_hf_speed.speedConfidence = 1;

	    // Steering Wheel Angle
	    if(shared_message->w_angle_value != 1683 && (now/1000 - shared_message->w_angle_timestamp) <= 1){
	        bvc_hf->steeringWheelAngle = calloc(1, sizeof(SteeringWheelAngle_t));
            	bvc_hf->steeringWheelAngle->steeringWheelAngleValue = shared_message->w_angle_value;
		bvc_hf->steeringWheelAngle->steeringWheelAngleConfidence = 1;
	    }
	    // still missing temperature; where is de_temperature ?

	    // Acceleration Control (encondig failure)
	    if(shared_message->b_pedal_value != 1683 && shared_message->s_pedal_value != 1683 && (now/1000 - shared_message->b_pedal_timestamp) <= 1 && (now - shared_message->s_pedal_timestamp) <= 1){
	        if(shared_message->b_pedal_value)
		    ac = ac | 0x80;
	        if(shared_message->s_pedal_value)
		    ac = ac | 0x40;
	    	bvc_hf->accelerationControl = calloc(1, sizeof(AccelerationControl_t));
	    	bvc_hf->accelerationControl->buf = malloc(sizeof(uint8_t));
	    	memcpy(bvc_hf->accelerationControl->buf, &ac, 1);
	    	bvc_hf->accelerationControl->size = 1;
	    	bvc_hf->accelerationControl->bits_unused = 1;
	    }
        }

        // Set speed
        bvc_hf->speed.speedValue = facilities->epv.space.speed;
        bvc_hf->speed.speedConfidence = facilities->epv.space.speed_conf;

        // Set heading
        bvc_hf->heading.headingValue = facilities->epv.space.heading;
        bvc_hf->heading.headingConfidence = facilities->epv.space.heading_conf;

        it2s_tender_unlock_space(&facilities->epv);

        if (lat_conf > lon_conf) {
            bc->referencePosition.positionConfidenceEllipse.semiMinorConfidence = lon_conf;
            bc->referencePosition.positionConfidenceEllipse.semiMajorConfidence = lat_conf;
            bc->referencePosition.positionConfidenceEllipse.semiMajorOrientation = 0;
        } else {
            bc->referencePosition.positionConfidenceEllipse.semiMinorConfidence = lon_conf;
            bc->referencePosition.positionConfidenceEllipse.semiMajorConfidence = lat_conf;
            bc->referencePosition.positionConfidenceEllipse.semiMajorOrientation = 900;
        }

        bvc_hf->vehicleWidth = facilities->vehicle.width;
        bvc_hf->vehicleLength.vehicleLengthValue = facilities->vehicle.length;
        bvc_hf->vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable;
        bvc_hf->longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable;
        bvc_hf->longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable;

        bvc_hf->driveDirection = DriveDirection_unavailable;
        bvc_hf->curvature.curvatureValue = CurvatureValue_unavailable;
        bvc_hf->curvature.curvatureConfidence = CurvatureConfidence_unavailable;
        bvc_hf->yawRate.yawRateValue = YawRateValue_unavailable;
        bvc_hf->yawRate.yawRateConfidence = YawRateConfidence_unavailable;

        // Save current values
        if (lightship->pos_history_len == POS_HISTORY_MAX_LEN) {
            free(lightship->pos_history[POS_HISTORY_MAX_LEN-1]); 
            --lightship->pos_history_len;
        }

        for (int i = lightship->pos_history_len-1; i >= 0; --i) {
            lightship->pos_history[i+1] = lightship->pos_history[i];
        }

        lightship->pos_history[0] = malloc(sizeof(pos_vector_t));
        lightship->pos_history[0]->heading = bvc_hf->heading.headingValue;
        lightship->pos_history[0]->lat = bc->referencePosition.latitude;
        lightship->pos_history[0]->lon = bc->referencePosition.longitude;
        lightship->pos_history[0]->alt = bc->referencePosition.altitude.altitudeValue;
        lightship->pos_history[0]->speed = bvc_hf->speed.speedValue;

        lightship->last_cam = now;
        lightship->pos_history[0]->ts = now;

