//============================================================================
//
//                          OBS sync program
//
//
//	Rev.	Date		By	Description
//	-----------------------------------------------
//	0.1	24-aug-2002	OM	Test version
//
//============================================================================

#define _GNU_SOURCE
#include <getopt.h>
#include <fcntl.h>
#include <termios.h>
#include <stdio.h>
#include <string.h>
#include <pthread.h>
#include <unistd.h>
#include <stdlib.h>
#include <math.h>

#define ASHTECH_PORT "/dev/ttyS0"
#define EIVA_PORT "/dev/ttyS0"
#define TTT_PORT "/dev/ttyS1"

void read_TTT();
void read_Eiva();
void read_Ashtech();
void initialize_serial_port(int FLAG, const char *com);


//	T y p e   d e c l a r a t i o n

typedef struct {
  char *day;  char *ttt_time;
} gpsTTT_type;

typedef struct {
   char *north, *east;   char *time, *date, *course, *speed;
} gpsRMC_type;

typedef struct {
  char *time, *date, *east, *north, *depth, *cmg, *kp;  int event;
} nav_type;

typedef struct arg_t  {
  const char *com;  const char *profile;
} arguments;


/*typedef struct {
  unsigned short control1, control2, body_length;
  short two_bytes[46];
} input_buf;*/


//	V a r i a b l e    d e c l a r a t i o n

gpsTTT_type	gpsTTT;
gpsRMC_type	gpsRMC;
nav_type	nav;
char *profile;
long int event_no=0;
int tttFlag=0;
int eivaFlag=0;


//==============================================================
//	M a i n   p r o g r a m
//=============================================================

int main (int argc, char *argv[]) {
  pthread_t	ashtech_thread, ttt_thread, eiva_thread;
  arguments	ttt_arg, Ashtech_arg, Eiva_arg;
  FILE *log_fd;

  /* Configuring serial ports */

  /*initialize_serial_port(0, ASHTECH_PORT);     // 0 = ASCII format*/
  initialize_serial_port(0, TTT_PORT);         // ASCII
  initialize_serial_port(1, EIVA_PORT);         // BINARY

  /*printf("Event number tagging of OBS shot events times coming from Ashtech TTT sentence\n");*/

   /* Start threads */

  if (log_fd = fopen("testlog.txt","w"))
    setlinebuf(log_fd);
  else
    exit(-1);

  ttt_arg.com = TTT_PORT;
  ttt_arg.profile = "";
  pthread_create(&ttt_thread, NULL, (void*) read_TTT, (void *) &ttt_arg);

  /*Ashtech_arg.com = ASHTECH_PORT;
  Ashtech_arg.profile = "";
  pthread_create(&ashtech_thread, NULL, (void*) read_Ashtech, (void *) &Ashtech_arg);*/

  Eiva_arg.com = EIVA_PORT;
  Eiva_arg.profile = "";
  pthread_create(&eiva_thread, NULL, (void*) read_Eiva, (void *) &Eiva_arg);


  /* Main loop */

 while (1) {
    usleep(200000);
    if (tttFlag == 1){
       if (eivaFlag == 1){
           tttFlag=0;
	   eivaFlag=0;
	   printf("%i %s\n",event_no, gpsTTT.ttt_time);
	   fprintf(log_fd,"%i %s\n",event_no, gpsTTT.ttt_time);
       }
    }

    //printf(".");
  }
}

//===================================================================
//	E I V A   N O R S T A R   S T R I N G   T O   T R I A C Q
//===================================================================

void read_Eiva (arguments *arg) {
  char eiva_string[256];
  int bytes;
  int fd, n;
  FILE *eiva_fd;
  unsigned char in_buffer[256];


  /*eiva_fd = fopen(arg->com,"r");*/
  fd = open(arg->com, O_RDONLY | O_NOCTTY);

  while (1) {
    bytes=read(fd, &in_buffer, 228);
    event_no=in_buffer[7]+(in_buffer[6]*256);
    printf("%i ",event_no);
    usleep(800000);
    eivaFlag=1;
    /*printf("eiva: (%i) %i %i %i %i : %i\n", bytes,in_buffer[4],in_buffer[5],in_buffer[6],in_buffer[7],event_no);*/
  }
}


