/* Standard Include Files. */
#include <stdint.h>
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
/* BIOS/XDC Include Files. */
#include <xdc/std.h>
#include <xdc/cfg/global.h>
#include <xdc/runtime/IHeap.h>
#include <xdc/runtime/System.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/Memory.h>
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/knl/Event.h>
#include <ti/sysbios/knl/Semaphore.h>
#include <ti/sysbios/knl/Clock.h>
#include <ti/sysbios/heaps/HeapBuf.h>
#include <ti/sysbios/heaps/HeapMem.h>
#include <ti/sysbios/knl/Event.h>
#include <ti/sysbios/family/arm/v7a/Pmu.h>
/* mmWave SDK Include Files: */
#include <ti/common/sys_common.h>
#include <ti/drivers/soc/soc.h>
#include <ti/drivers/esm/esm.h>
#include <ti/drivers/crc/crc.h>
#include <ti/drivers/uart/UART.h>
#include <ti/drivers/gpio/gpio.h>
#include <ti/drivers/mailbox/mailbox.h>
#include <ti/control/mmwave/mmwave.h>
#include <ti/control/mmwavelink/mmwavelink.h>
#include <ti/utils/cli/cli.h>
#include <ti/drivers/osal/DebugP.h>
#include <ti/drivers/osal/HwiP.h>
#include <ti/utils/cycleprofiler/cycle_profiler.h>
#include <ti/drivers/pinmux/pinmux.h>
#include <ti/drivers/osal/MemoryP.h>
#include <ti/utils/testlogger/logger.h>
SOC_Handle          socHandle;
Event_Handle        event;
uint8_t period = 0;
uint8_t buffer = 0;
uint8_t id_buf = 0;
uint8_t value_buf = 0;
uint8_t value = 0;
uint8_t id = 0;
uint8_t metka = 0;

UART_Handle     handle;

UInt eventMask1 = Event_Id_00;
UInt eventMask2 = Event_Id_01;
UInt eventMask3 = Event_Id_02;

uint32_t BAUDRATE = 115200;
uint8_t STOPBITS = 1;
uint8_t DATALEN = 8;
uint8_t PARITY_VALUE = 4;
uint8_t gMCPIUARTPollingModeEnable = 0;

Event_Handle event1;

uint32_t gCPUClockFrequency = (200 * 1000000);

uint8_t uartDataLenths [] = {
                             0, // Padding
                             0,
                             0,
                             0,
                             0,
                             (uint8_t) UART_LEN_5,
                             (uint8_t) UART_LEN_6,
                             (uint8_t) UART_LEN_7,
                             (uint8_t) UART_LEN_8
};

uint8_t uartParityTypes [] = {
                              (uint8_t) UART_PAR_ZERO,
                              (uint8_t) UART_PAR_ONE,
                              (uint8_t) UART_PAR_EVEN,
                              (uint8_t) UART_PAR_ODD,
                              (uint8_t) UART_PAR_NONE
};

uint8_t uartStopBits [] = {
                           0,  // Padding
                           (uint8_t) UART_STOP_ONE,
                           (uint8_t) UART_STOP_TWO
};

Mbox_Handle peerMailbox;

#define BIG_MSG_SIZE 3

volatile uint8_t mboxProcToken = 0;

//void MmwDemo_sleep(void)
//{
//    /* issue WFI (Wait For Interrupt) instruction */
//    asm(" IDLE ");
//}

static int32_t mboxWrite_ch0(uint8_t *message, int32_t len)
{
    int32_t retVal = -1;
    retVal = Mailbox_write(peerMailbox, message, len);
    if (retVal == len)
    {
        retVal = 0;
    }
    return retVal;
}

static void mboxReadProc_ch0()
{
    uint8_t   mes;
    int32_t           retVal = 0;
    int32_t           ret = 0;


    /* Read the message from the peer mailbox: We are not trying to protect the read
     * from the peer mailbox because this is only being invoked from a single thread */
    retVal = Mailbox_read(peerMailbox, &mes, 1);
    if (retVal < 0)
    {
        /* Error: Unable to read the message. Setup the error code and return values */
        System_printf("Error read dss\n");
        return;
    }
    else
    {
        Mailbox_readFlush (peerMailbox);
        UART_write(handle, "\n", 1);
        System_printf("%d\n", mes);
        UART_write(handle, &mes, 1);
        UART_write(handle, "\n", 1);

        if (ret != 0)
        {
            System_printf ("Error: Mailbox send message failed \n");
        }
        /* We are done: There are no messages available from the peer execution domain. */
        return;
    }

}

void mboxCallback_ch0 (Mbox_Handle handle, Mailbox_Type peer)
{
    /* Message has been received from the peer endpoint. */
//    mboxReadProc_ch0();
    mboxProcToken = 1;
}

void mBox(UArg a0, UArg a1)
{

    while(true){
        if (mboxProcToken == 1)
        {
            mboxProcToken = 0;
            /* If the mailbox has a message and the frame processing task has finished. */
            mboxReadProc_ch0();
        }
    }
}

void Work_UART(UArg arg0, UArg arg1)
{
    uint8_t index[128];
    uint8_t   message[BIG_MSG_SIZE];
    UART_Params     params;
    uint8_t len;

