/*
 * 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_power.h"
#include "mk_gpio.h"
#include "mk_uwb.h"
#include "mk_clock.h"

#include "wsf_msg.h"

#include "ranging_simple.h"
#include "lib_aoa.h"
#include "lib_ranging.h"
#if KF_EN
#include "lib_kf.h"
#endif
#include "board.h"

#if KF_EN && FILTER_EN
#define KF_SUPPORT_NUM 6
#define KF_TIMEOUT_MS 2000
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_USER_PKT_T ranging_user_pkt;
static struct RANGING_COMMON_MSG_T ranging_common_msg;

struct RANGING_ENV_T ranging_env;

static struct RANGING_CB_T ranging_cb;

static struct UWB_OP_T op = {
    .session_configure = ranging_configure,
    .session_start = ranging_start,
    .session_stop = ranging_stop,
    .session_local_addr_set = ranging_local_addr_set,
    .session_peer_addr_set = ranging_peer_addr_set,
    .session_responder_addr_add = ranging_responder_addr_add,
    .session_responder_list_clr = ranging_responder_list_clr,
    .session_responder_num_get = ranging_responder_num_get,
    .session_responder_addr_get = ranging_responder_addr_get,
    .session_dynamic_update_responder_list = NULL,
    .session_set_ccc_ursk = NULL,
};

static void ranging_timer_callback(void *dev, uint32_t time);

static void uwb_pkt_tx_done_ind(const struct MAC_HW_REPORT_T *tx, enum RANGING_STAGE_T stage);
static void uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage);

static void ranging_tx_process(struct MAC_HW_REPORT_T *tx_report);
static void ranging_rx_process(struct MAC_HW_REPORT_T *rx_report);
void app_session_init(void);

//------------------------------------------------------------------------------
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());
    LOG_INFO(TRACE_MODULE_APP, "AoA lib version: %s\r\n", MK8000_get_aoalib_version());

    LOG_INFO(TRACE_MODULE_APP, "UWB_RX_OPEN_IN_ADVANCE %d\r\n", UWB_RX_OPEN_IN_ADVANCE);
    LOG_INFO(TRACE_MODULE_APP, "UWB_RX_WINDOW %d\r\n", UWB_RX_WINDOW);
    LOG_INFO(TRACE_MODULE_APP, "UWB_EVT_PREFETCH_TIME %d\r\n", UWB_EVT_PREFETCH_TIME);

    return 0;
}

int ranging_deinit(void)
{
    return 0;
}

// This function will be called by uwbapi_session_init()
void app_session_init(void)
{
    // register process handler for MAC TX done and RX done
    mac_register_process_handler(ranging_tx_process, ranging_rx_process);

    uwbs_handler_init(&op);
}

void ranging_configure(void)
{
    ranging_env.ranging_period = MS_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.ranging_interval);
    ranging_env.slot_interval = RSTU_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.slot_duration);
    ranging_env.enable = 0;
    ranging_env.tof = 0;
    ranging_env.range_data.measurements_num = 0;
    for (uint8_t i = 0; i < MEASUREMENT_NUM_MAX; i++)
    {
        ranging_env.range_data.measurements[i].status = STATUS_VENDOR_RESERVED;
    }
    ranging_env.range_data.ranging_type = 0x1; // TWR (SS-TWR, DS-TWR)
    ranging_env.range_data.ranging_interval = uwb_app_config.session_param.ranging_interval;
    ranging_env.range_data.mac_addr_mode = uwbs_mac_addr_mode_get();
    ranging_env.range_data.session_id = uwb_app_config.session_id;

    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 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
    }
#endif

    ranging_user_pkt.session_id = (uint16_t)uwb_app_config.session_id;
}

void ranging_start(void)
{
    ranging_env.enable = 1;
    ranging_env.ranging_period = MS_TO_PHY_TIMER_COUNT(uwb_app_config.session_param.ranging_interval);
    ranging_env.range_data.mac_addr_mode = uwbs_mac_addr_mode_get();

    uint16_t tmp_delay = uwb_app_config.session_param.ranging_anchor_resp_delay;
    if (tmp_delay & 0x8000)
        ranging_env.anchor_resp_dly = MS_TO_PHY_TIMER_COUNT(tmp_delay & ~0x8000);
    else
        ranging_env.anchor_resp_dly = US_TO_PHY_TIMER_COUNT(tmp_delay);

