/*
 * Copyright (C) 2015 Freie Universität Berlin
 *
 * This file is subject to the terms and conditions of the GNU Lesser
 * General Public License v2.1. See the file LICENSE in the top level
 * directory for more details.
 */

/**
 * @ingroup     examples
 * @{
 *
 * @file
 * @brief       Example application for demonstrating the RIOT network stack
 *
 * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
 *
 * @}
 */
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <inttypes.h>

#include <arpa/inet.h>
#include "periph/gpio.h"
#include "board.h"
#include "periph_conf.h"
#include "net/sock/udp.h"
#include "net/gnrc/ipv6.h"
#include "net/af.h"
#include "net/sixlowpan.h"
#include "net/gnrc/pktdump.h"
#include "shell.h"
#include "shell_commands.h"
#include "msg.h"
#include "thread.h"
#include "sched.h"
#include "thread.h"
#include "kernel_types.h"
#include "net/netstats.h"
#include "net/ipv6/addr.h"
#include "periph/timer.h"
#include "net/gnrc/ipv6/netif.h"
#include "net/gnrc/netif.h"
#include "net/gnrc/netapi.h"
#include "net/netopt.h"
#include "net/gnrc/pkt.h"
#include "net/gnrc/pktbuf.h"
#include "net/gnrc/netif/hdr.h"
#include "net/gnrc/sixlowpan/netif.h"
#include "net/fib.h"
#include "net/gnrc/udp.h"
#include "periph/pwm.h"
#include "od.h"
#include "net/sntp.h"
#include "net/ntp_packet.h"
#include "net/gnrc/rpl.h"
#include "net/gnrc/rpl/structs.h"
#include "net/gnrc/rpl/dodag.h"
#include "utlist.h"
#include "trickle.h"
#ifdef MODULE_SCHEDSTATISTICS
#include "xtimer.h"
#endif

#ifdef MODULE_TLSF
#include "tlsf.h"
#endif
#define MAIN_QUEUE_SIZE     (8)
/**
 * @brief   The maximal expected link layer address length in byte
 */
#define MAX_ADDR_LEN            (8U)

/**
 * @brief   The default IPv6 prefix length if not specified.
 */
#define SC_NETIF_IPV6_DEFAULT_PREFIX_LEN     (64)

#define _STACKSIZE      (THREAD_STACKSIZE_DEFAULT + THREAD_EXTRA_STACKSIZE_PRINTF)
#define MSG_TYPE_ISR    (0x3456)

char sock_server_stack[THREAD_STACKSIZE_MAIN];
char sock_client_stack[THREAD_STACKSIZE_MAIN];

kernel_pid_t server, client;

sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
sock_udp_t sock;
int start, end;
uint8_t buf[124];

/***************** RPL functions *****************/

int crea_rpl_dodag_root(uint8_t instance_id, ipv6_addr_t dodag_id)
{
  gnrc_rpl_instance_t *inst = NULL;
  inst = gnrc_rpl_root_init(instance_id, &dodag_id, false, false);
  if (inst == NULL) {
    char addr_str[IPV6_ADDR_MAX_STR_LEN];
    printf("error: could not add DODAG (%s) to instance (%d)\n",
	   ipv6_addr_to_str(addr_str, &dodag_id, sizeof(addr_str)), instance_id);
    return 1;
  }

  printf("successfully added a new RPL DODAG\n");
  return 0;
}
/***************** /RPL functions ****************/

void *sock_server_thread(void *arg)
{
  (void) arg;
  local.port = 1234;
  if (sock_udp_create(&sock, &local, NULL, 0) < 0)
    {
      puts("Error creating UDP sock");
      return NULL;
    }

  while (1)
    {
      sock_udp_ep_t remote;
      ssize_t res;

      if ((res = sock_udp_recv(&sock, buf, sizeof(buf),SOCK_NO_TIMEOUT ,&remote)) >= 0)
	{

	  if (sock_udp_send(&sock,buf, sizeof(buf), &remote) < 0)
	    {
	      puts("Error sending reply");
	    }
	}
      else
	{
	  puts("Waiting packet...");
	}
    }
  return NULL;
}

void *sock_client_thread(void *arg)
{
  (void) arg;
  ssize_t res;
  sock_udp_ep_t remote = { .family = AF_INET6 };

  remote.port = 1234;
  remote.addr.ipv6[0] = 0xba;
  remote.addr.ipv6[1] = 0xad;
  remote.addr.ipv6[2] = 0xa5;
  remote.addr.ipv6[3] = 0x55;
  remote.addr.ipv6[14] = 0x17;
  remote.addr.ipv6[15] = 0x36;

  while (1)
    {
    start = xtimer_now_usec();
    if (sock_udp_send(&sock,"go", sizeof("go"), &remote) < 0)
      {
	puts("Error sending message");
      }
    if ((res = sock_udp_recv(&sock, buf, sizeof(buf),1 * US_PER_SEC,NULL)) < 0)
      {
	if (res == -ETIMEDOUT)
	  {
	    puts("Timedout");
	  }
	else
	  {
	    puts("Error receiving message");
	  }
      }
    else{
      end = xtimer_now_usec();
      //calculate and print rtt
      printf("RTT = %i ms\n",(end-start)/1000);
    }
    xtimer_sleep(1);
  }
  return NULL;
}

static void _init_interface(void)
{
  kernel_pid_t ifs[GNRC_NETIF_NUMOF];
  ipv6_addr_t addr = IPV6_ADDR_UNSPECIFIED;
  ipv6_addr_t tmp_addr= IPV6_ADDR_UNSPECIFIED;
  uint8_t hwaddr[MAX_ADDR_LEN];
  int res;

  gnrc_netif_get(ifs);

  //addresses gobales
  addr.u8[0] = 0xba;
  addr.u8[1] = 0xad;
  addr.u8[2] = 0xa5;
  addr.u8[3] = 0x55;


  res = gnrc_netapi_get(ifs[0], NETOPT_ADDRESS, 0, hwaddr, sizeof(hwaddr));

  if (res >= 0) {
    addr.u8[14] = *hwaddr;
    addr.u8[15] = *(hwaddr+1);
  }
  memcpy(tmp_addr.u8,addr.u8,IPV6_ADDR_BIT_LEN);

  gnrc_ipv6_netif_add_addr(ifs[0], &addr, 64, GNRC_IPV6_NETIF_ADDR_FLAGS_UNICAST);
  /* model ipv6 addr: dead:beef::Hwaddr */
  if((addr.u8[14]==0x17)&&(addr.u8[15]==0x02)){
    crea_rpl_dodag_root(1, addr);
	client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
  }else if((addr.u8[14]==0x17)&&(addr.u8[15]==0x36)){
    server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
  }else{
    puts("new node ?");
  }
}

static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];

static const shell_command_t shell_commands[] = {
  { NULL, NULL, NULL }
};


int main(void)
{

  msg_init_queue(_main_msg_queue, MAIN_QUEUE_SIZE);
  puts("RIOT network stack example application");
  _init_interface();

  /* start shell */
  puts("All up, running the shell now");
  char line_buf[SHELL_DEFAULT_BUFSIZE];
  shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);

  /* should be never reached */
  return 0;
}