#include "../shared/util.h"
#include "ui.h"

void w2_ui_bar_graph(unsigned int percent) {
	unsigned int width = g_w2_ui_width - 7;
	char bar[width];
	for(unsigned int i = 0; i < width - 2; i++) {
		bar[i+1] = i > (width - 2) * percent / 100 ? ' ' : '*';
	}
	bar[0] = '|';
	bar[width - 1] = '|';
	mvaddnstr(4, 7, bar, width);
}

#define W2_DIRC_MOD ((double) 0.95)
#define W2_DIRC_ADD ((double) 13.0)
#define W2_DIRC_PAD ((double) 1.10)
#define W2_DIRC_SPL ((unsigned int) 20)

int w2_avg(int* samples, unsigned int sample_count) {
	double total = 0;
	for (int i = 0; i < sample_count; i++) {
		total += (double) samples[i] / (double) sample_count;
	}
	return (int) total;
}

#define W2_DIRC_MOTOR_DRIVER(name) \
int w2_dirc_motor_##name(unsigned int forward, unsigned int backward) {\
	static unsigned int idx = 0;\
	\
	static double drive = 0.f;\
	static int drive_avg[W2_DIRC_SPL] = {0};\
	\
	drive *= W2_DIRC_MOD;\
	drive += W2_DIRC_ADD * forward + -W2_DIRC_ADD * backward;\
	drive = W2_RANGE(-254, drive, 255);\
	\
	idx = (idx + 1) % W2_DIRC_SPL;\
	drive_avg[idx] = (int) W2_RANGE(-254, drive * W2_DIRC_PAD, 255);\
	\
	return w2_avg(drive_avg, W2_DIRC_SPL);\
}

W2_DIRC_MOTOR_DRIVER(l);
W2_DIRC_MOTOR_DRIVER(r);

void w2_ui_dirc() {
	int ch = 0;
	unsigned int lb = 0;
	unsigned int lf = 0;
	unsigned int rb = 0;
	unsigned int rf = 0;
	while ((ch = getch()) != -1) {
		if (ch == 'a' || ch == 's') lb++;
		if (ch == 'q' || ch == 'w') lf++;
		if (ch == 'd' || ch == 's') rb++;
		if (ch == 'e' || ch == 'w') rf++;
	}

	int drive_l = w2_dirc_motor_l(lf, lb);
	int drive_r = w2_dirc_motor_r(rf, rb);

	char temp[32] = {0};
	sprintf(temp, "l: %04i, r: %04i", drive_l, drive_r);
	mvaddstr(4, 0, temp);
}