/*
 * GNSS.c
 *
 *  Created on: 03.10.2020
 *      Author: SimpleMethod
 *
 *Copyright 2020 SimpleMethod
 *
 *Permission is hereby granted, free of charge, to any person obtaining a copy of
 *this software and associated documentation files (the "Software"), to deal in
 *the Software without restriction, including without limitation the rights to
 *use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies
 *of the Software, and to permit persons to whom the Software is furnished to do
 *so, subject to the following conditions:
 *
 *The above copyright notice and this permission notice shall be included in all
 *copies or substantial portions of the Software.
 *
 *THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 *IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 *FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 *AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 *LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 *OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 *THE SOFTWARE.
 ******************************************************************************
 */

#include <string.h>
#include "GNSS.h"

union u_Short uShort;
union i_Short iShort;
union u_Long uLong;
union i_Long iLong;

/*!
 * Structure initialization.
 * @param GNSS Pointer to main GNSS structure.
 * @param huart Pointer to uart handle.
 */
void GNSS_Init(GNSS_StateHandle *GNSS, UART_HandleTypeDef *huart) {
	GNSS->huart = huart;
	GNSS->year = 0;
	GNSS->month = 0;
	GNSS->day = 0;
	GNSS->hour = 0;
	GNSS->min = 0;
	GNSS->sec = 0;
	GNSS->fixType = 0;
	GNSS->lon = 0;
	GNSS->lat = 0;
	GNSS->height = 0;
	GNSS->hMSL = 0;
	GNSS->hAcc = 0;
	GNSS->vAcc = 0;
	GNSS->gSpeed = 0;
	GNSS->headMot = 0;
}

/*!
 * Parse data to unique chip ID standard.
 * Look at: 32.19.1.1 u-blox 8 Receiver description
 * @param GNSS Pointer to main GNSS structure.
 */
void GNSS_ParseUniqID(GNSS_StateHandle *GNSS) {
	for (int var = 0; var < 5; var++) {
		GNSS->uniqueID[var] = GNSS_Handle.uartWorkingBuffer[10 + var];
	}
}

/*!
 * Parse data to navigation position velocity time solution standard.
 * Look at: 32.17.15.1 u-blox 8 Receiver description.
 * @param GNSS Pointer to main GNSS structure.
 */
void GNSS_ParsePVTData(GNSS_StateHandle *GNSS) {

	static float searchCnt = 1.0;

	uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[10];
	GNSS->yearBytes[0]=GNSS_Handle.uartWorkingBuffer[10];
	uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[11];
	GNSS->yearBytes[1]=GNSS_Handle.uartWorkingBuffer[11];
	GNSS->year = uShort.uShort;
	GNSS->month = GNSS_Handle.uartWorkingBuffer[12];
	GNSS->day = GNSS_Handle.uartWorkingBuffer[13];
	GNSS->hour = GNSS_Handle.uartWorkingBuffer[14];
	GNSS->min = GNSS_Handle.uartWorkingBuffer[15];
	GNSS->sec = GNSS_Handle.uartWorkingBuffer[16];
	GNSS->fixType = GNSS_Handle.uartWorkingBuffer[26];

	for (int var = 0; var < 4; ++var) {
		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
		GNSS->lonBytes[var]= GNSS_Handle.uartWorkingBuffer[var + 30];
	}
	GNSS->lon = iLong.iLong;
	GNSS->fLon=(float)iLong.iLong/10000000.0;
	for (int var = 0; var < 4; ++var) {
		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 34];
		GNSS->latBytes[var]=GNSS_Handle.uartWorkingBuffer[var + 34];
	}
	GNSS->lat = iLong.iLong;
	GNSS->fLat=(float)iLong.iLong/10000000.0;
	for (int var = 0; var < 4; ++var) {
		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 38];
	}
	GNSS->height = iLong.iLong;

	for (int var = 0; var < 4; ++var) {
		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
		GNSS->hMSLBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 42];
	}
	GNSS->hMSL = iLong.iLong;

	for (int var = 0; var < 4; ++var) {
		uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 46];
	}
	GNSS->hAcc = uLong.uLong;

	for (int var = 0; var < 4; ++var) {
		uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 50];
	}
	GNSS->vAcc = uLong.uLong;

	for (int var = 0; var < 4; ++var) {
		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
		GNSS->gSpeedBytes[var] = GNSS_Handle.uartWorkingBuffer[var + 66];
	}
	GNSS->gSpeed = iLong.iLong;

	for (int var = 0; var < 4; ++var) {
		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 70];
	}
	GNSS->headMot = iLong.iLong * 1e-5; // todo I'm not sure this good options.

