//
// Created by YY on 2019/12/27.
//

#include <cstdint>
#include <cstdlib>
#include <cstring>
#include <pthread.h>
#include <semaphore.h>
#include <cmath>
#include "platform.h"
#include "../jni_log.h"
#include "../common/net.h"
#include "../native-lib.h"
#include "../common/apptimer.h"
#include "parse_net.h"
#include "../defs.h"
#include "../rtk_module/rtk.h"
#include "../mcu/mcu_if.h"
#include "../master/comm_if.h"
#include "../utils/xconvert.h"
#include "../utils/num.h"
#include "../driver_test.h"
#include "../test_common/car_sensor.h"
#include "../test_items2/stop_car.h"
#include "../test_items2/operate_gear.h"
#include "../test_items2/drive_straight.h"

#define PARSE_BUFF_SIZE         4096

#define DEBUG(fmt, args...)     LOGD("<platform> <%s>: " fmt, __func__, ##args)

struct platformSocket {
    char domain_name[32];
    int port;
};

static struct deviceInfo_ {
    uint16_t province;
    uint16_t city;
    uint8_t device_model[21];
    uint8_t device_sn[17];
    char imei[17];
}deviceInfo;

struct platformSocketInfo {
    char domain_name[32];
    int port;
};

static struct platformStatus_ {
    uint8_t platformKey[64];
    int platformKeyLength;
    uint32_t connected : 1;
    uint32_t registed : 1;
    uint32_t login : 1;
    uint32_t downloadRtk : 1;
} platformStatus;

struct event_t {
    uint32_t id;
    int length;
    void *data;
};

static struct event_queue_t {
    struct event_t event;
    struct event_queue_t *next;
} *eventQueue;

struct platformSocket exceptSocket, currSocket;
static sem_t sem_status_changed;

static bool requestPlatformSendRtk = false;
static int platform_tcp_fd = 0;

static pthread_mutex_t platform_tx_mutex = PTHREAD_MUTEX_INITIALIZER;
static pthread_mutex_t events_mutex = PTHREAD_MUTEX_INITIALIZER;

static struct gpsBrief gbf;
static struct rtkBrief rbf;

static void AddEvnet(uint32_t event, const uint8_t *data, int length);
static struct event_t * FetchEvent(void);
static void RemoveEvent(void);

static void ReqRtkPlatformConfigTimeout(union sigval sig);

static void ConnectPlatform(const char *domain_name, int port);
static void ConnectPlatformLater(union sigval sig);

static void *PlatformDataListenThread(void *p);
static void *StatusListenThread(void *p);
static void PlatformChangeEntry(uint32_t events, const uint8_t *data, int length);

static void RegisterPlatform(void);
static void RegisterPlatformTimeout(union sigval sig);

static void LoginPlatform(void);
static void LoginPlatformTimeout(union sigval sig);
static void TriggerHeartbeat(union sigval sig);
static void RequestRtkNoResp(union sigval sig);

static void AddEvnet(uint32_t event, const uint8_t *data, int length)
{
    DEBUG("AddEvnet 0x%04X length %d", event, length);

    struct event_queue_t *nw = (struct event_queue_t *)malloc(sizeof(struct event_queue_t));
    nw->next = NULL;

    nw->event.id = event;
    nw->event.data = NULL;
    nw->event.length = 0;

    if (data != NULL && length > 0) {
        nw->event.data = malloc(length);
        nw->event.length = length;
        memcpy(nw->event.data, data, length);
    }

    pthread_mutex_lock(&events_mutex);

    struct event_queue_t *p = eventQueue;

    while (p != NULL && p->next != NULL) p = p->next;

    if (eventQueue == NULL)
        eventQueue = nw;
    else
        p->next = nw;

    pthread_mutex_unlock(&events_mutex);
}

static struct event_t * FetchEvent(void)
{
    struct event_t *evp = NULL;

    pthread_mutex_lock(&events_mutex);
    struct event_queue_t *p = eventQueue;

    if (p != NULL) {
        evp = &p->event;
    }

    pthread_mutex_unlock(&events_mutex);

