/*******************************************************************************
 * File Name         : UDPClient.c
 * Description       :
 * Created on        : 2021Äê1ÔÂ9ÈÕ
 * Author            : www.hido-studio.com
 *******************************************************************************/

/*******************************************************************************
 *                              Include Files                                  *
 *******************************************************************************/
#include "UDPClient.h"
#include "Socket.h"
#include "HIDO_Debug.h"
#include "Internet.h"
#include "string.h"
#include "HIDO_Timer.h"
#include "HIDO_Util.h"
#include "Battery.h"
#include "global_param.h"
#include "AppConfig.h"
#include "OTA.h"
#include "Log.h"
#include "APL.h"
#include "qxwz_sdk.h"
#include "SPIFlash.h"
#include "DBG.h"

#include "TTS.h"
#include "TONE.h"

/*******************************************************************************
 *                                  Macro                                      *
 *******************************************************************************/
#define STRCMP(cmd, header)         strncmp((HIDO_CHAR *)_u8Data, header, sizeof(header) - 1)
/*******************************************************************************
 *                             Type Definition                                 *
 *******************************************************************************/
typedef enum
{
    UDP_CLIENT_STATE_IDLE,
    UDP_CLIENT_STATE_CONNECTING,
    UDP_CLIENT_STATE_CONNECTED,
}E_UDPClientState;

/*******************************************************************************
 *                             Local Variable                                  *
 *******************************************************************************/
static HIDO_INT32 l_i32UDPCLientID = 0;
static E_UDPClientState l_eUDPCLientState = UDP_CLIENT_STATE_IDLE;
static HIDO_UINT32 l_u32HeartBeatTick = 0;
static HIDO_UINT8 l_au8CmdBuff[1024];

/*******************************************************************************
 *                        Local Function Declaration                           *
 *******************************************************************************/
HIDO_INT32 UDPClient_Heartbeat(HIDO_VOID);

/*******************************************************************************
 *                             Local Function                                  *
 *******************************************************************************/
/*******************************************************************************
 * Function Name     : UDPClient_CmdParse
 * Description       :
 * Input             :
 * Output            :
 * Return            :
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021Äê1ÔÂ9ÈÕ
 *******************************************************************************/
extern uint16_t beepontime;
extern uint8_t udp_uwbenable;
static uint16_t pwtag_idrec;
struct pwtag_structure pwtag[PWTAG_MAXGROUPNUM];
static uint8_t pwtag_index;
uint8_t uwbeveryup_flag=0;
extern u8 flag_ancupd_start;
uint16_t ip0,ip1,ip2,ip3,port;
static HIDO_INT32 UDPClient_CmdParse(HIDO_UINT8 *_u8Data, HIDO_UINT32 _u32Len)
{
    HIDO_CHAR *apcSplitStr[12];
    HIDO_UINT32 u32SplitCnt = 0;
    
    HIDO_UINT32 u32Len = 0;

    HIDO_Debug("%s\r\n", l_au8CmdBuff);

    /* $config,id,gps_hz,ip,port */
    if(STRCMP(_u8Data, "$config,") == 0)
    {
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));

        if(u32SplitCnt < 5)
        {
            return HIDO_ERR;
        }

        /* É豸ID¼ì²é */
        if(HIDO_UtilHexStrToInt(apcSplitStr[1]) == g_com_map[DEV_ID])
        {
            HIDO_UINT32 u32Temp = 0;
            HIDO_BOOL bChange = HIDO_FALSE;
            HIDO_UINT8 au8IP[4];

            /* GPS HZ */
            u32Temp = HIDO_UtilStrToInt(apcSplitStr[2]);
            if(u32Temp != g_com_map[GPS_HZ])
            {
                g_com_map[GPS_HZ] = u32Temp;
                bChange = HIDO_TRUE;
            }

