/*
   * 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 "periph/gpio.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 "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 1000
  #define PWM_RES 1000
  #define DEADLINE 40000

  
  // 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,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0b,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;

  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;
  

  
  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;

    int interruption_msg = 0;

    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");
      return NULL;
    }
    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(interruption_msg == 1) {
  	  if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
  	    puts("Error in synchronization");
  	    return NULL;
  	  }
  	  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);

  	    /* 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 (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];pwm_set(PWM_DEV(0),1,0);

    data.donnees[0] = 'g';
    data.donnees[1] = 'o';
    //uint8_t paquet[];

    ssize_t res;

    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;

    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] = 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] = 0x34;
      tmp_addr.u8[15] = 0x1e;
      //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_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)){
      tmp_addr.u8[14] = 0x34;
      tmp_addr.u8[15] = 0x1e;
      //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);
    }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x1e)){
      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[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);
      _init_timer();
      _init_pwm();
      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];
  
  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;

  }