    return evp;
}

static void RemoveEvent(void)
{
    void *p1 = NULL, *p2 = NULL;

    pthread_mutex_lock(&events_mutex);
    struct event_queue_t *p = eventQueue;

    if (p != NULL) {
        eventQueue = p->next;
        p1 = p;
        p2 = p->event.data;
    }
    pthread_mutex_unlock(&events_mutex);

    if (p2 != NULL)
        free(p2);
    if (p1 != NULL)
        free(p1);
}

void InitPlatform(const uint8_t *phone, const char *domain_name, int port)
{
    DEBUG("InitPlatform");

    memset(&gbf, 0, sizeof(gbf));
    memset(&rbf, 0, sizeof(rbf));

    pthread_mutex_init(&platform_tx_mutex, NULL);
    pthread_mutex_init(&events_mutex, NULL);

    eventQueue = NULL;

    platform_tcp_fd = -1;

    memset(&currSocket, 0, sizeof(currSocket));
    memset(&platformStatus, 0, sizeof(platformStatus));

    sem_init(&sem_status_changed, 0, 0);

    PlatformTxInit();

    pthread_t pid;
    pthread_attr_t attr;
    pthread_attr_init(&attr);
    pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);//detached
    pthread_create(&pid, &attr, StatusListenThread, NULL);
}

static void ReqRtkPlatformConfigTimeout(union sigval sig)
{
    AppTimer_delete(ReqRtkPlatformConfigTimeout);

    AppTimer_add(ReqRtkPlatformConfigTimeout, D_SEC(2));
    MA_ReqRtkPlatformConfig();
}

void ConfigPlatform(const rtk_platform_cfg_t *p)
{
    DEBUG("配置RTK平台资讯");

    AppTimer_delete(ReqRtkPlatformConfigTimeout);

    strcpy(exceptSocket.domain_name, p->domain_name);
    exceptSocket.port = p->port;
    deviceInfo.province = p->province;
    deviceInfo.city = p->city;
    strcpy((char *)deviceInfo.device_model, p->device_model);
    strcpy((char *)deviceInfo.device_sn, p->device_sn);
    strcpy(deviceInfo.imei, p->imei);
    SetPlatformTxPhoneNum(p->phone);

    platformStatus.registed = 0;//p->registered;
    platformStatus.platformKeyLength = strlen(p->password) / 2;

    if (platformStatus.platformKeyLength > 0) {
        ConvertString2Hex(platformStatus.platformKey, sizeof(platformStatus.platformKey), p->password);
    } else {
        platformStatus.registed = 0;
    }

    pthread_mutex_lock(&platform_tx_mutex);
    if (platform_tcp_fd > 0 && (exceptSocket.port != currSocket.port || strcmp(currSocket.domain_name, exceptSocket.domain_name))) {
        DisconnectTCP(platform_tcp_fd);
        platform_tcp_fd = -1;
    } else if (platform_tcp_fd <= 0) {
        ConnectPlatform(exceptSocket.domain_name, exceptSocket.port);
    }
    pthread_mutex_unlock(&platform_tx_mutex);
}

void PlatformStatusChanged(uint32_t event, const uint8_t *data, int length)
{
    AddEvnet(event, data, length);

    sem_post(&sem_status_changed);
}

static void ConnectPlatform(const char *domain_name, int port)
{
    if (domain_name == NULL || strlen(domain_name) == 0 || port == 0)
        return;

    DEBUG("ConnectPlatform %s: %d", domain_name, port);
    // TODO
    struct platformSocketInfo *ptr = (struct platformSocketInfo *)malloc(sizeof(struct platformSocketInfo));

    strcpy(ptr->domain_name, domain_name);
    ptr->port = port;

    pthread_t platform_pid;
    pthread_attr_t attr;
    pthread_attr_init(&attr);
    pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);//detached
    pthread_create(&platform_pid, &attr, PlatformDataListenThread, ptr);
}

static void ConnectPlatformLater(union sigval sig) {
    AppTimer_delete(ConnectPlatformLater);
    ConnectPlatform(exceptSocket.domain_name, exceptSocket.port);
}

static void *StatusListenThread(void *p) {
    while (true) {
        sem_wait(&sem_status_changed);

        struct event_t *evp = FetchEvent();

        if (evp != NULL) {
            PlatformChangeEntry(evp->id, (uint8_t *)evp->data, evp->length);
        }

