/*
 * Licensed to the Apache Software Foundation (ASF) under one
 * or more contributor license agreements.  See the NOTICE file
 * distributed with this work for additional information
 * regarding copyright ownership.  The ASF licenses this file
 * to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance
 * with the License.  You may obtain a copy of the License at
 *
 *  http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
 * KIND, either express or implied.  See the License for the
 * specific language governing permissions and limitations
 * under the License.
 */

#include <assert.h>
#include <string.h>

/* BLE */
#include "nimble/ble.h"
#include "host/ble_hs.h"
#include "host/util/util.h"
/* Mandatory services. */
#include "services/gap/ble_svc_gap.h"
#include "services/gatt/ble_svc_gatt.h"

#include "nimble/nimble_port.h"
#include "nimble/nimble_port_freertos.h"
#include "nimble/ble.h"
#ifdef NIMBLE_SPARK_SUP
#include "nimble/pan107x/nimble_glue_spark.h"
#else
#include "nimble/pan107x/nimble_glue.h"
#endif

/* Application-specified header. */
#include "blecent.h"

void ble_store_config_init(void);

static int blecent_gap_event(struct ble_gap_event *event, void *arg);

/**
 * Application callback.  Called when the read of the ANS Supported New Alert
 * Category characteristic has completed.
 */
static int
blecent_on_read(uint16_t conn_handle,
                const struct ble_gatt_error *error,
                struct ble_gatt_attr *attr,
                void *arg)
{
    printf("Read complete; status=%d conn_handle=%d", error->status,
                conn_handle);
    if (error->status == 0) {
        printf(" attr_handle=%d value=", attr->handle);
        print_mbuf(attr->om);
    }
    printf("\n");

    return 0;
}

/**
 * Application callback.  Called when the write to the ANS Alert Notification
 * Control Point characteristic has completed.
 */
static int
blecent_on_write(uint16_t conn_handle,
                 const struct ble_gatt_error *error,
                 struct ble_gatt_attr *attr,
                 void *arg)
{
    printf("Write complete; status=%d conn_handle=%d attr_handle=%d\n",
                error->status, conn_handle, attr->handle);

    return 0;
}

/**
 * Application callback.  Called when the attempt to subscribe to notifications
 * for the ANS Unread Alert Status characteristic has completed.
 */
static int
blecent_on_subscribe(uint16_t conn_handle,
                     const struct ble_gatt_error *error,
                     struct ble_gatt_attr *attr,
                     void *arg)
{
    printf("Subscribe complete; status=%d conn_handle=%d "
                      "attr_handle=%d\n",
                error->status, conn_handle, attr->handle);

    return 0;
}

/**
 * Performs three concurrent GATT operations against the specified peer:
 * 1. Reads the ANS Supported New Alert Category characteristic.
 * 2. Writes the ANS Alert Notification Control Point characteristic.
 * 3. Subscribes to notifications for the ANS Unread Alert Status
 *    characteristic.
 *
 * If the peer does not support a required service, characteristic, or
 * descriptor, then the peer lied when it claimed support for the alert
 * notification service!  When this happens, or if a GATT procedure fails,
 * this function immediately terminates the connection.
 */
static void
blecent_read_write_subscribe(const struct peer *peer)
{
    const struct peer_chr *chr;
    const struct peer_dsc *dsc;
    uint8_t value[2];
    int rc;

    /* Read the supported-new-alert-category characteristic. */
    chr = peer_chr_find_uuid(peer,
                             BLE_UUID16_DECLARE(BLECENT_SVC_ALERT_UUID),
                             BLE_UUID16_DECLARE(BLECENT_CHR_SUP_NEW_ALERT_CAT_UUID));
    if (chr == NULL) {
        printf("Error: Peer doesn't support the Supported New "
                           "Alert Category characteristic\n");
        goto err;
    }

    rc = ble_gattc_read(peer->conn_handle, chr->chr.val_handle,
                        blecent_on_read, NULL);
    if (rc != 0) {
        printf("Error: Failed to read characteristic; rc=%d\n",
                    rc);
        goto err;
    }

    /* Write two bytes (99, 100) to the alert-notification-control-point
     * characteristic.
     */
    chr = peer_chr_find_uuid(peer,
                             BLE_UUID16_DECLARE(BLECENT_SVC_ALERT_UUID),
                             BLE_UUID16_DECLARE(BLECENT_CHR_ALERT_NOT_CTRL_PT));
    if (chr == NULL) {
        printf("Error: Peer doesn't support the Alert "
                           "Notification Control Point characteristic\n");
        goto err;
    }

    value[0] = 99;
    value[1] = 100;
    rc = ble_gattc_write_flat(peer->conn_handle, chr->chr.val_handle,
                              value, sizeof value, blecent_on_write, NULL);
    if (rc != 0) {
        printf("Error: Failed to write characteristic; rc=%d\n",
                    rc);
    }

