/*
 * Copyright (c) 2019-2023 Beijing Hanwei Innovation Technology Ltd. Co. and
 * its subsidiaries and affiliates (collectly called MKSEMI).
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form, except as embedded into an MKSEMI
 *    integrated circuit in a product or a software update for such product,
 *    must reproduce the above copyright notice, this list of conditions and
 *    the following disclaimer in the documentation and/or other materials
 *    provided with the distribution.
 *
 * 3. Neither the name of MKSEMI nor the names of its contributors may be used
 *    to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * 4. This software, with or without modification, must only be used with a
 *    MKSEMI integrated circuit.
 *
 * 5. Any software provided in binary form under this license must not be
 *    reverse engineered, decompiled, modified and/or disassembled.
 *
 * THIS SOFTWARE IS PROVIDED BY MKSEMI "AS IS" AND ANY EXPRESS OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL MKSEMI OR CONTRIBUTORS BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RANGING_H_
#define RANGING_H_
#include "ranging_custom_task.h"
#include "wsf_timer.h"
#include "mk_mac.h"
#include "uwb_api.h"
#include "lib_ranging.h"

#ifndef ASYNC_MODE_EN
#define ASYNC_MODE_EN (0)
#endif

#ifndef RESPONDER_NUM
#define RESPONDER_NUM (1)
#endif

#ifndef AOA_3D_EN
#define AOA_3D_EN (0)
#endif

#ifndef PDOA_3D_EN
#define PDOA_3D_EN (0)
#endif

#ifndef RANGING_RESULT_REPORT_EN
#define RANGING_RESULT_REPORT_EN (0)
#endif

#ifndef RANGING_FOM_FILTER_EN
// depends on CHEST_DUMP_EN
#define RANGING_FOM_FILTER_EN (1)
#endif

#if RANGING_FOM_FILTER_EN
#define RFRAME_INF_SIZE (4 + CIR_LEN / CE_WIN - 1)
#else
#define RFRAME_INF_SIZE (2)
#endif

#define MSG_SESSION_ID_IDX 0
#define MSG_SEQ_NUM_IDX 2
#define MSG_TYPE_IDX 4
#define MSG_HEADER_LEN 5

#define MSG_POLL_RESPONDER_NUM_IDX (0)
// x : 0 ~ RESPONDER_NUM-1
#define MSG_POLL_RESPONDER_ID_IDX(x) (1 + (x)*3)
#define MSG_POLL_RESPONDER_SLOT_IDX(x) (1 + (x)*3 + 2)
#define MSG_POLL_TX_PWR_IDX (1 + RESPONDER_NUM * 3)
#define MSG_POLL_USER_DATA_IDX (1 + RESPONDER_NUM * 3 + 1)
#define MSG_POLL_USER_DATA_LEN (125 - MSG_HEADER_LEN - MSG_POLL_USER_DATA_IDX)

#define MSG_RESPONSE_RESPONDER_ID_IDX 0
#define MSG_RESPONSE_TX_PWR_IDX (2)
#define MSG_RESPONSE_USER_DATA_IDX (3)
#define MSG_RESPONSE_USER_DATA_LEN (125 - MSG_HEADER_LEN - MSG_RESPONSE_USER_DATA_IDX)

#define MSG_FINAL_RESPONDER_NUM_IDX 0
#define MSG_FINAL_TREPLY_IDX 1
// x : 0 ~ RESPONDER_NUM-1
#define MSG_FINAL_TROUND_IDX(x) (6 + (x)*5)
#define MSG_FINAL_FOM_IDX(x) (6 + RESPONDER_NUM * 5 + (x)*RFRAME_INF_SIZE)
#define MSG_FINAL_NLOS_IDX(x) (MSG_FINAL_FOM_IDX(x) + 1)
#define MSG_FINAL_FAP_VALID_IDX(x) (MSG_FINAL_FOM_IDX(x) + 2)
#define MSG_FINAL_GAPS_NUM_IDX(x) (MSG_FINAL_FOM_IDX(x) + 3)
#define MSG_FINAL_GAPS_IDX(x) (MSG_FINAL_FOM_IDX(x) + 4)
#define MSG_FINAL_USER_DATA_IDX (MSG_FINAL_FOM_IDX(RESPONDER_NUM))
#define MSG_FINAL_USER_DATA_LEN (125 - MSG_HEADER_LEN - MSG_FINAL_USER_DATA_IDX)

