module FANUC
module Ekg

  # :stopdoc:
  LIBPATH = ::File.expand_path(::File.dirname(__FILE__)) + ::File::SEPARATOR
  PATH = ::File.dirname(LIBPATH) + ::File::SEPARATOR
  # :startdoc:

  # Returns the version string for the library.
  #
  def self.version
    @version ||= File.read(path('version.txt')).strip
  end

  # Returns the library path for the module. If any arguments are given,
  # they will be joined to the end of the libray path using
  # <tt>File.join</tt>.
  #
  def self.libpath( *args, &block )
    rv =  args.empty? ? LIBPATH : ::File.join(LIBPATH, args.flatten)
    if block
      begin
        $LOAD_PATH.unshift LIBPATH
        rv = block.call
      ensure
        $LOAD_PATH.shift
      end
    end
    return rv
  end

  # Returns the lpath for the module. If any arguments are given,
  # they will be joined to the end of the path using
  # <tt>File.join</tt>.
  #
  def self.path( *args, &block )
    rv = args.empty? ? PATH : ::File.join(PATH, args.flatten)
    if block
      begin
        $LOAD_PATH.unshift PATH
        rv = block.call
      ensure
        $LOAD_PATH.shift
      end
    end
    return rv
  end

  # Utility method used to require all files ending in .rb that lie in the
  # directory below this file that has the same name as the filename passed
  # in. Optionally, a specific _directory_ name can be passed in such that
  # the _filename_ does not have to be equivalent to the directory.
  #
  def self.require_all_libs_relative_to( fname, dir = nil )
    dir ||= ::File.basename(fname, '.*')
    search_me = ::File.expand_path(
        ::File.join(::File.dirname(fname), dir, '**', '*.rb'))

    Dir.glob(search_me).sort.each {|rb| require rb}
  end
	
	# what parser should we use
	if RUBY_VERSION.to_f >= 1.9
		require 'csv'
		PARSER = CSV
	else
		require 'faster_csv'
		PARSER = FasterCSV
	end
	require 'open-uri' #for opening URLs
	
	class Bin
		attr_accessor :collision_counts
		def initialize
			@collision_counts = []
		end
		
		def total
			@collision_counts.inject {|sum,x| sum+x}
		end
		
		def [](id)
			@collision_counts[id-1]
		end
	end
		
	class Alarm
		attr_reader :occured_at, :error_text, :safety_io, :velocity, :torque, :angle, :disturbance_torque
		def initialize(options={})
			@occured_at = options["DateTime"]
			@error_text = options["ErrorText"]
			@safety_io = options["Safety I/O"]
			
			@velocity = {
				:j1 => options["Vel J1\[%\]"],
				:j2 => options["Vel J2\[%\]"],
				:j3 => options["Vel J3\[%\]"],
				:j4 => options["Vel J4\[%\]"],
				:j5 => options["Vel J5\[%\]"]
			}
			
			@torque = {
				:j1 => options["Torq J1\[%\]"],
				:j2 => options["Torq J2\[%\]"],
				:j3 => options["Torq J3\[%\]"],
				:j4 => options["Torq J4\[%\]"],
				:j5 => options["Torq J5\[%\]"]
			}
			
			@angle = {
				:j1 => options["Angle J1\[rad\]"],
				:j2 => options["Angle J2\[rad\]"],
				:j3 => options["Angle J3\[rad\]"],
				:j4 => options["Angle J4\[rad\]"],
				:j5 => options["Angle J5\[rad\]"],
			}
			
			@disturbance_torque = {
				:j1 => options["DistTorq J1\[%\]"],
				:j2 => options["DistTorq J2\[%\]"],
				:j3 => options["DistTorq J3\[%\]"],
				:j4 => options["DistTorq J4\[%\]"],
				:j5 => options["DistTorq J5\[%\]"]
			}	
		end
		
	end
	
	class EkgData
		attr_accessor :bins, :alarms
		def initialize
			@bins = {
				:zero => Bin.new,
				:v1t1 => Bin.new,
				:v2t1 => Bin.new,
				:v1t2 => Bin.new,
				:v2t2 => Bin.new
			}
			@alarms = {
				:recent => [],
				:worst => []
			}
		end
		
		def axis(id)
		@sum = 0
		@bins.each do |key,bin|
			@sum += bin[id]
		end
		# should i remove bin 0?
		@sum
	end
	end
	
