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

#include <camv2/INTEGER.h>
#include <itss-transport/BTPDataRequest.h>
#include <itss-transport/BTPDataIndication.h>
#include <camv2/CAM.h>

#include <stdint.h>
#include <time.h>
#include <zmq.h>
#include <unistd.h>
#include <syslog.h>
#include <math.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_2/180.0

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;

    struct timespec systemtime;
    if (clock_gettime(CLOCK_REALTIME, &systemtime)) {
        syslog_emerg("clock_gettime() failed");
    }

    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.value;
    pthread_mutex_unlock(&facilities->id.lock);
    cam->cam.camParameters.basicContainer.stationType = facilities->station_type;

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

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

    if (facilities->station_type != StationType_roadSideUnit) {
        pthread_mutex_lock(&facilities->epv.lock);
        cam->cam.generationDeltaTime = facilities->epv.timestamp % 64536;
        bc->referencePosition.altitude.altitudeValue = facilities->epv.altitude;
        bc->referencePosition.altitude.altitudeConfidence = facilities->epv.altitude_conf;

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

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

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

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

        pthread_mutex_unlock(&facilities->epv.lock);

        bvc_hf->vehicleWidth = 20;
        bvc_hf->vehicleLength.vehicleLengthValue = 46;
        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;
        struct timespec systemtime;
        clock_gettime(CLOCK_REALTIME, &systemtime);
        long now = (long)((systemtime.tv_sec + LEAP_SECONDS) * 1000 + systemtime.tv_nsec / 1E6);
        now -= 1072915200000;
        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;
            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 {
        pthread_mutex_lock(&facilities->epv.lock);
        cam->cam.generationDeltaTime = facilities->epv.timestamp % 64536;
        bc->referencePosition.altitude.altitudeValue = facilities->epv.altitude;
        bc->referencePosition.altitude.altitudeConfidence = facilities->epv.altitude_conf;

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

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

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

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

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

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

    return lightship;
}


int lightship_check(lightship_t* lightship, void* epv_s) {
    int rv = 0;

    struct timespec systemtime;
    clock_gettime(CLOCK_REALTIME, &systemtime);
    long now = (long)((systemtime.tv_sec + LEAP_SECONDS) * 1000 + systemtime.tv_nsec / 1E6);
    now -= 1072915200000;

    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) {

            epv_t* epv = (epv_t*) epv_s;

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

            if (!rv) {
                // Check speed delta > 0.5 m/s
                diff = epv->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->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;
                }
            }
            pthread_mutex_unlock(&epv->lock);
        }


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


    pthread_mutex_unlock(&lightship->lock);

    return rv;
}

void lightship_reset_timer(lightship_t* lightship) {
    struct timespec systemtime;
    clock_gettime(CLOCK_REALTIME, &systemtime);
    long now = (long)((systemtime.tv_sec + LEAP_SECONDS) * 1000 + systemtime.tv_nsec / 1E6);
    now -= 1072915200000;

    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, BTPDataIndication_t *bdi, CAM_t* cam, uint8_t* ssp, uint32_t ssp_len) {
    int rv = 0;
    lightship_t *lightship = ((facilities_t*) fc)->lightship;

    struct timespec systemtime;
    clock_gettime(CLOCK_REALTIME, &systemtime);
    long now = (long)((systemtime.tv_sec + LEAP_SECONDS) * 1000 + systemtime.tv_nsec / 1E6);
    now -= 1072915200000;

    // 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 (bdi->stationType != StationType_roadSideUnit && bdi->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->pz_len < 256) {
                for (int k = 0; k < pzs->list.count; ++k) {

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

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

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

    return rv;
}

static int check_pz(lightship_t *lightship, void* epv_s) {
    bool is_inside = false;

    epv_t* epv = (epv_t*) epv_s;
    pthread_mutex_lock(&epv->lock);
    long lat = epv->latitude;
    long lon = epv->longitude;
    pthread_mutex_unlock(&epv->lock);

    pthread_mutex_lock(&lightship->lock);

    for (int i = 0; i < lightship->pz_len; ++i) {
        double d_lat = (lat - (double) lightship->pz[i]->protectedZoneLatitude/10000000) * RAD_PER_DEG;
        double d_lon = (lon - (double) lightship->pz[i]->protectedZoneLongitude/10000000) * RAD_PER_DEG;

        double a = pow(sin(d_lat/2.0), 2) + 
            cos(lat * RAD_PER_DEG) * 
            cos((double) lightship->pz[i]->protectedZoneLatitude/10000000 * RAD_PER_DEG) * 
            pow(sin(d_lon/2.0), 2);

        double c = 2 * atan2(sqrt(a), sqrt(1-a));
        double d = EARTH_RADIUS * c;

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

    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;

    BTPDataRequest_t *bdr = calloc(1, sizeof(BTPDataRequest_t));

    bdr->btpType = BTPType_btpB;

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

    bdr->gnPacketTransportType = PacketTransportType_shb;

    bdr->destinationPort = Port_cam;

    bdr->gnTrafficClass = 2;

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

    if (facilities->use_security) {
        bdr->gnSecurityProfile = malloc(sizeof(long));
        *bdr->gnSecurityProfile = 1;
    }

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

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

            // Check if inside PZ
            bdr->gnCommunicationProfile = 0;
            if (facilities->station_type != 15 && check_pz(facilities->lightship, &facilities->epv)) bdr->gnCommunicationProfile = 1;

            asn_enc_rval_t enc = oer_encode_to_buffer(&asn_DEF_BTPDataRequest, NULL, bdr, bdr_oer+1, 1023);
            if (enc.encoded == -1) {
                syslog_err("[facilities] encoding BTPDataRequest for cam failed");
                continue;
            }

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

            lightship_reset_timer(facilities->lightship);
        }

    }

    ASN_STRUCT_FREE(asn_DEF_BTPDataRequest, bdr);

    return NULL;
}