/*
 * LMS1xx.cpp
 *
 *  Created on: 09-08-2010
 *  Author: Konrad Banachowicz
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library 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     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <unistd.h>

#include <lms1xx/lms1xx.h>

LMS1xx::LMS1xx() :
    connected(false) {
    debug = false;
}

LMS1xx::~LMS1xx() {

}

void LMS1xx::connect(std::string host, int port) {
    if (!connected) {
        sockDesc = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
        if (sockDesc) {
            struct sockaddr_in stSockAddr;
            int Res;
            stSockAddr.sin_family = PF_INET;
            stSockAddr.sin_port = htons(port);
            Res = inet_pton(AF_INET, host.c_str(), &stSockAddr.sin_addr);

            int ret = ::connect(sockDesc, (struct sockaddr *) &stSockAddr,
                    sizeof stSockAddr);
            if (ret == 0) {
                connected = true;
            }
        }
    }
}

void LMS1xx::disconnect() {
    if (connected) {
        close(sockDesc);
        connected = false;
    }
}

bool LMS1xx::isConnected() {
    return connected;
}

void LMS1xx::startMeas() {
    char buf[100];
    sprintf(buf, "%c%s%c", 0x02, "sMN LMCstartmeas", 0x03);

    write(sockDesc, buf, strlen(buf));

    int len = read(sockDesc, buf, 100);
    //  if (buf[0] != 0x02)
    //      std::cout << "invalid packet recieved" << std::endl;
    //  if (debug) {
    //      buf[len] = 0;
    //      std::cout << buf << std::endl;
    //  }
}

void LMS1xx::stopMeas() {
    char buf[100];
    sprintf(buf, "%c%s%c", 0x02, "sMN LMCstopmeas", 0x03);

    write(sockDesc, buf, strlen(buf));

    int len = read(sockDesc, buf, 100);
    //  if (buf[0] != 0x02)
    //      std::cout << "invalid packet recieved" << std::endl;
    //  if (debug) {
    //      buf[len] = 0;
    //      std::cout << buf << std::endl;
    //  }
}

status_t LMS1xx::queryStatus() {
    char buf[100];
    sprintf(buf, "%c%s%c", 0x02, "sRN STlms", 0x03);

    write(sockDesc, buf, strlen(buf));

    int len = read(sockDesc, buf, 100);
    //  if (buf[0] != 0x02)
    //      std::cout << "invalid packet recieved" << std::endl;
    //  if (debug) {
    //      buf[len] = 0;
    //      std::cout << buf << std::endl;
    //  }
    int ret;
    sscanf((buf + 10), "%d", &ret);

    return (status_t) ret;
}

void LMS1xx::login() {
    char buf[100];
    sprintf(buf, "%c%s%c", 0x02, "sMN SetAccessMode 03 F4724744", 0x03);

    write(sockDesc, buf, strlen(buf));

    int len = read(sockDesc, buf, 100);
    //  if (buf[0] != 0x02)
    //      std::cout << "invalid packet recieved" << std::endl;
    //  if (debug) {
    //      buf[len] = 0;
    //      std::cout << buf << std::endl;
    //  }
}

scanCfg LMS1xx::getScanCfg() const {
    scanCfg cfg;
    char buf[100];
    sprintf(buf, "%c%s%c", 0x02, "sRN LMPscancfg", 0x03);

    write(sockDesc, buf, strlen(buf));

    int len = read(sockDesc, buf, 100);
    //  if (buf[0] != 0x02)
    //      std::cout << "invalid packet recieved" << std::endl;
    //  if (debug) {
    //      buf[len] = 0;
    //      std::cout << buf << std::endl;
    //  }

    sscanf(buf + 1, "%*s %*s %X %*d %X %X %X", &cfg.scaningFrequency,
            &cfg.angleResolution, &cfg.startAngle, &cfg.stopAngle);
    return cfg;
}

void LMS1xx::setScanCfg(const scanCfg &cfg) {
    char buf[100];
    sprintf(buf, "%c%s %X +1 %X %X %X%c", 0x02, "sMN mLMPsetscancfg",
            cfg.scaningFrequency, cfg.angleResolution, cfg.startAngle,
            cfg.stopAngle, 0x03);