            /* IP=192.168.1.1 */
            HIDO_UtilIPStringToByteArrary(apcSplitStr[3], au8IP);
            /* IP±ä»¯ */
            if((au8IP[0] != g_com_map[IP_0]) || (au8IP[1] != g_com_map[IP_1])
                    || (au8IP[2] != g_com_map[IP_2]) || (au8IP[3] != g_com_map[IP_3]))
            {
                bChange = HIDO_TRUE;
                g_com_map[IP_0] = au8IP[0];
                g_com_map[IP_1] = au8IP[1];
                g_com_map[IP_2] = au8IP[2];
                g_com_map[IP_3] = au8IP[3];

                l_eUDPCLientState = UDP_CLIENT_STATE_IDLE;
            }

            /* ¶Ë¿Ú=0-65535 */
            if( g_com_map[PORT] != HIDO_UtilStrToInt(apcSplitStr[4]))
            {
                g_com_map[PORT] = HIDO_UtilStrToInt(apcSplitStr[4]);
                bChange = HIDO_TRUE;
            }

            if(bChange)
            {
                save_com_map_to_flash();
              g_com_map[CNT_RESTART] = 1;
            }
        }
    }
    /* $update,id,url,version */
    else if(STRCMP(_u8Data, "$update,") == 0)
    {
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));

        if(u32SplitCnt < 4)
        {
            return HIDO_ERR;
        }

        /* É豸ID¼ì²é */
        if(HIDO_UtilHexStrToInt(apcSplitStr[1]) == g_com_map[DEV_ID])
        {
            /* °æ±¾ºÅ±È½Ï,¡°´ó¡±²ÅÉý¼¶ */
            if(strcmp(apcSplitStr[3], APP_CONFIG_VERSION) > 0)
            {
                /* ÖØÆô½øÈëOTAģʽÉý¼¶ */
                uint16_t tmp = 0xCCCC;
                
                HIDO_Debug("goto OTA Application\r\n");
                SPIFlash_Erase(SPI_FLASH_ID_0, APP_CONFIG_IAPFLAG_MAP, 2, SPI_FLASH_SECTOR_ERASE_MODE_4K);  
                SPIFlash_Write(SPI_FLASH_ID_0, APP_CONFIG_IAPFLAG_MAP, (HIDO_UINT8*)&tmp, sizeof(tmp)); 
                SPIFlash_Erase(SPI_FLASH_ID_0, APP_CONFIG_IAP_PARAM_MAP, 256, SPI_FLASH_SECTOR_ERASE_MODE_4K);  
                SPIFlash_Write(SPI_FLASH_ID_0, APP_CONFIG_IAP_PARAM_MAP, (HIDO_UINT8*)apcSplitStr[2], strlen(apcSplitStr[2]) + 1); 

                delay_ms(10);
                Reboot(0);
            }
        }
    }
    /* $getlog,id,url */
    else if(STRCMP(_u8Data, "$getlog,") == 0)
    {
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));

        if(u32SplitCnt < 3)
        {
            return HIDO_ERR;
        }

        /* É豸ID¼ì²é */
        if(HIDO_UtilHexStrToInt(apcSplitStr[1]) == g_com_map[DEV_ID])
        {
#if 0
            Log_Upload(apcSplitStr[2]);
#endif
        }
    }    /* $control,id,bepper,time */
    else if(STRCMP(_u8Data, "$control,") == 0)
    {
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
     if(u32SplitCnt < 3)
        {
            return HIDO_ERR;
        }

        /* ?õôID??? */
        if(HIDO_UtilHexStrToInt(apcSplitStr[1]) == g_com_map[DEV_ID])
        {
            if(strcmp(apcSplitStr[2],"beeper")==0)
            {
               
                   beepontime = HIDO_UtilStrToInt(apcSplitStr[3]);
                    
            }
          if(strcmp(apcSplitStr[2],"uwb_enable")==0)
            {
               
                    udp_uwbenable = HIDO_UtilStrToInt(apcSplitStr[3]);
                    
            }
            
                if(strcmp(apcSplitStr[2],"TTS")==0)
                {
//                    GPIOD->BSRR = 0X0004;         //´ò¿ªTTSµçÔ´
//                    delay_ms(800);                //ÔÙ¶ÌÒ»µã£¬»á¶ªÊ§ÓïÒôµÄµÚÒ»¸ö×Ö£¬²»ÊDz»¶Á£¬¶øÊǾÍÏñûÓÐÏ·¢µÚÒ»¸ö×Ö
                    