    tmp_delay = uwb_app_config.session_param.ranging_tag_resp_delay;
    if (tmp_delay & 0x8000)
        ranging_env.tag_resp_dly = MS_TO_PHY_TIMER_COUNT(tmp_delay & ~0x8000);
    else
        ranging_env.tag_resp_dly = US_TO_PHY_TIMER_COUNT(tmp_delay);

    ranging_env.base_point = phy_timer_count_get() + ranging_env.ranging_period;
    ranging_env.anchor_point = ranging_env.base_point;

    enum DEV_ROLE_T dev_role = uwb_app_config.session_param.device_role;
    uwb_app_config.ranging_stage = (RANGING_SYNC);
    phy_timer_target_set(ranging_env.anchor_point - UWB_EVT_PREFETCH_TIME, ranging_timer_callback);
    // power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
    ranging_env.count = 0;
    ranging_env.count_last = 0;
    ranging_env.lost_cnt = 0;

    // uint8_t locak_long_addr[8] = {0x39,0xcd,0x91,0x4d,};
    // uint8_t locak_long_addr[8] = {0xa5,0xc6,0x91,0xcd,};
    // uwbs_local_long_addr_set(locak_long_addr);

    // WsfTimerStartMs(&ranging_cb.daemon_timer, TAG_BLINK_PERIOD_MS * 10, WSF_TIMER_PERIODIC);
    LOG_INFO(TRACE_MODULE_APP, "Ranging start, role %d\r\n", dev_role);
}

void ranging_stop(void)
{
    ranging_env.enable = 0;
    WsfTimerStop(&ranging_cb.daemon_timer);
}

void ranging_restart(void)
{
    ranging_stop();
    mac_restart();
    ranging_start();
    LOG_INFO(TRACE_MODULE_APP, "Ranging restart\r\n");
}

int8_t ranging_tx_power_get(void)
{
    return uwb_tx_power_get(uwb_app_config.ppdu_params.ch_num, uwb_app_config.session_param.tx_power_level);
}

void ranging_local_addr_set(uint16_t short_addr)
{
    uwbs_local_short_addr_set(short_addr);
}

void ranging_peer_addr_set(uint16_t short_addr)
{
    uwbs_peer_short_addr_set(short_addr);
}

uint8_t ranging_responder_addr_add(uint16_t addr)
{
    if (ranging_env.responder_num < RESPONDER_NUM_MAX)
    {
        LOG_INFO(TRACE_MODULE_APP, "Responder %d %04x\r\n", ranging_env.responder_num, addr);
        ranging_env.responder_list[ranging_env.responder_num] = addr;
        ranging_env.responder_num++;
        return 1;
    }
    return 0;
}

void ranging_responder_list_clr(void)
{
    ranging_env.responder_num = 0;
}

uint16_t ranging_responder_addr_get(uint8_t idx)
{
    return ranging_env.responder_list[idx];
}

uint8_t ranging_responder_num_get(void)
{
    return ranging_env.responder_num;
}

// ts_a - ts_b
int64_t ranging_timestamp_diff(int64_t ts_a, int64_t ts_b)
{
    if (ts_a < ts_b)
    {
        return (0x20000000000 - ts_b + ts_a);
    }
    else
    {
        return (ts_a - ts_b);
    }
}

// unit: 15.6ps
int64_t ranging_tround(enum DEV_ROLE_T role, uint8_t dev_idx)
{
    int64_t tx_timestamp;
    int64_t rx_timestamp;
    if (role == DEV_ROLE_INITIATOR)
    {
        tx_timestamp = ranging_env.tx_poll_time;
        rx_timestamp = ranging_env.rx_response_time[dev_idx];
    }
    else
    {
        tx_timestamp = ranging_env.tx_response_time;
        rx_timestamp = ranging_env.rx_final_time;
    }

    int64_t tround = ranging_timestamp_diff(rx_timestamp, tx_timestamp);

    // correct antenna delay
    tround -= ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);

    return tround;
}

// unit: 15.6ps
int64_t ranging_treply(enum DEV_ROLE_T role, uint8_t dev_idx)
{
    int64_t tx_timestamp;
    int64_t rx_timestamp;
    if (role == DEV_ROLE_INITIATOR)
    {
        tx_timestamp = ranging_env.tx_final_time;
        rx_timestamp = ranging_env.rx_response_time[dev_idx];
    }
    else
    {
        tx_timestamp = ranging_env.tx_response_time;
        rx_timestamp = ranging_env.rx_poll_time;
    }

    int64_t treply = ranging_timestamp_diff(tx_timestamp, rx_timestamp);

