#include "stdio.h"
#include "stdarg.h"
#include "stdlib.h"
#include "string.h"
#include "stm32l0xx_hal.h"
#include "math.h"
#include "HIDO_Util.h"
#include "HIDO_Debug.h"
#include "HIDO_Timer.h"

#include "GPS.h"
#include "DBG.h"
#include "GPIO.h"
#include "Uart.h"
#include "Delay.h"
#include "WS2812.h"

#include "dw_app.h"
#include "deca_device_api.h"
#include "deca_regs.h"
#include "dw_driver.h"
extern uint32_t uwbled,gpsled,loraled,powerled;
extern void Set4LEDColor_Off(void);
uint8_t GPS_final_data[128];
uint8_t GPS_final_changdu;
#define GPS_DBG(level, fmt, ...) HIDO_Debug(fmt, __VA_ARGS__)

#define GPS_UART_RX_BUF_SIZE                    1024
#define GPS_UART_TX_BUF_SIZE                    (2048 + 512)

typedef enum
{
    GPS_RECV_STATE_IDLE = 0,
    GPS_RECV_STATE_HEAD,
    GPS_RECV_STATE_CR,
    GPS_RECV_STATE_LF,
} E_GPSRecvState;

typedef struct
{
    E_GPSRecvState m_eState;
    HIDO_CHAR m_acRecvBuf[128];
    HIDO_UINT32 m_u32RecvLen;
} ST_GPSRecv;

static HIDO_UINT8 l_au8GPSUartRxBuf[GPS_UART_RX_BUF_SIZE];
static HIDO_UINT8 l_au8GPSUartTxBuf[GPS_UART_TX_BUF_SIZE];

static ST_GPIO l_astGPSPin[GPS_PIN_LAST];
static HIDO_BOOL l_bIsPowerOn = HIDO_FALSE;
static ST_GPSRecv l_stGPSRecv;
static FN_GPSEventCallback l_fnGPSEventCallback;

/*******************************************************************************
 * Function Name     : GPS_DataCheck
 * Description       : GPSÊý¾Ý¸ñʽ¼ì²é
 * Input             : _pcData GPSÊý¾Ý
 *                   : _u32Len GPSÊý¾Ý³¤¶È
 * Output            : None
 * Return            : HIDO_OK ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : hido.ltd
 * Modified Date:    : 2021Äê5ÔÂ07ÈÕ
 *******************************************************************************/
static HIDO_INT32 GPS_DataCheck(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
{
    HIDO_DataStruct stData;
    HIDO_DataStruct stCheckValue;
    HIDO_UINT8 u8CheckValue = 0;
    HIDO_UINT8 u8CalcValue = 0;
    HIDO_UINT32 i = 0;

    if(HIDO_UtilParseFormat((HIDO_UINT8 *)_pcData, _u32Len, "$%p*%p\r\n", &stData, &stCheckValue) != 2)
    {
        return HIDO_ERR;
    }

    u8CheckValue = HIDO_UtilHexStrBufToInt((HIDO_CHAR *)stCheckValue.m_pData, stCheckValue.m_u32Len);
    u8CalcValue = ((HIDO_UINT8 *)stData.m_pData)[0];
    for(i = 1; i < stData.m_u32Len; i++)
    {
        u8CalcValue ^= ((HIDO_UINT8 *)stData.m_pData)[i];
    }

    if(u8CalcValue != u8CheckValue)
    {
        return HIDO_ERR;
    }

    return HIDO_OK;
}

/*******************************************************************************
 * Function Name     : GPS_ParseGGA
 * Description       : GPS GGAÊý¾Ý½âÎö(½ö¼ì²éÊý¾ÝÊÇ·ñÓÐЧ)
 * Input             : _pcData GGAÊý¾Ý
 *                   : _u32Len GGAÊý¾Ý³¤¶È
 * Output            : None
 * Return            : HIDO_OK ³É¹¦, HIDO_ERR ʧ°Ü
 * Author            : hido.ltd
 * Modified Date:    : 2021Äê5ÔÂ07ÈÕ
 *******************************************************************************/
uint32_t uwb_status_reg;
char _pcData_final[256];
extern uint8_t fangchai_flag;
static HIDO_INT32 GPS_ParseGGA(HIDO_CHAR *_pcData, HIDO_UINT32 _u32Len)
{
    ST_GPS stGPS;
    HIDO_DataStruct stPosState;
    static u8 gpsledstate;
    
    memset(&stGPS, 0, sizeof(ST_GPS));
    if (GPS_DataCheck(_pcData, _u32Len) != HIDO_OK)
    {
        return HIDO_ERR;
    }

