/*
 * 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.
 */

#include "mk_trace.h"
#include "mk_uwb.h"
#include "wsf_msg.h"
#include "ranging_ccc.h"
#include "lib_ccc.h"
#include "lib_aoa.h"
#include "lib_ranging.h"
#include "uwb_api.h"

#if KF_EN
#include "lib_kf.h"
#endif

#if PDOA_3D_EN
#include "lib_pdoa_3d.h"
#endif

#if PDOA_3D_EN
#define PDOA_3D_SUPPORT_NUM 10
#define PDOA_3D_TIMEOUT_MS 2000
static struct PDOA_3D_MAC_ADDR_T mac_addr_cache[PDOA_3D_SUPPORT_NUM];
static struct PDOA_3D_PDOA_DATA_T pdoa_data_cache[PDOA_3D_SUPPORT_NUM];
#endif

#if KF_EN && FILTER_EN
#define KF_SUPPORT_NUM 6
#define KF_TIMEOUT_MS 1000
static struct KF_MAC_ADDR_T kf_mac_addr_cache[KF_SUPPORT_NUM];
static struct KF_CHANNEL_CACHE_T kf_channel_cache[KF_SUPPORT_NUM];
static struct KF_MAT_VALUE_CACHE_T kf_mat_value_cache[KF_SUPPORT_NUM];
#endif

static struct RANGING_CB_T ranging_cb;

//------------------------------------------------------------------------------
int ranging_init(uint8_t handle_id)
{
    /* store handler ID */
    ranging_cb.handle_id = handle_id;

    /* init rx queue */
    WSF_QUEUE_INIT(&ranging_cb.msg_queue);

    ranging_cb.daemon_timer.handlerId = handle_id;
    ranging_cb.daemon_timer.msg.event = RANGING_DAEMON_TIMER_MSG;

    LOG_INFO(TRACE_MODULE_APP, "Ranging lib version: %s\r\n", MK8000_get_rangelib_version());

#if AOA_EN
    LOG_INFO(TRACE_MODULE_APP, "AoA lib version: %s\r\n", MK8000_get_aoalib_version());
#endif

    return 0;
}

int ranging_deinit(void)
{
    return 0;
}

void ranging_configure(void)
{
    uwbs_configure(PHY_TX | PHY_RX, uwb_app_config.session_param.tx_power_level);

#if CSI_EN
    ranging_aux_out_opt_set(CH_LEN_DEFAULT, 3);
#endif

#if (ANT_PATTERN == ANT_PATTERN_SQUARE)
    struct AOA_ANGLE_SPAN_T aoa_span;
    aoa_span.Ndim = 2;
    aoa_span.el_low = 90;
    aoa_span.el_high = 90;
    aoa_span.el_step = 1;
    aoa_span.az_low = 0;
    aoa_span.az_high = 359;
    aoa_span.az_step = 1;
    aoa_angle_search_span_set(&aoa_span);
#endif

#if AOA_EN
    aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
    aoa_steering_vector_set((const float *)((uint32_t)((uwb_app_config.ppdu_params.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) | SRAM_BASE));
#else
    aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI);
#endif

    aoa_param_config();

#if PDOA_3D_EN
    pdoa_3d_param_config(ANT_PATTERN, ANT_LAYOUT, PDOA_3D_AMBIGUITY_LEVEL_HIGH, mac_addr_cache, pdoa_data_cache, PDOA_3D_SUPPORT_NUM, PDOA_3D_TIMEOUT_MS);
    // pdoa_angle_reverse_set(1, 0);
#endif

    LOG_INFO(TRACE_MODULE_CCC, "AoA status:[%d]\r\n", uwb_app_config.session_param.aoa_result_req);

#if FILTER_EN
    if (uwb_app_config.filter_en)
    {
#if KF_EN
        loc_post_kf_config(uwb_app_config.session_param.ranging_interval, kf_mac_addr_cache, kf_channel_cache, kf_mat_value_cache, KF_SUPPORT_NUM,
                           KF_TIMEOUT_MS);
#else
        loc_post_filter_config(uwb_app_config.session_param.ranging_interval, 1, uwb_app_config.session_param.aoa_result_req);
#endif
    }
    LOG_INFO(TRACE_MODULE_CCC, "Ranging filter status:[%d]\r\n", uwb_app_config.filter_en);
#endif

#if RANGING_FOM_FILTER_EN
    ranging_debug_csi_en_set(1);
#endif
}

void uwb_pkt_tx_done_ind(const struct MAC_HW_REPORT_T *tx, enum RANGING_STAGE_T stage)
{
    struct UWB_PKT_TX_DONE_IND_T *ind;
    if ((ind = WsfMsgAlloc(sizeof(struct UWB_PKT_TX_DONE_IND_T) + tx->pkt_len)) != NULL)
    {
        ind->hdr.event = UWB_PKT_TX_DONE_MSG;

        ind->block_idx = ranging_env.block_idx;
        ind->round_idx = ranging_env.round_idx;
        ind->sts_idx = ranging_env.sts_idx;

        ind->ranging_stage = (uint8_t)stage;
        ind->status = tx->err_code;

        ind->tx_len = tx->pkt_len;

        if ((ind->tx_len) && (tx->pkt_data != NULL))
        {
            memcpy(ind->tx_data, tx->pkt_data, tx->pkt_len);
        }

        // Send the message
        WsfMsgSend(ranging_cb.handle_id, ind);
    }
    else
    {
        LOG_WARNING(TRACE_MODULE_APP, "memory is not enough for UWB_PKT_TX_DONE_IND_T\r\n");
    }
}