    /* Subscribe to notifications for the Unread Alert Status characteristic.
     * A central enables notifications by writing two bytes (1, 0) to the
     * characteristic's client-characteristic-configuration-descriptor (CCCD).
     */
    dsc = peer_dsc_find_uuid(peer,
                             BLE_UUID16_DECLARE(BLECENT_SVC_ALERT_UUID),
                             BLE_UUID16_DECLARE(BLECENT_CHR_UNR_ALERT_STAT_UUID),
                             BLE_UUID16_DECLARE(BLE_GATT_DSC_CLT_CFG_UUID16));
    if (dsc == NULL) {
        printf("Error: Peer lacks a CCCD for the Unread Alert "
                           "Status characteristic\n");
        goto err;
    }

    value[0] = 1;
    value[1] = 0;
    rc = ble_gattc_write_flat(peer->conn_handle, dsc->dsc.handle,
                              value, sizeof value, blecent_on_subscribe, NULL);
    if (rc != 0) {
        printf("Error: Failed to subscribe to characteristic; "
                           "rc=%d\n", rc);
        goto err;
    }

    return;

err:
    /* Terminate the connection. */
    ble_gap_terminate(peer->conn_handle, BLE_ERR_REM_USER_CONN_TERM);
}

/**
 * Called when service discovery of the specified peer has completed.
 */
static void
blecent_on_disc_complete(const struct peer *peer, int status, void *arg)
{

    if (status != 0) {
        /* Service discovery failed.  Terminate the connection. */
        printf("Error: Service discovery failed; status=%d "
                           "conn_handle=%d\n", status, peer->conn_handle);
        ble_gap_terminate(peer->conn_handle, BLE_ERR_REM_USER_CONN_TERM);
        return;
    }

    /* Service discovery has completed successfully.  Now we have a complete
     * list of services, characteristics, and descriptors that the peer
     * supports.
     */
    printf("Service discovery complete; status=%d "
                       "conn_handle=%d\n", status, peer->conn_handle);

    /* Now perform three concurrent GATT procedures against the peer: read,
     * write, and subscribe to notifications.
     */
    blecent_read_write_subscribe(peer);
}

/**
 * Initiates the GAP general discovery procedure.
 */
static void
blecent_scan(void)
{
    uint8_t own_addr_type;
    struct ble_gap_disc_params disc_params;
    int rc;

    /* Figure out address to use while advertising (no privacy for now) */
    rc = ble_hs_id_infer_auto(0, &own_addr_type);
    if (rc != 0) {
        printf("error determining address type; rc=%d\n", rc);
        return;
    }

    /* Tell the controller to filter duplicates; we don't want to process
     * repeated advertisements from the same device.
     */
    disc_params.filter_duplicates = 0;

    /**
     * Perform a passive scan.  I.e., don't send follow-up scan requests to
     * each advertiser.
     */
    disc_params.passive = 0;

    /* Use defaults for the rest of the parameters. */
    disc_params.itvl = 60;
    disc_params.window = 50;
    disc_params.filter_policy = 0;
    disc_params.limited = 0;

    rc = ble_gap_disc(own_addr_type, BLE_HS_FOREVER, &disc_params,
                      blecent_gap_event, NULL);
    if (rc != 0) {
        printf("Error initiating GAP discovery procedure; rc=%d\n",
                    rc);
    }
}

/**
 * Indicates whether we should tre to connect to the sender of the specified
 * advertisement.  The function returns a positive result if the device
 * advertises connectability and support for the Alert Notification service.
 */
static int
blecent_should_connect(const struct ble_gap_disc_desc *disc)
{
    struct ble_hs_adv_fields fields;
    int rc;
    int i;

    /* The device has to be advertising connectability. */
    if (disc->event_type != BLE_HCI_ADV_RPT_EVTYPE_ADV_IND &&
        disc->event_type != BLE_HCI_ADV_RPT_EVTYPE_DIR_IND) {

        return 0;
    }

    rc = ble_hs_adv_parse_fields(&fields, disc->data, disc->length_data);
    if (rc != 0) {
        return rc;
    }