    // correct antenna delay
    treply += ranging_ant_delays_get(uwb_app_config.ppdu_params.rx_ant_id);

    return treply;
}

uint8_t ranging_count_get(void)
{
    return ranging_env.count;
}

// sync msg packet
static uint8_t ranging_sync_pkt_construct(void *p)
{
    uint8_t tmp_idx = 0;
    struct RANGING_SYNC_MSG_T *p_sync_msg = (struct RANGING_SYNC_MSG_T *)p;

    p_sync_msg->frameCtrl[0] = 0xc5;
    tmp_idx += 1;
    p_sync_msg->seqNum = (uint8_t)ranging_user_pkt.seq_num;
    tmp_idx += 1;
    memcpy(p_sync_msg->tagID, uwbs_local_long_addr_get(), 8);
    tmp_idx += 8;

    return tmp_idx;
}

// cfg msg packet
static uint8_t ranging_cfg_pkt_construct(void *p)
{
    uint8_t tmp_idx = 0;
    struct RANGING_COMMON_MSG_T *p_cfg_msg = (struct RANGING_COMMON_MSG_T *)p;

    p_cfg_msg->frameCtrl[tmp_idx++] = 0x41;
    p_cfg_msg->frameCtrl[tmp_idx++] = 0xcc;
    p_cfg_msg->seqNum = (uint8_t)ranging_user_pkt.seq_num;
    tmp_idx += 1;
    p_cfg_msg->panID[0] = 0xca;
    p_cfg_msg->panID[1] = 0xde;
    tmp_idx += 2;
    memcpy(p_cfg_msg->destAddr, uwbs_peer_long_addr_get(), 8);
    tmp_idx += 8;
    memcpy(p_cfg_msg->sourceAddr, uwbs_local_long_addr_get(), 8);
    tmp_idx += 8;
    p_cfg_msg->fcode = 0x20;
    tmp_idx += 1;
#if 1
    p_cfg_msg->user_data[0] = p_cfg_msg->destAddr[0];
    tmp_idx += 1;
    p_cfg_msg->user_data[1] = p_cfg_msg->sourceAddr[0];
    tmp_idx += 1;
    // ANCHOR_RESP_DLY, delayRx_us + poll_us, coded in us with bit 15 == 0, coded in ms when bit 15 == 1
    uint16_t tmp_delay = uwb_app_config.session_param.ranging_anchor_resp_delay;
    p_cfg_msg->user_data[2] = tmp_delay & 0xFF;
    tmp_idx += 1;
    p_cfg_msg->user_data[3] = (tmp_delay >> 8) & 0xFF;
    tmp_idx += 1;
    // TAG_RESP_DLY, coded in us with bit 15 == 0, coded in ms when bit 15 == 1
    tmp_delay = uwb_app_config.session_param.ranging_tag_resp_delay;
    p_cfg_msg->user_data[4] = tmp_delay & 0xFF;
    tmp_idx += 1;
    p_cfg_msg->user_data[5] = (tmp_delay >> 8) & 0xFF;
    tmp_idx += 1;
#else
    tmp_idx += 6;
#endif

    return tmp_idx;
}

static uint8_t ranging_poll_pkt_construct(void *p)
{
    // poll msg packet
    uint8_t tmp_idx = 0;
    struct RANGING_COMMON_MSG_T *p_poll_msg = (struct RANGING_COMMON_MSG_T *)p;

    p_poll_msg->frameCtrl[tmp_idx++] = 0x41;
    p_poll_msg->frameCtrl[tmp_idx++] = 0xcc;
    p_poll_msg->seqNum = (uint8_t)ranging_user_pkt.seq_num;
    tmp_idx += 1;
    p_poll_msg->panID[0] = 0xca;
    p_poll_msg->panID[1] = 0xde;
    tmp_idx += 2;
    memcpy(p_poll_msg->destAddr, uwbs_peer_long_addr_get(), 8);
    tmp_idx += 8;
    memcpy(p_poll_msg->sourceAddr, uwbs_local_long_addr_get(), 8);
    tmp_idx += 8;
    p_poll_msg->fcode = 0x21;
    tmp_idx += 1;
    memset(p_poll_msg->user_data, 0, sizeof(p_poll_msg->user_data));
    tmp_idx += 4;

