/*
 * 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_ss_twr_task.h"
#include "wsf_timer.h"
#include "mk_mac.h"
#include "uwb_api.h"

#define MSG_SESSION_ID_IDX (0)
#define MSG_SEQ_NUM_IDX (2)
#define MSG_TYPE_IDX (4)
#define MSG_TROUND_IDX (5)
#define MSG_TREPLY_IDX (10)

#define MSG_HEADER_LEN (5)
#define MSG_TIMESTAMP_LEN (10)
#define POLL_MSG_USER_DATA_IDX (MSG_HEADER_LEN)
#define RESPONSE_MSG_USER_DATA_IDX (MSG_HEADER_LEN + MSG_TIMESTAMP_LEN)
#define MSG_USER_DATA_LEN 240

/*
 * 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
    {
        /* user data, poll-msg can be used to transmit user private data */
        uint8_t poll_msg[MSG_USER_DATA_LEN];
        /* Tround (5B) || Treply (5B) || user data.  response-msg can be used to transmit user private data */
        uint8_t response_msg[MSG_TIMESTAMP_LEN + MSG_USER_DATA_LEN];
    } msg;
};

/* Custom SS-TWR environment variable */
struct RANGING_ENV_T
{
    int64_t tx_poll_time;
    int64_t tx_response_time;

    int64_t rx_poll_time;
    int64_t rx_response_time;

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

    uint8_t enable;
    uint8_t count;
    uint8_t lost_cnt;
    uint8_t count_last;

    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;
extern struct RANGING_USER_PKT_T ranging_user_pkt;

/**
 * @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 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 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.
 * @return Tround value, unit: 15.6ps
 */
int64_t ranging_tround(void);

/**
 * @brief Calculate ranging Treply.
 * @return Treply value, unit: 15.6ps
 */
int64_t ranging_treply(void);

/**
 * @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_ */