class aip_parser:
    def digitalWrite(self, args):
        if len(args) != 2:
            return
        self.robot.digitalWrite(*map(int, args))
    
    def analogWrite(self, args):
        if len(args) != 2:
            return
        self.robot.analogWrite(*map(int, args))
        
    cmds = {
        "dw" : digitalWrite,
        "aw" : analogWrite
    }
        
    def __init__(self, stream, robot):
        self.stream = stream
        self.cmd_buff = ""
        self.robot = robot
    
    def poll(self):
        c=self.stream.read(1)
        if len(c)==0:
            print("end")
            return False
        if len(self.cmd_buff)==0:
            if c != b'$':
                return True
            self.cmd_buff = "_"
        else:
            if c == b';':
                self.parse_line()
            else:
                self.cmd_buff += c.decode()
        return True
    
    def parse_line(self):
        cmd = self.cmd_buff[1:].split(',')
        cmdFct = self.cmds.get(cmd[0])
        if cmdFct:
            cmdFct(self, cmd[1:])
        self.cmd_buff = ""