/* $Id$ */
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <ctype.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include <stdarg.h>
#include <stdbool.h>
#include <assert.h>

#include "gpsd_config.h"
#ifdef HAVE_NCURSES_H
#include <ncurses.h>
#else
#include <curses.h>
#endif /* HAVE_NCURSES_H */
#include "gpsd.h"

#include "bits.h"
#include "gpsmon.h"

#ifdef ITRAX_ENABLE
#include "driver_italk.h"

extern const struct gps_type_t italk_binary;
static WINDOW *satwin, *navfixwin;

#define display	(void)mvwprintw
static bool italk_initialize(void)
{
	int i;

	/* "heavily inspired" by monitor_nmea.c */
	if ((satwin  = derwin(devicewin, 15, 27, 0, 0)) == NULL)
		return false;
	(void)wborder(satwin, 0, 0, 0, 0, 0, 0, 0, 0),
	(void)syncok(satwin, true);
	(void)wattrset(satwin, A_BOLD);
	display(satwin, 1, 1, "Ch  SV  Az El S/N Flag U");
	for (i = 0; i < SIRF_CHANNELS; i++)
		display(satwin, (int)(i+2), 1, "%2d",i);
	display(satwin, 14, 7, " PRN_STATUS ");
	(void)wattrset(satwin, A_NORMAL);

	/* "heavily inspired" by monitor_nmea.c */
	if ((navfixwin = derwin(devicewin, 15,  52,  0, 27)) == NULL)
		return false;
	(void)wborder(navfixwin, 0, 0, 0, 0, 0, 0, 0, 0),
	(void)wattrset(navfixwin, A_BOLD);
	(void)wmove(navfixwin, 1,1);
	(void)wprintw(navfixwin, "ECEF Pos:");
	(void)wmove(navfixwin, 2,1);
	(void)wprintw(navfixwin, "ECEF Vel:");

	(void)wmove(navfixwin, 4,1);
	(void)wprintw(navfixwin, "LTP Pos:");
	(void)wmove(navfixwin, 5,1);
	(void)wprintw(navfixwin, "LTP Vel:");

	(void)wmove(navfixwin, 7,1);
	(void)wprintw(navfixwin, "Time UTC:");
	(void)wmove(navfixwin, 8,1);
	(void)wprintw(navfixwin, "Time GPS:                  Day:");

	(void)wmove(navfixwin, 10,1);
	(void)wprintw(navfixwin, "DOP [H]      [V]      [P]      [T]      [G]");
	(void)wmove(navfixwin, 11,1);
	(void)wprintw(navfixwin, "Fix:");

	display(navfixwin, 14, 20, " NAV_FIX ");
	(void)wattrset(navfixwin, A_NORMAL);
	return true;
}

static void display_itk_navfix(unsigned char *buf, size_t len){

	unsigned int tow, tod, nsec, d, svlist;
	unsigned short gps_week, flags, cflags, pflags, nsv;
	unsigned short year, mon, day, hour, min, sec;
	double epx, epy, epz, evx, evy, evz;
	double latitude, longitude;
	float altitude, speed, track, climb;
	float hdop, gdop, pdop, vdop, tdop;

	if (len != 296)
		return;

	flags = getleuw(buf, 7 + 4);
	cflags = getleuw(buf, 7 + 6);
	pflags = getleuw(buf, 7 + 8);

	nsv = (getleuw(buf, 7 + 12) + getleuw(buf, 7 + 14) + 1) / 2;
	svlist = getleul(buf, 7 + 16) | getleul(buf, 7 + 24);

	hour = getleuw(buf, 7 + 66);
	min = getleuw(buf, 7 + 68);
	sec = getleuw(buf, 7 + 70);
	nsec = getleul(buf, 7 + 72);
	year = getleuw(buf, 7 + 76);
	mon = getleuw(buf, 7 + 78);
	day = getleuw(buf, 7 + 80);
	gps_week = (ushort)getlesw(buf, 7 + 82);
	tow = getleul(buf, 7 + 84);

	epx = (double)(getlesl(buf, 7 + 96)/100.0);
	epy = (double)(getlesl(buf, 7 + 100)/100.0);
	epz = (double)(getlesl(buf, 7 + 104)/100.0);
	evx = (double)(getlesl(buf, 7 + 186)/1000.0);
	evy = (double)(getlesl(buf, 7 + 190)/1000.0);
	evz = (double)(getlesl(buf, 7 + 194)/1000.0);

	latitude = (double)(getlesl(buf, 7 + 144)/1e7);
	longitude = (double)(getlesl(buf, 7 + 148)/1e7);
	altitude = (double)(getlesl(buf, 7 + 152)/1e3);
	climb = (double)(getlesl(buf, 7 + 206)/1e3);
	speed = (double)(getleul(buf, 7 + 210)/1e3);
	track = (double)(getleuw(buf, 7 + 214)/1e2);

	hdop = (float)(getleuw(buf, 7 + 56)/100.0);
	gdop = (float)(getleuw(buf, 7 + 58)/100.0);
	pdop = (float)(getleuw(buf, 7 + 60)/100.0);
	vdop = (float)(getleuw(buf, 7 + 62)/100.0);
	tdop = (float)(getleuw(buf, 7 + 64)/100.0);

