/*
 * 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_clock.h"
#include "ul_tdoa.h"
#include "uwb_api.h"
#include "lib_ranging.h"
#include "lib_aoa.h"

static struct UL_TDOA_MEASUREMENT_T report;

/*************************************************************************************************/
/*!
 *  \brief  WSF event handler for ul_tdoa task.
 *
 *  \param  event   WSF event mask.
 *  \param  msg    WSF message.
 *
 *  \return None.
 */
/*************************************************************************************************/
void ul_tdoa_handler(wsfEventMask_t event, const void *param)
{
    const wsfMsgHdr_t *msg = (const wsfMsgHdr_t *)param;

    if (msg != NULL)
    {
        switch (msg->event)
        {
            case UL_TDOA_RX_IND_MSG:
            {
                const struct UL_TDOA_RX_IND_T *ind = (const struct UL_TDOA_RX_IND_T *)param;

                report.rx_timestamp.ts_u64 = (uint64_t)ind->rx_timestamp;
                report.tx_timestamp.ts_u8[0] = ind->rx_data[41];
                report.tx_timestamp.ts_u8[1] = ind->rx_data[42];
                report.tx_timestamp.ts_u8[2] = ind->rx_data[43];
                report.tx_timestamp.ts_u8[3] = ind->rx_data[44];
                report.tx_timestamp.ts_u8[4] = ind->rx_data[45];
                report.tx_timestamp.ts_u8[5] = ind->rx_data[46];
                report.tx_timestamp.ts_u8[6] = ind->rx_data[47];
                report.tx_timestamp.ts_u8[7] = ind->rx_data[48];

                report.dev_id[0] = ind->rx_data[39];
                report.dev_id[1] = ind->rx_data[40];

                report.frame_number = READ_WORD(&ind->rx_data[35]);

                report.frame_type = (ind->rx_data[33] >> 4) & 0xf;

                uwbapi_report_ranging_data(&report);
            }
            break;

            default:
                break;
        }
    }
    // Handle events
    else if (event)
    {
    }
}