#include "app.h"

#include "uxr/client/config.h"

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"

#include <driver/uart.h>
#include <driver/gpio.h>

#include <string.h>
#include "freertos/event_groups.h"
#include "esp_system.h"
#include "esp_wifi.h"
#include "esp_event.h"
#include "esp_log.h"
#include "esp_system.h"
#include "nvs_flash.h"

#include "lwip/err.h"
#include "lwip/sys.h"

#define ESP_WIFI_SSID      CONFIG_ESP_WIFI_SSID
#define ESP_WIFI_PASS      CONFIG_ESP_WIFI_PASSWORD
#define ESP_MAXIMUM_RETRY  CONFIG_ESP_MAXIMUM_RETRY

static EventGroupHandle_t s_wifi_event_group;

#define WIFI_CONNECTED_BIT BIT0
#define WIFI_FAIL_BIT      BIT1

static const char *TAG = "wifi station";
static int s_retry_num = 0;

static void event_handler(void* arg, esp_event_base_t event_base,
                                int32_t event_id, void* event_data)
{
    if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
        esp_wifi_connect();
    } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
        if (s_retry_num < ESP_MAXIMUM_RETRY) {
            esp_wifi_connect();
            s_retry_num++;
            ESP_LOGI(TAG, "retry to connect to the AP");
        } else {
            xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
        }
        ESP_LOGI(TAG,"connect to the AP fail");
    } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
        ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data;
        ESP_LOGI(TAG, "got ip:%s",
                 ip4addr_ntoa(&event->ip_info.ip));
        s_retry_num = 0;
        xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
    }
}

void wifi_init_sta()
{
    s_wifi_event_group = xEventGroupCreate();

    tcpip_adapter_init();

    ESP_ERROR_CHECK(esp_event_loop_create_default());

    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
    ESP_ERROR_CHECK(esp_wifi_init(&cfg));

    ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler, NULL));
    ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler, NULL));

    wifi_config_t wifi_config = {
        .sta = {
            .ssid = ESP_WIFI_SSID,
            .password = ESP_WIFI_PASS
        },
    };
    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) );
    ESP_ERROR_CHECK(esp_wifi_set_config(ESP_IF_WIFI_STA, &wifi_config) );
    ESP_ERROR_CHECK(esp_wifi_start() );

    ESP_LOGI(TAG, "wifi_init_sta finished.");

    /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum
     * number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */
    EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group,
            WIFI_CONNECTED_BIT | WIFI_FAIL_BIT,
            pdFALSE,
            pdFALSE,
            portMAX_DELAY);

    /* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually
     * happened. */
    if (bits & WIFI_CONNECTED_BIT) {
        ESP_LOGI(TAG, "connected to ap SSID:%s", ESP_WIFI_SSID);
    } else if (bits & WIFI_FAIL_BIT) {
        ESP_LOGI(TAG, "Failed to connect to SSID:%s", ESP_WIFI_SSID);
    } else {
        ESP_LOGE(TAG, "UNEXPECTED EVENT");
    }

    ESP_ERROR_CHECK(esp_event_handler_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, &event_handler));
    ESP_ERROR_CHECK(esp_event_handler_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, &event_handler));
    vEventGroupDelete(s_wifi_event_group);
}



void app_main(void)
{   
    // Start networkign if required
#ifdef UCLIENT_PROFILE_UDP
    //Initialize NVS
    esp_err_t ret = nvs_flash_init();
    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
      ESP_ERROR_CHECK(nvs_flash_erase());
      ret = nvs_flash_init();
    }
    ESP_ERROR_CHECK(ret);

    ESP_LOGI(TAG, "ESP_WIFI_MODE_STA");
    wifi_init_sta();
#endif  // UCLIENT_PROFILE_UDP

    // start microROS task
    xTaskCreate(appMain, "uros_task", 12*2048, NULL, 5, NULL);
}
