#!/usr/bin/ruby

$: << File::dirname(__FILE__)
$: << File::join([File::dirname(__FILE__), "..", "SylphideCAM"])
$: << File::join([File::dirname(__FILE__), "..", "..", "common", "ruby"])

require 'log2ad'
require 'log2ubx'
require 'log2bmp'

$stderr.puts "Usage #{__FILE__} log.dat"

if ARGV.size < 1 then exit end
  
file_name = ARGV.shift

bmp_extractor = BitMapExtractor::new
ad_extractor = ADExtractor::new
ubx_extractor = UBXExtractor::new

# 優先順位があるので順番に注意
extractors = [
    bmp_extractor,
    ad_extractor,
    ubx_extractor]

open(file_name){|io|
  io.binmode
  page_count = -1
  while !io.eof?
    page_count += 1
    page = io.read(32)
    extractors.each{|extractor|
      break if extractor.process(page)
    }
  end
}

base_name = File.basename(file_name, ".*")

# 位置の出力(GPS)
open("#{base_name}_pos.csv", "w"){|io|
  ubx_extractor.fetch_llh.each{|itow, llh|
    lat, long, height = llh
    io.puts "#{itow}, #{lat}, #{long}, #{height}"
  }  
}
# 速度の出力(GPS)
open("#{base_name}_vel.csv", "w"){|io|
  ubx_extractor.fetch_velned.each{|itow, velned|
    v_north, v_east, v_down = velned
    io.puts "#{itow}, #{v_north}, #{v_east}, #{v_down}"
  }
}

# 画像の出力(カメラ)
bmp_extractor.bitmaps.each{|time, bitmap|
  open("#{base_name}_#{sprintf('%09d', time)}.bmp", "w"){|io_bitmap|
    io_bitmap.print bitmap
  }
}

# 加速度の出力(加速度計)
open("#{base_name}_ad.csv", "w"){|io|
  ad_extractor.time_xyz.to_a.sort{|a, b| a[0] <=> b[0]}.each{|item|
    io.puts item.flatten.join(',')
  }
}