    /* The device has to advertise support for the Alert Notification
     * service (0x1811).
     */
    for (i = 0; i < fields.num_uuids16; i++) {
        if (ble_uuid_u16(&fields.uuids16[i].u) == BLECENT_SVC_ALERT_UUID) {
            return 1;
        }
    }

    return 0;
}

/**
 * Connects to the sender of the specified advertisement of it looks
 * interesting.  A device is "interesting" if it advertises connectability and
 * support for the Alert Notification service.
 */
static void
blecent_connect_if_interesting(const struct ble_gap_disc_desc *disc)
{
    uint8_t own_addr_type;
    int rc;

    /*Filter adv by rssi*/
    if (disc->rssi < -70)
    {
        return;
    }

    /* Don't do anything if we don't care about this advertiser. */
    if (!blecent_should_connect(disc)) {
        return;
    }

    /* Scanning must be stopped before a connection can be initiated. */
    rc = ble_gap_disc_cancel();
    if (rc != 0) {
        printf("Failed to cancel scan; rc=%d\n", rc);
        return;
    }

    /* Figure out address to use for connect (no privacy for now) */
    rc = ble_hs_id_infer_auto(0, &own_addr_type);
    if (rc != 0) {
        printf("error determining address type; rc=%d\n", rc);
        return;
    }

    /* Try to connect the the advertiser.  Allow 30 seconds (30000 ms) for
     * timeout.
     */
    rc = ble_gap_connect(own_addr_type, &disc->addr, 30000, NULL,
                         blecent_gap_event, NULL);
    if (rc != 0) {
        printf("Error: Failed to connect to device; addr_type=%d "
                           "addr=%s\n; rc=%d",
                    disc->addr.type, addr_str(disc->addr.val), rc);
        return;
    }
}

/**
 * The nimble host executes this callback when a GAP event occurs.  The
 * application associates a GAP event callback with each connection that is
 * established.  blecent uses the same callback for all connections.
 *
 * @param event                 The event being signalled.
 * @param arg                   Application-specified argument; unused by
 *                                  blecent.
 *
 * @return                      0 if the application successfully handled the
 *                                  event; nonzero on failure.  The semantics
 *                                  of the return code is specific to the
 *                                  particular GAP event being signalled.
 */
static int
blecent_gap_event(struct ble_gap_event *event, void *arg)
{
    struct ble_gap_conn_desc desc;
    struct ble_hs_adv_fields fields;
    int rc;

    switch (event->type) {
    case BLE_GAP_EVENT_DISC:
        rc = ble_hs_adv_parse_fields(&fields, event->disc.data,
                                     event->disc.length_data);
        if (rc != 0) {
            return 0;
        }

        /* An advertisment report was received during GAP discovery. */
       print_adv_fields(&fields,&event->disc);

        /* Try to connect to the advertiser if it looks interesting. */
        blecent_connect_if_interesting(&event->disc);
        return 0;

    case BLE_GAP_EVENT_CONNECT:
        /* A new connection was established or a connection attempt failed. */
        if (event->connect.status == 0) {
            /* Connection successfully established. */
            printf("Connection established ");

            rc = ble_gap_conn_find(event->connect.conn_handle, &desc);
            assert(rc == 0);
            print_conn_desc(&desc);
            printf("\n");

            /* Remember peer. */
            rc = peer_add(event->connect.conn_handle);
            if (rc != 0) {
                printf("Failed to add peer; rc=%d\n", rc);
                return 0;
            }

            /* Perform service discovery. */
            rc = peer_disc_all(event->connect.conn_handle,
                               blecent_on_disc_complete, NULL);
            if (rc != 0) {
                printf("Failed to discover services; rc=%d\n", rc);
                return 0;
            }
        } else {
            /* Connection attempt failed; resume scanning. */
            printf("Error: Connection failed; status=%d\n",
                        event->connect.status);
            blecent_scan();
        }

        return 0;

    case BLE_GAP_EVENT_DISCONNECT:
        /* Connection terminated. */
        printf("disconnect; reason=0x%02x\n",  (uint8_t)event->disconnect.reason);
        print_conn_desc(&event->disconnect.conn);
        printf("\n");

        /* Forget about peer. */
        peer_delete(event->disconnect.conn.conn_handle);

