/*
 * 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;
}