        ++lightship->pos_history_len;

        // Acceleration
        if (lightship->pos_history_len > 1) {
            double delta_angle = (lightship->pos_history[0]->heading - lightship->pos_history[1]->heading) / 10.0; /* 1º */
            double delta_speed = (lightship->pos_history[0]->speed - (lightship->pos_history[1]->speed * cos(delta_angle * M_PI/180))) / 10.0; /* 0.1 m/s */
            int16_t long_a =  (int16_t) (delta_speed / (double) ((lightship->pos_history[0]->ts - lightship->pos_history[1]->ts) / 1000)); /* 0.1 m/s^2 */

            if (long_a > 160) long_a = 160;
            else if (long_a < -160) long_a = -160;

            bvc_hf->longitudinalAcceleration.longitudinalAccelerationValue = long_a;
            bvc_hf->longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable;
        } else {
            bvc_hf->longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable;
            bvc_hf->longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable;
        }

        // Low frequency container
        if (now > lightship->last_cam_lfc + 500) {
            cam->cam.camParameters.lowFrequencyContainer = calloc(1, sizeof(LowFrequencyContainer_t));

            cam->cam.camParameters.lowFrequencyContainer->present = LowFrequencyContainer_PR_basicVehicleContainerLowFrequency;

	    BasicVehicleContainerLowFrequency_t* bvc_lf = &cam->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency;

	    if(facilities->lightship->use_obd){
	        uint8_t el = 0x00;

		// Exterior Lights
		if(shared_message->lights_value != 1683 && (now/1000 - shared_message->lights_timestamp) <= 1){
                    if(shared_message->lights_value)
                    	el = el | 0x80;
             	    bvc_lf->exteriorLights.buf = malloc(sizeof(uint8_t));
             	    memcpy(bvc_lf->exteriorLights.buf, &el, 1);
             	    bvc_lf->exteriorLights.size = 1;
             	    bvc_lf->exteriorLights.bits_unused = 0;
		}
	    }

            PathHistory_t* ph = &cam->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory;

            ph->list.array = malloc((lightship->pos_history_len-1) * sizeof(void*));
            ph->list.count = lightship->pos_history_len-1;
            ph->list.size = (lightship->pos_history_len-1) * sizeof(void*);

            for (int i = 0; i < lightship->pos_history_len-1; ++i) {
                ph->list.array[i] = calloc(1,sizeof(PathPoint_t));

                if (lightship->pos_history[i+1]->alt != AltitudeValue_unavailable && lightship->pos_history[i]->alt != AltitudeValue_unavailable) {
                    ph->list.array[i]->pathPosition.deltaAltitude = lightship->pos_history[i+1]->alt - lightship->pos_history[i]->alt;
                } else {
                    ph->list.array[i]->pathPosition.deltaAltitude = DeltaAltitude_unavailable;
                }

                if (lightship->pos_history[i+1]->lat != Latitude_unavailable && lightship->pos_history[i]->lat != Latitude_unavailable) {
                    ph->list.array[i]->pathPosition.deltaLatitude = lightship->pos_history[i+1]->lat - lightship->pos_history[i]->lat;
                } else {
                    ph->list.array[i]->pathPosition.deltaLatitude = DeltaLatitude_unavailable;
                }

                if (lightship->pos_history[i+1]->lon != Longitude_unavailable && lightship->pos_history[i]->lon != Longitude_unavailable) {
                    ph->list.array[i]->pathPosition.deltaLongitude = lightship->pos_history[i+1]->lon - lightship->pos_history[i]->lon;
                } else {
                    ph->list.array[i]->pathPosition.deltaLongitude = DeltaLongitude_unavailable;
                }

                ph->list.array[i]->pathDeltaTime = calloc(1,sizeof(PathDeltaTime_t));
                *ph->list.array[i]->pathDeltaTime = (lightship->pos_history[i]->ts - lightship->pos_history[i+1]->ts)/10;
            }

            lightship->last_cam_lfc = now;
        } 

    } else {
        cam->cam.generationDeltaTime = now % 65536;

        it2s_tender_lock_space(&facilities->epv);
        it2s_tender_get_space(&facilities->epv);
        bc->referencePosition.altitude.altitudeValue = facilities->epv.space.altitude;
        bc->referencePosition.altitude.altitudeConfidence = facilities->epv.space.altitude_conf;

