/*
 * 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)

#define PWM_FREQ 1000
#define PWM_RES 1000
#define DEADLINE 30000
#define SEC_IN_USEC (1000000)

static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];

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


kernel_pid_t server, client, time_server;
int ordre = 0;
int64_t offset = 0;
int timer_run = 0;
int tourne = 0;
int arret = 0;
sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
sock_udp_t sock; 
sock_udp_ep_t local_ntp = SOCK_IPV6_EP_ANY;
sock_udp_t sock_ntp; 
static ntp_packet_t sntp_packet;

typedef struct tableau {
  uint32_t heure_actuelle;
  char donnees[2];
}Data;

/***************** 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_time_server_thread(void *arg)
{
  (void) arg;
  local_ntp.port = NTP_PORT;
  
  if (sock_udp_create(&sock_ntp, &local_ntp, 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_ntp,&sntp_packet, sizeof(sntp_packet), SOCK_NO_TIMEOUT,
      &remote)) >= 0) {
      sntp_packet.receive.seconds=byteorder_htonl( xtimer_now_usec());
    sntp_packet.origin.seconds=sntp_packet.transmit.seconds;
    sntp_packet.transmit.seconds=byteorder_htonl( xtimer_now_usec());
    
    if (sock_udp_send(&sock_ntp, &sntp_packet, sizeof(sntp_packet), &remote) < 0) {
      puts("Error sending reply");
    }
      }
  }
  return NULL;
}


void *sock_server_thread(void *arg)
{
  (void) arg;
  Data buf;
  int compteur = 5;
  int deadline;
  local.port = 1234;
  int interruption_msg = 0;
  int sync = 0;
  sock_udp_ep_t server = { .port = NTP_PORT, .family = AF_INET6 };
  ipv6_addr_from_str((ipv6_addr_t *)&server.addr, "baad:a555::1702");
  
  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), 5 * SEC_IN_USEC ,&remote)) >= 0) {
      deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
      printf("tps de transmission : %i\n",deadline);
      
      if(buf.donnees[0] == 'g' && buf.donnees[1] == 'o') {
	if(sync == 0)
	{
	  while(sntp_sync(&server, 5000000) < 0) {
	    puts("Erreur dans la synchronisation - Nouvelle tentative :");
	  }
	  offset = sntp_get_offset();
	  sync = 1;
	  printf("offset : %i\n",(int)offset);
	}
	if(interruption_msg == 1) {
	  puts("reprise de la communication - tentative de synchronisation :");
	  while(sntp_sync(&server, 5000000) < 0) {
	    puts("Erreur dans la synchronisation - Nouvelle tentative :");
	  }
	  offset = sntp_get_offset();
	  printf("offset : %i\n",(int)offset);
	  interruption_msg = 0;
	}
	if(deadline >= DEADLINE && compteur >=5) {
	  compteur = 0;
	  if(arret == 0) {
	    if (sock_udp_send(&sock, "d", sizeof("d"), &remote) < 0) {
	      puts("Error sending reply");
	    }
	  }
	  if(tourne == 1) 
	  {
	    pwm_set(PWM_DEV(0),1,987);
	    pwm_set(PWM_DEV(1),1,960);
	  }
	  if(timer_run == 0) {
	    puts("Degradation");
	    gpio_clear(LED1_PIN);
	    gpio_clear(LED2_PIN);
	    gpio_set(LED0_PIN);
	    timer_set(TIMER_DEV(1),0,25200);
	    timer_run = 1;
	  }
	}
	if(deadline >= DEADLINE && compteur < 5) {
	  compteur = 0;
	  if (sock_udp_send(&sock, "d", sizeof("d"), &remote) < 0) {
	    puts("Error sending reply");
	  }  
	}
	if(deadline<=DEADLINE && compteur >=5) {
	  pwm_set(PWM_DEV(0),1,992);
	  pwm_set(PWM_DEV(1),1,658);
	  tourne = 1;
	  timer_run=0;
	  timer_clear(TIMER_DEV(1),0);
	  if (sock_udp_send(&sock, "n", sizeof("n"), &remote) < 0) {
	    puts("Error sending reply");
	  }
	  arret = 0;
	  gpio_clear(LED2_PIN);
	  gpio_clear(LED0_PIN);
	  gpio_set(LED1_PIN);
	}
	if(deadline<=DEADLINE && compteur <5) {
	  compteur++;
	} 
	printf("compteur : %d\n",compteur);
	memset(&buf,0,sizeof(buf));
	if(arret == 1) {
	  if (sock_udp_send(&sock, "a", sizeof("a"), &remote) < 0) {
	    puts("Error sending reply");
	  }
	}
      }
    }
    else {
      puts("msg non recu");
      if(timer_run == 0 && interruption_msg == 0) {
	timer_run = 1;
	timer_set(TIMER_DEV(1),0,25200);
      }
      interruption_msg = 1;
      if(tourne == 1) 
      {
	pwm_set(PWM_DEV(0),1,987);
	pwm_set(PWM_DEV(1),1,960);
	gpio_clear(LED1_PIN);
	gpio_clear(LED2_PIN);
	gpio_set(LED0_PIN);
      }
    }
  }
  return NULL;
}


