611 lines
22 KiB
C
611 lines
22 KiB
C
#include "facilities.h"
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#include <it2s-asn/camv2/CAM.h>
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#include <it2s-asn/cpm/CPM.h>
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#include <it2s-asn/denmv2/DENM.h>
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#include <it2s-asn/itss-facilities/FacilitiesIndication.h>
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#include <it2s-asn/itss-facilities/FacilitiesReply.h>
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#include <it2s-asn/itss-facilities/FacilitiesRequest.h>
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#include <it2s-asn/itss-management/ManagementIndication.h>
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#include <it2s-asn/itss-management/ManagementRequest.h>
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#include <it2s-asn/itss-networking/NetworkingIndication.h>
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#include <it2s-asn/itss-security/SecurityIndication.h>
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#include <it2s-asn/itss-security/SecurityReply.h>
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#include <it2s-asn/itss-security/SecurityRequest.h>
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#include <it2s-asn/itss-security/SecurityResponse.h>
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#include <it2s-asn/itss-transport/TransportIndication.h>
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#include <it2s-asn/itss-transport/TransportRequest.h>
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#include <it2s-asn/ivim/IVIM.h>
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#include <it2s-asn/saem/SAEM.h>
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#include <it2s-asn/verco/VERCOe.h>
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#include <it2s-tender/packet.h>
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#include <it2s-tender/recorder.h>
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#include <it2s-tender/space.h>
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#include <it2s-tender/time.h>
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#include <it2s-tender/trajectory.h>
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#include <signal.h>
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#include <stdbool.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <zmq.h>
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#include "cam.h"
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#include "config.h"
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#include "cpm.h"
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#include "denm.h"
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#include "evm.h"
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#include "indications.h"
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#include "infrastructure.h"
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#include "requests.h"
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#include "saem.h"
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#include "tpm.h"
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#include "vcm.h"
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facilities_t facilities = {0};
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static int transport_indication(void *responder, void **security_socket, uint8_t *msg, uint32_t msg_len) {
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int rv = 0;
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uint8_t code = 0;
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bool stored = false;
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TransportIndication_t *ti = calloc(1, sizeof(TransportIndication_t));
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asn_dec_rval_t dec = oer_decode(NULL, &asn_DEF_TransportIndication, (void **)&ti, msg, msg_len);
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if (dec.code) {
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log_error("<- invalid TI received");
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rv = 1;
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code = 1;
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itss_0send(responder, &code, 1);
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goto cleanup;
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}
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itss_0send(responder, &code, 1);
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switch (ti->present) {
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case TransportIndication_PR_packet:
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break;
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case TransportIndication_PR_data:
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transport_data_indication(&ti->choice.data, security_socket);
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goto cleanup;
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default:
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log_debug("<- unrecognized TI.choice received");
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rv = 1;
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goto cleanup;
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}
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TransportPacketIndication_t *tpi = &ti->choice.packet; // TODO
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//
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switch (tpi->present) {
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case TransportPacketIndication_PR_btp:
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log_debug("<- TI.packet.btp | id:%08x size:%dB", tpi->choice.btp.id, msg_len);
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transport_indication_btp(&tpi->choice.btp, security_socket);
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break;
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case TransportPacketIndication_PR_tcp:
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log_debug("<- TI.packet.tcp | id:%ld size:%dB", tpi->choice.tcp.id, msg_len);