        // Set GPS coordinates
        bc->referencePosition.latitude = facilities->epv.space.latitude;
        bc->referencePosition.longitude = facilities->epv.space.longitude;
        bc->referencePosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable;
        bc->referencePosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable;
        bc->referencePosition.positionConfidenceEllipse.semiMajorOrientation = HeadingValue_unavailable;
        it2s_tender_unlock_space(&facilities->epv);

        cam->cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_rsuContainerHighFrequency;

        if (facilities->lightship->protected_zones.pz_len > 0) {
            cam->cam.camParameters.highFrequencyContainer.choice.rsuContainerHighFrequency.protectedCommunicationZonesRSU = calloc(1, sizeof(ProtectedCommunicationZonesRSU_t));
            ProtectedCommunicationZonesRSU_t *pzs = cam->cam.camParameters.highFrequencyContainer.choice.rsuContainerHighFrequency.protectedCommunicationZonesRSU;
            pzs->list.count = facilities->lightship->protected_zones.pz_len;
            pzs->list.size = facilities->lightship->protected_zones.pz_len * sizeof(void*);
            pzs->list.array = malloc(facilities->lightship->protected_zones.pz_len * sizeof(void*));
            for (int i = 0; i < facilities->lightship->protected_zones.pz_len; ++i) {
                pzs->list.array[i] = calloc(1, sizeof(ProtectedCommunicationZone_t));
                pzs->list.array[i]->protectedZoneLatitude = facilities->lightship->protected_zones.pz[i]->protectedZoneLatitude;
                pzs->list.array[i]->protectedZoneLongitude = facilities->lightship->protected_zones.pz[i]->protectedZoneLongitude;
                pzs->list.array[i]->protectedZoneType = facilities->lightship->protected_zones.pz[i]->protectedZoneType;

                if (facilities->lightship->protected_zones.pz[i]->expiryTime) {
                    pzs->list.array[i]->expiryTime->size = facilities->lightship->protected_zones.pz[i]->expiryTime->size;
                    pzs->list.array[i]->expiryTime->buf = malloc(facilities->lightship->protected_zones.pz[i]->expiryTime->size);
                    memcpy(pzs->list.array[i]->expiryTime->buf, facilities->lightship->protected_zones.pz[i]->expiryTime->buf, facilities->lightship->protected_zones.pz[i]->expiryTime->size);
                }
                if (facilities->lightship->protected_zones.pz[i]->protectedZoneID) {
                    pzs->list.array[i]->protectedZoneID = malloc(8);
                    *pzs->list.array[i]->protectedZoneID = *facilities->lightship->protected_zones.pz[i]->protectedZoneID;
                }
                if (facilities->lightship->protected_zones.pz[i]->protectedZoneRadius) {
                    pzs->list.array[i]->protectedZoneRadius = malloc(8);
                    *pzs->list.array[i]->protectedZoneRadius = *facilities->lightship->protected_zones.pz[i]->protectedZoneRadius;
                }
            }
        }
    }

    pthread_mutex_unlock(&facilities->lightship->lock);


    asn_enc_rval_t enc = uper_encode_to_buffer(&asn_DEF_CAM, NULL, cam, cam_oer, 512);
    if (enc.encoded == -1) {
        syslog_err("[facilities] [ca] failed encoding CAM (%s)", enc.failed_type->name);
        rv = 1;
        goto cleanup; 
    }
    *cam_len = (enc.encoded + 7) / 8;

    if(facilities->lightship->use_obd){
        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);

    return rv;
}


lightship_t* lightship_init() {
    lightship_t* lightship = (lightship_t*) calloc(1, sizeof(lightship_t));

