#include "mk_trace.h"
#include "mk_uwb.h"
#include "mk_phy.h"
#include "mk_misc.h"
#include "mk_power.h"
#include "mk_sleep_timer.h"
#include "lib_ranging.h"
#include "dw_app_anchor.h"

#include "board.h"

#if defined(MK_SS_TWR_DW_RESP)

extern int simple_main(void);
extern int temp_main(void);
extern void IO_LED_control_change(uint8_t data);
extern void IO_control_init(void);

extern void updata_led_power_state(void);
/*receive buffer*/
static uint8_t rx_buf[150];
static uint8_t uwb_sendbuffer[150];
static volatile uint16_t rx_state;
static volatile uint16_t rx_length;

//resp±äÁ¿
static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS],rec_ancdistlist[TAG_NUM_IN_SYS];
extern uint8_t group_id;
static uint16_t anc_id_recv,tag_id_recv;
static int16_t rec_antdelay;
extern uint32_t dev_id;
static uint16_t taglist_num=0,taglist_pos,tmp_time;
extern uint16_t tag_frequency;
extern uint16_t disoffset;
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
extern uint8_t gps_power_state,motor_power_state,uwb_state,air780_power_state,gps_success_state,chaging_state,changed_state,air780_success_state;
int poll_rx_num,resp_tx_num;
//respº¯Êý
void PushAnchorDataArray(uint16_t ancid,uint16_t dist,uint8_t battary);//ÕÒµ½×Ô¼ºµÄidÐÅÏ¢¶ÔӦλÖøüÐÂ×Ô¼ºµÄ½»»¥ÐÅÏ¢
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//ÓÃÀ´¶ÔӦλÖ÷ÅÈëʱ¼ä´Á
static uint16_t tagid_list[TAG_NUM_IN_SYS];
uint16_t CmpTagInList(uint16_t tagid);
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
static uint8_t send_buffer[100];
uint32_t temp_count=0;
uint32_t temp_count1=0;
uint32_t temp_count2=0;
uint32_t temp_count3=0;
uint32_t temp_internal=0;
int temp_flag;
extern uint8_t recev_error_num;
typedef enum
{		UN_BIND=0,
        LINK_SUCCESS,
        SEARCH_DEV,
} Operation_step;
extern Operation_step Operation_state;
extern int16_t first_search_flag;
/* Ranging period */
#define RANGING_PERIOD_MS (1000)

/* This is the delay from Frame RX POLL frame to send RESP Frame */
#define POLL_RX_TO_RESP_TX_DLY_US 450U //yuan750 7500Haoyong

#define RESP_TX_TO_FINAL_RX_DLY_US 500U

/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US 10000U //yuan1000  7000success

/* RX sync window size 50 ms*/
#define RX_SYNC_WIN_US_TEMP 2000000U //yuan1000  7000success

/* Receive poll timeout 500us*/
#define POLL_RX_TIMEOUT_US 500

/* Receive final timeout 500us */
#define FINAL_RX_TIMEOUT_US 500

/* RX window open in advance */
#define RX_WIN_IN_ADVANCE_US (150)

#define DELAY_BETWEEN_TWO_FRAME_UUS 400

/* Field index in frame */
#define MSG_SEQ_NUM_IDX 2
#define FINAL_MSG_POLL_TX_TS_IDX 10
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define DELAY_DEFAULT 1000
#define HALF_SECOND_TIME 62400000
/* Length of the common part of the message */
#define MSG_COMMON_LEN 10


static uint8_t receive_flag=0;
struct mk_uwb_configure
{
    uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
    struct UWB_CONFIG_T phy_cfg;
};

/* Default communication configuration. */
static struct mk_uwb_configure config = {
    .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
    .phy_cfg.ch_num = 5,                      /* Channel number.                           */
    .phy_cfg.code_index = 9,                  /* TX preamble code.                         */
    .phy_cfg.mean_prf = MEAN_PRF_64M,         /* Data rate 6.8M                            */
    .phy_cfg.data_bit_rate = DATA_BR_6M8,     /* data rate 6.8M.                           */
    .phy_cfg.sync_sym = PREAM_LEN_128,        /* Preamble duration, length of preamble 128 */
    .phy_cfg.sfd_sym = BPRF_NSFD2_8,          /* Identifier for SFD sequence               */
    .phy_cfg.ranging_bit = 1,                 /* ranging bit set.                          */
    .phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF,  /* IEEE802.15.4z - BPRF mode                 */
    .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0,     /* SP0 Frame                                 */
    .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1,  /* Number of STS segments in the frame       */
    .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment       */
    .phy_cfg.rx_ant_id = UWB_RX_ANT_3,    /* UWB RX antenna port                       */
};