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transport_indication_tcp(&tpi->choice.tcp, security_socket);
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break;
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case TransportPacketIndication_PR_udp:
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log_debug("<- TI.packet.udp | id:%ld size:%dB", tpi->choice.udp.id, msg_len);
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// TODO
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break;
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default:
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break;
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}
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cleanup:
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ASN_STRUCT_FREE(asn_DEF_TransportIndication, ti);
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return rv;
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}
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static int facilities_request(void *responder, uint8_t *msg, uint32_t msg_len) {
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int rv = 0;
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FacilitiesRequest_t *fr = calloc(1, sizeof(FacilitiesRequest_t));
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asn_dec_rval_t dec = oer_decode(NULL, &asn_DEF_FacilitiesRequest, (void **)&fr, msg, msg_len);
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if (dec.code) {
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log_error("<- invalid FR received");
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facilities_request_result_rejected(responder);
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rv = 1;
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goto cleanup;
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}
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switch (fr->present) {
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case FacilitiesRequest_PR_message:
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rv = facilities_request_single_message(responder, &fr->choice.message);
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break;
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case FacilitiesRequest_PR_data:
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switch (fr->choice.data.present) {
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case FacilitiesDataRequest_PR_activeEpisodes:
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rv = facilities_request_active_episodes(responder, fr);
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break;
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case FacilitiesDataRequest_PR_attributeTypes:
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rv = facilities_request_attribute_types(responder, fr);
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break;
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case FacilitiesDataRequest_PR_loadedProtectionZones:
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rv = facilities_request_loaded_protected_zones(responder, fr);
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break;
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case FacilitiesDataRequest_PR_chainInfoSet:
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rv = facilities_request_chaininfo_set(responder, &fr->choice.data.choice.chainInfoSet);
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break;
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default:
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log_error("<- unrecognized FDR type received (%d)", fr->choice.data.present);
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facilities_request_result_rejected(responder);
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rv = 1;
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goto cleanup;
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}
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break;
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default:
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log_error("<- unrecognized FR type received (%d)", fr->present);
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facilities_request_result_rejected(responder);
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rv = 1;
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goto cleanup;
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}
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cleanup:
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ASN_STRUCT_FREE(asn_DEF_FacilitiesRequest, fr);
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return rv;
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}
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static int security_indication(void *responder_secured, uint8_t *msg, uint32_t msg_len) {
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int rv = 0;
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SecurityIndication_t *si = calloc(1, sizeof(SecurityIndication_t));
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SecurityResponse_t *sr = calloc(1, sizeof(SecurityResponse_t));
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uint8_t buffer[64];
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asn_enc_rval_t enc;
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asn_dec_rval_t dec = oer_decode(NULL, &asn_DEF_SecurityIndication, (void **)&si, msg, msg_len);
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if (dec.code) {
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log_error("<- invalid SIndication received");
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rv = 1;
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goto cleanup;
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}
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pthread_mutex_lock(&facilities.id.change.lock);
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if (facilities.id.change.stage == ID_CHANGE_BLOCKED) {
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pthread_mutex_unlock(&facilities.id.change.lock);