    return tmp_idx;
}

static uint8_t ranging_response_pkt_construct(void *p)
{
    // send response
    // response msg packet
    uint8_t tmp_idx = 0;
    struct RANGING_COMMON_MSG_T *p_resp_msg = (struct RANGING_COMMON_MSG_T *)p;

    p_resp_msg->frameCtrl[tmp_idx++] = 0x41;
    p_resp_msg->frameCtrl[tmp_idx++] = 0xcc;
    p_resp_msg->seqNum = (uint8_t)ranging_user_pkt.seq_num;
    tmp_idx += 1;
    p_resp_msg->panID[0] = 0xca;
    p_resp_msg->panID[1] = 0xde;
    tmp_idx += 2;
    memcpy(p_resp_msg->destAddr, uwbs_peer_long_addr_get(), 8);
    tmp_idx += 8;
    memcpy(p_resp_msg->sourceAddr, uwbs_local_long_addr_get(), 8);
    tmp_idx += 8;
    p_resp_msg->fcode = 0x10;
    tmp_idx += 1;
    memset(p_resp_msg->user_data, 0, sizeof(p_resp_msg->user_data));
    p_resp_msg->user_data[0] = 0x02; // 0x02 ranging continue
    tmp_idx += 1;
#if 0

#else
    tmp_idx += 7;
#endif

    return tmp_idx;
}

static uint8_t ranging_final_pkt_construct(void *p)
{
    // send response
    // response msg packet
    uint8_t tmp_idx = 0;
    struct RANGING_COMMON_MSG_T *p_final_msg = (struct RANGING_COMMON_MSG_T *)p;

    p_final_msg->frameCtrl[tmp_idx++] = 0x41;
    p_final_msg->frameCtrl[tmp_idx++] = 0xcc;
    p_final_msg->seqNum = (uint8_t)ranging_user_pkt.seq_num;
    tmp_idx += 1;
    p_final_msg->panID[0] = 0xca;
    p_final_msg->panID[1] = 0xde;
    tmp_idx += 2;
    memcpy(p_final_msg->destAddr, uwbs_peer_long_addr_get(), 8);
    tmp_idx += 8;
    memcpy(p_final_msg->sourceAddr, uwbs_local_long_addr_get(), 8);
    tmp_idx += 8;
    p_final_msg->fcode = 0x29;
    tmp_idx += 1;
    memset(p_final_msg->user_data, 0, sizeof(p_final_msg->user_data));
    // timestamp
    //
    p_final_msg->user_data[0] = (ranging_env.tx_poll_time >> 0) & 0xFF;
    p_final_msg->user_data[1] = (ranging_env.tx_poll_time >> 8) & 0xFF;
    p_final_msg->user_data[2] = (ranging_env.tx_poll_time >> 16) & 0xFF;
    p_final_msg->user_data[3] = (ranging_env.tx_poll_time >> 24) & 0xFF;
    p_final_msg->user_data[4] = (ranging_env.tx_poll_time >> 32) & 0xFF;
    tmp_idx += 5;
    //
    p_final_msg->user_data[5] = (ranging_env.rx_response_time[0] >> 0) & 0xFF;
    p_final_msg->user_data[6] = (ranging_env.rx_response_time[0] >> 8) & 0xFF;
    p_final_msg->user_data[7] = (ranging_env.rx_response_time[0] >> 16) & 0xFF;
    p_final_msg->user_data[8] = (ranging_env.rx_response_time[0] >> 24) & 0xFF;
    p_final_msg->user_data[9] = (ranging_env.rx_response_time[0] >> 32) & 0xFF;
    tmp_idx += 5;
    //
    p_final_msg->user_data[10] = (ranging_env.tx_final_time >> 0) & 0xFF;
    p_final_msg->user_data[11] = (ranging_env.tx_final_time >> 8) & 0xFF;
    p_final_msg->user_data[12] = (ranging_env.tx_final_time >> 16) & 0xFF;
    p_final_msg->user_data[13] = (ranging_env.tx_final_time >> 24) & 0xFF;
    p_final_msg->user_data[14] = (ranging_env.tx_final_time >> 32) & 0xFF;
    tmp_idx += 5;