#define MSG_RESULT_INFO_LEN (8)

#if (MSG_POLL_USER_DATA_LEN < 0) || (MSG_RESPONSE_USER_DATA_LEN < 0) || (MSG_FINAL_USER_DATA_LEN < 0)
#error "RESPONDER_NUM is out of range"
#endif

/*
 * The content of the ranging packet is customized by the user, but the first five bytes of
 * each data packet are fixed, 2 bytes of session-id, 2 bytes of seq-num, 1 byte of packet type
 * The length of the air interface data packet transmitted by the actual UWB shall prevail.
 */
struct RANGING_USER_PKT_T
{
    uint16_t session_id;
    uint16_t seq_num;
    uint8_t msg_type;
    union
    {
        /* responder_num (1B) || [responder_id(2B) || responder_slot_idx(1B)] * RESPONDER_NUM || Tx power level (1B) || user data, poll-msg can be used to
         * transmit user private data
         */
        uint8_t poll_msg[MSG_POLL_USER_DATA_IDX + MSG_POLL_USER_DATA_LEN];
        /* responder_id(2B) || Tx power level (1B) || user data, response-msg can be used to transmit user private data */
        uint8_t response_msg[MSG_RESPONSE_USER_DATA_IDX + MSG_RESPONSE_USER_DATA_LEN];
        /* responder_num (1B) || Ttotal (tx_final_time - tx_poll_time (5B, 0 ~ 17.2s)) || responder Tround1 (x*5B, x=(0 ~ RESPONDER_NUM-1)) || responder
         * Fom(1B) + NLoS(1B) [+ fap_valid(1B) + gaps_num(1B) + gaps(CIR_LEN/CE_WIN-1)] (x*RFRAME_INF_SIZE, x=(0 ~ RESPONDER_NUM-1))
         */
        uint8_t final_msg[MSG_FINAL_USER_DATA_IDX + MSG_FINAL_USER_DATA_LEN];

        /* responder_id(2B) || ranging_distance(2B) || poll Fom (1B) + NLoS (1B) || Final Fom (1B) + NLoS (1B) */
        uint8_t result_msg[MSG_RESULT_INFO_LEN];
    } msg;
} __PACKED;

struct RANGING_FRAME_INF_T
{
    uint8_t fom;
    uint8_t NLoS;
#if RANGING_FOM_FILTER_EN
    uint8_t fap_valid;
    uint8_t gaps_num;
    uint8_t gaps[CIR_LEN / CE_WIN - 1];
#endif
} __PACKED;

/* Custom ranging environment variable */
struct RANGING_ENV_T
{
    int64_t tx_poll_time;
    int64_t tx_response_time;
    int64_t tx_final_time;
    int64_t rx_poll_time;
    int64_t rx_response_time[RESPONDER_NUM];
    int64_t rx_final_time;

    struct RANGING_FRAME_INF_T frame[MAX(RESPONDER_NUM, 2)];

    uint32_t anchor_point;
    uint32_t ranging_period;
    uint32_t slot_interval;
    uint32_t tof;

    uint8_t lost_cnt;
    uint8_t enable;
    uint8_t count;
    uint8_t responder_num;
    uint16_t responder_list[RESPONDER_NUM];
    uint8_t responder_slot_idx;
    uint8_t responder_response_flag;
    uint8_t responder_final_flag;
    uint8_t initiator_result_flag;
    uint8_t synced;
    uint8_t slot_idx;
    uint8_t count_last;
    uint8_t main_ant_id;

    struct RANGE_DATA_T range_data;
};

/* Main control block of the ranging task */
struct RANGING_CB_T
{
    wsfQueue_t msg_queue;
    wsfHandlerId_t handle_id;
    wsfTimer_t daemon_timer;
};

#ifdef __cplusplus
extern "C" {
#endif

extern struct RANGING_ENV_T ranging_env;

/**
 * @brief Initialize ranging task.
 *
 * @param [in] handle_id       Task handle ID
 */
int ranging_init(uint8_t handle_id);

/**
 * @brief De-initialize ranging task.
 */
int ranging_deinit(void);

/**
 * @brief Configure ranging environment variable, configure UWB subsystem.
 */
void ranging_configure(void);

/**
 * @brief Start ranging procedure.
 */
void ranging_start(void);