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log_debug("identity change is currently blocked");
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rv = 1;
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goto cleanup;
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}
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if (facilities.id.change.stage == ID_CHANGE_PREPARE &&
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si->choice.idChangeEvent.command != SecurityIdChangeEventType_commit &&
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si->choice.idChangeEvent.command != SecurityIdChangeEventType_abort) {
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pthread_mutex_unlock(&facilities.id.change.lock);
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log_debug("current identity change state is prepare, but received identity change command is not commit nor abort");
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rv = 1;
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goto cleanup;
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}
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bool id_changed = false;
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switch (si->choice.idChangeEvent.command) {
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case SecurityIdChangeEventType_prepare:
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facilities.id.change.stage = ID_CHANGE_PREPARE;
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pthread_mutex_lock(&facilities.id.lock);
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pthread_mutex_lock(&facilities.lightship.lock);
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break;
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case SecurityIdChangeEventType_commit:;
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facilities.id.change.stage = ID_CHANGE_COMMIT;
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// Reset lightship
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for (int i = 0; i < facilities.lightship.path_history_len; ++i) {
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free(facilities.lightship.path_history[i]);
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}
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facilities.lightship.path_history_len = 0;
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facilities.lightship.t_last_cam = 0;
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facilities.lightship.t_last_cam_lfc = 0;
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facilities.lightship.next_cam_max = 0;
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facilities.lightship.next_cam_min = 0;
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pthread_mutex_unlock(&facilities.lightship.lock);
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// Change Station ID
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for (int i = 0; i < si->choice.idChangeEvent.ids.list.count; ++i) {
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switch (si->choice.idChangeEvent.ids.list.array[i]->present) {
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case SecurityId_PR_stationId:
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facilities.id.station_id = si->choice.idChangeEvent.ids.list.array[i]->choice.stationId;
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break;
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case SecurityId_PR_ipv6Address:
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memcpy(facilities.id.ipv6_addr, si->choice.idChangeEvent.ids.list.array[i]->choice.ipv6Address.buf, 16);
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break;
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default:
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break;
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}
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}
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facilities.id.change.stage = ID_CHANGE_INACTIVE;
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pthread_mutex_unlock(&facilities.id.lock);
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id_changed = true;
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break;
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case SecurityIdChangeEventType_abort:
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pthread_mutex_unlock(&facilities.id.lock);
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pthread_mutex_unlock(&facilities.lightship.lock);
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facilities.id.change.stage = ID_CHANGE_INACTIVE;
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break;
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default:
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pthread_mutex_unlock(&facilities.id.change.lock);
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log_error("[networking]<- unhandled idChangeEvent command type");
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rv = 1;
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goto cleanup;
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}
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sr->present = SecurityResponse_PR_idChangeEvent;
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sr->choice.idChangeEvent.returnCode = 0;
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enc = oer_encode_to_buffer(&asn_DEF_SecurityResponse, NULL, sr, buffer, 64);
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itss_0send(responder_secured, buffer, enc.encoded);
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pthread_mutex_unlock(&facilities.id.change.lock);
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cleanup:
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if (rv) {
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sr->present = SecurityResponse_PR_idChangeEvent;
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sr->choice.idChangeEvent.returnCode = 1;
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enc = oer_encode_to_buffer(&asn_DEF_SecurityResponse, NULL, sr, buffer, 64);
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itss_0send(responder_secured, buffer, enc.encoded);
