using System;
using System.Text;
using System.IO;
using System.Threading;

using Microsoft.SPOT;
using Microsoft.SPOT.IO;

using GHI.Processor;
using GHI.IO.Storage;

#if(USB_STORAGE)
using GHI.Usb;
using GHI.Usb.Host;
#endif

namespace IMULogger
{
    public class EngrLogger
    {
        private static StringBuilder columnName = new StringBuilder(360);
        private static SDCard sdCard;
        private static StreamWriter logFileStreamWriter;
        private static FileStream logFileFileStream;
        public enum ColumnNums : int
            {
                //First the prefix for all records
                date = 0,
                time,
                accel_x,
                accel_y,
                accel_z,
                gyro_x,
                gyro_y,
                gyro_z,
                mag_x,
                mag_y,
                mag_z,
                euler_x,
                euler_y,
                euler_z,
                quat_w,
                quat_x,
                quat_y,
                quat_z,
                linearAccel_x,
                linearAccel_y,
                linearAccel_z,
                gravity_x,
                gravity_y,
                gravity_z,
                temp,
            }

        //-----------------------------------------------------------------------------------------------------------------
        // Setup the header for the output data.
        //-----------------------------------------------------------------------------------------------------------------
        public static void init(string fileName)
        {
            sdCard = new SDCard();
            sdCard.Mount();

            bool fs_ready = false;
            RemovableMedia.Insert += (a, b) =>
            {
                fs_ready = true;
            };
            while (!fs_ready)
            {
                System.Threading.Thread.Sleep(1);
            }

            string rootDirectory = VolumeInfo.GetVolumes()[0].RootDirectory;

            // Setup the FileStream for saving bytes
            logFileFileStream = new FileStream(rootDirectory + fileName, FileMode.OpenOrCreate, FileAccess.ReadWrite);
            //logFileFileStream = new FileStream(@fileName, FileMode.OpenOrCreate, FileAccess.ReadWrite);


            // setup the StreamWriter for saving text
            //logFileStreamWriter = new StreamWriter(rootDirectory + fileName, false);
            //logFileStreamWriter = new StreamWriter(logFileFileStream);
            logFileStreamWriter = new System.IO.StreamWriter(logFileFileStream);
            
            
            #region define and write header row 
            columnName.Clear();

            columnName.Append("Date");
            columnName.Append("\t");
            columnName.Append("Time");
            columnName.Append("\t");

            // Accelerometer
            columnName.Append("Accel X [m/s/s]");
            columnName.Append("\t");
            columnName.Append("Accel Y [m/s/s]");
            columnName.Append("\t");
            columnName.Append("Accel Z [m/s/s]");
            columnName.Append("\t");

            // Gyroscope
            columnName.Append("Gyro X [Deg/s]");
            columnName.Append("\t");
            columnName.Append("Gyro Y [Deg/s]");
            columnName.Append("\t");
            columnName.Append("Gyro Z [Deg/s]");
            columnName.Append("\t");

            // Magnetomter
            columnName.Append("Mag X [uT]");
            columnName.Append("\t");
            columnName.Append("Mag Y [uT]");
            columnName.Append("\t");
            columnName.Append("Mag Z [uT]");
            columnName.Append("\t");

            // Euler Angles
            columnName.Append("Euler X [Deg]");
            columnName.Append("\t");
            columnName.Append("Euler Y [Deg]");
            columnName.Append("\t");
            columnName.Append("Euler Z [Deg]");
            columnName.Append("\t");

            // Quaternions
            columnName.Append("Quat W [Na]");
            columnName.Append("\t");
            columnName.Append("Quat X [Na]");
            columnName.Append("\t");
            columnName.Append("Quat Y [Na]");
            columnName.Append("\t");
            columnName.Append("Quat Z [Na]");
            columnName.Append("\t");

            // Linear Acceleration
            columnName.Append("Linear Accel X [m/s/s]");
            columnName.Append("\t");
            columnName.Append("Linear Accel Y [m/s/s]");
            columnName.Append("\t");
            columnName.Append("Linear Accel Z [m/s/s]");
            columnName.Append("\t");