    lightship->protected_zones.pz = calloc(256 , sizeof(void*));
    pthread_mutex_init(&lightship->lock, NULL);

    lightship->pos_history = malloc(POS_HISTORY_MAX_LEN * sizeof(void*));

    int shm_fd;

    shm_fd = shm_open("it2s-bluetooth-decoded", O_RDONLY, 0666);
    if(shm_fd == -1){
        syslog_debug("[facilities] obd shmem not found\n");
        lightship->use_obd = 0;
    }
    else{
	syslog_debug("[facilities] obd shmem found\n");
        lightship->use_obd = 1;
        close(shm_fd);
    }

    return lightship;
}


int lightship_check(lightship_t* lightship, it2s_tender_epv_t* epv) {
    int rv = 0;

    uint64_t now = it2s_tender_get_clock(epv);

    pthread_mutex_lock(&lightship->lock);

    if (lightship->type == StationType_roadSideUnit) { // RSU
        if (lightship->is_vehicle_near && now > lightship->next_cam_min) {
            rv = 1; 
        }
    } else { // Vehicle
        if (now > lightship->next_cam_max) {
            rv = 1;
        } else if (now > lightship->next_cam_min) {

            it2s_tender_lock_space(epv);
            it2s_tender_get_space(epv);

            // Check heading delta > 4º
            int diff = epv->space.heading - lightship->pos_history[0]->heading;
            if (abs(diff) > 40) rv = 1;

            if (!rv) {
                // Check speed delta > 0.5 m/s
                diff = epv->space.speed - lightship->pos_history[0]->speed;
                if (abs(diff) > 50) rv = 1;

                if (!rv) {
                    // Check position delta > 4 m
                    // TODO make an *accurate* distance calculator using GPS coords
                    int32_t avg_speed = (epv->space.speed + lightship->pos_history[0]->speed)/2 / 100; /* cm/s to m/s */
                    uint64_t delta_time = (now - lightship->last_cam) / 1000; /* ms to s */
                    if (avg_speed * delta_time > 4) rv = 1;
                }
            }
            it2s_tender_unlock_space(epv);
        }


        // Remove expired PZs
        for (int i = 0; i < lightship->protected_zones.pz_len; ++i) {
            uint64_t expiry;
            if (lightship->protected_zones.pz[i]->expiryTime) {
                asn_INTEGER2ulong(lightship->protected_zones.pz[i]->expiryTime, &expiry);
                if (now >= expiry) {
                    ASN_STRUCT_FREE(asn_DEF_ProtectedCommunicationZone, lightship->protected_zones.pz[i]);
                    for (int j = i; j < lightship->protected_zones.pz_len - 1; ++j) {
                        lightship->protected_zones.pz[j] = lightship->protected_zones.pz[j+1];
                    }
                    --lightship->protected_zones.pz_len;
                }
            }
        }
    }


    pthread_mutex_unlock(&lightship->lock);

    return rv;
}

void lightship_reset_timer(lightship_t* lightship, it2s_tender_epv_t* epv) {
    uint64_t now = it2s_tender_get_clock(epv);

    pthread_mutex_lock(&lightship->lock);

    if (lightship->type != StationType_roadSideUnit) { // Vehicle
        lightship->next_cam_max = now + lightship->vehicle_gen_max;
        lightship->next_cam_min = now + lightship->vehicle_gen_min;
    } else { // RSU
        if (now > lightship->last_vehicle + lightship->rsu_vehicle_permanence) {
            lightship->is_vehicle_near = false;
        }
        lightship->next_cam_min = now + lightship->rsu_gen_min;
    }

    pthread_mutex_unlock(&lightship->lock);
}

enum CAM_CHECK_R check_cam(void* fc, BTPPacketIndication_t *bpi, CAM_t* cam, it2s_tender_epv_t* epv, uint8_t* ssp, uint32_t ssp_len) {
    int rv = 0;
    facilities_t* facilities = (facilities_t*) fc;
    lightship_t *lightship = ((facilities_t*) fc)->lightship;

    uint64_t now = it2s_tender_get_clock(epv);