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}
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pthread_mutex_unlock(&facilities.id.change.lock);
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ASN_STRUCT_FREE(asn_DEF_SecurityResponse, sr);
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ASN_STRUCT_FREE(asn_DEF_SecurityIndication, si);
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return rv;
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}
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static int networking_indication(void *responder, uint8_t *msg, uint32_t msg_len) {
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int rv = 0;
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uint8_t code = 0;
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NetworkingIndication_t *ni = calloc(1, sizeof(NetworkingIndication_t));
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asn_dec_rval_t dec = oer_decode(NULL, &asn_DEF_NetworkingIndication, (void **)&ni, msg, msg_len);
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if (dec.code) {
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rv = 1;
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code = 1;
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itss_0send(responder, &code, 1);
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goto cleanup;
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}
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itss_0send(responder, &code, 1);
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if (ni->present != NetworkingIndication_PR_data) {
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goto cleanup;
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}
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if (ni->choice.data.mobileNeighbour &&
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*ni->choice.data.mobileNeighbour) {
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pthread_mutex_lock(&facilities.lightship.lock);
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facilities.lightship.t_last_vehicle = itss_time_get();
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facilities.lightship.is_vehicle_near = true;
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pthread_mutex_unlock(&facilities.lightship.lock);
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}
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cleanup:
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ASN_STRUCT_FREE(asn_DEF_NetworkingIndication, ni);
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return rv;
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}
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static int management_indication(void *responder, uint8_t *msg, uint32_t msg_len) {
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int rv = 0;
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uint8_t code = 0;
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ManagementIndication_t *mi = calloc(1, sizeof(ManagementIndication_t));
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asn_dec_rval_t dec = oer_decode(NULL, &asn_DEF_ManagementIndication, (void **)&mi, msg, msg_len);
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if (dec.code) {
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rv = 1;
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code = 1;
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itss_0send(responder, &code, 1);
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goto cleanup;
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}
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itss_0send(responder, &code, 1);
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if (mi->present == ManagementIndication_PR_attributes) {
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itss_space_lock();
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epv.space.latitude = mi->choice.attributes.coordinates.latitude;
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epv.space.latitude_conf = mi->choice.attributes.coordinates.latitudeConfidence;
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epv.space.longitude = mi->choice.attributes.coordinates.longitude;
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epv.space.longitude_conf = mi->choice.attributes.coordinates.longitudeConfidence;
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epv.space.speed = mi->choice.attributes.speed.speedValue;
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epv.space.speed_conf = mi->choice.attributes.speed.speedConfidence;
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epv.space.heading = mi->choice.attributes.heading.headingValue;
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epv.space.heading_conf = mi->choice.attributes.heading.headingConfidence;
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epv.space.accel = mi->choice.attributes.acceleration.longitudinalAccelerationValue;
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epv.space.altitude = mi->choice.attributes.altitude.altitudeValue;
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epv.space.altitude_conf = mi->choice.attributes.altitude.altitudeConfidence;
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itss_space_unlock();
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itss_trajectory_lock();
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if (mi->choice.attributes.trajectory) {
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epv.trajectory.len = mi->choice.attributes.trajectory->list.count;
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for (int i = 0; i < mi->choice.attributes.trajectory->list.count; ++i) {
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epv.trajectory.path[i].latitude = mi->choice.attributes.trajectory->list.array[i]->latitude;
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epv.trajectory.path[i].longitude = mi->choice.attributes.trajectory->list.array[i]->longitude;
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asn_INTEGER2ulong(&mi->choice.attributes.trajectory->list.array[i]->timestamp, (unsigned long long *)&epv.trajectory.path[i].timestamp);
