_rx_stream = None
_pkt_handlers = {}


class Packet:
    SOP = 0x2B
    MAX_LENGTH = 255  # TBD

    INPUT_JOYSTICK = 0x01
    INPUT_WHEEL = 0x03
    EFFECT_STATES = 0x02

    SET_CONTROL = 0x40
    CONTROL = 0x41
    SET_EFFECT_STATE = 0x42
    SET_OVERALL = 0x43

    QUERY = 0xFF

    Types = [
        INPUT_JOYSTICK,
        INPUT_WHEEL,
        EFFECT_STATES,
        SET_CONTROL,
        CONTROL,
        SET_EFFECT_STATE,
        SET_OVERALL,
        QUERY
    ]


class ControlType:
    DEAD_ZONE = 0x00
    IGNORE_DEADMAN_SWITCH = 0x01
    ENABLE_COMM_WATCHDOG = 0x02
    SET_SPRING_STRENGTH = 0x03
    ENABLE_SPRING = 0x04
    SET_AXIS_SATURATION = 0x05


class OverallControlType:
    GAIN = 0x00


class Query:
    # Queries
    BufferSize = 0x42  # ('B'uffer size)
    Manufacturer = 0x4d  # ('M'anufacturer)
    Product = 0x50  # ('P'roduct)
    Version = 0x56  # ('V'ersion)
    NumberOfEffects = 0x4e  # ('N'umber of effects)
    Effect = 0x45  # ('E')ffect

    # Control
    Open = 0x4f  # ('O'pen)
    Close = 0x43  # ('C')lose


def tx_packet(command, data):
    cs = Packet.SOP
    yield Packet.SOP
    cs ^= command
    yield command
    cs ^= len(data)
    yield len(data)
    for d in data:
        cs ^= d
        yield d
    yield cs


def rx_packet(instream):
    while instream:
        # sync start
        c = 0
        cs = Packet.SOP
        while c != Packet.SOP:
            c = next(instream)

        # packet type
        pkt_type = next(instream)
        cs ^= pkt_type
        if pkt_type not in Packet.Types:
            continue

        # packet length
        pkt_len = next(instream)
        cs ^= pkt_len
        assert pkt_len < Packet.MAX_LENGTH

        # data
        data = []
        for _ in range(pkt_len):
            d = next(instream)
            cs ^= d
            data.append(d)

        # checksum
        cs_in = next(instream)
        cs ^= cs_in

        yield (pkt_type, data, (cs == 0))


def create_rx_stream(input_stream):
    global _rx_stream
    _rx_stream = rx_packet(input_stream)


def rx_pump():
    global _rx_stream
    command, data, ok = next(_rx_stream)
    if ok:
        handle_pkt(command, data)


def set_handler(pkt_type, handler):
    global _pkt_handlers
    _pkt_handlers[pkt_type] = handler


def handle_pkt(command, data):
    global _pkt_handlers
    if command == Packet.INPUT_WHEEL:
        output = {
            'axis': {
                'wheel': int.from_bytes(data[0:2], byteorder='little', signed=True) / 2048,
                'gas': 1 - data[2] / 255,
                'brake': 1 - data[3] / 255
            },
            'buttons': {
                'B': bool(data[5] & 0x20),
                'A': bool(data[5] & 0x10),

                '4': bool(data[5] & 0x08),
                '3': bool(data[5] & 0x04),
                '2_PaddleDown': bool(data[5] & 0x02),
                '1_PaddleUp_Start': bool(data[5] & 0x01)
            },
            'hat': {
                'center': (data[6] & 0xF0) == 0xF0,
                'up': (data[6] & 0xF0) == 0x00,
                'down': (data[6] & 0xF0) == 0x40,
                'left': (data[6] & 0xF0) == 0x60,
                'right': (data[6] & 0xF0) == 0x20
            }
        }
    elif command == Packet.QUERY:
        output = {
            'query': data[0],
            'data': data[1:]
        }
    else:
        output = data
    if _pkt_handlers.get(command):
        _pkt_handlers[command](output)