//==============================================================
//	A S H T E C H   G G 2 4   G P S   T T T   m e s s a g e
//==============================================================

void read_TTT(arguments *arg) {
  char ashtech_string[256];
  char *str_ptr=ashtech_string;
  char *bytes, *NMEA;
  FILE *a_fd;

    a_fd = fopen(arg->com,"r");
  while (1) {
    /* 1. Reads one line from file descriptor pointing at a RS232 port */
    /* 2. Separates the string using strsep */
    /* 3. Signals the waiting mutex in main */
    bytes=fgets(ashtech_string,sizeof ashtech_string, a_fd);
    //printf("Read TTT thread\n");
    str_ptr=ashtech_string;     /* Pointer to a pointer to a string (strsep) */
    NMEA=strsep(&str_ptr,",");
    if (strcmp("$PASHR",NMEA) == 0) {
      NMEA=strsep(&str_ptr,",");
      if  (strcmp("TTT",NMEA) == 0) {
	gpsTTT.day=strsep(&str_ptr,",");          /* Day */
	gpsTTT.ttt_time=strsep(&str_ptr,",");           /* Time */
	gpsTTT.ttt_time=strsep(&gpsTTT.ttt_time,"*"); /* Strip off the * */
	/*printf("%s\n", gpsTTT.ttt_time);*/
	usleep(800000);
        tttFlag=1;

      } else
	printf("#1: Unknown GPS format: %s\n",NMEA);
    } //else
      //printf("#2: Unknown GPS format: %s\n",NMEA);
    /* Strip carrage return rubbish */
     /*bytes=fgets(ashtech_string,sizeof ashtech_string, a_fd);
     pthread_cond_signal(&ttt_set);*/
  }
}




//=========================================================
//	A S H T E C H   G G 2 4   G P S   r e c e i v e r
//=========================================================

void read_Ashtech(arguments *arg) {
  char ashtech_string[256];
  char *str_ptr=ashtech_string;
  char *NMEA;
  long counter=0;
  char *bytes;
  FILE *a_fd;
  char datadir[256];
  a_fd = fopen(arg->com,"r");
  while (1) {
    bytes=fgets(ashtech_string,sizeof ashtech_string, a_fd);
    str_ptr=ashtech_string;     // Pointer to a pointer to a string (strsep)
    counter++;
    NMEA=strsep(&str_ptr,",");
    if (strcmp("$GPRMC",NMEA) == 0) {
      NMEA=strsep(&str_ptr,",");
      printf("%s\n",NMEA);
    }
  }
}

//=========================================================
//	I n i t i a l i z e   s e r i a l   p o r t s
//=========================================================

void initialize_serial_port(int FLAG, const char *com) {
  // FLAG = 0, configure serial port com for ascii data
  // FLAG = 1, configure serial port com for binary stream
  int fd;
  struct termios options;
  fd = open(com, O_RDWR | O_NOCTTY );
  if (fd <0) {
     perror(com);
     exit(-1);
  }
  if (FLAG == 0) {
    tcgetattr(fd,&options);      /* Get current setting */
    options.c_cflag &= ~PARENB;
    options.c_cflag &= ~CSTOPB;
    options.c_cflag &= ~CSIZE; /* Mask the character size bits */
    options.c_cflag |= CS8;    /* Select 8 data bits */
    options.c_lflag |= (ICANON | ECHO | ECHOE);
    tcsetattr(fd, TCSANOW, &options); /* Apply changes */
    /* Finished serial settings */
  }
 else if (FLAG == 1) {
    tcgetattr(fd,&options);      /* Get current setting */
    cfsetispeed(&options, B9600);
    cfsetospeed(&options, B9600);
    options.c_cflag &= ~PARENB;
    options.c_cflag &= ~CSTOPB;
    options.c_cflag &= ~CSIZE; /* Mask the character size bits */
    options.c_cflag |= CS8;    /* Select 8 data bits */
    options.c_cc[VMIN] = 228;
    options.c_cc[VTIME] = 1;
    options.c_lflag &= ~(ICANON | ECHO | ISIG);  /* Setting for raw data */
    tcsetattr(fd, TCSANOW, &options); /* Apply changes */
    /* Finished serial settings */
  }
  close(fd);
}