	if((GNSS->fLat == 0.0) && (GNSS->fLon == 0.0))
	{
		GNSS->fLat = searchCnt++;
	}

	GNSS->alive = !GNSS->alive;
}

/*!
 * Parse data to UTC time solution standard.
 * Look at: 32.17.30.1 u-blox 8 Receiver description.
 * @param GNSS Pointer to main GNSS structure.
 */
void GNSS_ParseNavSatData(GNSS_StateHandle *GNSS) {

	uint8_t loop = 0;
	uint8_t searchIndex = 0;
	uint8_t statIndex = 0;	/* only 4 state information will be forwarded */
	uint8_t signalQuality = 0;
	GNSS->numSat = GNSS_Handle.uartWorkingBuffer[11];

	memset(GNSS->statSat, 0, sizeof(GNSS->statSat));

	if(GNSS->numSat > 0)
	{
		searchIndex = 0;
		while((searchIndex < GNSS->numSat) && (statIndex < 4))	/* get good signal quality */
		{
			signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
			if(signalQuality > 4)
			{
				GNSS->statSat[statIndex++] = signalQuality;
			}
			if(statIndex == 4) break;
			searchIndex++;
		}
		searchIndex = 0;
		while((searchIndex < GNSS->numSat) && (statIndex < 4))	/* get medium signal quality */
		{
			signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
			if((signalQuality > 2) && (signalQuality <= 4))
			{
				GNSS->statSat[statIndex++] = signalQuality;
			}
			if(statIndex == 4) break;
			searchIndex++;
		}
		searchIndex = 0;
		while((searchIndex < GNSS->numSat) && (statIndex < 4))	/* get poor signal quality */
		{
			signalQuality = (GNSS_Handle.uartWorkingBuffer[22 + searchIndex * 12] & 0x7);
			if(signalQuality <= 2)
			{
				GNSS->statSat[statIndex++] = signalQuality;
			}
			if(statIndex == 4) break;
			searchIndex++;
		}
		loop++;
	}
}

void GNSS_ParseNavigatorData(GNSS_StateHandle *GNSS) {
	uShort.bytes[0] = GNSS_Handle.uartWorkingBuffer[18];
	uShort.bytes[1] = GNSS_Handle.uartWorkingBuffer[19];
	GNSS->year = uShort.uShort;
	GNSS->month = GNSS_Handle.uartWorkingBuffer[20];
	GNSS->day = GNSS_Handle.uartWorkingBuffer[21];
	GNSS->hour = GNSS_Handle.uartWorkingBuffer[22];
	GNSS->min = GNSS_Handle.uartWorkingBuffer[23];
	GNSS->sec = GNSS_Handle.uartWorkingBuffer[24];
}


/*!
 * Parse data to geodetic position solution standard.
 * Look at: 32.17.14.1 u-blox 8 Receiver description.
 * @param GNSS Pointer to main GNSS structure.
 */
void GNSS_ParsePOSLLHData(GNSS_StateHandle *GNSS) {
	for (int var = 0; var < 4; ++var) {
		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 10];
	}
	GNSS->lon = iLong.iLong;
	GNSS->fLon=(float)iLong.iLong/10000000.0;

	for (int var = 0; var < 4; ++var) {
		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 14];
	}
	GNSS->lat = iLong.iLong;
	GNSS->fLat=(float)iLong.iLong/10000000.0;

	for (int var = 0; var < 4; ++var) {
		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 18];
	}
	GNSS->height = iLong.iLong;

	for (int var = 0; var < 4; ++var) {
		iLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 22];
	}
	GNSS->hMSL = iLong.iLong;

	for (int var = 0; var < 4; ++var) {
		uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 26];
	}
	GNSS->hAcc = uLong.uLong;

	for (int var = 0; var < 4; ++var) {
		uLong.bytes[var] = GNSS_Handle.uartWorkingBuffer[var + 30];
	}
	GNSS->vAcc = uLong.uLong;
}