import click
import csv
import umsgpack

@click.command
@click.argument('gps-data', type=click.File('r'))
@click.argument('accelerometer-data', type=click.File('r'))
@click.argument('gyro-data', type=click.File('r'))
@click.argument('gps-output', type=click.File('wb'))
@click.argument('motion-output', type=click.File('wb'))
def main(gps_data, accelerometer_data, gyro_data, gps_output, motion_output):
    gps_reader = csv.DictReader(gps_data)
    last_stamp = 0
    for row in gps_reader:
        next_delay = float(row['seconds_elapsed']) - last_stamp
        # We only one one update per second, to cut down on size
        if next_delay < 1:
            continue
        last_stamp = float(row['seconds_elapsed'])
        umsgpack.pack([float(next_delay), float(row['latitude']), float(row['longitude'])], gps_output)
    
    accel_reader = csv.DictReader(accelerometer_data)
    gyro_reader = csv.DictReader(gyro_data)
    #motion_writer = csv.writer(motion_output, SampleDataDialect)
    last_stamp = 0
    for (accel_row, gyro_row) in zip(accel_reader, gyro_reader):
        next_delay = float(accel_row['seconds_elapsed']) - last_stamp
        # Only one update every 100ms, to cut down on size
        if next_delay < 0.02:
            continue
        last_stamp = float(accel_row['seconds_elapsed'])
        umsgpack.pack([
            next_delay,
            float(accel_row['x']), float(accel_row['y']), float(accel_row['z']),
            float(gyro_row['x']), float(gyro_row['y']), float(gyro_row['z'])
        ], motion_output)

if __name__ == "__main__":
    main()