        /* Resume scanning. */
        blecent_scan();
        return 0;

    case BLE_GAP_EVENT_DISC_COMPLETE:
        printf("discovery complete; reason=%d\n",
                    event->disc_complete.reason);
        return 0;

    case BLE_GAP_EVENT_ENC_CHANGE:
        /* Encryption has been enabled or disabled for this connection. */
        printf("encryption change event; status=%d ",
                    event->enc_change.status);
        rc = ble_gap_conn_find(event->enc_change.conn_handle, &desc);
        assert(rc == 0);
        print_conn_desc(&desc);
        return 0;

    case BLE_GAP_EVENT_NOTIFY_RX:
        /* Peer sent us a notification or indication. */
        printf("received %s; conn_handle=%d attr_handle=%d "
                          "attr_len=%d\n",
                    event->notify_rx.indication ?
                        "indication" :
                        "notification",
                    event->notify_rx.conn_handle,
                    event->notify_rx.attr_handle,
                    OS_MBUF_PKTLEN(event->notify_rx.om));

        /* Attribute data is contained in event->notify_rx.attr_data. */
        return 0;

    case BLE_GAP_EVENT_MTU:
        printf("mtu update event; conn_handle=%d cid=%d mtu=%d\n",
                    event->mtu.conn_handle,
                    event->mtu.channel_id,
                    event->mtu.value);
        return 0;

    case BLE_GAP_EVENT_REPEAT_PAIRING:
        /* We already have a bond with the peer, but it is attempting to
         * establish a new secure link.  This app sacrifices security for
         * convenience: just throw away the old bond and accept the new link.
         */

        /* Delete the old bond. */
        rc = ble_gap_conn_find(event->repeat_pairing.conn_handle, &desc);
        assert(rc == 0);
        ble_store_util_delete_peer(&desc.peer_id_addr);

        /* Return BLE_GAP_REPEAT_PAIRING_RETRY to indicate that the host should
         * continue with the pairing operation.
         */
        return BLE_GAP_REPEAT_PAIRING_RETRY;

    default:
        return 0;
    }
}

static void
blecent_on_reset(int reason)
{
    printf("Resetting state; reason=%d\n", reason);
}

static void
blecent_on_sync(void)
{
    int rc;

    /* Make sure we have proper identity address set (public preferred) */
    rc = ble_hs_util_ensure_addr(0);
    assert(rc == 0);

    /* Begin scanning for a peripheral to connect to. */
    blecent_scan();
}


#if CONFIG_OTA_IN_APP
static void print_version_info(void)
{
    #include "app_version.h"
	struct smp_image_header *image_header_p = (void *)SIZE_BOOTLOADER;

	printf("APP version: %d.%d.%d\n", image_header_p->ih_ver.iv_major, image_header_p->ih_ver.iv_minor, image_header_p->ih_ver.iv_revision);
}
#endif

/**
 * main
 *
 * All application logic and NimBLE host work is performed in default task.
 *
 * @return int NOTE: this function should never return!
 */
extern struct queue //½á¹¹ÌåÀàÐÍ
{
uint8_t totalnum;//»ùÕ¾×ÜÊý
uint8_t flag_newanchor[anchor_max_num];//ÐÂÀÏ»ùÕ¾±íʾ
uint16_t id[anchor_max_num]; /*ID*/
uint16_t time[anchor_max_num];   /*ʱ¼ä*/
uint16_t fail_num[anchor_max_num]; //uwb½ÓÊÜʧ°ÜµÄ´ÎÊý
uint16_t rssi[anchor_max_num];//À¶ÑÀ²â³öµÄ¾àÀë
uint8_t uwb_tongxun_flag[anchor_max_num];//ÓëuwbͨѶ³É¹¦Ê§°ÜµÄ±ê־λ
uint16_t u16id[anchor_max_num]; /*u16ID*/    
}blequeue;
uint16_t timer;
TimerHandle_t xTimerUser; 
uint8_t slave_send_buf[100];
extern void uart_data_send(UART_HandleTypeDef *pUart, uint8_t *pBuf, size_t size);
void Spi_Zubao_Send(void)
{   
    if(blequeue.totalnum>10)
    {blequeue.totalnum=10;}
    memset(slave_send_buf,0,sizeof(slave_send_buf));
    slave_send_buf[0]=0X55;
    slave_send_buf[1]=0XAA;
    slave_send_buf[2]=blequeue.totalnum*4+2;
    slave_send_buf[3]=blequeue.totalnum;
    memcpy(&slave_send_buf[4],blequeue.id,2*blequeue.totalnum);
    memcpy(&slave_send_buf[4+2*blequeue.totalnum],blequeue.rssi,2*blequeue.totalnum);
    slave_send_buf[4+4*blequeue.totalnum]=0x66;
    slave_send_buf[5+4*blequeue.totalnum]=0xBB;
    uart_data_send(&UART0_OBJ, slave_send_buf,blequeue.totalnum*4+6 );
    blequeue.totalnum=0;

    memset(blequeue.id,0,sizeof(blequeue.id));
    memset(blequeue.u16id,0,sizeof(blequeue.u16id));
    memset(blequeue.rssi,0,sizeof(blequeue.rssi));
}
void vTimerCallback( TimerHandle_t xTimer )
{	
timer++;
    Spi_Zubao_Send();
}