                    TTS_Play((HIDO_UINT8 *)apcSplitStr[3], strlen(apcSplitStr[3]));             //·þÎñÆ÷ÓïÒô²¥±¨
                    
                    
                    u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "$Receivevoice,%X\r\n",                 //ÊÕµ½»ØÖ´
                    g_com_map[DEV_ID]);
                    
                    Socket_Send(l_i32UDPCLientID, (HIDO_UINT8 *)l_au8CmdBuff, u32Len);
                    
                    
                    u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "$Receivevoice,%X\r\n",        
                    g_com_map[DEV_ID]);                                                             
                    
                    Socket_Send(l_i32UDPCLientID, (HIDO_UINT8 *)l_au8CmdBuff, u32Len);
                }
            
            
        }
    }else if(STRCMP(_u8Data, "$userdata,") == 0)
    {
        if(DBG_GetMode() == DBG_MODE_CFG)
        HIDO_Debug2("%s\r\n", l_au8CmdBuff);
        
    }
    else if(STRCMP(_u8Data, "$settone,") == 0)
    {
        HIDO_DataStruct stData;
        HIDO_DataStruct stId;

        if(HIDO_UtilParseFormat(_u8Data, _u32Len, "$settone,%p,%p\r\n", &stId, &stData) == 2)
        {
            ((char *)stId.m_pData)[stId.m_u32Len] = '\0';
            if(g_com_map[DEV_ID] == HIDO_UtilHexStrToInt((char *)stId.m_pData))
            {
                TONE_Play((HIDO_UINT8 *)stData.m_pData, stData.m_u32Len);
                
                u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "$Receivevoice,%X\r\n",
                g_com_map[DEV_ID]);                                                                      //TTSÊÕµ½»Ø¸´
                
                Socket_Send(l_i32UDPCLientID, (HIDO_UINT8 *)l_au8CmdBuff, u32Len);
            }
        }
    }else if(STRCMP(_u8Data, "$setpara,") == 0)
    {
        uint16_t tempindex,tempval;
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
        if(HIDO_UtilHexStrToInt(apcSplitStr[1]) == g_com_map[DEV_ID])
        {
            if(u32SplitCnt < 2)
            {
                return HIDO_ERR;
            }
            tempindex = HIDO_UtilStrToInt(apcSplitStr[2]);
            tempval = HIDO_UtilStrToInt(apcSplitStr[3]);
            if(tempindex == MOTOR_ONTIME_INDEX)
            {
              beepontime = tempval;
            }else{
            if(tempindex < COM_MAP_SIZE)
            g_com_map[tempindex] = tempval;
            save_com_map_to_flash();
            g_com_map[CNT_RESTART] = 1;
            }
        }
    }else if(STRCMP(_u8Data, "$readpara,") == 0)
    {
        uint16_t tempindex,templen,buffer_len,datalen;
        char send_buffer[200];
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
        if(HIDO_UtilHexStrToInt(apcSplitStr[1]) == g_com_map[DEV_ID])
        {
            if(u32SplitCnt < 2)
            {
                return HIDO_ERR;
            }
            tempindex = HIDO_UtilStrToInt(apcSplitStr[2]);
            templen = HIDO_UtilStrToInt(apcSplitStr[3]);
            buffer_len = sprintf(send_buffer,"$replypara,");
            datalen = sprintf(&send_buffer[buffer_len],"%x,",g_com_map[DEV_ID]);
            buffer_len += datalen;
            for(uint16_t i=tempindex;i<templen+tempindex;i++)
            {
                datalen = sprintf(&send_buffer[buffer_len],"%d,",g_com_map[i]);
                buffer_len += datalen;
            }
            send_buffer[buffer_len++] = 'e';
            send_buffer[buffer_len++] = 'n';
            send_buffer[buffer_len++] = 'd';
            send_buffer[buffer_len++] = 0x0d;
            send_buffer[buffer_len++] = 0x0a;
            UDPClient_Uploadhex((uint8_t*)send_buffer,buffer_len);
        }
    }else if(STRCMP(_u8Data, "$writepara_anchor,") == 0)
    {
        uint16_t id_tag,id_rec,rec_timeout,rec_index,rec_value;
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
        if(u32SplitCnt < 6)
        {
            return HIDO_ERR;
        }
				id_tag = HIDO_UtilHexStrToInt(apcSplitStr[1]);
        id_rec = HIDO_UtilHexStrToInt(apcSplitStr[2]);
        rec_timeout = HIDO_UtilStrToInt(apcSplitStr[3]);
        rec_index = HIDO_UtilStrToInt(apcSplitStr[4]);
        rec_value = HIDO_UtilStrToInt(apcSplitStr[5]);
        memcpy(&pwtag_idrec,&id_rec,2);
				if(id_tag!=g_com_map[DEV_ID])
						{
						return HIDO_ERR;
						}
        for(uint8_t i=0;i<PWTAG_MAXGROUPNUM;i++)
        {
            if(pwtag[i].id==pwtag_idrec||pwtag[i].remain_time==0)
            {
                pwtag[i].id = pwtag_idrec;
                pwtag[i].index = rec_index;
                pwtag[i].remain_time = rec_timeout;
                pwtag[i].value = rec_value;
                break;
            }
            if(i==PWTAG_MAXGROUPNUM-1)
            {
             if(pwtag_index++>=PWTAG_MAXGROUPNUM)
                {
                    pwtag_index = 0;
                }
                pwtag[pwtag_index].index =  rec_index;
                pwtag[pwtag_index].remain_time = rec_timeout;
                pwtag[i].value = rec_value;
                    break;
            }
        
