#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <rc/sumd.h>
#include "../../src/systemcmds/tests/tests.h"

#include "gtest/gtest.h"

TEST(SUMDTest, SUMD)
{
	const char *filepath = "testdata/sumd_data.txt";

	warnx("loading data from: %s", filepath);

	FILE *fp;

	fp = fopen(filepath, "rt");
	//ASSERT_TRUE(fp);

	float f;
	unsigned x;
	int ret;

	// Trash the first 20 lines
	for (unsigned i = 0; i < 20; i++) {
		char buf[200];
		(void)fgets(buf, sizeof(buf), fp);
	}

	float last_time = 0;

	while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) {
		if (((f - last_time) * 1000 * 1000) > 3000) {
			// warnx("FRAME RESET\n\n");
		}

		uint8_t b = static_cast<uint8_t>(x);

		last_time = f;

		// Pipe the data into the parser
		hrt_abstime now = hrt_absolute_time();

		uint8_t rssi;
		uint8_t rx_count;
		uint16_t channel_count;
		uint16_t channels[32];


		if (!sumd_decode(b, &rssi, &rx_count, &channel_count, channels, 32)) {
			//warnx("decoded: %u channels (converted to PPM range)", (unsigned)channel_count);

			for (unsigned i = 0; i < channel_count; i++) {

				int16_t val = channels[i];
				//warnx("channel %u: %d 0x%03X", i, static_cast<int>(val), static_cast<int>(val));
			}
		}
	}

	ASSERT_EQ(EOF, ret);
}