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}
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}
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itss_trajectory_unlock();
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itss_time_lock();
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asn_INTEGER2ulong(&mi->choice.attributes.clock, (unsigned long long *)&epv.time.clock);
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itss_time_unlock();
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}
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cleanup:
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ASN_STRUCT_FREE(asn_DEF_ManagementIndication, mi);
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return rv;
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}
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void *tx() {
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int rv = 0;
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itss_queue_t *queue = facilities.tx_queue;
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uint8_t code;
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void *applications_socket = itss_0connect(facilities.zmq.applications_address, ZMQ_REQ);
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void *transport_socket = itss_0connect(facilities.zmq.transport_address, ZMQ_REQ);
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void *management_socket = itss_0connect(facilities.zmq.management_address, ZMQ_REQ);
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itss_queue_t *stream = itss_queue_new();
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while (!facilities.exit) {
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pthread_mutex_lock(&queue->lock);
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while (!queue->len && !facilities.exit) {
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pthread_cond_wait(&queue->trigger, &queue->lock);
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}
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for (int i = 0; i < queue->len; ++i) {
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memcpy(stream->packet[i], queue->packet[i], queue->packet_len[i]);
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stream->packet_len[i] = queue->packet_len[i];
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stream->destination[i] = queue->destination[i];
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strcpy(stream->info_msg[i], queue->info_msg[i]);
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stream->id[i] = queue->id[i];
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}
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stream->len = queue->len;
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queue->len = 0;
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pthread_mutex_unlock(&queue->lock);
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for (int i = 0; i < stream->len; ++i) {
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switch (stream->destination[i]) {
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case ITSS_TRANSPORT:
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log_debug("-> %s ->[transport] | id:%08x size:%dB",
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stream->info_msg[i], (uint32_t)stream->id[i], stream->packet_len[i]);
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itss_0send(transport_socket, stream->packet[i], stream->packet_len[i]);
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rv = itss_0recv_rt(&transport_socket, &code, 1, stream->packet[i], stream->packet_len[i], 1000);
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if (rv == -1) {
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log_error("-> %s ->[transport] | id:%08x size:%dB <TIMEOUT>",
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stream->info_msg[i], (uint32_t)stream->id[i], stream->packet_len[i]);
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}
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break;
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case ITSS_APPLICATIONS:
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log_debug("-> %s ->[applications] | id:%08x size:%dB",
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stream->info_msg[i], (uint32_t)stream->id[i], stream->packet_len[i]);
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itss_0send(applications_socket, stream->packet[i], stream->packet_len[i]);
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rv = itss_0recv_rt(&applications_socket, &code, 1, stream->packet[i], stream->packet_len[i], 1000);
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if (rv == -1) {
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log_error("-> %s ->[applications] | id:%08x size:%dB <TIMEOUT>",
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stream->info_msg[i], (uint32_t)stream->id[i], stream->packet_len[i]);
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}
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break;
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case ITSS_MANAGEMENT:
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itss_0send(management_socket, stream->packet[i], stream->packet_len[i]);
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rv = itss_0recv_rt(&management_socket, &code, 1, stream->packet[i], stream->packet_len[i], 1000);
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if (rv == -1) {
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log_error("-> %s ->[management] | id:%08x size:%dB <TIMEOUT>",
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stream->info_msg[i], (uint32_t)stream->id[i], stream->packet_len[i]);
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}
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break;
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}
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}
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}
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itss_0close(transport_socket);
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itss_0close(management_socket);
