from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.numpy_fast import interp, clip
from openpilot.common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
from openpilot.selfdrive.car.gm import gmcan
from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, EV_CAR, SDGM_CAR
from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY

VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation
LongCtrlState = car.CarControl.Actuators.LongControlState
GearShifter = car.CarState.GearShifter
TransmissionType = car.CarParams.TransmissionType

# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
CAMERA_CANCEL_DELAY_FRAMES = 10
# Enforce a minimum interval between steering messages to avoid a fault
MIN_STEER_MSG_INTERVAL_MS = 15

# constants for pitch compensation
PITCH_DEADZONE = 0.01 # [radians] 0.01 ≈ 1% grade
BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds
BRAKE_PITCH_FACTOR_V = [0., 1.] # [unitless in [0,1]]; don't touch

class CarController:
  def __init__(self, dbc_name, CP, VM):
    self.CP = CP
    self.start_time = 0.
    self.apply_steer_last = 0
    self.apply_gas = 0
    self.apply_brake = 0
    self.apply_speed = 0
    self.frame = 0
    self.last_steer_frame = 0
    self.last_button_frame = 0
    self.cancel_counter = 0
    self.pedal_steady = 0.

    self.lka_steering_cmd_counter = 0
    self.lka_icon_status_last = (False, False)

    self.params = CarControllerParams(self.CP)

    self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
    self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
    self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])

    # FrogPilot variables
    self.long_pitch = False
    self.use_ev_tables = False

    self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4)  # runs at 25 Hz
    self.accel_g = 0.0

  def update_frogpilot_variables(self, params):
    self.long_pitch = params.get_bool("LongPitch")
    self.use_ev_tables = params.get_bool("EVTable")

  @staticmethod
  def calc_pedal_command(accel: float, long_active: bool) -> float:
    if not long_active: return 0.

    zero = 0.15625  # 40/256
    if accel > 0.:
      # Scales the accel from 0-1 to 0.156-1
      pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.)
    else:
      # if accel is negative, -0.1 -> 0.015625
      pedal_gas = clip(zero + accel, 0., zero)  # Make brake the same size as gas, but clip to regen

    return pedal_gas


  def update(self, CC, CS, now_nanos):
    actuators = CC.actuators
    accel = actuators.accel
    hud_control = CC.hudControl
    hud_alert = hud_control.visualAlert
    hud_v_cruise = hud_control.setSpeed
    if hud_v_cruise > 70:
      hud_v_cruise = 0

    # Send CAN commands.
    can_sends = []

    # Steering (Active: 50Hz, inactive: 10Hz)
    steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP

    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      # Also send at 50Hz:
      # - on startup, first few msgs are blocked
      # - until we're in sync with camera so counters align when relay closes, preventing a fault.
      #   openpilot can subtly drift, so this is activated throughout a drive to stay synced
      out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
      if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
        steer_step = self.params.STEER_STEP

    self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0

    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
    # received the ASCMLKASteeringCmd loopback confirmation too recently
    last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
    if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
      # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
      if CS.loopback_lka_steering_cmd_ts_nanos == 0:
        self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1

      if CC.latActive:
        new_steer = int(round(actuators.steer * self.params.STEER_MAX))
        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
      else:
        apply_steer = 0

      self.last_steer_frame = self.frame
      self.apply_steer_last = apply_steer
      idx = self.lka_steering_cmd_counter % 4
      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))

    if self.CP.openpilotLongitudinalControl:
      # Gas/regen, brakes, and UI commands - all at 25Hz
      if self.frame % 4 == 0:
        stopping = actuators.longControlState == LongCtrlState.stopping
        at_full_stop = CC.longActive and CS.out.standstill
        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
        interceptor_gas_cmd = 0