        }
    }else if(STRCMP(_u8Data, "$readpara_anchor,") == 0)
    {
        uint16_t id_rec,rec_timeout,rec_index,rec_value;
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
        if(u32SplitCnt < 3)
        {
            return HIDO_ERR;
        }
        id_rec = HIDO_UtilHexStrToInt(apcSplitStr[1]);
        rec_timeout = HIDO_UtilStrToInt(apcSplitStr[2]);
        rec_index = 200;
        rec_value = 100;
        memcpy(&pwtag_idrec,&id_rec,2);                
        for(uint8_t i=0;i<PWTAG_MAXGROUPNUM;i++)
        {
            if(pwtag[i].id==pwtag_idrec||pwtag[i].remain_time==0)
            {
                pwtag[i].id = pwtag_idrec;
                pwtag[i].index = rec_index;
                pwtag[i].remain_time = rec_timeout;
                pwtag[i].value = rec_value;
                break;
            }
            if(i==PWTAG_MAXGROUPNUM-1)
            {
             if(pwtag_index++>=PWTAG_MAXGROUPNUM)
                {
                    pwtag_index = 0;
                }
                pwtag[pwtag_index].index =  rec_index;
                pwtag[pwtag_index].remain_time = rec_timeout;
                pwtag[i].value = rec_value;
                    break;
                }
        
        }
    }
		/* $download_anchorbin,123,http://39.106.210.13:8080/hfs/UWB_RTK2.Bin,V2021051001 */
		else if(STRCMP(_u8Data, "$download_anchorbin,") == 0)
		{
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
        if(u32SplitCnt < 4)
        {
            return HIDO_ERR;
        }
				
				HAL_FLASH_Unlock();
				FLASH_EraseEx(0x08008000, 0x8000);
				HIDO_UINT32 u32NameLen = strlen(apcSplitStr[2]);
        FLASH_WriteEx(0x08008000, &u32NameLen, sizeof(u32NameLen));
        FLASH_WriteEx(0x08008100, apcSplitStr[2], u32NameLen + 1);
				/* 	0x08008000  binÎļþÃû³Æ³¤¶È £¨£©
				0x08008100 binÎļþÃû³Æ  £¨4GÉý¼¶Ê±»á»ñµÃ£©
				0x08008200 binÎļþÄÚÈݳ¤¶È
				0x08008300 binÎļþÄÚÈÝ  
				*/
				/* ÖØÆô½øÈëOTAģʽÉý¼¶ */
				uint16_t tmp = 0xCCCC;
				