    if (HIDO_UtilParseFormat((HIDO_UINT8 *) _pcData, _u32Len, "$%*,%*,%*,%*,%*,%*,%p,%*,%*,%*,%*,%*,%*,%*,%**", &stPosState) != 15)
    {
        return HIDO_ERR;
    }
    memset(&_pcData[_u32Len-2],0,2);//ΪÁËÆ´½ÓºóÃæµÄÊý¾Ý£¬É¾³ý\r\n¡£
    HIDO_UINT32 lora_u32Len = HIDO_UtilSnprintf((HIDO_CHAR *)_pcData_final, sizeof(_pcData_final), "%s,%X,%02x,%x,%d,%x,%d%\r\n",
    _pcData, g_com_map[DEV_ID], bat_percent,g_com_map[VERSION],0,fangchai_flag,0);//ÓëÉ豸id£¬µçÁ¿£¬°æ±¾ºÅ£¬µÈ½øÐÐÆ´½Ó¡£
    memset(&GPS_final_data, 0, sizeof(GPS_final_data));
    memcpy(&GPS_final_data, &_pcData_final, lora_u32Len);//gps×îºóÒ»°üµÄÊý¾Ý
    GPS_final_changdu=lora_u32Len;//gps×îºóÒ»°üµÄ³¤¶È
    if(*(char *)stPosState.m_pData != '0')//Èç¹ûÊdzɹ¦»ñȡλÖõÄÄÇÒ»°ü
    {
        HIDO_DebugString(_pcData_final, lora_u32Len);//´®¿Ú´òÓ¡³öÈ¥
        if(l_fnGPSEventCallback != NULL)
        {
            HIDO_Debug("LORA FAFAFAFA\r\n");
            l_fnGPSEventCallback(GPS_TYPE_GGA, _pcData_final, lora_u32Len);//ͨ¹ýlora·¢³öÈ¥
            if(gpsledstate)
            {gpsled=BLUE;
            gpsledstate=0;
            }
            else
            {gpsled=LEDOFF;
            gpsledstate=1;
            }
            Set4LEDColor(powerled,loraled,gpsled,uwbled);
            HAL_Delay(100);
            gpsled=LEDOFF;
            Set4LEDColor(powerled,loraled,gpsled,uwbled);
        }
    }
    else//Èç¹û²»Êdzɹ¦»ñȡλÖõÄÄÇÒ»°ü
    {        
        HIDO_DebugString(_pcData_final, lora_u32Len);//´®¿Ú´òÓ¡³öÈ¥
            if(gpsledstate)
            {gpsled=RED;
            gpsledstate=0;
            }
            else
            {gpsled=LEDOFF;
            gpsledstate=1;
            }
            Set4LEDColor(powerled,loraled,gpsled,uwbled);
            HAL_Delay(100);
            gpsled=LEDOFF;
            Set4LEDColor(powerled,loraled,gpsled,uwbled);
//        Lora_SendData((HIDO_UINT8 *)_pcData, _u32Len+4);
//        loraled=BLUE;
    }

    return HIDO_OK;
}

/*******************************************************************************
 * Function Name     : GPS_RecvFsm
 * Description       : GPS Êý¾Ý½ÓÊÕ״̬»ú
 * Input             : _u8RecvChar Ò»¸ö½ÓÊÕ×Ö·û
 * Output            : None
 * Return            : one
 * Author            : hido.ltd
 * Modified Date:    : 2021Äê5ÔÂ07ÈÕ
 *******************************************************************************/
static HIDO_VOID GPS_RecvFsm(HIDO_UINT8 _u8RecvChar)
{
    switch (l_stGPSRecv.m_eState)
    {
        case GPS_RECV_STATE_IDLE:
        {
            if ('$' == _u8RecvChar)
            {
                l_stGPSRecv.m_eState = GPS_RECV_STATE_CR;
                l_stGPSRecv.m_u32RecvLen = 0;
                l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
            }
            break;
        }
        case GPS_RECV_STATE_CR:
        {
            l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;

            if (l_stGPSRecv.m_u32RecvLen >= (sizeof(l_stGPSRecv.m_acRecvBuf) - 2))
            {
                l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
                break;
            }

            if ('\r' == _u8RecvChar)
            {
                l_stGPSRecv.m_eState = GPS_RECV_STATE_LF;
            }

            break;
        }
        case GPS_RECV_STATE_LF:
        {
            if ('\n' == _u8RecvChar)
            {
            	l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen++] = _u8RecvChar;
            	l_stGPSRecv.m_acRecvBuf[l_stGPSRecv.m_u32RecvLen] = '\0';

            	if(strstr(l_stGPSRecv.m_acRecvBuf, "GGA,") != HIDO_NULL)
            	{
            		GPS_ParseGGA(l_stGPSRecv.m_acRecvBuf, l_stGPSRecv.m_u32RecvLen);
            	}
            }

            l_stGPSRecv.m_eState = GPS_RECV_STATE_IDLE;
            break;
        }
        default:
        {
            break;
        }
    }
}

