#!/usr/bin/env ruby

class Sylphide_Ublox_Extracter

=begin
生データを取得
[[GPS時刻, 衛星数, [CP, Pseudo, Doppler, PRN, Q, SS, LLI]]...]
=end
  def Sylphide_Ublox_Extracter.extract(stream)
    gps_raw_enabled = false
    gps_data = []
    buf = []
    stream.each{|line|
      line.chop!
      if gps_raw_enabled then
        case line
          when /^GPS_Time : ([\d\.]+)/
            buf << $1.to_f
          when /^Number of satellites : (\d+)/
            buf << $1.to_i
          when /^RAW\((\d+)\) : /
            index = $1.to_i
            values = $'.split(/[, ]+/)
            #p values
=begin
  carrier_phase, psuedo_range, doppler
  sv_number
  quarity, signal_strength
  lock_indicator
=end
            3.times{|i| values[i] = values[i].to_f}
            (3...values.size).each{|i|
              values[i] = values[i].to_i
            }
            buf << values
            if index + 1 >= buf[1] then
              #p buf
              gps_data << buf
              #p gps_data
              buf = []
              gps_raw_enabled = false
            end
        end
      elsif line =~ /^Number of satellites : (\d+)/ and $1.to_i >= 4 then
        gps_raw_enabled = true
      end
    }
    return gps_data
  end
  
=begin
位置を取得
[[GPS時刻, 緯度, 経度, 高度, 水平精度, 垂直精度]...]
=end
  def Sylphide_Ublox_Extracter.extract2(stream)
    gps_valid_data = false
    gps_data = []
    buf = nil
    stream.each{|line|
      line.chop!
      if gps_valid_data then
        case line
          when /^GPS_Time : ([\d\.]+)/
            buf = []
            buf << $1.to_f
          when /^Position\(lat, long, alt\) : /
            buf << $'.split(/[, ]+/).collect{|item| item.to_f}
          when /^Position_Acc\(h, v\) : /
            buf << $'.split(/[, ]+/).collect{|item| item.to_f}
            gps_data << buf.flatten
        end
      elsif line =~ /^Number of satellites : (\d+)/ and $1.to_i >= 4 then
        gps_valid_data = true
      end
    }
    return gps_data
  end

=begin
位置と速度を取得
[[GPS時刻, 緯度, 経度, 高度, 水平精度, 垂直精度, 速度N, 速度E, 速度D, 速度精度]...]
=end
  def Sylphide_Ublox_Extracter.extract3(stream)
    gps_valid_data = false
    gps_data = []
    buf = nil
    stream.each{|line|
      line.chop!
      if gps_valid_data then
        case line
          when /^GPS_Time : ([\d\.]+)/
            buf = [$1.to_f]
          when /^Position\(lat, long, alt\) : /
            buf << $'.split(/[, ]+/).collect{|item| item.to_f}
          when /^Position_Acc\(h, v\) : /
            buf << $'.split(/[, ]+/).collect{|item| item.to_f}
            gps_data << buf.flatten
          when /^Velocity\(N, E, D\) : /
            buf << $'.split(/[, ]+/).collect{|item| item.to_f}
          when /^Velocity_Acc : /
            buf << $'.to_f
            gps_data.last.push(*buf.flatten) if buf[0] == gps_data.last[0]
        end
      elsif line =~ /^Number of satellites : (\d+)/ and $1.to_i >= 4 then
        gps_valid_data = true
      end
    }
    return gps_data
  end
  
end

if __FILE__ == $0 then
  gps_data_sv = {}
  Sylphide_Ublox_Extracter::extract($stdin).each{|time_data|
    gps_time = time_data.shift
    time_data.shift
    time_data.each{|sv_data|
      sv_num = sv_data.delete_at(3)
      unless gps_data_sv.include?(sv_num) then
        gps_data_sv[sv_num] = []
      end
      gps_data_sv[sv_num] << [gps_time, sv_data].flatten!
    }
  }
  gps_data_sv.each{|key, val|
    fname = sprintf("ublox_sv_%03d.csv", key)
    fp = open(fname, "w")
    val.each{|v|
      fp.puts(v.join(', '))
    }
    fp.close
  }
end