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/* network.c */
/* Beacon network management. {{{
 *
 * Copyright (C) 2012 Florent Duchon
 *
 * APBTeam:
 *        Web: http://apbteam.org/
 *      Email: team AT apbteam DOT org
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * }}} */

#include <types.h>
#include <configServer.h>
#include <zdo.h>
#include "configuration.h"
#include "network.h"
#include "debug_avr.h"
#include "led.h"
#include "motor.h"
#include "position.h"
#include "misc.h"
#include "servo.h"
#include "codewheel.h"

// Endpoint parameters
static SimpleDescriptor_t simpleDescriptor = { APP_ENDPOINT, APP_PROFILE_ID, 1, 1, 0, 0 , NULL, 0, NULL };
static APS_RegisterEndpointReq_t endpointParams;
static ZDO_StartNetworkReq_t networkParams; // request params for ZDO_StartNetworkReq
APS_DataReq_t config;


// Network related variables
AppMessageBuffer_t zigbit_tx_buffer;
extern AppState_t appState;
extern DeviceType_t deviceType;


// Leave request, used for router to leave the network when communication was interrupted
static ZDO_ZdpReq_t leaveReq;


/* This function intializes network parameters */
void network_init(void)
{
	if(deviceType == DEVICE_TYPE_COORDINATOR)
	{
		bool rx_on_idle = true;
		CS_WriteParameter(CS_RX_ON_WHEN_IDLE_ID, &rx_on_idle);
	}
	if(deviceType == DEVICE_TYPE_END_DEVICE)
	{
		bool rx_on_idle = false;
		CS_WriteParameter(CS_RX_ON_WHEN_IDLE_ID, &rx_on_idle);		
	}
	
	/*False = random ID */
	/* True = static short address */
	bool unique_addr = true;
	CS_WriteParameter(CS_NWK_UNIQUE_ADDR_ID,&unique_addr);
	
  	uint16_t nwkAddr=CS_NWK_ADDR; 
  	CS_WriteParameter(CS_NWK_ADDR_ID, &nwkAddr);
	
	// Set the deviceType value to Config Server	
	CS_WriteParameter(CS_DEVICE_TYPE_ID, &deviceType);

	appState = APP_NETWORK_JOIN_REQUEST;
}


/* This function starts the network according to the defined configuraiton*/
void network_start(void)
{
	/* Activate the network status led blink */
	led_start_blink();
	
	networkParams.ZDO_StartNetworkConf = ZDO_StartNetworkConf;
	// start network
	ZDO_StartNetworkReq(&networkParams);
}

/* This function returns the network status */
uint16_t network_get_status(void)
{
	return appState;
}

/* ZDO_StartNetwork primitive confirmation callback */
void ZDO_StartNetworkConf(ZDO_StartNetworkConf_t* confirmInfo)
{
	if (confirmInfo->status == ZDO_SUCCESS_STATUS)
	{
		appState = APP_NETWORK_JOINED_STATE;
		
		// Set application endpoint properties
		endpointParams.simpleDescriptor = &simpleDescriptor;
		endpointParams.APS_DataInd = APS_DataIndication;
		// Register endpoint
		APS_RegisterEndpointReq(&endpointParams);
		
		// Configure the message structure
		config.dstAddrMode = APS_SHORT_ADDRESS;					// Short addressing mode
#ifdef TYPE_COOR
		config.dstAddress.shortAddress = BROADCAST_ADDR_ALL;		// Destination address	
#else
		config.dstAddress.shortAddress = 0x0000;					// Destination address
#endif
		config.profileId = APP_PROFILE_ID;						// Profile ID
		config.dstEndpoint = APP_ENDPOINT;						// Desctination endpoint
		config.clusterId = APP_CLUSTER_ID;						// Desctination cluster ID
		config.srcEndpoint = APP_ENDPOINT;						// Source endpoint
		config.asdu = &zigbit_tx_buffer.message;							// application message pointer
		config.asduLength = 4 + sizeof(zigbit_tx_buffer.message.messageId);		// actual application message length
		config.txOptions.acknowledgedTransmission = 0;				// Acknowledged transmission enabled
		config.radius = 0;										// Use maximal possible radius
		config.APS_DataConf = APS_DataConf;						// Confirm handler    Z
		
		/* Stop the network status led blink */
		led_stop_blink();
	}
	else
	{
//  		uprintf("CONNECTION FAILED. confirmInfo->status = %x\n\r",confirmInfo->status);
		
		/* if communication is failed, try to rejoin */
		appState = APP_NETWORK_JOIN_REQUEST;
	}
}


/* This function quits the joined network */
void network_leave(void)
{
	ZDO_MgmtLeaveReq_t *zdpLeaveReq = &leaveReq.req.reqPayload.mgmtLeaveReq;
	APS_UnregisterEndpointReq_t unregEndpoint;


	unregEndpoint.endpoint = endpointParams.simpleDescriptor->endpoint;
	APS_UnregisterEndpointReq(&unregEndpoint);

	leaveReq.ZDO_ZdpResp =  zdpLeaveResp;
	leaveReq.reqCluster = MGMT_LEAVE_CLID;
	leaveReq.dstAddrMode = EXT_ADDR_MODE;
	leaveReq.dstExtAddr = 0;
	zdpLeaveReq->deviceAddr = 0;
	zdpLeaveReq->rejoin = 0;
	zdpLeaveReq->removeChildren = 1;
	zdpLeaveReq->reserved = 0;
	ZDO_ZdpReq(&leaveReq);
}
 