        RemoveEvent();
    }
}

static void PlatformChangeEntry(uint32_t events, const uint8_t *data, int length)
{
    if (events & PLATFORM_CONNECT_EVT) {
        DEBUG("平台连接成功 %s:%d", currSocket.domain_name, currSocket.port);
        MA_RtkPlatformConnect(1, currSocket.domain_name, currSocket.port);

        platformStatus.connected = 1;
        if (!platformStatus.registed || platformStatus.platformKeyLength == 0) {
            RegisterPlatform();
        } else if (!platformStatus.login) {
            LoginPlatform();
        }
    }

    if (events & PLATFORM_DISCONNECT_EVT) {
        DEBUG("平台断开 %s:%d", currSocket.domain_name, currSocket.port);
        MA_RtkPlatformConnect(0, currSocket.domain_name, currSocket.port);

        AppTimer_delete(ConnectPlatformLater);
        AppTimer_add(ConnectPlatformLater, D_SEC(2));

        platformStatus.login = 0;
        platformStatus.connected = 0;

        AppTimer_delete(TriggerHeartbeat);
        AppTimer_delete(RegisterPlatformTimeout);
        AppTimer_delete(LoginPlatformTimeout);
    }
    if (events & PLATFORM_REGISTER_EVT) {
        DEBUG("PLATFORM_REGISTER_EVT");

        platformStatus.login = 0;
        if (data[0] == 0) {
            platformStatus.registed = 1;
            platformStatus.platformKeyLength = length - 1;
            memcpy(platformStatus.platformKey, data+1, length-1);
            LoginPlatform();
        } else {
            platformStatus.registed = 0;
        }
        MA_RtkPlatformRegister(data[0], data + 1, length - 1);
    }
    if (events & PLATFORM_LOGIN_EVT) {
        DEBUG("PLATFORM_LOGIN_EVT");

        if (data[0] == 0) {
            platformStatus.login = 1;
            requestPlatformSendRtk = true;
            AppTimer_delete(TriggerHeartbeat);
            AppTimer_add(TriggerHeartbeat, D_SEC(30));
        } else {
            platformStatus.login = 0;
        }
        MA_RtkPlatformLogin(data[0]);
    }
    if (events & GPS_UPDATE_EVT) {
        DEBUG("GPS_UPDATE_EVT length %d", length);
        const gpsStatus_t *gps = (gpsStatus_t *)data;

        gbf.qf = gps->gps_status;
        gbf.latitude = gps->latitude;
        gbf.longitude = gps->longitude;
        gbf.altitude = gps->altitude;
        gbf.speed = gps->speed;
        gbf.sat_num = gps->satNum;
        gbf.trackTure = gps->trackTure;
        sprintf(gbf.utc, "%04d%02d%02d%02d%02d%02d.%02d", 2000 + gps->YY, gps->MM, gps->DD, gps->hh, gps->mm, gps->ss, gps->mss);
        if (!strcmp(rbf.utc, gbf.utc)) {
            rbf.sat_num = gbf.sat_num;
            rbf.latitude = gbf.latitude;
            rbf.longitude = gbf.longitude;
            rbf.altitude = gbf.altitude;
            rbf.speed = gbf.speed;
            rbf.trackTure = gbf.trackTure;
            MA_SendRtkBrief(&rbf);
        }
//        MA_SendGpsBrief(&brief);
        RequestRtkDownload(gps, 1);