				HIDO_Debug("goto OTA Application\r\n");
				SPIFlash_Erase(SPI_FLASH_ID_0, APP_CONFIG_IAPFLAG_MAP, 2, SPI_FLASH_SECTOR_ERASE_MODE_4K);  
				SPIFlash_Write(SPI_FLASH_ID_0, APP_CONFIG_IAPFLAG_MAP, (HIDO_UINT8*)&tmp, sizeof(tmp)); 
				SPIFlash_Erase(SPI_FLASH_ID_0, APP_CONFIG_IAP_PARAM_MAP, 256, SPI_FLASH_SECTOR_ERASE_MODE_4K);  

				delay_ms(10);
				Reboot(0);
		}
		else if(STRCMP(_u8Data, "$set_updateanchor_mode,") == 0)
		{
        u32SplitCnt = HIDO_UtilStrSplit((HIDO_CHAR *)_u8Data, ',', apcSplitStr, HIDO_ARRARY_COUNT(apcSplitStr));
        if(u32SplitCnt < 2)
        {
            return HIDO_ERR;
        }
				uwbeveryup_flag=HIDO_UtilHexStrToInt(apcSplitStr[1]);
        flag_ancupd_start=HIDO_UtilHexStrToInt(apcSplitStr[1]);
		}
    return HIDO_OK;
}

/*******************************************************************************
 * Function Name     : UDPClient_SocketEventProc
 * Description       :
 * Input             :
 * Output            :
 * Return            :
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021Äê1ÔÂ9ÈÕ
 *******************************************************************************/
static  HIDO_VOID UDPClient_SocketEventProc(HIDO_INT32 _i32SockID, E_SocketEvent _eEvent, HIDO_VOID *_pData)
{
    switch(_eEvent)
    {
        case SOCKET_EVENT_CONNECT_FAILED:
        {
            if(l_eUDPCLientState ==  UDP_CLIENT_STATE_CONNECTING)
            {
                l_eUDPCLientState = UDP_CLIENT_STATE_IDLE;
            }
            
            break;
        }
        case SOCKET_EVENT_CONNECTED:
        {
            if(l_eUDPCLientState ==  UDP_CLIENT_STATE_CONNECTING)
            {
                l_eUDPCLientState = UDP_CLIENT_STATE_CONNECTED;
            }
            break;
        }
        case SOCKET_EVENT_CLOSED:
        {
            l_eUDPCLientState = UDP_CLIENT_STATE_IDLE;
            break;
        }
        case SOCKET_EVENT_RECV_DATA:
        {
            HIDO_INT32 i32Ret = 0;
            HIDO_UINT32 u32RecvLen = 0;

            i32Ret = Socket_Recv(l_i32UDPCLientID, l_au8CmdBuff, sizeof(l_au8CmdBuff) - 1, &u32RecvLen);
            if(HIDO_OK == i32Ret)
            {
                l_au8CmdBuff[u32RecvLen] = '\0';
                UDPClient_CmdParse(l_au8CmdBuff, u32RecvLen);
            }
            break;
        }
        default:
        {
            break;
        }
    }
}

/*******************************************************************************
 *                             Global Function                                 *
 *******************************************************************************/
/*******************************************************************************
 * Function Name     :
 * Description       :
 * Input             :
 * Output            :
 * Return            :
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021Äê1ÔÂ9ÈÕ
 *******************************************************************************/
u8 heartbeasend_flag = 0,userkey_state4g;
HIDO_INT32 UDPClient_Poll(void)
{
    if(Internet_IsIPReady() == HIDO_TRUE)
    {
        if(UDP_CLIENT_STATE_IDLE == l_eUDPCLientState)
        {
            l_eUDPCLientState = UDP_CLIENT_STATE_CONNECTING;

            HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "%u.%u.%u.%u",
                   ip0, ip1, ip2, ip3);

            Socket_Connect(l_i32UDPCLientID, (HIDO_CHAR *)l_au8CmdBuff, port);
        }
        else if(UDP_CLIENT_STATE_CONNECTED == l_eUDPCLientState)
        {
            HIDO_UINT32 u32CurTick =  HIDO_TimerGetTick();

