#ifndef FACILITIES_CAM_H
#define FACILITIES_CAM_H

#include <stdint.h>
#include <stdlib.h>
#include <pthread.h>
#include <stdbool.h>

#include <it2s-asn/camv2/CAM.h>
#include <it2s-asn/itss-transport/BTPPacketIndication.h>

#include <it2s-tender/epv.h>

#define POS_HISTORY_MAX_LEN 24
#define PATH_HISTORY_MAX_LEN POS_HISTORY_MAX_LEN-1

typedef enum CID_CAM {
    CID_PROTECTED_ZONES,                              
    CID_PUBLIC_TRANSPORT,                             
    CID_SPECIAL_TRANSPORT,                            
    CID_DANGEROUS_GOODS,                              
    CID_ROADWORK,                                     
    CID_RESCUE,                                       
    CID_EMERGENCY,                                    
    CID_SAFETY_CAR,                                   
    CID_CLOSED_LANES,                                 
    CID_REQUEST_FOR_RIGHT_OF_WAY,                     
    CID_REQUEST_FOR_FREE_CROSSING_AT_A_TRAFFIC_LIGHT, 
    CID_NO_PASSING,                                   
    CID_NO_PASSING_FOR_TRUCKS,                        
    CID_SPEED_LIMIT,                                  
    CID_RESERVED0,                                     
    CID_RESERVED1,                                     
} CID_CAM_e;

typedef struct cid_ssp_bm {
    const char* container;
    const uint32_t bitmap_val;
} cid_ssp_bm_t;

enum CAM_CHECK_R {
    CAM_OK,
    CAM_INVALID,
    CAM_BAD_PERMISSIONS
};

typedef struct pos_point {
    uint64_t ts;
    uint16_t heading;
    int32_t lon;
    int32_t lat;
    int32_t alt;
    uint16_t speed;
} pos_point_t;

typedef struct lightship {
    bool active;

    pthread_mutex_t lock;

    uint8_t type;

    pos_point_t last_pos;
    uint64_t t_last_cam;
    uint64_t next_cam_max;
    uint64_t next_cam_min;
    
    uint64_t t_last_cam_lfc;

    pos_point_t concise_points[3];
    uint8_t concise_points_len;
    bool concise_keep_start;

    pos_point_t* path_history[PATH_HISTORY_MAX_LEN];
    uint16_t path_history_len;


    bool is_vehicle_near;
    uint64_t t_last_vehicle;

    uint32_t vehicle_gen_min;
    uint32_t vehicle_gen_max;
    uint32_t rsu_gen_min;
    uint32_t rsu_vehicle_permanence;

    bool use_obd;

    struct {
        ProtectedCommunicationZone_t ** pz;
        uint16_t pz_len;
    } protected_zones;

} lightship_t;

/*
 * @brief Initializes the main CA struct (lightship)
 *
 * @return Always zero
 */
int lightship_init();

/*
 * @brief Checks if a CAM must be sent
 *
 * @return True if CAM must be sent, false otherwise
 */
int lightship_check();

/*
 * @brief Resets the CAM sending timer
 *
 * @return Nothing
 */
void lightship_reset_timer();

/*
 * @brief Analyzes a received CAM
 *
 * @return A CAM check code
 */
enum CAM_CHECK_R check_cam(BTPPacketIndication_t* bpi, CAM_t* cam,uint8_t* ssp, uint32_t ssp_len);

/*
 * @brief Main CA service
 *
 * @return NULL
 */
void* ca_service();

#endif