    // Check permissions
    if (ssp) {
        if (cam->cam.camParameters.highFrequencyContainer.present == HighFrequencyContainer_PR_rsuContainerHighFrequency &&
                cam->cam.camParameters.highFrequencyContainer.choice.rsuContainerHighFrequency.protectedCommunicationZonesRSU) {
            if (!permissions_check(CID_PROTECTED_ZONES, ssp, ssp_len)) {
                rv = CAM_BAD_PERMISSIONS; 
                syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_PROTECTED_ZONES].container);
                return rv;
            }
        }
        if (cam->cam.camParameters.specialVehicleContainer) {
            switch (cam->cam.camParameters.specialVehicleContainer->present) {
                case SpecialVehicleContainer_PR_NOTHING:
                    break;
                case SpecialVehicleContainer_PR_publicTransportContainer:
                    if (!permissions_check(CID_PUBLIC_TRANSPORT, ssp, ssp_len)) {
                        rv = CAM_BAD_PERMISSIONS; 
                        syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_PUBLIC_TRANSPORT].container);
                        return rv;
                    }
                    break;
                case SpecialVehicleContainer_PR_specialTransportContainer:
                    if (!permissions_check(CID_SPECIAL_TRANSPORT, ssp, ssp_len)) {
                        rv = CAM_BAD_PERMISSIONS; 
                        syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_SPECIAL_TRANSPORT].container);
                        return rv;
                    }
                    break;
                case SpecialVehicleContainer_PR_dangerousGoodsContainer:
                    if (!permissions_check(CID_DANGEROUS_GOODS, ssp, ssp_len)) {
                        rv = CAM_BAD_PERMISSIONS; 
                        syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_DANGEROUS_GOODS].container);
                        return rv;
                    }
                    break;
                case SpecialVehicleContainer_PR_roadWorksContainerBasic:
                    if (!permissions_check(CID_ROADWORK, ssp, ssp_len)) {
                        rv = CAM_BAD_PERMISSIONS; 
                        syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_ROADWORK].container);
                        return rv;
                    }
                    if (cam->cam.camParameters.specialVehicleContainer->choice.roadWorksContainerBasic.closedLanes) {
                        if (!permissions_check(CID_CLOSED_LANES, ssp, ssp_len)) {
                            rv = CAM_BAD_PERMISSIONS; 
                            syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_CLOSED_LANES].container);
                            return rv;
                        }
                    }
                    break;
                case SpecialVehicleContainer_PR_rescueContainer:
                    if (!permissions_check(CID_RESCUE, ssp, ssp_len)) {
                        rv = CAM_BAD_PERMISSIONS; 
                        syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_RESCUE].container);
                        return rv;
                    }
                    break;
                case SpecialVehicleContainer_PR_emergencyContainer:
                    if (!permissions_check(CID_EMERGENCY, ssp, ssp_len)) {
                        rv = CAM_BAD_PERMISSIONS; 
                        syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_EMERGENCY].container);
                        return rv;
                    }
                    if (cam->cam.camParameters.specialVehicleContainer->choice.emergencyContainer.emergencyPriority &&
                            cam->cam.camParameters.specialVehicleContainer->choice.emergencyContainer.emergencyPriority->buf) { 
                        // TODO verify bitmap
                        uint8_t bm = *cam->cam.camParameters.specialVehicleContainer->choice.emergencyContainer.emergencyPriority->buf;
                        if (bm & 0x02) {
                            if (!permissions_check(CID_REQUEST_FOR_RIGHT_OF_WAY, ssp, ssp_len)) {
                                rv = CAM_BAD_PERMISSIONS; 
                                syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_REQUEST_FOR_RIGHT_OF_WAY].container);
                                return rv;
                            }
                        }
                        if (bm & 0x01) {
                            if (!permissions_check(CID_REQUEST_FOR_FREE_CROSSING_AT_A_TRAFFIC_LIGHT, ssp, ssp_len)) {
                                rv = CAM_BAD_PERMISSIONS; 
                                syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_REQUEST_FOR_FREE_CROSSING_AT_A_TRAFFIC_LIGHT].container);
                                return rv;
                            }
                        }
                    }
                    break;
                case SpecialVehicleContainer_PR_safetyCarContainer:
                    if (!permissions_check(CID_SAFETY_CAR, ssp, ssp_len)) {
                        rv = CAM_BAD_PERMISSIONS; 
                        syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_SAFETY_CAR].container);
                        return rv;
                    }
                    if (cam->cam.camParameters.specialVehicleContainer->choice.safetyCarContainer.trafficRule) {
                        switch (*cam->cam.camParameters.specialVehicleContainer->choice.safetyCarContainer.trafficRule) {
                            case TrafficRule_noPassing:
                                if (!permissions_check(CID_NO_PASSING, ssp, ssp_len)) {
                                    rv = CAM_BAD_PERMISSIONS; 
                                    syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_NO_PASSING].container);
                                    return rv;
                                }
                                break;
                            case TrafficRule_noPassingForTrucks:
                                if (!permissions_check(CID_NO_PASSING_FOR_TRUCKS, ssp, ssp_len)) {
                                    rv = CAM_BAD_PERMISSIONS; 
                                    syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_NO_PASSING_FOR_TRUCKS].container);
                                    return rv;
                                }
                                break;
                            default:
                                break;
                        }
                    }

