/*
   * 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 "../../boards/stm32f4discovery/include/board.h"
  #include "../../boards/stm32f4discovery/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 15000

  
  static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
  
  extern int udp_cmd(int argc, char **argv);
  
  static const shell_command_t shell_commands[] = {
      { "udp", "send data over UDP and listen on UDP ports", udp_cmd },
      { NULL, NULL, NULL }
  };
  
  // addr ipv6 link local node 1: fe80::3734:510e:3317:3402
  uint8_t node1[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0e,0x33,0x17,0x34,0x02};
  // addr ipv6 link local node 2: fe80::3634:5110:3473:3762
  uint8_t node2[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x36,0x34,0x51,0x10,0x34,0x73,0x37,0x62};
  // addr ipv6 link local node 3: fe80::3734:510e:330b:342a

  uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x31,0x33,0x47,0x11,0x37,0x2c,0x34,0x12};

  // addr ipv6 link local node 4: fe80::3734:510b:330b:340a
  uint8_t node4[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0b,0x33,0x0b,0x34,0x0a};
  // addr ipv6 link local node 5: fe80::3734:510b:330a:341e
  uint8_t node5[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0b,0x33,0x0a,0x34,0x1e};
  //static char _stack_server[GNRC_PKTDUMP_STACKSIZE];
  char pwm_stack[THREAD_STACKSIZE_MAIN];
  char sock_server_stack[THREAD_STACKSIZE_MAIN];
  char sock_client_stack[THREAD_STACKSIZE_MAIN];
  char sock_time_server_stack[THREAD_STACKSIZE_MAIN];
  // static gnrc_netreg_entry_t server = GNRC_NETREG_ENTRY_INIT_PID(GNRC_NETREG_DEMUX_CTX_ALL,
  //                                                                KERNEL_PID_UNDEF);
  // 
  // kernel_pid_t gnrc_server_pid = KERNEL_PID_UNDEF;
  // 
  kernel_pid_t server, client, time_server;
  int ordre = 0;
  int64_t offset = 0;
  int timer_run = 0;
  int tourne = 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(char *arg1, char *arg2)
  {
      uint8_t instance_id = (uint8_t) atoi(arg1);
      ipv6_addr_t dodag_id;

      if (ipv6_addr_from_str(&dodag_id, arg2) == NULL) {
          puts("error: <dodag_id> must be a valid IPv6 address");
          return 1;
      }

      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) {
              puts("Received a message");
          //printf("TT: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
          
          // printf("%c\n",remote.addr.ipv6[15]);
          //xtimer_ticks64_t now = xtimer_now64();
          // heure actuelle du serveur
          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());
          //printf("heure actuelle : %lu\n",xtimer_now_usec());
          //printf("TT2: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
          //memset(&sntp_packet, 0, sizeof(sntp_packet)); 
          //ntp_packet_set_vn(&sntp_packet);
          //ntp_packet_set_mode(&sntp_packet, NTP_MODE_SERVER);
          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;
      sock_udp_ep_t server = { .port = NTP_PORT, .family = AF_INET6 };
      ipv6_addr_from_str((ipv6_addr_t *)&server.addr, "dead:beef::3402");
      
      if (sock_udp_create(&sock, &local, NULL, 0) < 0) {

          puts("Error creating UDP sock");
          return NULL;
      }
      if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
          puts("Error in synchronization");

      }

      offset = sntp_get_offset();
      printf("offset : %i\n",(int)offset);

      
      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(deadline >= DEADLINE && compteur >=5) {
                      compteur = 0;
                      if(tourne == 1){
                          pwm_set(PWM_DEV(0),1,987);
                          pwm_set(PWM_DEV(1),1,960);
                      }
                      if(timer_run == 0) {
                          if (sock_udp_send(&sock, "d", sizeof("d"), &remote) < 0) {
                              puts("Error sending reply");
                          }
                          gpio_clear(LED1_PIN);
                          gpio_clear(LED2_PIN);
                          gpio_set(LED0_PIN);
                          timer_set(TIMER_DEV(1),0,25200);
                          printf("relance timer\n");
                          if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
                              puts("Error in synchronization");
                              return NULL;
                          }
                          offset = sntp_get_offset();
                          printf("offset : %i\n",(int)offset);
                          timer_run = 1;
                      }
                  }
                  if(deadline >= DEADLINE && compteur < 5) {
                      compteur = 0;
                  }
                  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);
                      printf("clear timer\n");
                      if (sock_udp_send(&sock, "n", sizeof("n"), &remote) < 0) {
                          puts("Error sending reply");
                      }
                      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));
              }
          }else{
              puts("msg non recu");
          }

      }
      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';
      //uint8_t paquet[];
      sock_udp_ep_t remote = { .family = AF_INET6 };
      
      remote.port = 1234;
      remote.addr.ipv6[0] = 0xde;
      remote.addr.ipv6[1] = 0xad;
      remote.addr.ipv6[2] = 0xbe;
      remote.addr.ipv6[3] = 0xef;
      remote.addr.ipv6[14] = 0x34;
      remote.addr.ipv6[15] = 0x1e;
      //     memcpy(remote.addr.ipv6,addr.u8,IPV6_ADDR_BIT_LEN);
      while (1) {
          data.heure_actuelle = xtimer_now_usec();
          
          if (sock_udp_send(&sock, &data, sizeof(data), &remote) < 0) {
              puts("Error sending message");
          }
          puts("Send a message");
          if(vitesse==2) {
              gpio_clear(LED0_PIN);
              gpio_toggle(LED1_PIN);
          }
          else {
              gpio_clear(LED1_PIN);
              gpio_toggle(LED0_PIN);
          }
          if ((res = sock_udp_recv(&sock, buf, sizeof(buf), 0.05 * SEC_IN_USEC,NULL)) < 0) {
              if (res == -ETIMEDOUT) {
                  puts("Timed out");
              }
              else {
                  puts("Error receiving message");
              }
          }
          else {
              printf("Received message: \"");
              for (int i = 0; i < res; i++) {
                  printf("%c", buf[i]);
              }
              if(buf[0] == 'n')
                  vitesse = 2;
              else vitesse = 1;
              printf("\"\n");
          }
          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;
      gpio_clear(LED0_PIN);
      gpio_clear(LED1_PIN);
      gpio_set(LED2_PIN);
      printf("Arret d'urgence\n");
  }

  
  /*static void degradation(void *arg,int channel)

   * {
   *   ordre=2;
   *    //pwm_set(PWM_DEV(0),1,0);
   *    printf("Ralentissement\n");
   *    timer_set(TIMER_DEV(1),0,25200);
   * }*/
  
  static void _init_timer(void)

  {
      printf("ok timer\n");
      //timer_init(XTIMER_DEV, CLOCK_CORECLOCK/2 ,&degradation,NULL);
      //timer_set(XTIMER_DEV, 0, 8400);
      //timer_irq_enable(XTIMER_DEV);
      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);
      
      //    thread_create(pwm_stack,sizeof(pwm_stack),7,THREAD_CREATE_STACKTEST,pwm_thread,NULL,"pwm_thread");

  }

  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] = 0xde;
      addr.u8[1] = 0xad;
      addr.u8[2] = 0xbe;
      addr.u8[3] = 0xef;

      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]==0x34)&&(addr.u8[15]==0x02)){
          crea_rpl_dodag_root("1", "dead:beef::3402");

          client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,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]==0x37)&&(addr.u8[15]==0x62)){

      }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x12)){

          
      }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x0a)){
      }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x1e)){

          _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 ?");
      }
  }
  
  
  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;
  }