            // Gravity 
            columnName.Append("Gravity X [m/s/s]");
            columnName.Append("\t");
            columnName.Append("Gravity Y [m/s/s]");
            columnName.Append("\t");
            columnName.Append("Gravity Z [m/s/s]");
            columnName.Append("\t");

            // Temperature
            columnName.Append("Temp  [C]");
            columnName.Append("\t");
                        
            #endregion

            // Save header information as human readable text
            logFileStreamWriter.WriteLine(columnName.ToString());

            logFileStreamWriter.Flush();
            
            // alternative flushing - more effective?
            //VolumeInfo.GetVolumes()[0].FlushAll();
            
            //Debug.Print(columnName.ToString());
        }

        //-----------------------------------------------------------------------------------------------------------------
        // Save sensor data - QUICK
        //-----------------------------------------------------------------------------------------------------------------
        private static StringBuilder dataString = new StringBuilder(512);
        //public static void saveDataQuickFloats(float[] sensorData)
        //{
        //    for(int i = 0; i< 23; i++)
        //    {
        //        logFileStreamWriter.Write(sensorData[i].ToString("f2"));
        //        logFileStreamWriter.Write("\t");
                
        //        logFileStreamWriter.Flush();
        //    }
        //}

        //-----------------------------------------------------------------------------------------------------------------
        // Save sensor data as human readable text - use StreamWriter
        //-----------------------------------------------------------------------------------------------------------------
        public static void saveDataFloats(ref float[] sensorData)
        {
            dataString.Clear();

            // Date and time
            dataString.Append(Real_Time_Clock.readClock());
            dataString.Append("\t");
            
            // Accelerometer
            dataString.Append(sensorData[0].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[1].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[2].ToString("f4"));
            dataString.Append("\t");
            
            // Gyroscope
            dataString.Append(sensorData[3].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[4].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[5].ToString("f4"));
            dataString.Append("\t");

            // Magnetometer
            dataString.Append(sensorData[6].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[7].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[8].ToString("f4"));
            dataString.Append("\t");

            // Euler Angles
            dataString.Append(sensorData[9].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[10].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[11].ToString("f4"));
            dataString.Append("\t");

            // Quaternions
            dataString.Append(sensorData[12].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[13].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[14].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[15].ToString("f4"));
            dataString.Append("\t");

            // Linear Acceleration
            dataString.Append(sensorData[16].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[17].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[18].ToString("f4"));
            dataString.Append("\t");

            // Gravity
            dataString.Append(sensorData[19].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[20].ToString("f4"));
            dataString.Append("\t");
            dataString.Append(sensorData[21].ToString("f4"));
            dataString.Append("\t");

            // Temperature
            dataString.Append(sensorData[22].ToString("f1"));
            //dataString.AppendLine();         

            // Output human readable text for debugging
            //Debug.Print(dataString.ToString());

            // Save human readable text to SD card using StreamWriter
            logFileStreamWriter.WriteLine(dataString.ToString());
           
        }

        //-----------------------------------------------------------------------------------------------------------------
        // Save sensor data as human readable text - use StreamWriter
        //-----------------------------------------------------------------------------------------------------------------
        public static void saveDataBytes(ref byte[] sensorData)
        {
            // save the data and time as text, add a tab, then save sensor readings as chain of bytes
            dataString.Clear();

            // Date and time
            dataString.Append(Real_Time_Clock.readClock());
            dataString.Append("\t");

            logFileStreamWriter.WriteLine(dataString.ToString());
            logFileStreamWriter.Flush();

            logFileFileStream.Write(sensorData, 0, sensorData.Length);
            logFileFileStream.Flush();
          

        }

        //----------------------------------------------------------------------------------------------------
        // Method: Read data from SD card file
        //----------------------------------------------------------------------------------------------------
        public static void close()
        {
            sdCard.Unmount();
            sdCard.Dispose();
        }
    }
}