    write(sockDesc, buf, strlen(buf));

    int len = read(sockDesc, buf, 100);

    buf[len - 1] = 0;
}

void LMS1xx::setScanDataCfg(const scanDataCfg &cfg) {
    char buf[100];
    sprintf(buf, "%c%s %02X 00 %d %d 0 %02X 00 %d %d 0 %d +%d%c", 0x02,
            "sWN LMDscandatacfg", cfg.outputChannel, cfg.remission ? 1 : 0,
            cfg.resolution, cfg.encoder, cfg.position ? 1 : 0,
            cfg.deviceName ? 1 : 0, cfg.timestamp ? 1 : 0, cfg.outputInterval, 0x03);
    if(debug)
        printf("%s\n", buf);
    write(sockDesc, buf, strlen(buf));

    int len = read(sockDesc, buf, 100);
    buf[len - 1] = 0;
}

void LMS1xx::scanContinous(int start) {
    char buf[100];
    sprintf(buf, "%c%s %d%c", 0x02, "sEN LMDscandata", start, 0x03);

    write(sockDesc, buf, strlen(buf));

    int len = read(sockDesc, buf, 100);

    if (buf[0] != 0x02)
        printf("invalid packet recieved\n");

    if (debug) {
        buf[len] = 0;
        printf("%s\n", buf);
    }

    if (start = 0) {
        for (int i = 0; i < 10; i++)
            read(sockDesc, buf, 100);
    }
}

void LMS1xx::getData(scanData& data) {
    char buf[20000];
    fd_set rfds;
    struct timeval tv;
    int retval, len;
    len = 0;

    do {
        FD_ZERO(&rfds);
        FD_SET(sockDesc, &rfds);

        tv.tv_sec = 0;
        tv.tv_usec = 50000;
        retval = select(sockDesc + 1, &rfds, NULL, NULL, &tv);
        if (retval) {
            len += read(sockDesc, buf + len, 20000 - len);
        }
    } while ((buf[0] != 0x02) || (buf[len - 1] != 0x03));

    //  if (debug)
    //      std::cout << "scan data recieved" << std::endl;
    buf[len - 1] = 0;
    char* tok = strtok(buf, " "); //Type of command
    tok = strtok(NULL, " "); //Command
    tok = strtok(NULL, " "); //VersionNumber
    tok = strtok(NULL, " "); //DeviceNumber
    tok = strtok(NULL, " "); //Serial number
    tok = strtok(NULL, " "); //DeviceStatus
    tok = strtok(NULL, " "); //MessageCounter
    tok = strtok(NULL, " "); //ScanCounter
    tok = strtok(NULL, " "); //PowerUpDuration
    tok = strtok(NULL, " "); //TransmissionDuration
    tok = strtok(NULL, " "); //InputStatus
    tok = strtok(NULL, " "); //OutputStatus
    tok = strtok(NULL, " "); //ReservedByteA
    tok = strtok(NULL, " "); //ScanningFrequency
    tok = strtok(NULL, " "); //MeasurementFrequency
    tok = strtok(NULL, " ");
    tok = strtok(NULL, " ");
    tok = strtok(NULL, " ");
    tok = strtok(NULL, " "); //NumberEncoders
    int NumberEncoders;
    sscanf(tok, "%d", &NumberEncoders);
    for (int i = 0; i < NumberEncoders; i++) {
        tok = strtok(NULL, " "); //EncoderPosition
        tok = strtok(NULL, " "); //EncoderSpeed
    }

    tok = strtok(NULL, " "); //NumberChannels16Bit
    int NumberChannels16Bit;
    sscanf(tok, "%d", &NumberChannels16Bit);
    if (debug)
        printf("NumberChannels16Bit : %d\n", NumberChannels16Bit);
    for (int i = 0; i < NumberChannels16Bit; i++) {
        int type = -1; // 0 DIST1 1 DIST2 2 RSSI1 3 RSSI2
        char content[6];
        tok = strtok(NULL, " "); //MeasuredDataContent
        sscanf(tok, "%s", content);
        if (!strcmp(content, "DIST1")) {
            type = 0;
        } else if (!strcmp(content, "DIST2")) {
            type = 1;
        } else if (!strcmp(content, "RSSI1")) {
            type = 2;
        } else if (!strcmp(content, "RSSI2")) {
            type = 3;
        }
        tok = strtok(NULL, " "); //ScalingFactor
        tok = strtok(NULL, " "); //ScalingOffset
        tok = strtok(NULL, " "); //Starting angle
        tok = strtok(NULL, " "); //Angular step width
        tok = strtok(NULL, " "); //NumberData
        int NumberData;
        sscanf(tok, "%X", &NumberData);

