#!/usr/bin/env python3
import atexit
import curses
import sys
class UI:
    def init(self):
        self.stdscr = curses.initscr()
        curses.noecho()
        curses.cbreak()
        curses.curs_set(0)
        self.stdscr.keypad(1)
        self.nubwin = self.stdscr.subwin(9, 17, 2, 4)
        self.inwin = self.stdscr.subwin(10, 20, 2, 23)
        self.lthwin = self.stdscr.subwin(9, 4, 2, 45)
        self.rthwin = self.stdscr.subwin(9, 4, 2, 50)
        self.outwin = self.stdscr.subwin(10, 20, 2, 56)
    def draw(self):
        self.stdscr.box()
        self.nubwin.box()
        self.inwin.box()
        self.inwin.addstr(0, 1, ' Input ')
        self.inwin.addstr(2, 4, 'Nub X:')
        self.inwin.addstr(3, 4, 'Nub Y:')
        self.inwin.addstr(4, 4, 'Pitch:')
        self.inwin.addstr(5, 4, 'Roll:')
        self.inwin.addstr(6, 4, 'C:')
        self.inwin.addstr(7, 4, 'Z:')
        self.lthwin.box()
        self.rthwin.box()
        self.outwin.box()
        self.outwin.addstr(0, 1, ' Output ')
        self.outwin.addstr(2, 4, 'Left:')
        self.outwin.addstr(3, 4, 'Right:')
        self.stdscr.refresh()
    def update(self, rawinput, lspd, rspd):
        self.inwin.addstr(2, 10, '{0:5}'.format(rawinput.x))
        self.inwin.addstr(3, 10, '{0:5}'.format(rawinput.y))
        self.inwin.addstr(4, 10, '{0:5}'.format(rawinput.pitch))
        self.inwin.addstr(5, 10, '{0:5}'.format(rawinput.roll))
        self.inwin.addstr(6, 8, 'on ' if rawinput.c else 'off')
        self.inwin.addstr(7, 8, 'on ' if rawinput.z else 'off')
        self.inwin.refresh()
        self.nubwin.erase()
        self.nubwin.box()
        self.nubwin.addch(4 - round(rawinput.y / 42), 8 + round(rawinput.x / 21), 'o')
        self.nubwin.refresh()
        self.lthwin.erase()
        self.lthwin.box()
        llim = 4 - round(lspd / 42)
        for i in range(min(llim, 4), max(llim, 4) + 1):
            self.lthwin.addstr(i, 1, '  ', curses.A_REVERSE)
        self.lthwin.refresh()
        self.rthwin.erase()
        self.rthwin.box()
        rlim = 4 - round(rspd / 42)
        for i in range(min(rlim, 4), max(rlim, 4) + 1):
            self.rthwin.addstr(i, 1, '  ', curses.A_REVERSE)
        self.rthwin.refresh()
        self.outwin.addstr(2, 10, '{0:5}'.format(lspd))
        self.outwin.addstr(3, 10, '{0:5}'.format(rspd))
        self.outwin.refresh()
    def error(self, error):
        self.stdscr.addstr(22, 2, error)
        self.stdscr.refresh()
    def finish(self):
        self.stdscr.keypad(0)
        curses.nocbreak()
        curses.echo()
        curses.endwin()
class Driver:
    deadzone = 10
    lspd = 0
    rspd = 0
    def update(self, rawinput):
        self.lspd = 0
        self.rspd = 0
        if abs(rawinput.y) > self.deadzone:
            self.lspd = rawinput.y
            self.rspd = rawinput.y
        if abs(rawinput.x) > self.deadzone:
            self.lspd += rawinput.x
            self.rspd -= rawinput.x
        if self.lspd < -128: self.lspd = -128
        if self.lspd > 127: self.lspd = 127
        if self.rspd < -128: self.rspd = -128
        if self.rspd > 127: self.rspd = 127
class RawInput:
    def __init__(self, x=0, y=0, pitch=0, roll=0, c=False, z=False):
        self.x = x
        self.y = y
        self.pitch = pitch
        self.roll = roll
        self.c = c
        self.z = z
def decode_input(line):
    parts = line.strip().split(',')
    x = int(parts[0])
    y = int(parts[1])
    pitch = int(parts[2])
    roll = int(parts[3])
    c = parts[4] == 'C'
    z = parts[5] == 'Z'
    return RawInput(x, y, pitch, roll, c, z)
def encode_output(lspd, rspd):
    return '{0},{1}\n'.format(lspd, rspd)
def main():
    tty_in = open(sys.argv[1], 'rb', 0)
    tty_out = open(sys.argv[2], 'wb', 0)
    driver = Driver()
    ui = UI()
    ui.init()
    atexit.register(ui.finish)
    ui.draw()
    with tty_in, tty_out:
        while True:
            try:
                line = tty_in.readline().decode()
                rawinput = decode_input(line)
            except (IndexError, ValueError):
                ui.error('bad line "{0}"'.format(line.strip('\n')))
            else:
                driver.update(rawinput)
                ui.update(rawinput, driver.lspd, driver.rspd)
                tty_out.write(encode_output(driver.lspd, driver.rspd).encode())
if __name__ == '__main__':
    main()