/*
   * 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 "../../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"
  #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 100
  #define PWM_RES 100
  
  // 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::3634:5110:3471:3766
  uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x36,0x34,0x51,0x10,0x34,0x71,0x37,0x66};
  
  //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;

  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;
  

  
  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 *pwm_thread(void *arg)
  {
      (void) arg;
      int tourne = 0;
      while(1)
      {
        
  	if(ordre==1)
  	{
  	  pwm_set(PWM_DEV(0),1,45);
  	  tourne = 1;
  	}
  	else if(ordre==0)
  	{
  	  pwm_set(PWM_DEV(0),1,0);
  	  tourne = 0;
  	}
  	else if(ordre==2 && tourne == 1)
  	  pwm_set(PWM_DEV(0),1,31);
        
      }
      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;
      }
      
      //sntp_sync(&local,5000);
      //printf("temps : %i\n",(int)sntp_get_offset());
      
      while (1) {
            sock_udp_ep_t remote;
            ssize_t res;
   

            if ((res = sock_udp_recv(&sock, &buf, sizeof(buf), SOCK_NO_TIMEOUT,

                                     &remote)) >= 0) {
               // puts("Received a message");
  	      //printf("%s\n",buf);

                /*if (sock_udp_send(&sock, buf, res, &remote) < 0) {

                    puts("Error sending reply");

                }*/
  	      if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
  		puts("Error in synchronization");
  		return NULL;
  	      }
  	      offset = sntp_get_offset();
      	      deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
                printf("tps de transmission : %i\n",deadline);
  	      printf("compteur : %d\n",compteur);
  	      if(deadline<=70000 && compteur >=5)
  	      {
  		ordre = 1;
  		timer_clear(TIMER_DEV(1),0);
  	      }
  	      else if(deadline<=70000 && (ordre == 2 || ordre ==0))
  	      {
  		compteur++;
  	      } 
  	      else
  	      {
  		ordre = 2;
  		compteur = 0;
  		if(timer_run == 0)
  		{
  		  timer_set(TIMER_DEV(1),0,25200);
  		  timer_run = 1;
  		}
  	      }
  		
            /*if(strcmp((char *)buf,"go")==0)

  	  {
  	      ordre = 1;
  	      timer_set(XTIMER_DEV,0,8400);
  	      timer_clear(TIMER_DEV(1),0);
   	  }
  	  else 
  	  {
  	      ordre = 0;
  	   }

            }*/
  	  memset(&buf,0,sizeof(buf));

        }

      }

      return NULL;
  }
  
  void *sock_client_thread(void *arg)
  {
       (void) arg;

       Data data;
       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] = 0x37;
       remote.addr.ipv6[15] = 0x66;
  //     memcpy(remote.addr.ipv6,addr.u8,IPV6_ADDR_BIT_LEN);
       while (1) {
  //       //ipv6_addr_set_all_nodes_multicast((ipv6_addr_t *)&remote.addr.ipv6,
  //         //                                    IPV6_ADDR_MCAST_SCP_LINK_LOCAL);

       data.heure_actuelle = xtimer_now_usec();
       
       if (sock_udp_send(NULL, &data, sizeof(data), &remote) < 0) {

                 puts("Error sending message");
             }
       xtimer_sleep(1);
         }
       return NULL;
  }
  
  static void arret_urgence(void *arg,int channel)
  {
    //pwm_set(PWM_DEV(0),1,0);
    ordre=0;

    timer_run = 0;

    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);
  
      thread_create(pwm_stack,sizeof(pwm_stack),8,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)){
          
          tmp_addr.u8[14] = 0x37;
          tmp_addr.u8[15] = 0x66;
          //fibroute dest: dead:beef::3766 via fe80::3634:5110:3473:3762
          fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
          tmp_addr.u8[14] = 0x37;
          tmp_addr.u8[15] = 0x62;
          //fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
          fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
  	client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_WOUT_YIELD |THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
          xtimer_usleep(10000);
          time_server=thread_create(sock_time_server_stack,sizeof(sock_time_server_stack),8, THREAD_CREATE_WOUT_YIELD |THREAD_CREATE_STACKTEST,sock_time_server_thread,NULL,"sock_time_server_thread");
          xtimer_usleep(200);
      }else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x62)){
          tmp_addr.u8[14] = 0x37;
          tmp_addr.u8[15] = 0x66;
          //fibroute dest: dead:beef::3766 via fe80::3634:5110:3471:3766
          fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node3, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
          tmp_addr.u8[14] = 0x34;
          tmp_addr.u8[15] = 0x02;
          //fibroute dest: dead:beef::3402 via fe80::3734:510e:3317:3402
          fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node1, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
  	//sntp_sync(&local,5000);
  	//printf("temps : %i\n",(int)sntp_get_offset());
      }else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x66)){
          tmp_addr.u8[14] = 0x34;
          tmp_addr.u8[15] = 0x02;
          //fibroute dest: dead:beef::3402 via fe80::3634:5110:3473:3762
          fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE); tmp_addr.u8[14] = 0x37;
          tmp_addr.u8[15] = 0x62;
          //fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
          fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
  	//start_server("1234");
  	server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_WOUT_YIELD |THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
  	_init_pwm();
          _init_timer();
      }else{
          puts("new node ?");
      }
  }
  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 }
  };
  
  
  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;
  }