/*
 * 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 "mk_misc.h"
#include "aoa.h"
#include "uwb_api.h"
#include "lib_ranging.h"
#include "lib_aoa.h"
#if PDOA_3D_EN
#include "lib_pdoa_3d.h"
#endif
#include "board.h"

uint8_t aoa_done_flag = 1;
static struct AOA_REPORT_T report;

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

    if (msg != NULL)
    {
        switch (msg->event)
        {
            case AOA_DONE_MSG:
            {
                const struct AOA_DONE_IND_T *ind = (const struct AOA_DONE_IND_T *)param;
                // TODO: aoa caculation
                if (sts_valid_check())
                {
                    report.sts_valid = 1;
                    ranging_first_path_detect(ind->rssi);

#if PDOA_3D_EN
                    uint16_t target_addr = uwbs_peer_short_addr_get();
                    uint8_t mac_addr[8];
                    mac_addr[0] = target_addr & 0xff;
                    mac_addr[1] = (target_addr >> 8) & 0xff;
                    // calculate PDoA angles
                    pdoa_3d_calculate(mac_addr, &report.elevation, &report.azimuth);
                    pdoa_fom_get(NULL, &report.fom);
#elif AOA_EN
                    // update PDoA IQ and calculate AoA angles (depends on aoa_aux_cfg)
                    aoa_calculate(&report.elevation, &report.azimuth);
                    aoa_fom_get(NULL, &report.fom);
#endif

#if RSSI_EN
                    LOG_INFO(TRACE_MODULE_APP, "RSSI: %ddBm, SNR: %ddB \r\n", ind->rssi, ind->snr);
#endif

                    // azimuth correction
                    uint16_t distance = 0;
                    board_ranging_result_correct(&distance, &report.azimuth, &report.elevation);

                    report.pdoa[0] = pdoa_select_get(0, 3);
                    report.pdoa[1] = pdoa_select_get(1, 3);
                    report.pdoa[2] = pdoa_select_get(2, 3);

                    float *sts_rssi = sts_rssi_output_get();
                    report.sts_rssi[0] = sts_rssi[0];
                    report.sts_rssi[1] = sts_rssi[1];
                    report.sts_rssi[2] = sts_rssi[2];
                    report.sts_rssi[3] = sts_rssi[3];

                    float *iq = sts_first_path_iq_get();
                    report.iq[0] = iq[0];
                    report.iq[1] = iq[1];
                    report.iq[2] = iq[2];
                    report.iq[3] = iq[3];
                    report.iq[4] = iq[4];
                    report.iq[5] = iq[5];
                    report.iq[6] = iq[6];
                    report.iq[7] = iq[7];
                }
                else
                {
                    report.sts_valid = 0;
                }
                uwbapi_report_ranging_data(&report);
                aoa_done_flag = 1;
            }
            break;

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