/* Leave network response */
void zdpLeaveResp(ZDO_ZdpResp_t *zdpResp)
{
	(void)zdpResp;
}


/* Wakeup event handler (dummy) */
void ZDO_WakeUpInd(void)
{
}


/* Stub for ZDO Binding Indication */
void ZDO_BindIndication(ZDO_BindInd_t *bindInd) 
{
	(void)bindInd;
}


/* Stub for ZDO Unbinding Indication */
void ZDO_UnbindIndication(ZDO_UnbindInd_t *unbindInd)
{
	(void)unbindInd;
}

/* Update network status event handler */
void ZDO_MgmtNwkUpdateNotf(ZDO_MgmtNwkUpdateNotf_t *nwkParams)
{
	switch (nwkParams->status)
	{
		case ZDO_NETWORK_STARTED_STATUS:
			break;
		case ZDO_NETWORK_LOST_STATUS:
		{
			network_leave();
			appState = APP_NETWORK_JOIN_REQUEST;
			break;
		}
		case ZDO_NWK_UPDATE_STATUS:
			break;
		case ZDO_CHILD_JOINED_STATUS:
			uprintf("CHILD %d joined\r\n",nwkParams->childAddr);
			break;
		case ZDO_CHILD_REMOVED_STATUS:
			uprintf("CHILD quit\r\n");
			break;
		default:
			uprintf("network status = 0x%x\r\n",nwkParams->status);
			break;
	}
}


/* This function returns the LQI of the joined network */
uint8_t network_get_lqi(void)
{
	ZDO_GetLqiRssi_t lqiRssi;

	lqiRssi.nodeAddr = 0;
	ZDO_GetLqiRssi(&lqiRssi);
	
	return lqiRssi.lqi;
}


/* This function returns the RSSI of the joined network */
int8_t network_get_rssi(void)
{
	ZDO_GetLqiRssi_t lqiRssi;

	lqiRssi.nodeAddr = 0;
	ZDO_GetLqiRssi(&lqiRssi);
	
	return lqiRssi.rssi;
}


/* This function must be used to send data through zigbee network */
void network_send_data(TMessage_type type, uint16_t data)
{
	
	if(network_get_status() == APP_NETWORK_JOINED_STATE)
	{
		led_inverse(2);
		/* Message type*/
		zigbit_tx_buffer.message.data[NETWORK_MSG_TYPE_FIELD] = type;
		
		/* Source address */
		zigbit_tx_buffer.message.data[NETWORK_MSG_ADDR_FIELD] = CS_NWK_ADDR;
		
		/* LSB Data */
		zigbit_tx_buffer.message.data[NETWORK_MSG_DATA_LSB_FIELD] = data;
		
		/* MSB Data */
		zigbit_tx_buffer.message.data[NETWORK_MSG_DATA_MSB_FIELD] = data >> 8;
		
		/* Bitcloud sending request */
		APS_DataReq(&config);
	}
}


/* brief Handler of aps data sent confirmation */
void APS_DataConf(APS_DataConf_t* confInfo)
{
	static int retryCounter = 0;
	if (APS_SUCCESS_STATUS != confInfo->status)
	{
		retryCounter++;
		if (MAX_RETRIES_BEFORE_REJOIN == retryCounter)
		{
			network_leave();
			appState = APP_NETWORK_JOIN_REQUEST;
		}
		else
		{
			// Data not delivered, resend.
			APS_DataReq(&config);
		}
		return;
	}
	retryCounter = 0;
}


/* APS data indication handler */
void APS_DataIndication(APS_DataInd_t* indData)
{
	uint8_t beacon = 0;
	uint16_t angle = 0;
	uint16_t angle_id = 0;
	AppMessage_t *appMessage = (AppMessage_t *) indData->asdu;
	
	// Data received indication
	switch(appMessage->data[NETWORK_MSG_TYPE_FIELD])
	{
		case NETWORK_JACK_STATE:
			if(appMessage->data[NETWORK_MSG_DATA_LSB_FIELD])
			{
				uprintf("JACK ON\r\n");
				motor_start();
				servo_start_wave_task();
			}
			else
			{
				uprintf("JACK OFF\r\n");
				motor_stop();
				servo_stop_wave_task();
			}
			break;
		case NETWORK_OPPONENT_NUMBER:
			break;
		case NETWORK_ANGLE_RAW:
			
			/* Beacon address */
			beacon = appMessage->data[NETWORK_MSG_ADDR_FIELD];
			
			/* Angle ID */
			angle_id = appMessage->data[NETWORK_MSG_DATA_MSB_FIELD] >> 1;
			
			/* Angle value */
			angle = ((appMessage->data[NETWORK_MSG_DATA_MSB_FIELD]&0x01) << 8) + appMessage->data[NETWORK_MSG_DATA_LSB_FIELD];
			
			/* For debug */
			uprintf("[%d] angle[%d] = %f\r\n",beacon,angle_id,codewheel_convert_angle_raw2degrees(angle));
			
			/* New angle is avaiiable, update position */
			update_position(beacon,angle_id,codewheel_convert_angle_raw2radians(angle));
			break;
		case NETWORK_RESET:
			reset_avr();
			break;
		default:
			uprintf("Unknown data type received = %x\r\n",appMessage->data[NETWORK_MSG_TYPE_FIELD]);
			break;
	}
}