                    if (cam->cam.camParameters.specialVehicleContainer->choice.safetyCarContainer.speedLimit) {
                        if (!permissions_check(CID_SPEED_LIMIT, ssp, ssp_len)) {
                            rv = CAM_BAD_PERMISSIONS; 
                            syslog_debug("[facilities] [ca] received cam does not have permissions for '%s'", CID_SSP_BM_MAP[CID_SPEED_LIMIT].container);
                            return rv;
                        }
                    }
                    break;
            }
        }
    }

    pthread_mutex_lock(&lightship->lock);
    if (lightship->type == StationType_roadSideUnit) {
        // Send CAMs if vehicles nearby
        if (bpi->stationType != StationType_roadSideUnit && bpi->isNeighbour) {
            lightship->last_vehicle = now;
            lightship->is_vehicle_near = true;
        }
    } else {
        // Protected zones
        if (cam->cam.camParameters.basicContainer.stationType == StationType_roadSideUnit &&
                cam->cam.camParameters.highFrequencyContainer.choice.rsuContainerHighFrequency.protectedCommunicationZonesRSU) {
            ProtectedCommunicationZonesRSU_t *pzs = cam->cam.camParameters.highFrequencyContainer.choice.rsuContainerHighFrequency.protectedCommunicationZonesRSU;
            if (pzs->list.count > 0 && pzs->list.count + lightship->protected_zones.pz_len < 255) {

                bool new_pz = false;
                for (int k = 0; k < pzs->list.count; ++k) {

                    bool found = false;
                    for (int j = 0; j < lightship->protected_zones.pz_len; ++j) {
                        if (lightship->protected_zones.pz[j]->protectedZoneLatitude == pzs->list.array[k]->protectedZoneLatitude &&
                                lightship->protected_zones.pz[j]->protectedZoneLongitude == pzs->list.array[k]->protectedZoneLongitude) {
                            found = true; 
                            break;
                        }
                    }
                    if (found) continue;

                    new_pz = true;

                    lightship->protected_zones.pz[lightship->protected_zones.pz_len] = calloc(1, sizeof(ProtectedCommunicationZone_t));
                    lightship->protected_zones.pz[lightship->protected_zones.pz_len]->protectedZoneLatitude = pzs->list.array[k]->protectedZoneLatitude;
                    lightship->protected_zones.pz[lightship->protected_zones.pz_len]->protectedZoneLongitude = pzs->list.array[k]->protectedZoneLongitude;
                    lightship->protected_zones.pz[lightship->protected_zones.pz_len]->protectedZoneType = pzs->list.array[k]->protectedZoneType;