/*******************************************************************************
 * Function Name     : GPS_Rest
 * Description       : GPS¸´Î»
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : hido.ltd
 * Modified Date:    : 2021Äê1ÔÂ8ÈÕ
 *******************************************************************************/
//static HIDO_VOID GPS_Rest(void)
//{
//    GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
//    HAL_Delay(10);
//    GPIO_RESET(&l_astGPSPin[GPS_PIN_REST]);
//    HAL_Delay(10);
//    GPIO_SET(&l_astGPSPin[GPS_PIN_REST]);
//}

/*******************************************************************************
 * Function Name     : GPS_PowerOn
 * Description       : GPSÉϵç
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : hido.ltd
 * Modified Date:    : 2021Äê1ÔÂ8ÈÕ
 *******************************************************************************/
HIDO_VOID GPS_PowerOn(void)
{
    l_bIsPowerOn = HIDO_TRUE;
//    GPIO_SET(&l_astGPSPin[GPS_PIN_EN]);
}

/*******************************************************************************
 * Function Name     : GPS_PowerOff
 * Description       : GPSµôµç
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : hido.ltd
 * Modified Date:    : 2021Äê1ÔÂ8ÈÕ
 *******************************************************************************/
HIDO_VOID GPS_PowerOff(void)
{
    l_bIsPowerOn = HIDO_FALSE;
//    GPIO_RESET(&l_astGPSPin[GPS_PIN_EN]);
}

/*******************************************************************************
 *                             Global Function                                 *
 *******************************************************************************/

/*******************************************************************************
 * Function Name     : GPS_PinRegister
 * Description       : GPSÄ£¿é¹Ü½Å×¢²á
 * Input             : _ePin ¹Ü½Å¶¨Òå
 *                   : _pstGPIOx GPIOx
 *                   : _u16GPIOPin GPIO_PIN_x
 * Output            : None
 * Return            : None
 * Author            : hido.ltd
 * Modified Date:    : 2021Äê1ÔÂ8ÈÕ
 *******************************************************************************/
HIDO_VOID GPS_PinRegister(E_GPSPin _ePin, GPIO_TypeDef* _pstGPIOx, HIDO_UINT16 _u16GPIOPin)
{
    l_astGPSPin[_ePin].m_pstGPIOx = _pstGPIOx;
    l_astGPSPin[_ePin].m_u16GPIOPin = _u16GPIOPin;
}

/*******************************************************************************
 * Function Name     : GPS_Poll
 * Description       : GPSÂÖѯ´¦Àí
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : hido.ltd
 *******************************************************************************/
HIDO_VOID GPS_Poll(void)
{
    HIDO_UINT8 u8RecvChar = 0;

    while (Uart_GetChar(UART_ID_GPS, &u8RecvChar) == HIDO_OK)
    {
    	GPS_RecvFsm(u8RecvChar);
        
    }
}

/*******************************************************************************
 * Function Name     : GPS_SetEventCallback
 * Description       : GPSÉèÖÃGPSʼþ»Øµ÷
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : hido.ltd
 *******************************************************************************/
HIDO_VOID GPS_SetEventCallback(FN_GPSEventCallback _fnEventCallback)
{
    l_fnGPSEventCallback = _fnEventCallback;
}

/*******************************************************************************
 * Function Name     : GPS_IsIdle
 * Description       : GPSÂÖѯ´¦Àí
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : hido.ltd
 *******************************************************************************/
HIDO_BOOL GPS_IsIdle(void)
{
    if(l_bIsPowerOn)
    {
        return HIDO_FALSE;
    }

    return HIDO_TRUE;
}

/*******************************************************************************
 * Function Name     : GPS_Init
 * Description       : GPSÄ£¿é³õʼ»¯
 * Input             : None
 * Output            : None
 * Return            : None
 * Author            : hido.ltd
 *******************************************************************************/
HIDO_VOID GPS_Init(void)
{
//    GPS_PowerOn();
//    GPS_Rest();

    ST_UartInit stInit;

    stInit.m_eRxMode = UART_RX_MODE_INT;
    stInit.m_eTxMode = UART_TX_MODE_POLL;
    stInit.m_pu8RxBuf = l_au8GPSUartRxBuf;
    stInit.m_u32RxBufSize = GPS_UART_RX_BUF_SIZE;
    stInit.m_pu8TxBuf = l_au8GPSUartTxBuf;
    stInit.m_u32TxBufSize = GPS_UART_TX_BUF_SIZE;
    stInit.m_u32TxQueueMemberCnt = 2;
    Uart_Init(UART_ID_GPS, &stInit);

    HIDO_UtilBzero(&l_stGPSRecv, sizeof(ST_GPSRecv));
      HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);//À­g gps¸´Î»½Å
}