    return tmp_idx;
}

uint8_t ranging_poll_pkt_process(uint8_t *pkt_data, uint16_t pkt_len)
{
    uint8_t ret = 0;
    struct RANGING_USER_PKT_T *ranging_recv_pkt = (struct RANGING_USER_PKT_T *)pkt_data;

    ranging_env.responder_num = 0;
    ranging_env.responder_slot_idx = 0;

    if ((ranging_recv_pkt->session_id == ranging_user_pkt.session_id) && (ranging_recv_pkt->msg_type == RANGING_POLL))
    {
        ranging_env.responder_num = ranging_recv_pkt->msg.poll_msg[MSG_POLL_RESPONDER_NUM_IDX];
        for (uint8_t i = 0; i < ranging_env.responder_num; i++)
        {
            uint16_t responder_id = READ_SHORT(&ranging_recv_pkt->msg.poll_msg[MSG_POLL_RESPONDER_ID_IDX(i)]);
            if (uwbs_local_short_addr_get() == responder_id)
            {
                ranging_env.responder_slot_idx = ranging_recv_pkt->msg.poll_msg[MSG_POLL_RESPONDER_SLOT_IDX(i)];
                ret = 1;
                break;
            }
        }
    }
    return ret;
}

#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wswitch-enum"
#pragma clang diagnostic ignored "-Wunreachable-code-break"
#pragma clang diagnostic ignored "-Wcast-align"
#endif

static void ranging_timer_callback(void *dev, uint32_t time)
{
    // board_led_on(BOARD_LED_1);
    if (ranging_env.enable)
    {
        enum RANGING_STAGE_T stage = uwb_app_config.ranging_stage;
        if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
        {
            switch (stage)
            {
                case RANGING_IDLE:
                    ASSERT(0, "RANGING_IDLE\r\n");
                    break;

                case RANGING_SYNC:
                    // send
                    power_on_radio(1, 0);
                    mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_common_msg,
                           ranging_sync_pkt_construct((void *)&ranging_common_msg));
                    break;

                case RANGING_CFG:
                    power_on_radio(0, 1);
                    mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, UWB_RX_WINDOW);
                    break;

                case RANGING_POLL:
                    ranging_user_pkt.seq_num++;
                    ranging_env.tx_poll_time = ranging_tx_time(ranging_env.anchor_point + phy_shr_duration());
                    // send
                    power_on_radio(1, 0);
                    mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_common_msg,
                           ranging_poll_pkt_construct((void *)&ranging_common_msg));
                    break;

                case RANGING_RESPONSE:
                    // receive response
                    power_on_radio(0, 1);
                    mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, UWB_RX_WINDOW);
                    break;

                case RANGING_FINAL:
                    ranging_env.tx_final_time = ranging_tx_time(ranging_env.anchor_point + phy_shr_duration());
                    // send final
                    power_on_radio(1, 0);
                    mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_common_msg,
                           ranging_final_pkt_construct((void *)&ranging_common_msg));
                    break;

                default:
                    ASSERT(0, "UNKNOWN STAGE\r\n");
                    break;
            }
        }
        else
        {
            switch (stage)
            {
                case RANGING_IDLE:
                    ASSERT(0, "RANGING_IDLE\r\n");
                    break;

                case RANGING_SYNC:
                    power_on_radio(0, 1);
                    mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, ranging_env.ranging_period);
                    break;

                case RANGING_CFG:
                    ranging_user_pkt.seq_num++;
                    // send cfg
                    power_on_radio(1, 0);
                    mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_common_msg,
                           ranging_cfg_pkt_construct((void *)&ranging_common_msg));
                    break;

                case RANGING_POLL:
                    ranging_user_pkt.seq_num++;
                    //
                    power_on_radio(0, 1);
                    mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, UWB_RX_WINDOW);
                    break;

                case RANGING_RESPONSE:
                    ranging_env.tx_response_time = ranging_tx_time(ranging_env.anchor_point + phy_shr_duration());
                    //
                    power_on_radio(1, 0);
                    mac_tx(EVT_MODE_MAC_ASAP_PHY_FIX, ranging_env.anchor_point, 0, (uint8_t *)&ranging_common_msg,
                           ranging_response_pkt_construct((void *)&ranging_common_msg));
                    break;