        if (debug)
            printf("NumberData : %d\n", NumberData);

        if (type == 0) {
            data.dist_len1 = NumberData;
        } else if (type == 1) {
            data.dist_len2 = NumberData;
        } else if (type == 2) {
            data.rssi_len1 = NumberData;
        } else if (type == 3) {
            data.rssi_len2 = NumberData;
        }

        for (int i = 0; i < NumberData; i++) {
            int dat;
            tok = strtok(NULL, " "); //data
            sscanf(tok, "%X", &dat);

            if (type == 0) {
                data.dist1[i] = dat;
            } else if (type == 1) {
                data.dist2[i] = dat;
            } else if (type == 2) {
                data.rssi1[i] = dat;
            } else if (type == 3) {
                data.rssi2[i] = dat;
            }

        }
    }

    tok = strtok(NULL, " "); //NumberChannels8Bit
    int NumberChannels8Bit;
    sscanf(tok, "%d", &NumberChannels8Bit);
    if (debug)
        printf("NumberChannels8Bit : %d\n", NumberChannels8Bit);
    for (int i = 0; i < NumberChannels8Bit; i++) {
        int type = -1;
        char content[6];
        tok = strtok(NULL, " "); //MeasuredDataContent
        sscanf(tok, "%s", content);
        if (!strcmp(content, "DIST1")) {
            type = 0;
        } else if (!strcmp(content, "DIST2")) {
            type = 1;
        } else if (!strcmp(content, "RSSI1")) {
            type = 2;
        } else if (!strcmp(content, "RSSI2")) {
            type = 3;
        }
        tok = strtok(NULL, " "); //ScalingFactor
        tok = strtok(NULL, " "); //ScalingOffset
        tok = strtok(NULL, " "); //Starting angle
        tok = strtok(NULL, " "); //Angular step width
        tok = strtok(NULL, " "); //NumberData
        int NumberData;
        sscanf(tok, "%X", &NumberData);

        if (debug)
            printf("NumberData : %d\n", NumberData);

        if (type == 0) {
            data.dist_len1 = NumberData;
        } else if (type == 1) {
            data.dist_len2 = NumberData;
        } else if (type == 2) {
            data.rssi_len1 = NumberData;
        } else if (type == 3) {
            data.rssi_len2 = NumberData;
        }
        for (int i = 0; i < NumberData; i++) {
            int dat;
            tok = strtok(NULL, " "); //data
            sscanf(tok, "%X", &dat);

            if (type == 0) {
                data.dist1[i] = dat;
            } else if (type == 1) {
                data.dist2[i] = dat;
            } else if (type == 2) {
                data.rssi1[i] = dat;
            } else if (type == 3) {
                data.rssi2[i] = dat;
            }
        }
    }

}

void LMS1xx::saveConfig() {
    char buf[100];
    sprintf(buf, "%c%s%c", 0x02, "sMN mEEwriteall", 0x03);

    write(sockDesc, buf, strlen(buf));

    int len = read(sockDesc, buf, 100);
    //  if (buf[0] != 0x02)
    //      std::cout << "invalid packet recieved" << std::endl;
    //  if (debug) {
    //      buf[len] = 0;
    //      std::cout << buf << std::endl;
    //  }
}

void LMS1xx::startDevice() {
    char buf[100];
    sprintf(buf, "%c%s%c", 0x02, "sMN Run", 0x03);

    write(sockDesc, buf, strlen(buf));

    int len = read(sockDesc, buf, 100);
    //  if (buf[0] != 0x02)
    //      std::cout << "invalid packet recieved" << std::endl;
    //  if (debug) {
    //      buf[len] = 0;
    //      std::cout << buf << std::endl;
    //  }
}