131 lines
2.8 KiB
C
131 lines
2.8 KiB
C
#ifndef FACILITIES_CAM_H
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#define FACILITIES_CAM_H
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#include <stdint.h>
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#include <stdlib.h>
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#include <pthread.h>
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#include <stdbool.h>
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#include <it2s-asn/camv2/CAM.h>
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#include <it2s-asn/itss-transport/BTPPacketIndication.h>
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#include <it2s-tender/epv.h>
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#define POS_HISTORY_MAX_LEN 24
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#define PATH_HISTORY_MAX_LEN POS_HISTORY_MAX_LEN-1
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typedef enum CID_CAM {
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CID_PROTECTED_ZONES,
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CID_PUBLIC_TRANSPORT,
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CID_SPECIAL_TRANSPORT,
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CID_DANGEROUS_GOODS,
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CID_ROADWORK,
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CID_RESCUE,
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CID_EMERGENCY,
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CID_SAFETY_CAR,
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CID_CLOSED_LANES,
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CID_REQUEST_FOR_RIGHT_OF_WAY,
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CID_REQUEST_FOR_FREE_CROSSING_AT_A_TRAFFIC_LIGHT,
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CID_NO_PASSING,
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CID_NO_PASSING_FOR_TRUCKS,
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CID_SPEED_LIMIT,
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CID_RESERVED0,
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CID_RESERVED1,
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} CID_CAM_e;
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typedef struct cid_ssp_bm {
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const char* container;
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const uint32_t bitmap_val;
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} cid_ssp_bm_t;
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enum CAM_CHECK_R {
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CAM_OK,
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CAM_INVALID,
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CAM_BAD_PERMISSIONS
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};
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typedef struct pos_point {
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uint64_t ts;
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uint16_t heading;
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int32_t lon;
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int32_t lat;
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int32_t alt;
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uint16_t speed;
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} pos_point_t;
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typedef struct lightship {
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bool active;
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pthread_mutex_t lock;
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uint8_t type;
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pos_point_t last_pos;
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uint64_t t_last_cam;
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uint64_t next_cam_max;
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uint64_t next_cam_min;
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uint64_t t_last_cam_lfc;
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pos_point_t concise_points[3];
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uint8_t concise_points_len;
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bool concise_keep_start;
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pos_point_t* path_history[PATH_HISTORY_MAX_LEN];
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uint16_t path_history_len;
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bool is_vehicle_near;
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uint64_t t_last_vehicle;
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uint32_t vehicle_gen_min;
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uint32_t vehicle_gen_max;
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uint32_t rsu_gen_min;
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uint32_t rsu_vehicle_permanence;
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bool use_obd;
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struct {
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ProtectedCommunicationZone_t ** pz;
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uint16_t pz_len;
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} protected_zones;
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} lightship_t;
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/*
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* @brief Initializes the main CA struct (lightship)
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*
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* @return Always zero
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*/
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int lightship_init();
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/*
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* @brief Checks if a CAM must be sent
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*
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* @return True if CAM must be sent, false otherwise
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*/
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int lightship_check();
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/*
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* @brief Resets the CAM sending timer
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*
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* @return Nothing
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*/
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void lightship_reset_timer();
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/*
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* @brief Analyzes a received CAM
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*
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* @return A CAM check code
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*/
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enum CAM_CHECK_R check_cam(BTPPacketIndication_t* bpi, CAM_t* cam,uint8_t* ssp, uint32_t ssp_len);
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/*
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* @brief Main CA service
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*
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* @return NULL
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*/
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void* ca_service();
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#endif
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