                case RANGING_FINAL:
                    power_on_radio(0, 1);
                    mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, UWB_RX_WINDOW);
                    break;

                default:
                    ASSERT(0, "UNKNOWN STAGE\r\n");
                    break;
            }
        }

        mac_start();
    }
    else
    {
        power_mode_clear(POWER_UNIT_APP);
        LOG_INFO(TRACE_MODULE_APP, "Ranging stop\r\n");
    }
    // board_led_off(BOARD_LED_1);
}

enum RANGING_STAGE_T ranging_fsm(const struct MAC_HW_REPORT_T *ind)
{
    enum RANGING_STAGE_T stage = uwb_app_config.ranging_stage;

    // board_led_on(BOARD_LED_1);
    power_off_radio();
    if (ranging_env.enable)
    {
        ranging_env.count++;

        if (uwb_app_config.session_param.device_role == DEV_ROLE_INITIATOR)
        {
            switch (stage)
            {
                case RANGING_IDLE:
                    break;

                case RANGING_SYNC:
                {
                    uwb_pkt_tx_done_ind(ind, stage);
                    // rx cfg set
                    ranging_env.base_point = ind->timestamp - phy_shr_duration();
                    ranging_env.anchor_point = ranging_env.base_point + ranging_env.anchor_resp_dly;
                    uwb_app_config.ranging_stage = (RANGING_CFG);
                }
                break;

                case RANGING_CFG:
                {
                    uwb_pkt_rx_done_ind(ind, stage);

                    struct RANGING_COMMON_MSG_T *p_common_msg = (struct RANGING_COMMON_MSG_T *)&ind->pkt_data[0];
                    // recv cfg msg ?
                    if ((ind->err_code == UWB_RX_OK) && p_common_msg->frameCtrl[0] == 0x41 && p_common_msg->frameCtrl[1] == 0xCC && p_common_msg->fcode == 0x20)
                    {
                        // if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0)
                        if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0 &&
                            memcmp(p_common_msg->sourceAddr, uwbs_peer_long_addr_get(), 8) == 0)
                        {
                            uwb_pkt_rx_done_ind(ind, stage);
                            uwbs_peer_long_addr_set(p_common_msg->sourceAddr);
                            //
                            uint16_t tmp_anchor_resp_time = (uint16_t)READ_SHORT((uint8_t *)&p_common_msg->user_data[2]);
                            uwb_app_config.session_param.ranging_anchor_resp_delay = (tmp_anchor_resp_time);
                            if (tmp_anchor_resp_time & 0x8000)
                                ranging_env.anchor_resp_dly = MS_TO_PHY_TIMER_COUNT(tmp_anchor_resp_time & ~0x8000);
                            else
                                ranging_env.anchor_resp_dly = US_TO_PHY_TIMER_COUNT(tmp_anchor_resp_time);
                            //
                            uint16_t tmp_tag_resp_time = (uint16_t)READ_SHORT((uint8_t *)&p_common_msg->user_data[4]);
                            uwb_app_config.session_param.ranging_tag_resp_delay = (tmp_tag_resp_time);
                            if (tmp_tag_resp_time & 0x8000)
                                ranging_env.tag_resp_dly = MS_TO_PHY_TIMER_COUNT(tmp_tag_resp_time & ~0x8000);
                            else
                                ranging_env.tag_resp_dly = US_TO_PHY_TIMER_COUNT(tmp_tag_resp_time);

                            uwb_app_config.ranging_stage = (RANGING_POLL);
                        }
                    }

                    if (uwb_app_config.ranging_stage == RANGING_POLL)
                    {
                        // tx poll set
                        ranging_env.base_point += ranging_env.ranging_period;
                        ranging_env.anchor_point = ranging_env.base_point;
                    }
                    else
                    {
                        // tx cfg again set
                        uwb_app_config.ranging_stage = (RANGING_SYNC);
                        ranging_env.base_point += ranging_env.ranging_period;
                        ranging_env.anchor_point = ranging_env.base_point;
                    }
                }
                break;

