/*
 * 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"
#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];
// 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;
// 
int ordre = 0;
uint8_t buf[128];
sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
sock_udp_t sock; 
// 
// static void _dump_snip(gnrc_pktsnip_t *pkt)
// {
//     switch (pkt->type) {
//         case GNRC_NETTYPE_UNDEF:
//             printf("NETTYPE_UNDEF (%i)\n", pkt->type);
//             od_hex_dump(pkt->data, pkt->size, OD_WIDTH_DEFAULT);
// 	    printf("wesh magueule\n");
// 	    /*if(strcmp((char *)pkt->data,"go")==0)
// 	    {
// 		//pwm_set(PWM_DEV(0),1,25);
// 		ordre = 1;
// 		timer_set(XTIMER_DEV,0,8400);
// 		timer_clear(TIMER_DEV(1),0);
// 	    }
// 	    else 
// 	    {
// 		//pwm_set(PWM_DEV(0),1,0);
// 		ordre = 0;
// 	    }*/
//             break;
// #ifdef MODULE_GNRC_NETIF
//         case GNRC_NETTYPE_NETIF:
//             printf("NETTYPE_NETIF (%i)\n", pkt->type);
//             gnrc_netif_hdr_print(pkt->data);
//             break;
// #endif
// #ifdef MODULE_GNRC_SIXLOWPAN
//         case GNRC_NETTYPE_SIXLOWPAN:
//             printf("NETTYPE_SIXLOWPAN (%i)\n", pkt->type);
//             sixlowpan_print(pkt->data, pkt->size);
//             break;
// #endif
// #ifdef MODULE_GNRC_IPV6
//         case GNRC_NETTYPE_IPV6:
//             printf("NETTYPE_IPV6 (%i)\n", pkt->type);
//             ipv6_hdr_print(pkt->data);
//             break;
// #endif
// #ifdef MODULE_GNRC_ICMPV6
//         case GNRC_NETTYPE_ICMPV6:
//             printf("NETTYPE_ICMPV6 (%i)\n", pkt->type);
//             break;
// #endif
// #ifdef MODULE_GNRC_TCP
//         case GNRC_NETTYPE_TCP:
//             printf("NETTYPE_TCP (%i)\n", pkt->type);
//             break;
// #endif
// #ifdef MODULE_GNRC_UDP
//         case GNRC_NETTYPE_UDP:
//             printf("NETTYPE_UDP (%i)\n", pkt->type);
//             udp_hdr_print(pkt->data);
//             break;
// #endif
// #ifdef TEST_SUITES
//         case GNRC_NETTYPE_TEST:
//             printf("NETTYPE_TEST (%i)\n", pkt->type);
//             od_hex_dump(pkt->data, pkt->size, OD_WIDTH_DEFAULT);
//             break;
// #endif
//         default:
//             printf("NETTYPE_UNKNOWN (%i)\n", pkt->type);
//             od_hex_dump(pkt->data, pkt->size, OD_WIDTH_DEFAULT);
//             break;
//     }
// }
// 
// static void _dump(gnrc_pktsnip_t *pkt)
// {
//     int snips = 0;
//     int size = 0;
//     gnrc_pktsnip_t *snip = pkt;
// 
//     while (snip != NULL) {
//         printf("~~ SNIP %2i - size: %3u byte, type: ", snips,
//                (unsigned int)snip->size);
//         _dump_snip(snip);
//         ++snips;
//         size += snip->size;
//         snip = snip->next;
//     }
// 
//     printf("~~ PKT    - %2i snips, total size: %3i byte\n", snips, size);
//     gnrc_pktbuf_release(pkt);
// }
// 
// 
// static void *_serverloop(void *arg)
// {
//     (void)arg;
//     msg_t msg, reply;
//     msg_t msg_queue[GNRC_PKTDUMP_MSG_QUEUE_SIZE];
// 
//     /* setup the message queue */
//     msg_init_queue(msg_queue, GNRC_PKTDUMP_MSG_QUEUE_SIZE);
// 
//     reply.content.value = (uint32_t)(-ENOTSUP);
//     reply.type = GNRC_NETAPI_MSG_TYPE_ACK;
// 
//     while (1) {
//         msg_receive(&msg);
// 
//         switch (msg.type) {
//             case GNRC_NETAPI_MSG_TYPE_RCV:
//                 puts("PKTDUMP: data received:");
//                 _dump(msg.content.ptr);
//                 break;
//             case GNRC_NETAPI_MSG_TYPE_SND:
//                 puts("PKTDUMP: data to send:");
//                 _dump(msg.content.ptr);
//                 break;
//             case GNRC_NETAPI_MSG_TYPE_GET:
//             case GNRC_NETAPI_MSG_TYPE_SET:
//                 msg_reply(&msg, &reply);
//                 break;
//             default:
//                 puts("PKTDUMP: received something unexpected");
//                 break;
//         }
//     }
// 
//     /* never reached */
//     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;
    local.port = 1234;
 
    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(strcmp((char *)buf,"go")==0)
	  {
	      ordre = 1;
	      timer_set(XTIMER_DEV,0,8400);
	      timer_clear(TIMER_DEV(1),0);
 	  }
	  else 
	  {
	      ordre = 0;
	   }
          }
      }
    return NULL;
}

void *sock_client_thread(void *arg)
{
     (void) arg;
     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);
     if (sock_udp_send(NULL, "go", sizeof("go"), &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;
  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 start_server(char *port_str)
// {
//     uint16_t port;
// 
//     /* check if server is already running */
//     if (server.target.pid != KERNEL_PID_UNDEF) {
//         printf("Error: server already running on port %" PRIu32 "\n",
//                server.demux_ctx);
//         return;
//     }
//     /* parse port */
//     port = (uint16_t)atoi(port_str);
//     if (port == 0) {
//         puts("Error: invalid port specified");
//         return;
//     }
//     /* start server (which means registering pktdump for the chosen port) */
//     server.target.pid = gnrc_server_pid;
//     server.demux_ctx = (uint32_t)port;
//     gnrc_netreg_register(GNRC_NETTYPE_UDP, &server);
//     printf("Success: started UDP server on port %" PRIu16 "\n", port);
// }
 
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);
	thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
    }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");
	thread_create(sock_server_stack,sizeof(sock_server_stack),5,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");

//     if (gnrc_server_pid == KERNEL_PID_UNDEF) {
//         gnrc_server_pid = thread_create(_stack_server, sizeof(_stack_server), GNRC_PKTDUMP_PRIO,
//                              THREAD_CREATE_STACKTEST,
//                              _serverloop, NULL, "serverloop");
//     }
    
    _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;
}