/* Buffer to store received frame */

/*     Frames used in the ranging process
 *     Poll message:
 *     - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
 *     - byte 2: sequence number, incremented for each new frame.
 *     - byte 3 - 4: PAN Id 0x4B4d
 *     - byte 5 - 6: Destination address
 *     - byte 7 - 8: Source address
 *     - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
 *     Response message:
 *     - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
 *     Final message:
 *     - byte 10 - 13: poll message transmission timestamp.
 *     - byte 14 - 17: response message reception timestamp.
 *     - byte 18 - 21: final message transmission timestamp.
 */
static uint8_t rx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
static uint8_t tx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

/* Count value of phy counter when transmitting and receiving frames */
static uint32_t poll_rx_en_start_u32;
static uint32_t resp_tx_en_start_u32;
static uint32_t resp_tx_timeout;
int64_t temp_resp_i64;
/* 41 bits timestamps of frames transmission/reception. */
static int64_t poll_rx_ts_i64;
static int64_t resp_tx_ts_i64;
static int64_t final_rx_ts_i64;

/* Frame sequence number, incremented after each transmission. */
static uint8_t frame_seq_nb = 0;

/* MAC report data structure */
static struct MAC_HW_REPORT_T rx_rpt;

enum SIMPLE_FSM_T
{
    SIMPLE_IDLE = 0,
    SIMPLE_POLL = 1,
    SIMPLE_RESPONSE = 2,
    SIMPLE_FINAL = 3,
};

static enum SIMPLE_FSM_T state = SIMPLE_IDLE;

/**
 * @brief Correct TX timestamp of the ranging frame.
 *
 * @param[in] timestamp    PHY timer count of TX
 * @return TX timestamp (unit: 15.65ps)
 */
static int64_t ranging_tx_time_correct(uint32_t timestamp)
{
    int64_t tx_timestamp = ranging_tx_time(timestamp);

    // correct antenna delay (TX using the same antenna as RX)
    tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;

    return tx_timestamp;
}

/**
 * @brief Correct RX timestamp of the ranging frame.
 *
 * @param[in] ind    MAC RX report
 * @return RX timestamp (unit: 15.65ps)
 */
static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
{
    int64_t rx_timestamp = ranging_rx_time(ind);

    // correct antenna delay
    rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;

    return rx_timestamp;
}

/* RX done process handler. */
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
{
    // Power off radio
    power_off_radio();

    /** UWB RX success */
    if (rx_report->err_code == UWB_RX_OK)
    {
        /* Received data does not contain FCS */
        rx_length = rx_report->pkt_len;
        memcpy(rx_buf, rx_report->pkt_data, rx_length);
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        /* Calculate rx timestamp */
        temp_count= phy_timer_count_get();
        poll_rx_en_start_u32 = rx_rpt.timestamp - phy_shr_duration();
        poll_rx_ts_i64 = ranging_rx_time_correct(&rx_rpt);
        poll_rx_num++;
        receive_flag=1;
        recev_error_num=0;
    }
    else
    {
        /* UWB_PLD_ERR     payload error             */
        /* UWB_PHR_ERR     PHR error                 */
        /* UWB_SFD_ERR     Sfd error                 */
        /* UWB_BD_ERR      Preamble detection error  */
        /* UWB_TO_ERR      Receive timeout           */
        /* UWB_STS_ERR     STS error                 */
        memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
        rx_length = 0;
        recev_error_num++;
        if(recev_error_num==20) {
            recev_error_num=0;
            first_search_flag=1;//Ê״νøÈëËÑË÷±êÖ¾
            Operation_state=SEARCH_DEV;
        }
        receive_flag=2;
    }
}

/* TX done process handler. */
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
{
    // Power off radio
    power_off_radio();

    /** UWB TX success */
    if (tx_report->err_code == UWB_TX_OK)
    {
        temp_count= phy_timer_count_get();
        temp_internal=temp_count;
        resp_tx_num++;
        LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
    }
}
uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
static uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
static uint8_t anchordata_num = 0;
static int32_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t random_time;
//anchor
void PushAnchorDataArray(uint16_t ancid,uint16_t dist,uint8_t battary)
{
    uint8_t i;
    for(i=0; i<anchordata_num; i++)
    {
        if(anchordata_id[i] == ancid)//²éѯ±êÇ©ÊÇ·ñÔÚ×Ô¼ºÒÑͨѶÁбíÖÐ
        {

