packet_definitions = """packet_rtc 1 28 uint32_t t 0 4 RTC_TimeTypeDef sTime 4 20 RTC_DateTypeDef sDate 24 4
packet_vbatt 2 8 uint32_t t 0 4 uint16_t vbatt_cnts 4 2
packet_imu 3 148 uint32_t t 0 4 uint8_t data[141] 4 1
packet_adc 4 268 uint32_t t 0 4 uint8_t index 4 1 int32_t ekg_readings_cnts[50] 8 4 int32_t str_readings_cnts[5] 208 4 int32_t oT_readings_cnts[5] 228 4 int32_t iT_readings_cnts[5] 248 4
packet_spo2 5 184 uint32_t t 0 4 uint8_t bytes[180] 4 1
packet_msg 6 36 uint32_t t 0 4 char buff[32] 4 1"""

def arr_sizes(s):
    if s[-1:] != b']' or b'[' not in s:
        return 1
    v = int(s[s.rindex(b'[') + 1:-1])
    return v

def get_type_list(lines):

    types = []

    for line in lines:
        if line != b'':
            L = line.split(b" ")
            types.append({'type_name' : L[0],
                          'type_code' : int(L[1]),
                          'size' : int(L[2]),
                          'elements' : []
                          })
            i = 3
            while i < len(L):
                types[-1]['elements'].append({'type_name' : L[i], 'name' : L[i + 1], 'offset' : int(L[i + 2]), 'n_elements' : arr_sizes(L[i + 1]), 'size' : int(L[i + 3]) * arr_sizes(L[i + 1])})
                i += 4
    return types

def my_filter(arr):
    inds = np.where(np.abs(np.diff(arr)) > 0.005)[0]
    for ind in inds:
        prev_ind = ind - 1
        while prev_ind in inds:
            prev_ind -= 1
        next_ind = ind + 1
        while next_ind in inds:
            next_ind += 1
        arr[ind] = 0.5 * arr[prev_ind] + 0.5 * arr[next_ind]
    return arr

accs = []
gyros = []
def process_imu(d, t):
    global accs
    global gyros
    for e in t['elements']:
        block = d[e['offset']:e['offset'] + e['size']]
        element_size = int(len(block) / e['n_elements'])
        if e['name'] == b'data[141]':
            for i in range(20):
                reading = block[1 + 7 * i : 8 + 7 * i]
                #print(reading)
                imu_reading_type = reading[0] >> 3
                imu_reading_tag_cnt = (reading[0] >> 1) & 3
                data = np.array([int.from_bytes(reading[2 * i + 1 : 2 * i + 3], byteorder = 'little', signed = True) for i in range(3)])
                if imu_reading_type == 1:
                    gyros.append(250 / (1<<16) * data)
                elif imu_reading_type == 2:
                    accs.append(4 / (1<<16) * data)
                else:
                    assert False
            if len(gyros) > 400:
                gyros = gyros[-400:]
            if len(accs) > 400:
                accs = accs[-400:]
            fig, axs = plt.subplots(2)
            g = np.array(gyros)
            a = np.array(accs)
            axs[0].set_ylabel("dps")
            axs[0].plot(g[:,0])
            axs[0].plot(g[:,1])
            axs[0].plot(g[:,2])
            axs[1].set_ylabel("g")
            axs[1].plot(a[:,0])
            axs[1].plot(a[:,1])
            axs[1].plot(a[:,2])
            plt.savefig("acc_gyro.png")
            plt.close()

def read_and_process(types, cons, size):
    index = 0
    while (index < size):
        packet_type = cons[index]
        t = [t for t in types if t['type_code'] == packet_type][0]
        print(index, packet_type, t['type_name'])
        d = cons[index + 1 : index + 1 + t['size']]
        if t['type_name'] == b'packet_imu':
            pass
        #process_imu(d, t)
        if t['type_name'] == b'packet_msg':
            print(d)
        index += 1 + t['size']