term.setBackgroundColor(colours.black)
term.clear()
term.setCursorPos(1,1)
--
local propConfig = textutils.unserialize(fs.open("propConfig.txt",'r').readAll())
local propList = propConfig.props
local relayList = propConfig.relays
local rotorList = {}

local airshipConfig = textutils.unserialize(fs.open("airshipConfig.txt",'r').readAll())
local airshipName = airshipConfig.airshipName
local airshipChannel = tonumber(airshipConfig.airshipChannel)
--
local modem = peripheral.wrap('back')
local all_sides = {"front","back","top","bottom","left","right"}

local function adjustSpeedController(prop,multiplier)
    --print(peripheral.getType(prop.rotor))
    --print(prop.rotorName,multiplier)
    if prop.type == 'Create_RotationSpeedController' then
        prop.rotor.setTargetSpeed(prop.speed*multiplier)
    elseif prop.type == 'electric_motor' then
        prop.rotor.setSpeed(prop.speed*multiplier)
    end
end

local function adjustRelay(relay,command_axes)
for i2,axis in pairs(relay.axes) do
            if command_axes[i2] > 0 then
                if axis.pos then
                    relay.relay.setOutput(axis.pos,true)
                end
                if axis.neg then
                    relay.relay.setOutput(axis.neg,false)
                end
            elseif command_axes[i2] < 0 then
                if axis.neg then
                    relay.relay.setOutput(axis.neg,true)
                end
                if axis.pos then
                    relay.relay.setOutput(axis.pos,false)
                end
            else
                relay.relay.setOutput(axis.pos,false)
                relay.relay.setOutput(axis.neg,false)
            end
        end
end

local function handleMovementCommand(command_axes)
    --#props
    for i,prop in pairs(propList) do
        local num = 0
        local total = 0
        local calculated_average = 0
        --
        for i2,axis in pairs(prop.axes) do
            local relative_axis = command_axes[i2]
            if relative_axis ~= 0 and prop.axes[i2] ~= 0 then
                --print(i2,prop.axes[i2])
                total = total + 1
                num = num + relative_axis*axis
            end
        end
        if total ~= 0 then
            --print(total)
           calculated_average = (num/total)
        end
        local ok, err = pcall(adjustSpeedController,prop,calculated_average)
    end
    --#relays
    for i,relay in pairs(relayList) do
        adjustRelay(relay,command_axes)
    end
end

local function handleTransmission(event, modemSide, senderChannel, replyChannel, transmission, senderDistance)
    if event == 'modem_message' and transmission[1] and transmission[1] == 'airshipTransmission' and senderDistance < 100 then
        if transmission[2] == airshipName then
            --print('Received Airship Command Transmission:',airshipName)
            --
            local command_axes = transmission[3]
            handleMovementCommand(command_axes)
        end
    end
end
--
for i,prop in pairs(propList) do
    --print('Got Rotor:',prop.peripheralName)
    prop.rotor = peripheral.wrap(prop.peripheralName)
    prop.type = peripheral.getType(prop.rotor)
    adjustSpeedController(prop,0)
end

for i,relay in pairs(relayList) do
    --print('Got Relay:',relay.peripheralName)
    relay.relay = peripheral.wrap(relay.peripheralName)
    for i,side in pairs(all_sides) do
        relay.relay.setOutput(side, false)
    end
end

modem.open(airshipChannel)
while true do
    local airshipTransmission = handleTransmission(os.pullEvent())
end