    /* Setup the default UART Parameters */
    UART_Params_init(&params);
    params.writeDataMode = UART_DATA_TEXT;
    params.readDataMode = UART_DATA_TEXT;
    params.readReturnMode = UART_RETURN_NEWLINE;
    params.isPinMuxDone   = 1;
    params.baudRate = BAUDRATE;
    params.dataLength = (UART_LEN) uartDataLenths[DATALEN];
    handle = UART_open(0, &params);

    if (handle == NULL)
    {
        printf("Error: Unable to open the UART Instance\n");
        return;
    }

    while(TRUE)
    {
        len = UART_read(handle, index, sizeof(index)/sizeof(uint8_t)) - 1;
        if(len <= 13)
        {
            if(memcmp(index, "Get ID ", 7) == 0)
            {
                int i;
                for(i = 7; i < len; i++)
                {
                    if(index[i] >= '0' && index[i] <= '9')
                    {
                        id_buf = id_buf * 10 + (index[i] - '0');
                    }
                }
                message[0] = 0;
                id = id_buf;
                id_buf = 0;
                message[1] = id;
                mboxWrite_ch0(message, BIG_MSG_SIZE);
            }
            else if(memcmp(index, "Set ", 4) == 0)
            {
                int i;
                int pointer = 0;
                for(i = 4; i < len; i++)
                {
                    if(index[i] >= '0' && index[i] <= '9')
                    {
                        value_buf = value_buf * 10 + (index[i] - '0');
                    } else if(index[i] == 'I') {
                        pointer = i;
                        value = value_buf;
                        value_buf = 0;
                        message[2] = value;
                        break;
                    }
                }
                if(memcmp(index, " ID ", 4)) {
                    int i;
                    for(i = pointer + 2; i < len; i++)
                    {
                        if(index[i] >= '0' && index[i] <= '9')
                        {
                            id_buf = id_buf * 10 + (index[i] - '0');
                        }
                    }
                    id = id_buf;
                    id_buf = 0;
                    message[0] = 1;
                    message[1] = id;
                    mboxWrite_ch0(message, BIG_MSG_SIZE);
                }
            }
        }
        else {
            UART_write(handle, "\nError\n", 7);
        }
    }
}

static void InitTask(UArg arg0, UArg arg1)
{
    Task_Params taskParamsUART;
    Task_Params taskParams;
    int32_t      errCode;
    Mailbox_Config  cfg;

    Mailbox_init(MAILBOX_TYPE_MSS);
    if(Mailbox_Config_init(&cfg) < 0)
    {
        System_printf ("Error: Mailbox init failed\n");
        return;
    }

    /* Setup the configuration: */
    cfg.chType     = MAILBOX_CHTYPE_MULTI;
    cfg.chId         = MAILBOX_CH_ID_0;
    cfg.writeMode   = MAILBOX_MODE_BLOCKING;
    cfg.readMode     = MAILBOX_MODE_CALLBACK;
    cfg.readCallback = &mboxCallback_ch0;

    peerMailbox = Mailbox_open(MAILBOX_TYPE_DSS, &cfg, &errCode);
    if (peerMailbox == NULL)
    {
        System_printf ("Error: Mailbox open failed 0\n");
        return;
    }

    /* Initialize the UART */
    UART_init();

    /* Test the GPIO Output: Configure pin K13 as GPIO_2 output */

    /* Setup the PINMUX to bring out the MSS UART-1 */
    Pinmux_Set_FuncSel(SOC_XWR16XX_PINN5_PADBE, SOC_XWR16XX_PINN5_PADBE_MSS_UARTA_TX);
    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINN5_PADBE, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);
    Pinmux_Set_FuncSel(SOC_XWR16XX_PINN4_PADBD, SOC_XWR16XX_PINN4_PADBD_MSS_UARTA_RX);
    Pinmux_Set_OverrideCtrl(SOC_XWR16XX_PINN4_PADBD, PINMUX_OUTEN_RETAIN_HW_CTRL, PINMUX_INPEN_RETAIN_HW_CTRL);

    /* Initialize the Task Parameters. */
    Task_Params_init(&taskParamsUART);
    taskParamsUART.stackSize = 4*1024;
    taskParamsUART.priority = 3;
    Task_create(Work_UART, &taskParamsUART, NULL);

    /* Initialize the Task Parameters Mailbox. */
    Task_Params_init(&taskParams);
    taskParams.priority = 2;
    taskParams.stackSize = 3 * 1024;
    Task_create(mBox, &taskParams, NULL);
    return;
}


int main (void)
{
    int32_t     errCode;
    Task_Params   taskParams;
    SOC_Cfg     socCfg;
    Error_Block eb;

    /* Initialize the ESM: Dont clear errors as TI RTOS does it */
    ESM_init(0U);

    /* Initialize the SOC confiugration: */
    memset ((void *)&socCfg, 0, sizeof(SOC_Cfg));

    /* Populate the SOC configuration: */
    socCfg.clockCfg = SOC_SysClock_INIT;
    /* Initialize the SOC Module: This is done as soon as the application is started
     * to ensure that the MPU is correctly configured. */
    socHandle = SOC_init (&socCfg, &errCode);
    if (socHandle == NULL)
    {
        System_printf ("Error: SOC Module Initialization failed [Error code %d]\n", errCode);
        return -1;
    }

    event = Event_create(NULL, &eb);
    if (event == NULL) {
        System_printf ("Error: Event not create\n");
        return -1;
    }

    /* Initialize the Task Parameters. */
    Task_Params_init(&taskParams);
    taskParams.stackSize = 2*1024;
    Task_create(InitTask, &taskParams, NULL);


    /* Start BIOS */
    BIOS_start();
    return 0;
}