        DEBUG("GPS_UPDATE_EVT ================");
    }
    if (events & RTK_UPDATE_EVT) {
        DEBUG("RTK_UPDATE_EVT length %d", length);
        const rtk_info *rtk = (rtk_info *)data;

        rbf.qf = rtk->qf;
        rbf.coord_x = rtk->y;
        rbf.coord_y = rtk->x;
        rbf.heading = rtk->heading;
        rbf.pitch = rtk->pitch;
        rbf.roll = rtk->roll;
        rbf.coord_x_dir = 'N';
        rbf.coord_y_dir = 'E';
        sprintf(rbf.utc, "%04d%02d%02d%02d%02d%02d.%02d", 2000 + rtk->YY, rtk->MM, rtk->DD, rtk->hh, rtk->mm, rtk->ss, rtk->dss);
        if (!strcmp(rbf.utc, gbf.utc)) {
            rbf.sat_num = gbf.sat_num;
            rbf.latitude = gbf.latitude;
            rbf.longitude = gbf.longitude;
            rbf.altitude = gbf.altitude;
            rbf.speed = gbf.speed;
            rbf.trackTure = gbf.trackTure;
            MA_SendRtkBrief(&rbf);
        }

        UpdateRTKInfo(rtk);

        DEBUG("RTK_UPDATE_EVT =================");
    }
    if (events & MCU_UPDATE_EVT) {
        DEBUG("MCU_UPDATE_EVT length %d", length);
        // 0-31 version
        // 32-33 selftest
        // 34-35 gpio
        // 36-37 speed
        // 38-39 engine
        // 40-55 sn
        struct mcuBrief brief;

        memset(&brief, 0, sizeof(brief));

        int x = 0;
        while(data[x] != 0 && x < 32) x++;

        ConvertHex2String(brief.version, data, x);
        brief.selftest = BUILD_UINT16(data[33], data[32]);
//        brief.gpio = BUILD_UINT16(data[35], data[34]);
//        brief.speed = BUILD_UINT16(data[37], data[36]);
//        brief.engine = BUILD_UINT16(data[39], data[38]);
//        memcpy(brief.sn, data+40, 16);
        memcpy(brief.sn, data+34, 16);

        MA_SendMcuBrief(&brief);

//        UpdateSensor(brief.gpio, brief.speed, brief.engine);
    }
    if (events & CAR_SENSOR_UPDATE_EVT) {
        struct carSensorBrief brief;
        int x = 20;

        brief.odo = BUILD_UINT32(data[3], data[2], data[1], data[0]);
        brief.trip = BUILD_UINT32(data[7], data[6], data[5], data[4]);
        brief.tripTime = BUILD_UINT32(data[11], data[10], data[9], data[8]);
        brief.cellVolt = (double)(BUILD_UINT16(data[13], data[12])) / 10.0;
        brief.speed = (double)(BUILD_UINT16(data[15], data[14])) / 10.0;
        brief.engine = BUILD_UINT16(data[17], data[16]);
        brief.sas = (short)BUILD_UINT16(data[19], data[18]);
        brief.key = data[x++];
        brief.gear = data[x++];
        brief.aps = data[x++];
        brief.lock = data[x++];
        brief.seatBelt = data[x++];
        brief.clutch = data[x++];
        brief.horn = data[x++];
        brief.wiper = data[x++];
        brief.handBreak = data[x++];
        brief.mainBreak = data[x++];
        brief.leftTurnLamp = data[x++];
        brief.rightTurnLamp = data[x++];
        brief.clearanceLamp = data[x++];
        brief.dippedBeamLamp = data[x++];
        brief.mainBeamLamp = data[x++];
        brief.fogLamp = data[x++];
        brief.assBreak = data[x++];
        brief.surround1 = data[x++];
        brief.surround2 = data[x++];
        brief.surround3 = data[x++];
        brief.surround4 = data[x++];

        MA_SendCarSensorBrief(&brief);

        car_sensor_t sensor;
        x = 20;