	(void)wmove(navfixwin, 1,11);
	(void)wprintw(navfixwin, "%12.2lf %12.2lf %12.2lfm", epx, epy, epz);
	(void)wmove(navfixwin, 2,11);
	(void)wprintw(navfixwin, "%11.2lf %11.2lf %11.2lfm/s", evx, evy, evz);

	(void)wmove(navfixwin, 4,11);
	(void)wprintw(navfixwin, "%11.8lf   %13.8lf %8.1lfm",
		      latitude, longitude, altitude);
	(void)mvwaddch(navfixwin, 4, 22, ACS_DEGREE);
	(void)mvwaddch(navfixwin, 4, 38, ACS_DEGREE);
	(void)wmove(navfixwin, 5,11);
	(void)wprintw(navfixwin, "%6.2lfm/s  %5.1lf  %6.2lfm/s climb",
		      speed, track, climb);
	(void)mvwaddch(navfixwin, 5, 27, ACS_DEGREE);

	(void)wmove(navfixwin, 7,11);
	(void)wprintw(navfixwin, "%04u-%02u-%02u %02u:%02u:%02u",
		      year, mon, day, hour, min, sec);
	(void)wmove(navfixwin, 8,11);
	(void)wprintw(navfixwin, "%04u+%010.3lf", gps_week, tow/1000.0);
	(void)wmove(navfixwin, 8,33);
	d = (tow/1000) / 86400;
	tod = (tow/1000) - (d*86400);
	sec = tod % 60;
	min = (tod / 60) % 60;
	hour = tod / 3600;
	(void)wprintw(navfixwin, "%1d %02d:%02d:%02d", d, hour, min, sec);

	(void)wmove(navfixwin, 10,9);
	(void)wprintw(navfixwin, "%4.1f", hdop);
	(void)wmove(navfixwin, 10,18);
	(void)wprintw(navfixwin, "%4.1f", vdop);
	(void)wmove(navfixwin, 10,27);
	(void)wprintw(navfixwin, "%4.1f", pdop);
	(void)wmove(navfixwin, 10,36);
	(void)wprintw(navfixwin, "%4.1f", tdop);
	(void)wmove(navfixwin, 10,45);
	(void)wprintw(navfixwin, "%4.1f", gdop);

	(void)wmove(navfixwin, 11,6);
	{
		char prn[4], satlist[38];
		unsigned int i;
		satlist[0] = '\0';
		for(i = 0; i<32; i++){
			if (svlist & (1<<i)){
				snprintf(prn, 4, "%u ", i+1);
				strlcat(satlist, prn, 38);
			}
		}
		(void)wprintw(navfixwin, "%02d = %-38s", nsv, satlist);
	}
	wnoutrefresh(navfixwin);

}

static void display_itk_prnstatus(unsigned char *buf, size_t len)
{
	unsigned int i, nchan;
	if (len < 62)
		return;

	nchan = (unsigned int)getleuw(buf, 7 +50);
	if (nchan > MAXCHANNELS)
		nchan = MAXCHANNELS;
	for (i = 0; i < nchan; i++) {
		unsigned int off = 7+ 52 + 10 * i;
		unsigned short fl;
		unsigned char ss, prn, el, az;

		fl  = getleuw(buf, off);
		ss  = (unsigned char)getleuw(buf, off+2)&0xff;
		prn = (unsigned char)getleuw(buf, off+4)&0xff;
		el  = (unsigned char)getlesw(buf, off+6)&0xff;
		az  = (unsigned char)getlesw(buf, off+8)&0xff;
		wmove(satwin, i+2, 4);
		wprintw(satwin, "%3d %3d %2d  %02d %04x %c",
			prn, az, el, ss, fl,
			(fl & PRN_FLAG_USE_IN_NAV)? 'Y' : ' ');
	}
	for ( ; i < nchan; i++){
		wmove(satwin, i+2, 4);
		wprintw(satwin, "                      ");
	}
	wnoutrefresh(satwin);
	return;
}

static void italk_update(void)
{
	unsigned char *buf;
	size_t len;
	unsigned char type;

	buf = session.packet.outbuffer;
	len = session.packet.outbuflen;
	type = getub(buf, 4);
	switch (type) {
		case ITALK_NAV_FIX:
			display_itk_navfix(buf, len);
			break;
		case ITALK_PRN_STATUS:
			display_itk_prnstatus(buf, len);
			break;
		default:
			break;
	}
}

static int italk_command(char line[] UNUSED)
{
	return COMMAND_UNKNOWN;
}

static void italk_wrap(void)
{
	delwin(satwin);
	return;
}

const struct monitor_object_t italk_mmt = {
	.initialize = italk_initialize,
	.update = italk_update,
	.command = italk_command,
	.wrap = italk_wrap,
	.min_y = 23, .min_x = 80, /* size of the device window */
	.driver = &italk_binary,
};
#endif