void *sock_client_thread(void *arg)
{
  (void) arg;
  Data data;
  int vitesse=2;
  uint8_t buf[3];
  ssize_t res;
  data.donnees[0] = 'g';
  data.donnees[1] = 'o';
  
  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) {
    data.heure_actuelle = xtimer_now_usec();
    if (sock_udp_send(&sock, &data, sizeof(data), &remote) < 0) {
      puts("Error sending message");
    }   
    if ((res = sock_udp_recv(&sock, buf, sizeof(buf), 0.05 * SEC_IN_USEC,NULL)) < 0) {
      if (res == -ETIMEDOUT) {
	vitesse = 1;
      }
      else {
	puts("Error receiving message");
      }
    }
    else {
      if(buf[0] == 'n')
	vitesse = 2;
      else if(buf[0] == 'a') {
	vitesse = 1;
	gpio_set(LED2_PIN);
      }
      else vitesse = 1;
    }
    if(vitesse==2) {
      gpio_clear(LED0_PIN);
      gpio_clear(LED2_PIN);
      gpio_toggle(LED1_PIN);
    }
    else {
      gpio_clear(LED1_PIN);
      gpio_toggle(LED0_PIN);
    }
    xtimer_sleep(vitesse);
  }
  return NULL;
}

static void arret_urgence(void *arg,int channel)
{
  pwm_set(PWM_DEV(0),1,0);
  pwm_set(PWM_DEV(1),1,0);
  tourne = 0;
  timer_run = 0;
  arret = 1;
  gpio_clear(LED0_PIN);
  gpio_clear(LED1_PIN);
  gpio_set(LED2_PIN);
  puts("Arret d'urgence");
}


static void _init_timer(void)
{
  timer_init(TIMER_DEV(1), CLOCK_CORECLOCK/2 ,&arret_urgence,NULL);
  //timer_irq_enable(TIMER_DEV(1));
}

static void _init_pwm(void)
{
  pwm_init(PWM_DEV(0), PWM_LEFT, PWM_FREQ, PWM_RES);
  pwm_set(PWM_DEV(0),1,0);
  pwm_init(PWM_DEV(1), PWM_LEFT, PWM_FREQ, PWM_RES);
  pwm_set(PWM_DEV(1),1,0);
}



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 | THREAD_CREATE_WOUT_YIELD,sock_client_thread,NULL,"sock_client_thread");
    time_server=thread_create(sock_time_server_stack,sizeof(sock_time_server_stack),6,THREAD_CREATE_STACKTEST,sock_time_server_thread,NULL,"sock_time_server_thread");
  }else if((addr.u8[14]==0x17)&&(addr.u8[15]==0x36)){
    _init_timer();
    _init_pwm();
    xtimer_sleep(2);
    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 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;
}