#!/usr/bin/env python3
import dronecan
import sys
# progress bar
from tqdm import tqdm


def main():
    if len(sys.argv) != 4:
        print("Usage: python3 canlog2gps.py <messageName> <logfile> <outputfile>")
        sys.exit(1)

    # Create a CAN bus instance
    print('Starting server as Node ID', 10)

    filename = sys.argv[2]
    out_file = open(sys.argv[3],'wb')
    node = dronecan.make_node("filein:"+filename, node_id=10, bitrate=1000000,speedup=-1)

    def handle_Data(msg):
        # dump the message data to a file
        out_file.write(msg.message.data.to_bytes())

    # message type by key name
    message_type = getattr(dronecan.ardupilot.gnss, sys.argv[1])
    node.add_handler(message_type, handle_Data)

    # progress bar
    pbar = tqdm(total=100)

    while True:
        try:
            node.spin(0.001)
            # print(node.can_driver.stream_progress())
            # show the progress of the stream
            pbar.update(node.can_driver.stream_progress() - pbar.n)
            if node.can_driver.end_of_stream():
                print('End of stream')
                out_file.flush()
                out_file.close()
                sys.exit(0)
        except KeyboardInterrupt:
            out_file.flush()
            out_file.close()
            sys.exit(0)


if __name__ == '__main__':
    main()