            break;
        }
    }
    if(i==anchordata_num)
    {
        if(anchordata_num<TAG_NUM_IN_SYS-1)
            anchordata_num++;
    }
    anchordata_id[i] = ancid;//Óë֮ͨÐŵıêÇ©id´æÈ뵱ǰ±íÖÐ
    anchordata_dist[i] = dist;
    anchordata_bat[i] = battary;
}
uint16_t CmpTagInList(uint16_t tagid)
{   uint16_t i;
    for(i=0; i<taglist_num; i++)
    {
        if(memcmp(&tagid,&anchordata_id[i],2)==0)
            break;
    }
    if(i==taglist_num)
        return taglist_num;
    //tagofflinetime[i] = 0;
    return i;
}
static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts)
{
    int i,ts2;
    ts2=(int32_t)ts;
    for (i = 0; i < 4; i++)
    {
        ts_field[i] = (uint8_t)ts2;
        ts2 >>= 8;
    }
}


uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//¸ù¾Ý×Ô¼ºÊÇ·ñΪлùÕ¾¶¨ÖÆÏûϢȥ·¢ËÍ£¬¸ù¾ÝÊÇ·ñÇÀÕ¼ÅжÏ
{
    temp_count2=poll_rx_en_start_u32;

    memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//×éid
    memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//×ÔÉíid
    memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//½ÓÊÜÕßid
    send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;

    if(rec_nearbase_num == ancrec_nearbasepos)//ÇÀռģʽ×Ô¼ºÎªÐ»ùÕ¾
    {
        random_time = (phy_timer_count_get()%1000);//¶à»ùÕ¾ÇÀÕ¼Ò»¸öλÖÃʱ±ÜÃâÒ»¸öÒ²ÊÕ²»µ½µÄÇé¿ö¾Íÿһ¸öËæ»ú´í¿ª¼¸Ê®uS
        //resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
        // (resp_tx_en_start_u32) is the moment when TX enable
        resp_tx_en_start_u32 = random_time+poll_rx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//ºóÃæµÄÐèÒª¸ù¾ÝÒÑÓлùÕ¾ÊýÁ¿½øÐиü¸Ä£¬Èç¹ûÊÇÇÀÕ¼×Ô¼º×îºóÒ»¸ö»Ø¸´£¬ÒªÓе×Êý
    } else {
        //resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
        resp_tx_en_start_u32 = poll_rx_en_start_u32 + US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+(ancrec_nearbasepos+1)*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//ºóÃæµÄÐèÒª¸ù¾ÝÒÑÓлùÕ¾ÊýÁ¿½øÐиü¸Ä,×Ô¼º·ÇÇÀÕ¼
    }//´Ë´¦ÉèÖþø¶Ôʱ¼ä½«poll u32¸ÄΪphy_timer_count_get()

    resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
    /* Write all timestamps in the final message. See NOTE 8 below. */
    resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
    resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//´Ë´¦Ê±¼ä´Áint64Ö±½Óת»»Îªuint64²»ÖªµÀ»á²»»áÓдíÎó
    memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//²î¸öÐÞÕýoffset,ÐÞÕýÓзûºÅµ«ÊÇÕâ¸öcom±íΪÎÞ·ûºÅµÄ,´«¹ýÈ¥Ö±½Ó¸³¸øInt16_tÏ൱ÓÚ»¹Ô­ÁË
    temp_resp_i64=resp_tx_ts_i64;
    temp_count3= phy_timer_count_get();
    temp_flag=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//Á¢¼´·¢ËͲâÊÔsize´óС
    temp_count1=phy_timer_count_get();
    while(mac_is_busy());
}
int simple_main(void)
{
    // The following peripherals will be initialized in the uwb_open function
    // phy/mac/aes/lsp/phy timers initialized
    uwb_open();

    // Set calibration parameters
    uwb_calibration_params_set(config.phy_cfg.ch_num);

    // set advanced parameters
    struct PHY_ADV_CONFIG_T adv_config = {
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .ranging_performance_mode = 0,
        .skip_weakest_port_en = 0,
    };
    phy_adv_params_configure(&adv_config);

    // uwb configure
    uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);

    ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
    //#if LOW_POWER_EN
//    // Initialize low power mode
//    power_init();
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif
    uint8_t i;
    uint16_t tempid;
    temp_count3=phy_timer_count_get();

    uwb_rx(0, 0, RX_SYNC_WIN_US);//¿ªÆô½ÓÊÕ
    while(mac_is_busy());
    temp_count2=phy_timer_count_get();
//		start_receive_count=phy_timer_count_get();
//	poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000,ĬÈÏ¿ªÆô1mss
//	end_receive_count=start_receive_count+poll_timeout;
//	if(end_receive_count>=UINT32_MAX)
//	{end_receive_count-=UINT32_MAX;}
//	current_count=phy_timer_count_get();
//		while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//Ñ­»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
//		{
    if(receive_flag==1)//³É¹¦½ÓÊÕ
    {
        if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//ÅжÏÊÇ·ñÊǺÍ×Ô¼ºÊÇͬһ×éͨѶµÄÇÒΪpoll°ü
        {   temp_count2=phy_timer_count_get();
            frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//»ñÈ¡°üÐò
            battary = rx_buf[BATTARY_IDX];
            rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX];  //±êÇ©´«¹ýÀ´µÄËûÓë»ùÕ¾½»»¥µÄ»ùÕ¾idÊýÄ¿
            memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
            memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
            memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
            memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
            for(i=0; i<rec_nearbase_num; i++)
            {
                if(rec_ancidlist[i] == dev_id)
                {
                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
                }
            }
            for(i=0; i<rec_nearbase_num; i++)
            {
                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
                if(tempid==dev_id)//Ò²ÊDZÈidÈç¹ûÓо͸üÐÂûÓоÍÇÀÕ¼
                {
                    seize_anchor=0;  //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
                    Anchor_RecNearPoll(i);
                    break;
                }
            }

            if(i==rec_nearbase_num)
            {
                seize_anchor=1;   //ÇÀÕ¼anchor
                Anchor_RecNearPoll(i);
            }

        }
    } else if (receive_flag==2)//½ÓÊÜʧ°Ü
    {
//		//Çå³ý´íÎó±ê־λÖØпªÆô½ÓÊÕ½øÐÐͬ²½
//		uwb_rx(0, 0, RX_SYNC_WIN_US);//¿ªÆô½ÓÊÕ
//		while(mac_is_busy());
    }
    //receive_flag=0;
}


//Ö÷º¯Êý°ó¶¨½ÓÊÜÂß¼­
int temp_main(void)
{
    // The following peripherals will be initialized in the uwb_open function
    // phy/mac/aes/lsp/phy timers initialized
    uwb_open();

    // Set calibration parameters
    uwb_calibration_params_set(config.phy_cfg.ch_num);

    // set advanced parameters
    struct PHY_ADV_CONFIG_T adv_config = {
        .thres_fap_detect = 40,
        .nth_scale_factor = 4,
        .ranging_performance_mode = 0,
        .skip_weakest_port_en = 0,
    };
    phy_adv_params_configure(&adv_config);

    // uwb configure
    uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);

    ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

    // Register rx interrupt callback function
    mac_register_process_handler(tx_int_callback, rx_int_callback);
    //#if LOW_POWER_EN
//    // Initialize low power mode
//    power_init();
//    // Enable sleep timer
//    sleep_timer_open(true, SLEEP_TIMER_MODE_ONESHOT, NULL);
//#endif
    uint8_t i;
    uint16_t tempid;
    temp_count3=phy_timer_count_get();
    uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//¿ªÆô½ÓÊÕ
    while(mac_is_busy());

    temp_count2=phy_timer_count_get();
    if(receive_flag==1)//³É¹¦½ÓÊÕ
    {
        if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//ÅжÏÊÇ·ñÊǺÍ×Ô¼ºÊÇͬһ×éͨѶµÄÇÒΪpoll°ü
        {   temp_count2=phy_timer_count_get();
            frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//»ñÈ¡°üÐò
            battary = rx_buf[BATTARY_IDX];
            rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX];  //±êÇ©´«¹ýÀ´µÄËûÓë»ùÕ¾½»»¥µÄ»ùÕ¾idÊýÄ¿
            memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
            memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
            memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
            memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
            for(i=0; i<rec_nearbase_num; i++)
            {
                if(rec_ancidlist[i] == dev_id)
                {
                    PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
                }
            }
            for(i=0; i<rec_nearbase_num; i++)
            {
                memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
                if(tempid==dev_id)//Ò²ÊDZÈidÈç¹ûÓо͸üÐÂûÓоÍÇÀÕ¼
                {
                    seize_anchor=0;  //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
                    Anchor_RecNearPoll(i);
                    break;
                }
            }

            if(i==rec_nearbase_num)
            {
                seize_anchor=1;   //ÇÀÕ¼anchor
                Anchor_RecNearPoll(i);
            }

        }
        return 1;//·µ»Ø·¢Ëͳɹ¦±êÖ¾
    } else if (receive_flag==2)//½ÓÊÜʧ°Ü
    {
        return 0;//·µ»Ø°ó¶¨Ê§°Ü±êÖ¾
    }
    //receive_flag=0;
}
//}
#endif