import pandas as pd
import time
import os
import argparse


def process(logdir, filename):
    chunksize = 1000000

    print ('processing {}...'.format(filename))
    for df in pd.read_csv(filename, chunksize=chunksize, iterator=True, #skiprows=skip_idx,
                          names=['namespace', 'one', 'timestamp', 'name', 'four', 'five', 'six', 'value']):
        print ('\tchunk.. - logdir: {}'.format(logdir))

        # get relevant columns
        #     0      1      2        3   4  5  6    7
        # namespace, ?, timestamp, name, ?, ?, ?, value
        #foo = '/left_arm_joint_trajectory_controller/command_module/root_body_wrench_d_wx'
        # director,6381427,1527102254571862641,/left_arm_joint_trajectory_controller/command_module/root_body_wrench_d_wx,4,306,1759263548,0
        df = df[['timestamp', 'name', 'value']]

        # downsample
        #df = df.iloc[::10, :]

        # get unique names to collect relevant signals
        dfs = dict(tuple(df.groupby('name')))

        # these are the only values we actually want
        long2short = {'_elmo_thruster_aft_port_actuator_current':'current',
                      '_elmo_thruster_aft_port_actuator_vel_act':'actual_velocity',
                      '_elmo_thruster_aft_port_actuator_vel_des':'desired_velocity',
                      '_elmo_thruster_aft_port_actuator_voltage':'voltage',
                      '_elmo_thruster_aft_star_actuator_motor_temp':'thrust'}

        # append to file
        excel_path = os.path.join(logdir, 'parsed.xlsx')
        writer = pd.ExcelWriter(excel_path, engine='xlsxwriter')
        for name in dfs.keys():
            logfilename = name.replace('/','_')
            logfile = os.path.join(logdir, logfilename)
            noname = dfs[name][['timestamp', 'value']]
            # noname.to_csv(logfile)
            if logfilename in long2short:
                noname.to_excel(writer, sheet_name=long2short[logfilename])
        writer.save()

if __name__ == '__main__':

    parser = argparse.ArgumentParser(description='Parse Thruster data')
    parser.add_argument('input', help='Directory containing Lumberjack data')
    parser.add_argument('--logdir', default='', help='Where to save the log files to')
    args = parser.parse_args()

    #path = '/home/pdinh/thruster/16-07-2018'
    path = args.input

    # get list of all the valid logfile names (crap that ends in .gz)
    logfiles = []
    for root, dirs, files in os.walk(path):
        for filename in files:
            if filename.endswith('.gz'):
                newfile = os.path.join(root, filename)
                logfiles.append(newfile)

    for filename in logfiles:

        # get output directory, use same directory where file exists if --logdir parameter not passed in
        dirname = os.path.dirname(filename)
        basename = os.path.basename(dirname)
        logdir = os.path.join(args.logdir, basename)
        if logdir == '':
            logdir = dirname
        if not os.path.exists(logdir):
            os.makedirs(logdir)

        # parse the data with pandas and output it
        process(logdir, filename)