        sensor.odo = BUILD_UINT32(data[3], data[2], data[1], data[0]);
        sensor.trip = BUILD_UINT32(data[7], data[6], data[5], data[4]);
        sensor.tripTime = BUILD_UINT32(data[11], data[10], data[9], data[8]);
        sensor.cellVolt = (double)(BUILD_UINT16(data[13], data[12])) / 10.0;
        sensor.speed = (double)(BUILD_UINT16(data[15], data[14])) / 10.0;
        sensor.engine = BUILD_UINT16(data[17], data[16]);
        sensor.sas = (short)BUILD_UINT16(data[19], data[18]);
        sensor.key = data[x++];
        sensor.gear = data[x++];
        sensor.aps = data[x++];
        sensor.lock = data[x++];
        sensor.seatBelt = data[x++];
        sensor.clutch = data[x++];
        sensor.horn = data[x++];
        sensor.wiper = data[x++];
        sensor.handBreak = data[x++];
        sensor.mainBreak = data[x++];
        sensor.leftTurnLamp = data[x++];
        sensor.rightTurnLamp = data[x++];
        sensor.clearanceLamp = data[x++];
        sensor.dippedBeamLamp = data[x++];
        sensor.mainBeamLamp = data[x++];
        sensor.fogLamp = data[x++];
        sensor.assBreak = data[x++];
        sensor.surround1 = data[x++];
        sensor.surround2 = data[x++];
        sensor.surround3 = data[x++];
        sensor.surround4 = data[x++];

        UpdateSensor(&sensor);
    }
    if (events & CARD_UPDATE_EVT) {
        DEBUG("CARD_UPDATE_EVT length %d", length);

        int ret = -1;

        for (int i = 0; i < length; ++i) {
            if (data[i] != 0) {
                ret = 0;
                break;
            }
        }

        struct cardBrief brief;
        
        brief.result = ret;

        ConvertHex2String(brief.card, data, length);

        MA_SendCardBrief(&brief);
    }
    if (events & PLAY_TTS_DONE_EVT) {
        DummyLightTTSDone(*((int *)data));
        StopCarTTSDone(*((int *)data));
        OperateGearTTSDone(*((int *)data));
        DriveStraightTTSDone(*((int *)data));
    }
}

static void *PlatformDataListenThread(void *p) {
    struct platformSocket *ptr = (struct platformSocket *)p;

    uint8_t RxBuf[PARSE_BUFF_SIZE];

    int fds_ret;
    struct timeval tv;
    fd_set rdfds;
    fd_set exfds;

    int fd = -1;
    int RxBufLen = 0;

    fd = ConnectTCP(ptr->domain_name, ptr->port);

    pthread_mutex_lock(&platform_tx_mutex);
    platform_tcp_fd = fd;

    currSocket = *ptr;

    pthread_mutex_unlock(&platform_tx_mutex);

    if (fd > 0) {
        PlatformStatusChanged(PLATFORM_CONNECT_EVT, NULL, 0);
    }

    while (fd > 0) {
        tv.tv_sec = 5;
        tv.tv_usec = 0;
        FD_ZERO(&rdfds); //clean
        FD_SET(fd, &rdfds); //set

        fds_ret = select(fd + 1, &rdfds, NULL, NULL, &tv);

        if (fds_ret < 0) {
            break;
        } else if(fds_ret == 0) {
            //Occur failure(such as line disconnect)
        } else if(FD_ISSET(fd, &rdfds)) {
            RxBufLen = ReadTCP(fd, RxBuf, sizeof(RxBuf));

            if (RxBufLen < 0) {
                break;
            } else if (RxBufLen > 0) {
                Parse(DATA_ACCESS_PLATFORM, RxBuf, RxBufLen);
            }
        }
    }

    pthread_mutex_lock(&platform_tx_mutex);
    if (platform_tcp_fd > 0) {
        DisconnectTCP(platform_tcp_fd);
        platform_tcp_fd = -1;
    }
    pthread_mutex_unlock(&platform_tx_mutex);
    free(ptr);

    PlatformStatusChanged(PLATFORM_DISCONNECT_EVT, NULL, 0);
    pthread_exit(NULL);
}

int WritePlatform(const uint8_t * buf, uint32_t len)
{
    int ret = -1;

    pthread_mutex_lock(&platform_tx_mutex);
    if (platform_tcp_fd > 0) {
        ret = WriteTCP(platform_tcp_fd, buf, len);
    }
    pthread_mutex_unlock(&platform_tx_mutex);

    return ret;
}

static void RegisterPlatformTimeout(union sigval sig)
{
    DEBUG("RegisterPlatformTimeout");
    AppTimer_delete(RegisterPlatformTimeout);
    RegisterPlatform();
}