                    if (pzs->list.array[k]->expiryTime) {
                        lightship->protected_zones.pz[lightship->protected_zones.pz_len]->expiryTime->size = pzs->list.array[k]->expiryTime->size;
                        lightship->protected_zones.pz[lightship->protected_zones.pz_len]->expiryTime->buf = malloc(pzs->list.array[k]->expiryTime->size);
                        memcpy(lightship->protected_zones.pz[lightship->protected_zones.pz_len]->expiryTime->buf, pzs->list.array[k]->expiryTime->buf, pzs->list.array[k]->expiryTime->size);
                    }
                    if (pzs->list.array[k]->protectedZoneID) {
                        lightship->protected_zones.pz[lightship->protected_zones.pz_len]->protectedZoneID = malloc(8);
                        *lightship->protected_zones.pz[lightship->protected_zones.pz_len]->protectedZoneID = *pzs->list.array[k]->protectedZoneID;
                    }
                    if (pzs->list.array[k]->protectedZoneRadius) {
                        lightship->protected_zones.pz[lightship->protected_zones.pz_len]->protectedZoneRadius = malloc(8);
                        *lightship->protected_zones.pz[lightship->protected_zones.pz_len]->protectedZoneRadius = *pzs->list.array[k]->protectedZoneRadius;
                    }
                    ++lightship->protected_zones.pz_len;
                }

                // Inform [management]
                if (new_pz) {
                    uint8_t b_oer[512];
                    ManagementRequest_t* mreq = calloc(1, sizeof(ManagementRequest_t));
                    mreq->present = ManagementRequest_PR_attributes;
                    mreq->choice.attributes.present = ManagementRequestAttributes_PR_set;
                    mreq->choice.attributes.choice.set.protectedZones = calloc(1, sizeof(struct protectedZones));
                    mreq->choice.attributes.choice.set.protectedZones->list.count = lightship->protected_zones.pz_len;
                    mreq->choice.attributes.choice.set.protectedZones->list.size = lightship->protected_zones.pz_len * sizeof(void*);
                    mreq->choice.attributes.choice.set.protectedZones->list.array = calloc(lightship->protected_zones.pz_len, sizeof(void*));
                    for (int p = 0; p < lightship->protected_zones.pz_len; ++p) {
                        asn_enc_rval_t enc = oer_encode_to_buffer(&asn_DEF_ProtectedCommunicationZone, NULL, lightship->protected_zones.pz[p], b_oer, 512);
                        oer_decode(NULL, &asn_DEF_ProtectedCommunicationZone, (void**) &mreq->choice.attributes.choice.set.protectedZones->list.array[p], b_oer, enc.encoded);
                    }

                    asn_enc_rval_t enc = oer_encode_to_buffer(&asn_DEF_ManagementRequest, NULL, mreq, b_oer, 512);
                    void* management_socket = zmq_socket(facilities->zmq.ctx, ZMQ_REQ);
                    int wait_ms = 1000;
                    zmq_setsockopt(management_socket, ZMQ_RCVTIMEO, &wait_ms, sizeof(int));
                    zmq_connect(management_socket, facilities->zmq.management_address);
                    zmq_send(management_socket, b_oer, enc.encoded, 0);
                    syslog_debug("[facilities] [ca]-> sending MReq.attributes.set.protectedZones to ->[management]");
                    uint8_t code;
                    zmq_recv(management_socket, &code, 1, 0);
                    zmq_close(management_socket);
                }
            }
        }
    }
    pthread_mutex_unlock(&lightship->lock);

    return rv;
}

static int check_pz(lightship_t *lightship, it2s_tender_epv_t* epv) {
    bool is_inside = false;

    it2s_tender_lock_space(epv);
    it2s_tender_get_space(epv);
    double lat = epv->space.latitude/10000000.0;
    double lon = epv->space.longitude/10000000.0;
    it2s_tender_unlock_space(epv);

    pthread_mutex_lock(&lightship->lock);

    for (int i = 0; i < lightship->protected_zones.pz_len; ++i) {
        double d = haversine(lat, lon, (double) lightship->protected_zones.pz[i]->protectedZoneLatitude/10000000.0, (double) lightship->protected_zones.pz[i]->protectedZoneLongitude/10000000.0);