#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wcast-qual"
#endif

void uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage, uint8_t slot_idx)
{
    // send an indication to application
    struct UWB_PKT_RX_DONE_IND_T *ind = WsfMsgAlloc(sizeof(struct UWB_PKT_RX_DONE_IND_T) + rx->pkt_len);

    if (ind != NULL)
    {
        ind->hdr.event = UWB_PKT_RX_DONE_MSG;
        ind->ranging_stage = (uint8_t)stage;

        ind->block_idx = ranging_env.block_idx;
        ind->round_idx = ranging_env.round_idx;
        ind->sts_idx = ranging_env.sts_idx;
        ind->slot_idx = slot_idx;
        ind->status = rx->err_code;
        ind->rssi = rx->rssi;
        ind->snr = rx->snr;

        ind->rx_len = rx->pkt_len;

        if ((rx->pkt_len) && (rx->pkt_data != NULL))
        {
            memcpy(ind->rx_data, rx->pkt_data, rx->pkt_len);
        }

#if RANGING_FOM_FILTER_EN
        if (ranging_debug_csi_en_get())
        {
            uint8_t frame_idx = 0;
            uint8_t rframe_idx = 0xFF;

            if (ind->ranging_stage == RANGING_POLL)
            {
                frame_idx = 1;
                rframe_idx = 0;
            }
            else if (ind->ranging_stage == RANGING_FINAL)
            {
                frame_idx = 2;
                rframe_idx = 1;
            }
            else if (ind->ranging_stage == RANGING_FINAL_DATA)
            {
                frame_idx = 3;
            }
            else if (ind->ranging_stage == RANGING_RESPONSE)
            {
                frame_idx = 0;
                rframe_idx = 0;
            }
            debug_csi.frame_idx = frame_idx;

            debug_csi.frame[frame_idx].rssi = ind->rssi;
            debug_csi.frame[frame_idx].snr = ind->snr;

            uint32_t val = REG_READ(0x40003050);
            debug_csi.frame[frame_idx].rf_gain = (val & 0x07);
            debug_csi.frame[frame_idx].bb_gain = ((val >> 3) & 0x1f);
            debug_csi.frame[frame_idx].bd_cnt = phy_bd_cnt_get();
            debug_csi.frame[frame_idx].sfd_cnt = phy_sfd_cnt_get();
            debug_csi.frame[frame_idx].error_code = ind->status;

            if ((rx->err_code != 0x0830) && (rframe_idx != 0xFF))
            {
                debug_csi.rframe_idx = rframe_idx;
                dump_preamble_cir(rframe_idx, 128);
                dump_sts_cir(rframe_idx);

                debug_csi.rframe[rframe_idx].freq_offset = phy_freq_offset_get();
            }

            // prepare to report ranging failure message
            if (rx->err_code != UWB_RX_OK)
            {
                debug_csi.session_id = ranging_env.session_id;
                debug_csi.sts_index = ind->sts_idx;
                debug_csi.ranging_status = 0xFF;
                debug_csi.block_index = (uint16_t)ind->block_idx;
                debug_csi.round_index = ind->round_idx;
            }
        }
#endif

        // Send the message
        WsfMsgSend(ranging_cb.handle_id, ind);
    }
    else
    {
        LOG_WARNING(TRACE_MODULE_APP, "memory is not enough for UWB_PKT_RX_DONE_IND_T\r\n");
    }
}
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang diagnostic pop
#endif

void ranging_report(struct RANGING_REPORT_IND_T *report, uint16_t block_idx, uint16_t round_idx, uint32_t sts_idx)
{
    struct RANGING_REPORT_IND_T *ind;

    if ((ind = WsfMsgAlloc(sizeof(struct RANGING_REPORT_IND_T))) != NULL)
    {
        ind->hdr.event = RANGING_REPORT_MSG;

#if RANGING_FOM_FILTER_EN
        if (ranging_debug_csi_en_get())
        {
            debug_csi.session_id = ranging_env.session_id;

            debug_csi.sts_index = sts_idx;
            debug_csi.block_index = block_idx;
            debug_csi.round_index = round_idx;

            debug_csi.ranging_status = ind->status;
        }
#endif

        ind->block_idx = block_idx;

        memcpy(&ind->Tround1, &report->Tround1, sizeof(struct RANGING_REPORT_IND_T) - sizeof(ind->hdr) - sizeof(ind->block_idx));

        // Send the message
        WsfMsgSend(ranging_cb.handle_id, ind);
    }
    else
    {
        LOG_WARNING(TRACE_MODULE_APP, "memory is not enough for RANGING_REPORT_MSG\r\n");
    }
}

void ranging_req_update_keys(uint32_t sts_idx, uint8_t key_type)
{
    struct RANGING_UPD_KEYS_T *upd_keys;

    if ((upd_keys = WsfMsgAlloc(sizeof(struct RANGING_UPD_KEYS_T))) != NULL)
    {
        upd_keys->hdr.event = RANGING_UPDATE_KEYS;
        upd_keys->key_type = key_type;
        upd_keys->sts_idx = sts_idx;

        // Send the message
        WsfMsgSend(ranging_cb.handle_id, upd_keys);
    }
    else
    {
        LOG_WARNING(TRACE_MODULE_APP, "memory is not enough for RANGING_UPDATE_KEYS\r\n");
    }
}

void ranging_monitor_start(uint32_t time_ms)
{
    WsfTimerStartMs(&ranging_cb.daemon_timer, time_ms, WSF_TIMER_ONE_SHOT);
}

void ranging_monitor_stop(void)
{
    WsfTimerStop(&ranging_cb.daemon_timer);
}