	
	
	class << self

		def split(string)
			@output = {}
			@str = ""
			string.each_line do |line|
				next if line =~ /Severity(\r)?\n/
				next if line =~ /Group,Bin0,BinV1T1,BinV2T1,BinV1T2,BinV2T2(\r)?\n/
				next if line =~ /MRA_Num,DateTime,ErrorText,Safety I\/O,Vel J1\[%\],Vel J2\[%\],Vel J3\[%\],Vel J4\[%\],Vel J5\[%\],Vel J6\[%\],Vel J7\[%\],Vel J8\[%\],Torq J1\[%\],Torq J2\[%\],Torq J3\[%\],Torq J4\[%\],Torq J5\[%\],Torq J6\[%\],Torq J7\[%\],Torq J8\[%\],Angle J1\[rad\],Angle J2\[rad\],Angle J3\[rad\],Angle J4\[rad\],Angle J5\[rad\],Angle J6\[rad\],Angle J7\[rad\],Angle J8\[rad\],DistTorq J1\[%\],DistTorq J2\[%\],DistTorq J3\[%\],DistTorq J4\[%\],DistTorq J5\[%\],DistTorq J6\[%\],DistTorq J7\[%\],DistTorq J8\[%\](\r)?\n/
				next if line =~ /Num,DateTime,ErrorText,Safety I\/O,Vel J1\[%\],Vel J2\[%\],Vel J3\[%\],Vel J4\[%\],Vel J5\[%\],Vel J6\[%\],Vel J7\[%\],Vel J8\[%\],Torq J1\[%\],Torq J2\[%\],Torq J3\[%\],Torq J4\[%\],Torq J5\[%\],Torq J6\[%\],Torq J7\[%\],Torq J8\[%\],Angle J1\[rad\],Angle J2\[rad\],Angle J3\[rad\],Angle J4\[rad\],Angle J5\[rad\],Angle J6\[rad\],Angle J7\[rad\],Angle J8\[rad\],DistTorq J1\[%\],DistTorq J2\[%\],DistTorq J3\[%\],DistTorq J4\[%\],DistTorq J5\[%\],DistTorq J6\[%\],DistTorq J7\[%\],DistTorq J8\[%\](\r)?\n/
				if line =~ /Most Recent Alarms\(MRA\) for Group 1(\r)?\n/
					@output[:bins] = @str
					@str = ""
					next
				end
				if line =~ /Worst Disturbance Alarms for Group 1(\r)?\n/
					@output[:recent] = @str
					@str = ""
					next
				end
				@str += line
			end
			@output[:worst] = @str
			return @output
		end
		
		
		def parse(file)
			@ekg_data = FANUC::Ekg::EkgData.new
			
			f = open(file).read
			output = split(f) # split the output into 3 usable CSV sections
			
			# parse bins
			PARSER.parse(output[:bins],:headers=>"Group,Bin0,BinV1T1,BinV2T1,BinV1T2,BinV2T2") do |line|
				@ekg_data.bins[:zero].collision_counts << line['Bin0'].to_i
				@ekg_data.bins[:v1t1].collision_counts << line['BinV1T1'].to_i
				@ekg_data.bins[:v2t1].collision_counts << line['BinV2T1'].to_i
				@ekg_data.bins[:v1t2].collision_counts << line['BinV1T2'].to_i
				@ekg_data.bins[:v2t2].collision_counts << line['BinV2T2'].to_i
			end
			
			# parse recent alarms
			PARSER.parse(output[:recent],:headers => "MRA_Num,DateTime,ErrorText,Safety I/O,Vel J1\[%\],Vel J2\[%\],Vel J3\[%\],Vel J4\[%\],Vel J5\[%\],Vel J6\[%\],Vel J7\[%\],Vel J8\[%\],Torq J1\[%\],Torq J2\[%\],Torq J3\[%\],Torq J4\[%\],Torq J5\[%\],Torq J6\[%\],Torq J7\[%\],Torq J8\[%\],Angle J1\[rad\],Angle J2\[rad\],Angle J3\[rad\],Angle J4\[rad\],Angle J5\[rad\],Angle J6\[rad\],Angle J7\[rad\],Angle J8\[rad\],DistTorq J1\[%\],DistTorq J2\[%\],DistTorq J3\[%\],DistTorq J4\[%\],DistTorq J5\[%\],DistTorq J6\[%\],DistTorq J7\[%\],DistTorq J8\[%\]") do |line|
				@ekg_data.alarms[:recent] << Ekg::Alarm.new(line.to_hash)
			end
			
			# parse worst disturbances
			PARSER.parse(output[:worst],:headers=>"Num,DateTime,ErrorText,Safety I/O,Vel J1\[%\],Vel J2\[%\],Vel J3\[%\],Vel J4\[%\],Vel J5\[%\],Vel J6\[%\],Vel J7\[%\],Vel J8\[%\],Torq J1\[%\],Torq J2\[%\],Torq J3\[%\],Torq J4\[%\],Torq J5\[%\],Torq J6\[%\],Torq J7\[%\],Torq J8\[%\],Angle J1\[rad\],Angle J2\[rad\],Angle J3\[rad\],Angle J4\[rad\],Angle J5\[rad\],Angle J6\[rad\],Angle J7\[rad\],Angle J8\[rad\],DistTorq J1\[%\],DistTorq J2\[%\],DistTorq J3\[%\],DistTorq J4\[%\],DistTorq J5\[%\],DistTorq J6\[%\],DistTorq J7\[%\],DistTorq J8\[%\]") do |line|
					@ekg_data.alarms[:worst] << Ekg::Alarm.new(line.to_hash)
			end
			
			@ekg_data
		end
	end

end  # module Ekg
end # module FANUC
FANUC::Ekg.require_all_libs_relative_to(__FILE__)