        int pz_radius = 50;
        if (lightship->protected_zones.pz[i]->protectedZoneRadius) {
            pz_radius = *lightship->protected_zones.pz[i]->protectedZoneRadius;
        }
        if (d < pz_radius) {
            is_inside = true;
            break;
        } 
    }

    pthread_mutex_unlock(&lightship->lock);
    return is_inside;
}

void *ca_service(void *fc) {
    int rv = 0;
    uint8_t code = 0;
    facilities_t *facilities = (facilities_t*) fc;

    TransportRequest_t* tr = calloc(1, sizeof(TransportRequest_t));
    tr->present = TransportRequest_PR_packet;
    TransportPacketRequest_t* tpr = &tr->choice.packet;
    tpr->present = TransportPacketRequest_PR_btp;
    BTPPacketRequest_t *bpr = &tpr->choice.btp;

    bpr->btpType = BTPType_btpB;

    bpr->gn.destinationAddress.buf = malloc(6);
    for (int i = 0; i < 6; ++i) {
        bpr->gn.destinationAddress.buf[i] = 0xff;
    }
    bpr->gn.destinationAddress.size = 6;

    bpr->gn.packetTransportType = PacketTransportType_shb;

    bpr->destinationPort = Port_cam;

    bpr->gn.trafficClass = 2;

    bpr->data.buf = malloc(512);

    // Fill header for FacilitiesIndication and FacilitiesMessageIndication structs

    bpr->gn.securityProfile.sign = true;

    FacilitiesIndication_t* fi = calloc(1,sizeof(FacilitiesIndication_t));
    fi->present = FacilitiesIndication_PR_message;
    FacilitiesMessageIndication_t* fmi = &fi->choice.message;
    fmi->itsMessageType = ItsMessageType_cam;
    fmi->data.buf = malloc(512);

    uint8_t tr_oer[1024];
    uint8_t fi_oer[1024];
    tr_oer[0] = 4; // Facilities
    fi_oer[0] = 4; 
    while (!facilities->exit) {
        usleep(1000*50);

        if (lightship_check(facilities->lightship, &facilities->epv) && facilities->lightship->active) {
            rv = mk_cam(facilities, bpr->data.buf, (uint32_t *) &bpr->data.size);
            if (rv) {
                continue;
            }
            memcpy(fmi->data.buf, bpr->data.buf, bpr->data.size);
            fmi->data.size = bpr->data.size;

            if (facilities->logging) {
                it2s_tender_db_add(&facilities->db, &facilities->epv, true, ItsPduHeader__messageID_cam, bpr->data.buf, bpr->data.size);
            }

            // Check if inside PZ
            bpr->gn.communicationProfile = 0;
            if (facilities->station_type != 15 && check_pz(facilities->lightship, &facilities->epv)) bpr->gn.communicationProfile = 1;

            asn_enc_rval_t enc = oer_encode_to_buffer(&asn_DEF_TransportRequest, NULL, tr, tr_oer+1, 1023);
            if (enc.encoded == -1) {
                syslog_err("[facilities] encoding TR for cam failed");
                continue;
            }

            asn_enc_rval_t enc_fdi = oer_encode_to_buffer(&asn_DEF_FacilitiesIndication, NULL, fi, fi_oer+1, 1023);
            if(enc_fdi.encoded == -1){
                syslog_err("[facilities] encoding FI for cam failed");
                continue;
            }

            queue_add(facilities->tx_queue, tr_oer, enc.encoded+1, 3);
            pthread_cond_signal(&facilities->tx_queue->trigger);

            queue_add(facilities->tx_queue, fi_oer, enc_fdi.encoded+1, 5);
            pthread_cond_signal(&facilities->tx_queue->trigger);

            lightship_reset_timer(facilities->lightship, &facilities->epv);
        }

    }

    ASN_STRUCT_FREE(asn_DEF_TransportRequest, tr);

    return NULL;
}