/**
 * @brief Stop ranging procedure.
 */
void ranging_stop(void);

/**
 * @brief Restart ranging procedure.
 * @note This function can be called once detected link loss from peer device
 */
void ranging_restart(void);

/**
 * @brief Get ranging UWB TX power.
 * @return ranging UWB TX power in dBm
 */
int8_t ranging_tx_power_get(void);

/**
 * @brief Get ranging count for link loss detection.
 * @return ranging count
 */
uint8_t ranging_count_get(void);

/**
 * @brief Set local device short address.
 * @param[in] short_addr          Device short address
 */
void ranging_local_addr_set(uint16_t short_addr);

/**
 * @brief Set peer device short address.
 * @param[in] short_addr          Device short address
 */
void ranging_peer_addr_set(uint16_t short_addr);

/**
 * @brief Add responder device into responder device list for one-to-many case.
 * @param[in] addr                Device short address
 * @return 1: successful, 0: fail
 */
uint8_t ranging_responder_addr_add(uint16_t addr);

/**
 * @brief Set responder device into responder device list.
 * @param[in] idx               Responder device index
 * @param[in] addr              Device short address
 * @return 1: successful, 0: fail
 */
uint8_t ranging_responder_addr_set(uint8_t idx, uint16_t addr);

/**
 * @brief Clear responder list.
 */
void ranging_responder_list_clr(void);

/**
 * @brief Get responder short address from responder device list.
 * @param[in] idx               Responder device index
 * @return short address of responder
 */
uint16_t ranging_responder_addr_get(uint8_t idx);

/**
 * @brief Get responder index by device address.
 * @param[in] addr              Responder device address
 * @return 0xFF if the device not found else return responder index
 */
uint8_t ranging_responder_idx_get(uint16_t addr);

/**
 * @brief Get responder devices number.
 * @return number of responder
 */
uint8_t ranging_responder_num_get(void);

/**
 * @brief Set user data for poll packet.
 * @param[in] data_len              User data length
 * @param[in] data                  Pointer of user data
 * @return 0: successful, 1: fail
 */
uint8_t ranging_poll_msg_set(uint16_t data_len, const uint8_t *data);

/**
 * @brief Set user data for response packet.
 * @param[in] data_len              User data length
 * @param[in] data                  Pointer of user data
 * @return 0: successful, 1: fail
 */
uint8_t ranging_response_msg_set(uint16_t data_len, const uint8_t *data);

/**
 * @brief Calculate timestamp difference.
 * @param[in] ts_a          Ranging timestamp a
 * @param[in] ts_b          Ranging timestamp b
 * @return ts_a - ts_b
 */
int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b);

/**
 * @brief Calculate ranging Tround.
 * @param[in] role              Device role @enum DEV_ROLE_T
 * @param[in] dev_idx           Device index in one-to-many case
 * @return Tround value, unit: 15.6ps
 */
int64_t ranging_tround(enum DEV_ROLE_T role, uint8_t dev_idx);

/**
 * @brief Calculate ranging Treply.
 * @param[in] role              Device role @enum DEV_ROLE_T
 * @param[in] dev_idx           Device index in one-to-many case
 * @return Treply value, unit: 15.6ps
 */
int64_t ranging_treply(enum DEV_ROLE_T role, uint8_t dev_idx);

/**
 * @brief Construct ranging poll packet.
 */
void ranging_poll_pkt_construct(void);

/**
 * @brief Construct ranging response packet.
 */
void ranging_response_pkt_construct(void);

/**
 * @brief Construct ranging final packet.
 */
void ranging_final_pkt_construct(void);

/**
 * @brief Construct ranging result packet.
 */
void ranging_result_pkt_construct(void);

/**
 * @brief Process ranging poll packet.
 * @param[in] pkt_data          Pointer of poll packet data
 * @param[in] pkt_len           Poll packet length
 * @return 1: poll packet parse successful
 */
uint8_t ranging_poll_pkt_process(uint8_t *pkt_data, uint16_t pkt_len);

/**
 * @brief Ranging FSM, to process MAC TX or RX done event in MAC interrupt handler.
 * @param[in] ind               Pointer of MAC HW report
 * @return next ranging stage
 */
enum RANGING_STAGE_T ranging_fsm(const struct MAC_HW_REPORT_T *ind);

#ifdef __cplusplus
}
#endif

#endif /* RANGING_H_ */