            //if((u32CurTick - l_u32HeartBeatTick) >= HIDO_TIMER_TICK_S(g_com_map[SEND_4G_SECOND]))//ÐÄÌø°üÉÏ´«ÆµÂÊ
					if((u32CurTick - l_u32HeartBeatTick) >= HIDO_TIMER_TICK_S(1))//ÐÄÌø°üÉÏ´«ÆµÂÊ
            {
                heartbeasend_flag = 0;
                l_u32HeartBeatTick = u32CurTick;
                UDPClient_Heartbeat();
                userkey_state4g = 0;
            }
        }
    }
    else
    {
        l_eUDPCLientState = UDP_CLIENT_STATE_IDLE;
    }

    return HIDO_OK;
}

/*******************************************************************************
 * Function Name     : UDPClient_Upload
 * Description       : UDP¿Í»§¶ËÉÏ´«Êý¾Ý
 * Input             :
 * Output            :
 * Return            :
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021Äê1ÔÂ9ÈÕ
 *******************************************************************************/
extern u8 bat_percent2,uwb_state;
u8 ave_sp;
extern u16 g_spsum,g_snum;
uint16_t state_flag;
extern u8 bat_percent2,userkey_state,gotosleep_flag,stationary_flag,motor_flag,uwb_state;
extern uint8_t anchordata_num;
extern int gps_state;
extern double jd1,wd1;
extern uint16_t anchordata_id[TAG_NUM_IN_SYS];
extern int16_t anchordata_dist[TAG_NUM_IN_SYS];
HIDO_INT32 UDPClient_UploadGPS(HIDO_CHAR *_pcGGA)
{
    static HIDO_CHAR l_acUploadBuff[1024];
    static HIDO_UINT32 l_u32UploadBuffLen = 0;
    static HIDO_UINT32 l_u32UdpsendTick = 0;
    
    state_flag = 0;
    state_flag = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5|uwb_state<<6;
        ave_sp = g_spsum/g_snum;
        g_spsum = 0;
        g_snum = 0;
    if(UDP_CLIENT_STATE_CONNECTED == l_eUDPCLientState)
    {
        HIDO_UINT32 u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "%s,%X,%02x,%x,%d,%x,%d%\r\n",
                _pcGGA, g_com_map[DEV_ID], bat_percent2,ave_sp,0,state_flag,0);

       userkey_state = 0;
        if((l_u32UploadBuffLen + u32Len) < sizeof(l_acUploadBuff))
        {
            memcpy(l_acUploadBuff + l_u32UploadBuffLen, l_au8CmdBuff, u32Len);
            l_u32UploadBuffLen += u32Len;
        }
        //memcpy(l_acUploadBuff + l_u32UploadBuffLen, l_au8CmdBuff, u32Len);
        //l_u32UploadBuffLen += u32Len;
       // if((l_u32UploadBuffLen + u32Len )> sizeof(l_acUploadBuff))
        if((HIDO_TimerGetTick() - l_u32UdpsendTick) >= 200)
        {
            l_u32UdpsendTick = HIDO_TimerGetTick();
            Socket_Send(l_i32UDPCLientID, (HIDO_UINT8 *)l_acUploadBuff, l_u32UploadBuffLen);
            l_u32UploadBuffLen = 0;
        }


    }

    return HIDO_OK;
}
HIDO_INT32 UDPClient_Uploadhex(uint8_t *_pcGGA,uint16_t u32Len)
{
    static HIDO_CHAR l_acUploadBuff[2048];
    static HIDO_UINT32 l_u32UploadBuffLen = 0;
    static HIDO_UINT32 l_u32UdpsendTick = 0;
    
    if(UDP_CLIENT_STATE_CONNECTED == l_eUDPCLientState)
    {
        memcpy(l_acUploadBuff + l_u32UploadBuffLen, _pcGGA, u32Len);
        l_u32UploadBuffLen += u32Len;
       // if((l_u32UploadBuffLen + u32Len )> sizeof(l_acUploadBuff))
        if((HIDO_TimerGetTick() - l_u32UdpsendTick) >= 200)
        {
            l_u32UdpsendTick = HIDO_TimerGetTick();
            Socket_Send(l_i32UDPCLientID, (HIDO_UINT8 *)l_acUploadBuff, l_u32UploadBuffLen);
            l_u32UploadBuffLen = 0;
        }


