/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2021, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "rawlog-edit-declarations.h"

#include <mrpt/obs/CObservationIMU.h>

using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::system;
using namespace mrpt::rawlogtools;
using namespace std;
using namespace mrpt::io;

// ======================================================================
//		op_export_imu_txt
// ======================================================================
DECLARE_OP_FUNCTION(op_export_imu_txt)
{
	// A class to do this operation:
	class CRawlogProcessor_ExportIMU_TXT
		: public CRawlogProcessorOnEachObservation
	{
	   protected:
		string m_inFile;

		map<string, FILE*> lstFiles;
		string m_filPrefix;

	   public:
		size_t m_entriesSaved;

		CRawlogProcessor_ExportIMU_TXT(
			CFileGZInputStream& in_rawlog, TCLAP::CmdLine& cmdline,
			bool Verbose)
			: CRawlogProcessorOnEachObservation(in_rawlog, cmdline, Verbose),
			  m_entriesSaved(0)
		{
			getArgValue<string>(cmdline, "input", m_inFile);

			m_filPrefix =
				extractFileDirectory(m_inFile) + extractFileName(m_inFile);
		}

		// return false on any error.
		bool processOneObservation(CObservation::Ptr& o) override
		{
			if (!IS_CLASS(*o, CObservationIMU)) return true;

			const CObservationIMU* obs =
				dynamic_cast<CObservationIMU*>(o.get());

			auto it = lstFiles.find(obs->sensorLabel);

			FILE* f_this;

			if (it == lstFiles.end())  // A new file for this sensorlabel??
			{
				const std::string fileName =
					m_filPrefix + string("_") +
					fileNameStripInvalidChars(obs->sensorLabel) +
					string(".txt");

				VERBOSE_COUT << "Writing IMU TXT file: " << fileName << endl;

				f_this = lstFiles[obs->sensorLabel] =
					os::fopen(fileName.c_str(), "wt");
				if (!f_this)
					THROW_EXCEPTION_FMT(
						"Cannot open output file for write: %s",
						fileName.c_str());

				// The first line is a description of the columns:
				::fprintf(
					f_this,
					"%% "
					"%14s "  // TIMESTAMP
					"%22s %22s %22s "  // IMU_{X,Y,Z}_ACC
					"%22s %22s %22s "  // IMU_YAW_VEL...
					"%22s %22s %22s "  // IMU_X_VEL...
					"%22s %22s %22s "  // IMU_YAW...
					"%22s %22s %22s "  // IMU_X...
					"%22s %22s %22s "  // MAG_X MAG_Y MAG_Z
					"%22s %22s %22s "  // PRESS ALTIT TEMP
					"\n",
					"Time", "IMU_X_ACC", "IMU_Y_ACC", "IMU_Z_ACC",
					"IMU_YAW_VEL", "IMU_PITCH_VEL", "IMU_ROLL_VEL", "IMU_X_VEL",
					"IMU_Y_VEL", "IMU_Z_VEL", "IMU_YAW", "IMU_PITCH",
					"IMU_ROLL", "IMU_X", "IMU_Y", "IMU_Z", "MAG_X", "MAG_Y",
					"MAG_Z", "PRESS", "ALTITUDE", "TEMPERATURE");
			}
			else
				f_this = it->second;

			ASSERT_(obs->dataIsPresent.size() == obs->rawMeasurements.size());
			size_t nValuesPerRow = obs->dataIsPresent.size();

			// For each entry in this sequence: Compute the timestamp and save
			// all 15 values:
			ASSERT_(obs->timestamp != INVALID_TIMESTAMP);
			TTimeStamp t = obs->timestamp;

			double sampleTime = timestampTotime_t(t);

			// Time:
			::fprintf(f_this, "%14.4f ", sampleTime);
			ASSERT_(obs->rawMeasurements.size() == obs->rawMeasurements.size());
			for (size_t idx = 0; idx < nValuesPerRow; idx++)
				::fprintf(
					f_this, "%23.16f ",
					obs->dataIsPresent[idx] ? obs->rawMeasurements[idx] : 0);
			::fprintf(f_this, "\n");

			m_entriesSaved++;

			return true;  // All ok
		}

		// Destructor: close files and generate summary files:
		~CRawlogProcessor_ExportIMU_TXT()
		{
			for (auto it = lstFiles.begin(); it != lstFiles.end(); ++it)
			{
				os::fclose(it->second);
			}

			// Save the joint file:
			// -------------------------
			VERBOSE_COUT << "Number of different IMU sensorLabels     : "
						 << lstFiles.size() << endl;

			lstFiles.clear();
		}  // end of destructor
	};

	// Process
	// ---------------------------------
	CRawlogProcessor_ExportIMU_TXT proc(in_rawlog, cmdline, verbose);
	proc.doProcessRawlog();

	// Dump statistics:
	// ---------------------------------
	VERBOSE_COUT << "Time to process file (sec)        : " << proc.m_timToParse
				 << "\n";
	VERBOSE_COUT << "Number of records saved           : "
				 << proc.m_entriesSaved << "\n";
}