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itss_0close(applications_socket);
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return NULL;
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}
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static void sigh(int signum) {
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facilities.exit = true;
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uint8_t code = 0;
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void *socket = itss_0connect(ZMQ_INTERNAL_ADDR, ZMQ_PAIR);
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itss_0send(socket, &code, sizeof(code));
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itss_0close(socket);
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}
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int main() {
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signal(SIGTERM, sigh);
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signal(SIGINT, sigh);
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signal(SIGKILL, sigh);
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facilities.tx_queue = itss_queue_new();
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lightship_init();
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den_init();
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infrastructure_init();
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dissemination_init();
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bulletin_init();
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void *security_socket = NULL;
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if (facilities_config()) {
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goto cleanup;
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}
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facilities.lightship.type = facilities.station_type;
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// Tx
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pthread_create(&facilities.transmitting, NULL, tx, NULL);
|
|
|
|
// CA
|
|
pthread_create(&facilities.ca_service, NULL, ca_service, NULL);
|
|
|
|
// DEN
|
|
pthread_create(&facilities.den_service, NULL, den_service, NULL);
|
|
|
|
// Infrastructure
|
|
pthread_create(&facilities.infrastructure_service, NULL, infrastructure_service, NULL);
|
|
|
|
// CP
|
|
if (facilities.dissemination.active)
|
|
pthread_create(&facilities.cp_service, NULL, cp_service, NULL);
|
|
|
|
// SA
|
|
pthread_create(&facilities.sa_service, NULL, sa_service, NULL);
|
|
|
|
// Tolling
|
|
tolling_init(facilities.station_type);
|
|
|
|
// VC
|
|
if (facilities.coordination.active) {
|
|
coordination_init();
|
|
pthread_create(&facilities.vc_service, NULL, vc_service, NULL);
|
|
}
|
|
|
|
// EVCSN
|
|
if (facilities.evm_args.activate)
|
|
pthread_create(&facilities.evcsn_service, NULL, evcsn_service, NULL);
|
|
|
|
security_socket = itss_0connect(facilities.zmq.security_address, ZMQ_REQ);
|
|
|
|
uint8_t buffer[ITSS_SDU_MAX_LEN];
|
|
log_info("listening");
|
|
uint8_t code;
|
|
bool in_idchange;
|
|
|
|
int32_t rl;
|
|
|
|
while (!facilities.exit) {
|
|
itss_0poll(facilities.zmq.responders, facilities.zmq.n_responders, -1);
|
|
|
|
for (int i = 0; i < facilities.zmq.n_responders; ++i) {
|
|
if (facilities.zmq.responders[i].revents) {
|
|
rl = itss_0recv(facilities.zmq.responders[i].socket, buffer, ITSS_SDU_MAX_LEN);
|
|
switch (buffer[0]) { /* source */
|
|
|
|
case ITSS_INTERNAL:
|
|
break;
|
|
|
|
case ITSS_NETWORKING:
|
|
networking_indication(facilities.zmq.responders[i].socket, buffer + 1, rl);
|
|
break;
|
|
|
|
case ITSS_TRANSPORT:
|
|
in_idchange = true;
|
|
pthread_mutex_lock(&facilities.id.change.lock);
|
|
if (facilities.id.change.stage == ID_CHANGE_INACTIVE) {
|
|
in_idchange = false;
|
|
facilities.id.change.stage = ID_CHANGE_BLOCKED;
|
|
}
|
|
pthread_mutex_unlock(&facilities.id.change.lock);
|
|
|
|
if (!in_idchange) {
|
|
transport_indication(facilities.zmq.responders[i].socket, &security_socket, buffer + 1, rl);
|
|
|
|
pthread_mutex_lock(&facilities.id.change.lock);
|
|
facilities.id.change.stage = ID_CHANGE_INACTIVE;
|
|
pthread_mutex_unlock(&facilities.id.change.lock);
|
|
} else {
|
|
code = 1;
|
|
itss_0send(facilities.zmq.responders[i].socket, &code, 1);
|
|
}
|
|
break;
|
|
|
|
case ITSS_APPLICATIONS:
|
|
in_idchange = true;
|
|
pthread_mutex_lock(&facilities.id.change.lock);
|
|
if (facilities.id.change.stage == ID_CHANGE_INACTIVE) {
|
|
in_idchange = false;
|
|
facilities.id.change.stage = ID_CHANGE_BLOCKED;
|
|
}
|
|
pthread_mutex_unlock(&facilities.id.change.lock);
|
|
|
|
if (!in_idchange) {
|
|
facilities_request(facilities.zmq.responders[i].socket, buffer + 1, rl);
|
|
|
|
pthread_mutex_lock(&facilities.id.change.lock);
|
|
facilities.id.change.stage = ID_CHANGE_INACTIVE;
|
|
pthread_mutex_unlock(&facilities.id.change.lock);
|
|
} else {
|
|
code = 1;
|
|
itss_0send(facilities.zmq.responders[i].socket, &code, 1);
|
|
}
|
|
|
|
break;
|
|
|
|
case ITSS_MANAGEMENT:
|
|
management_indication(facilities.zmq.responders[i].socket, buffer + 1, rl);
|
|
break;
|
|
|
|
case ITSS_SECURITY:
|
|
security_indication(facilities.zmq.responders[i].socket, buffer + 1, rl);
|
|
break;
|
|
|
|
default:
|
|
log_debug("<- unrecognized service");
|
|
code = 1;
|
|
itss_0send(facilities.zmq.responders[i].socket, &code, 1);
|
|
continue;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Exit
|
|
cleanup:
|
|
if (facilities.evm_args.activate)
|
|
pthread_join(facilities.evcsn_service, NULL);
|
|
pthread_join(facilities.ca_service, NULL);
|
|
pthread_join(facilities.den_service, NULL);
|
|
pthread_join(facilities.infrastructure_service, NULL);
|
|
if (facilities.dissemination.active)
|
|
pthread_join(facilities.cp_service, NULL);
|
|
pthread_join(facilities.sa_service, NULL);
|
|
itss_queue_trigger(facilities.tx_queue);
|
|
pthread_join(facilities.transmitting, NULL);
|
|
if (facilities.coordination.active)
|
|
pthread_join(facilities.vc_service, NULL);
|
|
|
|
itss_0close(security_socket);
|
|
for (int i = 0; i < facilities.zmq.n_responders; ++i) {
|
|
itss_0close(facilities.zmq.responders[i].socket);
|
|
}
|
|
itss_0destroy();
|
|
|
|
log_info("exiting");
|
|
log_close();
|
|
|
|
return 0;
|
|
}
|