                case RANGING_POLL:
                {
                    // process rx-poll packet
                    uwb_pkt_tx_done_ind(ind, stage);
                    // rx resp set
                    ranging_env.base_point = ind->timestamp - phy_shr_duration();
                    ranging_env.anchor_point = ranging_env.base_point + ranging_env.anchor_resp_dly;
                    uwb_app_config.ranging_stage = (RANGING_RESPONSE);
                }
                break;

                case RANGING_RESPONSE:
                {
                    // process rx-response packet
                    uwb_pkt_rx_done_ind(ind, stage);

                    struct RANGING_COMMON_MSG_T *p_common_msg = (struct RANGING_COMMON_MSG_T *)&ind->pkt_data[0];
                    if ((ind->err_code == UWB_RX_OK) && p_common_msg->frameCtrl[0] == 0x41 && p_common_msg->frameCtrl[1] == 0xCC && p_common_msg->fcode == 0x10)
                    {
                        if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0 &&
                            memcmp(p_common_msg->sourceAddr, uwbs_peer_long_addr_get(), 8) == 0)
                        {
                            if (p_common_msg->user_data[0] == 0x02)
                            {
                                uwb_app_config.ranging_stage = (RANGING_FINAL);
                                ranging_env.rx_response_time[0] = ranging_rx_time(ind);
                            }
                            else
                                ranging_env.enable = 0;
                        }
                    }

                    if (uwb_app_config.ranging_stage == RANGING_FINAL)
                    {
                        ranging_env.anchor_point += ranging_env.tag_resp_dly;
                    }
                    else
                    {
                        ranging_env.base_point += ranging_env.ranging_period;
                        ranging_env.anchor_point = ranging_env.base_point;
                        uwb_app_config.ranging_stage = (RANGING_POLL);
                    }
                }
                break;

                case RANGING_FINAL:
                {
                    uwb_pkt_tx_done_ind(ind, stage);
                    //
                    ranging_env.base_point += ranging_env.ranging_period;
                    ranging_env.anchor_point = ranging_env.base_point;
                    uwb_app_config.ranging_stage = (RANGING_POLL);
                }
                break;

                default:
                    break;
            }
        }
        else
        {
            switch (stage)
            {
                case RANGING_IDLE:
                    break;
                case RANGING_SYNC:
                {
                    struct RANGING_SYNC_MSG_T *p_sync_msg = (struct RANGING_SYNC_MSG_T *)&ind->pkt_data[0];
                    struct RANGING_COMMON_MSG_T *p_common_msg = (struct RANGING_COMMON_MSG_T *)&ind->pkt_data[0];

                    if ((ind->err_code == UWB_RX_OK) && p_sync_msg->frameCtrl[0] == 0xC5)
                    { // recv sync
                        if (memcmp(p_sync_msg->tagID, uwbs_peer_long_addr_get(), 8) == 0)
                        {
                            uwbs_peer_long_addr_set(p_sync_msg->tagID);
                            uwb_app_config.ranging_stage = (RANGING_CFG);
                        }
                    }
                    else if ((ind->err_code == UWB_RX_OK) && p_common_msg->frameCtrl[0] == 0x41 && p_common_msg->frameCtrl[1] == 0xCC &&
                             p_common_msg->fcode == 0x21)
                    { // recv poll
                        if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0 &&
                            memcmp(p_common_msg->sourceAddr, uwbs_peer_long_addr_get(), 8) == 0)
                        {
                            ranging_env.rx_poll_time = ranging_rx_time(ind);
                            // uwb_app_config.ranging_stage = (RANGING_POLL);
                            uwb_app_config.ranging_stage = (RANGING_RESPONSE);
                        }
                    }

                    if (uwb_app_config.ranging_stage == RANGING_CFG)
                    {
                        uwb_pkt_rx_done_ind(ind, stage);
                        ranging_env.base_point = ind->timestamp - phy_shr_duration();
                        ranging_env.anchor_point = ranging_env.base_point + ranging_env.anchor_resp_dly;
                    }
                    else if (uwb_app_config.ranging_stage == RANGING_RESPONSE)
                    {
                        uwb_pkt_rx_done_ind(ind, RANGING_POLL);
                        ranging_env.base_point = ind->timestamp - phy_shr_duration();
                        ranging_env.anchor_point = ranging_env.base_point + ranging_env.anchor_resp_dly;
                    }
                    else
                    {
                        uwb_pkt_rx_done_ind(ind, stage);
                        // receive sync again
                        power_on_radio(0, 1);
                        mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, ranging_env.ranging_period);
                        mac_start();