        # Pitch compensated acceleration;
        # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
        self.pitch.update(CC.orientationNED[1])
        self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
        accel += self.accel_g
        if not CC.longActive:
          # ASCM sends max regen when not enabled
          self.apply_gas = self.params.INACTIVE_REGEN
          self.apply_brake = 0
        elif near_stop and stopping and not CC.cruiseControl.resume:
          self.apply_gas = self.params.INACTIVE_REGEN
          self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
        else:
          # Normal operation
          brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
          if self.CP.carFingerprint in EV_CAR and self.use_ev_tables:
            self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
            self.apply_gas = int(round(interp(accel if self.long_pitch else actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
            self.apply_brake = int(round(interp(brake_accel if self.long_pitch else actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
          else:
            self.apply_gas = int(round(interp(accel if self.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
            self.apply_brake = int(round(interp(brake_accel if self.long_pitch else actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
          # Don't allow any gas above inactive regen while stopping
          # FIXME: brakes aren't applied immediately when enabling at a stop
          if stopping:
            self.apply_gas = self.params.INACTIVE_REGEN
          if self.CP.carFingerprint in CC_ONLY_CAR:
            # gas interceptor only used for full long control on cars without ACC
            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive)

        if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
          # "Tap" the accelerator pedal to re-engage ACC
          interceptor_gas_cmd = self.params.SNG_INTERCEPTOR_GAS
          self.apply_brake = 0
          self.apply_gas = self.params.INACTIVE_REGEN

        idx = (self.frame // 4) % 4

        if self.CP.flags & GMFlags.CC_LONG.value:
          if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed:
            # Using extend instead of append since the message is only sent intermittently
            can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators))
        if self.CP.enableGasInterceptor:
          can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
        if self.CP.carFingerprint not in CC_ONLY_CAR:
          friction_brake_bus = CanBus.CHASSIS
          # GM Camera exceptions
          # TODO: can we always check the longControlState?
          if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR:
            at_full_stop = at_full_stop and stopping
            friction_brake_bus = CanBus.POWERTRAIN

          if self.CP.autoResumeSng:
            resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume
            at_full_stop = at_full_stop and not resume

          # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
          can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
          can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
                                                               idx, CC.enabled, near_stop, at_full_stop, self.CP))

          # Send dashboard UI commands (ACC status)
          send_fcw = hud_alert == VisualAlert.fcw
          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw, CS.display_menu, CS.personality_profile))
      else:
        # to keep accel steady for logs when not sending gas
        accel += self.accel_g

      # Radar needs to know current speed and yaw rate (50hz),
      # and that ADAS is alive (10hz)
      if not self.CP.radarUnavailable:
        tt = self.frame * DT_CTRL
        time_and_headlights_step = 10
        if self.frame % time_and_headlights_step == 0:
          idx = (self.frame // time_and_headlights_step) % 4
          can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
          can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))

        speed_and_accelerometer_step = 2
        if self.frame % speed_and_accelerometer_step == 0:
          idx = (self.frame // speed_and_accelerometer_step) % 4
          can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))

      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)

      # TODO: integrate this with the code block below?
      if (
          (self.CP.flags & GMFlags.PEDAL_LONG.value)  # Always cancel stock CC when using pedal interceptor
          or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled)  # Cancel stock CC if OP is not active
      ) and CS.out.cruiseState.enabled:
        if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
          self.last_button_frame = self.frame
          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL))

    else:
      # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
      # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
      self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0

      # Stock longitudinal, integrated at camera
      if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
        if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
          self.last_button_frame = self.frame
          if self.CP.carFingerprint in SDGM_CAR:
            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL))
          else:
            can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))

    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
      if self.frame % 10 == 0:
        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))

    new_actuators = actuators.copy()
    new_actuators.accel = accel
    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
    new_actuators.steerOutputCan = self.apply_steer_last
    new_actuators.gas = self.apply_gas
    new_actuators.brake = self.apply_brake
    new_actuators.speed = self.apply_speed

    self.frame += 1
    return new_actuators, can_sends