    }

    return HIDO_OK;
}
/*******************************************************************************
 * Function Name     : UDPClient_Heartbeat
 * Description       : ÐÄÌø·¢ËÍ
 * Input             : None
 * Output            : None
 * Return            : HIDO_OK ³É¹¦,HIDO_ERR ʧ°Ü
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021Äê1ÔÂ9ÈÕ
 *******************************************************************************/
void UDP_TEST(VOID)
{
    u16 u32Len = 0;
    	switch(wltag_state)
    {
        case RANGE:
             u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "UWB״̬£º²â¾à"); 
            break;
        case SEARCH:
             u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "UWB״̬£ºËÑË÷"); 
            break;
        case CLOSE:
             u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "UWB״̬£º¹Ø±Õ"); 
            break;
    }
          
        Socket_Send(l_i32UDPCLientID, (HIDO_UINT8 *)l_au8CmdBuff, u32Len);
}
extern u8 bat_percent2;
extern qxwz_sdk_config_t sdk_config;
extern char utc_time_save[20];
HIDO_INT32 UDPClient_Heartbeat(HIDO_VOID)
{
    HIDO_UINT32 u32Len = 0;
    HIDO_UINT32 datalenth;
    if(UDP_CLIENT_STATE_CONNECTED == l_eUDPCLientState)
    {
//    if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
//    {       u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "$XTB,%X,%02u%%,%d.%d,%s,%d,3:%d.%d.%d.%d:%d.",
//                    g_com_map[DEV_ID], bat_percent2, g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff, Module_GetCCID(),userkey_state4g,g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
//    }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
//    {
//          u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "$XTB,%X,%02u%%,%d.%d,%s,%d,2%s %s",
//                    g_com_map[DEV_ID], bat_percent2, g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff, Module_GetCCID(),userkey_state4g,(char *)&g_com_map[NTRIP_HOST_INDEX],(char *)&g_com_map[NTRIP_USERNANME_INDEX]);    
//     }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
//    {
//         u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "$XTB,%X,%02u%%,%d.%d,%s,%d,1.",
//                    g_com_map[DEV_ID], bat_percent2, g_com_map[VERSION]>>8,g_com_map[VERSION]&0xff, Module_GetCCID(),userkey_state4g,g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);   
//    }      
			
			
          
            
						u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)l_au8CmdBuff, sizeof(l_au8CmdBuff), "$message2,heart,%04x,%02u%%,%d,%s,%lf,%lf,%d", \
                               g_com_map[DEV_ID],bat_percent2,gps_state,utc_time_save,jd1,wd1,anchordata_num);
						for(uint16_t i=0;i<anchordata_num;i++)
            {
                datalenth = sprintf((HIDO_CHAR *)&l_au8CmdBuff[u32Len],",%x",anchordata_id[i]);
                u32Len += datalenth;
            }
						for(uint16_t i=0;i<anchordata_num;i++)
						{
								datalenth = sprintf((HIDO_CHAR *)&l_au8CmdBuff[u32Len],",%d",anchordata_dist[i]);
								u32Len += datalenth;
						}
						datalenth=sprintf((HIDO_CHAR *)&l_au8CmdBuff[u32Len],",%d",0);
						u32Len += datalenth;
					
       Socket_Send(l_i32UDPCLientID, (HIDO_UINT8 *)l_au8CmdBuff, u32Len);
    }

    return HIDO_OK;
}

/*******************************************************************************
 * Function Name     : UDPClient_Init
 * Description       : UDP¿Í»§¶Ë³õʼ»¯
 * Input             : None
 * Output            : None
 * Return            : HIDO_OK ³É¹¦,HIDO_ERR ʧ°Ü
 * Author            : www.hido-studio.com
 * Modified Date:    : 2021Äê1ÔÂ9ÈÕ
 *******************************************************************************/
HIDO_INT32 UDPClient_Init(void)
{
    Socket_Create(&l_i32UDPCLientID, SOCKET_TYPE_UDP, UDPClient_SocketEventProc, HIDO_NULL);

    return HIDO_OK;
}