                        return stage;
                    }
                }
                break;

                case RANGING_CFG:
                {
                    uwb_pkt_tx_done_ind(ind, stage);
                    uwb_app_config.ranging_stage = (RANGING_SYNC);
                    ranging_env.base_point += ranging_env.ranging_period;
                    ranging_env.anchor_point = ranging_env.base_point;
                }
                break;

                case RANGING_POLL:
                {
                    uwb_pkt_rx_done_ind(ind, stage);
                    ranging_env.responder_final_flag = 0;

                    struct RANGING_COMMON_MSG_T *p_common_msg = (struct RANGING_COMMON_MSG_T *)&ind->pkt_data[0];
                    if ((ind->err_code == UWB_RX_OK) && p_common_msg->frameCtrl[0] == 0x41 && p_common_msg->frameCtrl[1] == 0xCC && p_common_msg->fcode == 0x21)
                    {
                        if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0 &&
                            memcmp(p_common_msg->sourceAddr, uwbs_peer_long_addr_get(), 8) == 0)
                        {
                            ranging_env.rx_poll_time = ranging_rx_time(ind);
                            uwb_app_config.ranging_stage = (RANGING_RESPONSE);
                        }
                    }

                    if (uwb_app_config.ranging_stage == RANGING_RESPONSE)
                    {
                        ranging_env.base_point = ind->timestamp - phy_shr_duration();
                        ranging_env.anchor_point = ranging_env.base_point + ranging_env.anchor_resp_dly;
                    }
                    else
                    {
                        // receive poll
                        power_on_radio(0, 1);
                        mac_rx(EVT_MODE_MAC_PHY_ASAP, 0, UWB_RX_WINDOW);
                        mac_start();

                        return stage;
                    }
                }
                break;

                case RANGING_RESPONSE:
                {
                    uwb_pkt_tx_done_ind(ind, stage);
                    ranging_env.anchor_point += ranging_env.tag_resp_dly;
                    uwb_app_config.ranging_stage = (RANGING_FINAL);
                }
                break;

                case RANGING_FINAL:
                {
                    // process rx-final packet
                    uwb_pkt_rx_done_ind(ind, stage);

                    struct RANGING_COMMON_MSG_T *p_common_msg = (struct RANGING_COMMON_MSG_T *)&ind->pkt_data[0];
                    if ((ind->err_code == UWB_RX_OK) && p_common_msg->frameCtrl[0] == 0x41 && p_common_msg->frameCtrl[1] == 0xCC && p_common_msg->fcode == 0x29)
                    {
                        if (memcmp(p_common_msg->destAddr, uwbs_local_long_addr_get(), 8) == 0 &&
                            memcmp(p_common_msg->sourceAddr, uwbs_peer_long_addr_get(), 8) == 0)
                        {
                            ranging_env.rx_final_time = ranging_rx_time(ind);
                            ranging_env.responder_final_flag = 1;
                        }
                    }

                    uwb_app_config.ranging_stage = (RANGING_POLL);
                    ranging_env.base_point += ranging_env.ranging_period;
                    ranging_env.anchor_point = ranging_env.base_point;
                }
                break;

                default:
                    break;
            }
        }

        stage = uwb_app_config.ranging_stage;
        if (RANGING_POLL == stage)
        {
            power_mode_request(POWER_UNIT_APP, POWER_MODE_POWER_DOWN);
        }

        phy_timer_target_set(ranging_env.anchor_point - UWB_EVT_PREFETCH_TIME, ranging_timer_callback);
    }
    else
    {
        power_mode_clear(POWER_UNIT_APP);
        LOG_INFO(TRACE_MODULE_APP, "Ranging stop\r\n");
    }
    // board_led_off(BOARD_LED_1);

    return stage;
}
#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#pragma clang diagnostic pop
#endif

static 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->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_UWB, "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
static void uwb_pkt_rx_done_ind(const struct MAC_HW_REPORT_T *rx, enum RANGING_STAGE_T stage)
{
    // 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->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);
        }

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

static void ranging_tx_process(struct MAC_HW_REPORT_T *tx_report)
{
    ranging_fsm(tx_report);
}

static void ranging_rx_process(struct MAC_HW_REPORT_T *rx_report)
{
    ranging_fsm(rx_report);
}