static void RegisterPlatform(void)
{
    AppTimer_delete(RegisterPlatformTimeout);
    AppTimer_add(RegisterPlatformTimeout, D_SEC(15));
    SendDeviceRegister(deviceInfo.province, deviceInfo.city, deviceInfo.device_model,
                       strlen((char *)deviceInfo.device_model), deviceInfo.device_sn, deviceInfo.imei);
}

static void TriggerHeartbeat(union sigval sig) {
    AppTimer_delete(TriggerHeartbeat);

    if (platformStatus.login && platformStatus.connected) {
        SendHeartBeat(DATA_ACCESS_PLATFORM);
        AppTimer_add(TriggerHeartbeat, D_SEC(30));
    }
}

static void LoginPlatformTimeout(union sigval sig)
{
    AppTimer_delete(LoginPlatformTimeout);
    LoginPlatform();
}

static void LoginPlatform(void)
{
    uint32_t tim = time(NULL);
    uint8_t data[12];
    uint8_t *ciphertext;

    data[0] = BREAK_UINT32(tim, 3);
    data[1] = BREAK_UINT32(tim, 2);
    data[2] = BREAK_UINT32(tim, 1);
    data[3] = BREAK_UINT32(tim, 0);

    AppTimer_delete(LoginPlatformTimeout);
    AppTimer_add(LoginPlatformTimeout, D_SEC(15));

    DESEncrypt(platformStatus.platformKey, platformStatus.platformKeyLength, data, 4, &ciphertext);

    if (ciphertext != NULL) {
        memcpy(data + 4, ciphertext, 8);
        SendDeviceLogin(data, sizeof(data));
    }
}

void DeviceRegisterCallback(uint8_t res, const uint8_t *data, int length)
{
    uint8_t az[16];
    AppTimer_delete(RegisterPlatformTimeout);

    az[0] = res;
    if (res == 0) {
        memcpy(az+1, data, length);
        PlatformStatusChanged(PLATFORM_REGISTER_EVT, az, length + 1);
    } else {
        PlatformStatusChanged(PLATFORM_REGISTER_EVT, az, 1);
    }
}

void DeviceLoginCallback(uint8_t res)
{
    uint8_t az;
    AppTimer_delete(LoginPlatformTimeout);

    az = res;

    PlatformStatusChanged(PLATFORM_LOGIN_EVT, &az, 1);
}

void ReceivedRtk(const uint8_t *data, int length)
{
    DEBUG("ReceivedRtk length %d", length);

    AppTimer_delete(RequestRtkNoResp);
    // 汇报给单片机
    if (length > 0) {
        SendRtkToMcu(data, length);
    }
}

static void RequestRtkNoResp(union sigval sig)
{
    AppTimer_delete(RequestRtkNoResp);
    requestPlatformSendRtk = true;
}

void RequestRtkDownload(const gpsStatus_t *gps, uint16_t rtk_pkt_interval)
{
    if (requestPlatformSendRtk && gps->gps_status > 0) {
        DEBUG("请求下载RTK数据");
        requestPlatformSendRtk = false;

        AppTimer_delete(RequestRtkNoResp);
        AppTimer_add(RequestRtkNoResp, D_SEC(5));

        uint32_t latitude = (uint32_t)(gps->latitude  * 1000000);
        uint32_t longitude = (uint32_t)(gps->longitude * 1000000);
        int altitude = (int) fabs(gps->altitude);

        uint8_t bcd_time[6];

        bcd_time[0] = ((gps->YY/10)<<4) + (gps->YY%10);
        bcd_time[1] = ((gps->MM/10)<<4) + (gps->MM%10);
        bcd_time[2] = ((gps->DD/10)<<4) + (gps->DD%10);
        bcd_time[3] = ((gps->hh/10)<<4) + (gps->hh%10);
        bcd_time[4] = ((gps->mm/10)<<4) + (gps->mm%10);
        bcd_time[5] = ((gps->ss/10)<<4) + (gps->ss%10);

        SendRTKStart(latitude, longitude, altitude, bcd_time, rtk_pkt_interval);
    }
}

void StopRtkDownload(void)
{
    SendRTKStop();
}