import struct
from ubx.messages.msg import UbxMsg

class RawX(UbxMsg):
	def __init__(self):
		UbxMsg.__init__(self, 0x02, 0x15)

	class Group1:
		@classmethod
		def from_bytes(cls, data: bytes):
			obj = RawX.Group1()
			obj.pr_mes = struct.unpack("<d", data[0:8])[0]
			obj.cp_mes = struct.unpack("<d", data[8:16])[0]
			obj.do_mes = struct.unpack("<f", data[16:20])[0]
			obj.gnss_id = struct.unpack("B", data[20:21])[0]
			obj.sv_id = struct.unpack("B", data[21:22])[0]
			obj.sig_id = struct.unpack("B", data[22:23])[0]
			obj.freq_id = struct.unpack("B", data[23:24])[0]
			obj.lock_time = struct.unpack("<H", data[24:26])[0]
			obj.cno = struct.unpack("B", data[26:27])[0]
			obj.pr_std_dev = struct.unpack("B", data[27:28])[0]
			obj.cp_std_dev = struct.unpack("B", data[28:29])[0]
			obj.do_std_dev = struct.unpack("B", data[29:30])[0]
			obj.do_trk_stat = struct.unpack("B", data[30:31])[0]
			obj.reserved1 = struct.unpack("B", data[31:32])[0]
			return obj.__dict__

	@classmethod
	def from_bytes(cls, data: bytes):
		obj = RawX()
		obj.rcv_tow = struct.unpack("<d", data[0:8])[0]
		obj.week = struct.unpack("<H", data[8:10])[0]
		obj.leap_s = struct.unpack("b", data[10:11])[0]
		obj.num_meas = struct.unpack("B", data[11:12])[0]
		obj.rec_stat = struct.unpack("B", data[12:13])[0]
		obj.version = struct.unpack("B", data[13:14])[0]
		obj.reserved0 = struct.unpack("BB", data[14:16])[0]
		obj.meas = []
		offset = 16
		remain = len(data) - offset
		group_size = 32
		n = offset
		while remain >= group_size:
			group = cls.Group1.from_bytes(data[n:n + 32])
			n += group_size
			remain -= group_size
			obj.meas.append(group)
		if remain:
			print(f"RawX.from_bytes: {remain} trailing bytes unparsed (payload size mismatch)")
		return obj.__dict__