#define UART_RECV_BUF_SIZE		512

uint8_t revDataBuf[UART_RECV_BUF_SIZE];
void uart_data_send(UART_HandleTypeDef *pUart, uint8_t *pBuf, size_t size)
{
	pUart->pTxBuffPtr = pBuf;
    pUart->txXferSize = size;
    pUart->txXferCount = 0;

	HAL_UART_Init_INT(pUart);

}

void tx_callback(UART_Cb_Flag_Opt i,uint8_t *pOutPtr,uint16_t size)
{
//    printf("tx complete\n");
} 

void rx_callback(UART_Cb_Flag_Opt flag,uint8_t *pOutPtr,uint16_t size)
{
    if (flag == UART_CB_FLAG_RX_FINISH)
    {
//        printf("rx finish\n");
    }
    else if (flag == UART_CB_FLAG_RX_TIMEOUT)
    {
//		uart_data_send(&UART1_OBJ, pOutPtr, size);
//        printf("rx timeout\n");
    }
    else if (flag == UART_CB_FLAG_RX_BUFFFULL)
    {
//        printf("rx buff full\n");
    }
}
static void uart0_init(void)
{
	SYS_SET_MFP(P1, 6, UART0_TX);
    SYS_SET_MFP(P1, 7, UART0_RX);
    GPIO_EnableDigitalPath(P2, BIT4);
	
	UART0_OBJ.initObj.baudRate = 921600;
	UART0_OBJ.initObj.format = HAL_UART_FMT_8_N_1;  
	UART0_OBJ.pRxBuffPtr = revDataBuf;
    UART0_OBJ.rxXferSize = UART_RECV_BUF_SIZE;
    UART0_OBJ.rxIntCallback = rx_callback;
	UART0_OBJ.txIntCallback = tx_callback;

    UART0_OBJ.interruptObj.switchFlag = ENABLE;
    UART0_OBJ.interruptObj.interruptMode = HAL_UART_INT_THR_EMPTY | HAL_UART_INT_RECV_DATA_AVL;

	HAL_UART_Init(&UART0_OBJ);

	HAL_UART_Init_INT(&UART0_OBJ);

	UART_SetTxTrigger(UART0_OBJ.pUartx, UART_TX_FIFO_EMPTY);
	UART_SetRxTrigger(UART0_OBJ.pUartx, UART_RX_FIFO_TWO_LESS_THAN_FULL);
	NVIC_EnableIRQ(UART0_OBJ.IRQn);
}
void app_init(void)
{
    int rc;
	
	#if CONFIG_OTA_IN_APP
	print_version_info();
	#endif
	
	/** set public address*/
    uint8_t pub_mac[6]={8,2,3,4,5,6};

	#if CONFIG_USER_CHIP_MAC_ADDR
	extern uint8_t pan10x_mac_addr_get(uint8_t *mac);
	pan10x_mac_addr_get(pub_mac);
	#endif

    db_set_bd_address(pub_mac);

    /* Configure the host. */
    ble_hs_cfg.reset_cb = blecent_on_reset;
    ble_hs_cfg.sync_cb = blecent_on_sync;
    ble_hs_cfg.store_status_cb = ble_store_util_status_rr;

    /* Initialize data structures to track connected peers. */
    rc = peer_init(MYNEWT_VAL(BLE_MAX_CONNECTIONS), 32, 32, 32);
    assert(rc == 0);

    /* Set the default device name. */
    rc = ble_svc_gap_device_name_set("nimble-blecent");
    assert(rc == 0);
    uart0_init();
    xTimerUser = xTimerCreate("Timer's name",pdMS_TO_TICKS(900),pdTRUE,( void * ) 0,vTimerCallback);                 
     if( xTimerUser != NULL ) {
            xTimerStart( xTimerUser, 0 );
    }
     
    /* Persist config store init*/
    ble_store_config_init();

	hs_thread_init();

}

void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
{
    printf("task overflow:%s\r\n", pcTaskName);
    while(1);
}