#include "selfdrive/ui/qt/offroad/settings.h"

#include <cassert>
#include <cmath>
#include <string>
#include <tuple>
#include <vector>

#include <QDebug>
#include <QScrollBar>

#include "selfdrive/ui/qt/network/networking.h"

#include "common/params.h"
#include "common/watchdog.h"
#include "common/util.h"
#include "system/hardware/hw.h"
#include "selfdrive/ui/qt/widgets/controls.h"
#include "selfdrive/ui/qt/widgets/input.h"
#include "selfdrive/ui/qt/widgets/scrollview.h"
#include "selfdrive/ui/qt/widgets/ssh_keys.h"
#include "selfdrive/ui/qt/widgets/toggle.h"
#include "selfdrive/ui/ui.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/qt_window.h"

#include "selfdrive/frogpilot/navigation/ui/navigation_settings.h"
#include "selfdrive/frogpilot/ui/control_settings.h"
#include "selfdrive/frogpilot/ui/vehicle_settings.h"
#include "selfdrive/frogpilot/ui/visual_settings.h"

// Bbot notes:
// This is the main settings page.  All other settings pages attach themselves to this page.

TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
  // param, title, desc, icon
  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
    {
      "OpenpilotEnabledToggle",
      tr("Enable openpilot"),
      tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
      "../assets/offroad/icon_openpilot.png",
    },
    {
      "ExperimentalLongitudinalEnabled",
      tr("openpilot Longitudinal Control (Alpha)"),
      QString("<b>%1</b><br><br>%2")
      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
      "../assets/offroad/icon_speed_limit.png",
    },
    {
      "ExperimentalMode",
      tr("Experimental Mode"),
      "",
      "../assets/img_experimental_white.svg",
    },
    {
      "DisengageOnAccelerator",
      tr("Disengage on Accelerator Pedal"),
      tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
      "../assets/offroad/icon_disengage_on_accelerator.svg",
    },
    {
      "IsLdwEnabled",
      tr("Enable Lane Departure Warnings"),
      tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
      "../assets/offroad/icon_warning.png",
    },
    {
      "RecordFront",
      tr("Record and Upload Driver Camera"),
      tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
      "../assets/offroad/icon_monitoring.png",
    },
    {
      "IsMetric",
      tr("Use Metric System"),
      tr("Display speed in km/h instead of mph."),
      "../assets/offroad/icon_metric.png",
    },
#ifdef ENABLE_MAPS
    {
      "NavSettingTime24h",
      tr("Show ETA in 24h Format"),
      tr("Use 24h format instead of am/pm"),
      "../assets/offroad/icon_metric.png",
    },
    {
      "NavSettingLeftSide",
      tr("Show Map on Left Side of UI"),
      tr("Show map on left side when in split screen view."),
      "../assets/offroad/icon_road.png",
    },
#endif
  };


  std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
  long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
                                          tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. "
                                             "In relaxed mode openpilot will stay further away from lead cars."),
                                          "../assets/offroad/icon_speed_limit.png",
                                          longi_button_texts);
  for (auto &[param, title, desc, icon] : toggle_defs) {
    auto toggle = new ParamControl(param, title, desc, icon, this);

    bool locked = params.getBool((param + "Lock").toStdString());
    toggle->setEnabled(!locked);

    addItem(toggle);
    toggles[param.toStdString()] = toggle;

    // insert longitudinal personality after NDOG toggle
    if (param == "DisengageOnAccelerator" && !params.getInt("AdjustablePersonalities")) {
      addItem(long_personality_setting);
    }
  }

  // Toggles with confirmation dialogs
  toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
  toggles["ExperimentalMode"]->setConfirmation(true, true);
  toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false);

  connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() {
    updateToggles();
  });

  connect(toggles["IsMetric"], &ToggleControl::toggleFlipped, [=]() {
    updateMetric();
  });
}

void TogglesPanel::expandToggleDescription(const QString &param) {
  toggles[param.toStdString()]->showDescription();
}

void TogglesPanel::showEvent(QShowEvent *event) {
  updateToggles();
}

void TogglesPanel::updateToggles() {
  auto experimental_mode_toggle = toggles["ExperimentalMode"];
  auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
  const QString e2e_description = QString("%1<br>"
                                          "<h4>%2</h4><br>"
                                          "%3<br>"
                                          "<h4>%4</h4><br>"
                                          "%5<br>"
                                          "<h4>%6</h4><br>"
                                          "%7")
                                  .arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
                                  .arg(tr("End-to-End Longitudinal Control"))
                                  .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
                                          "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; "
                                          "mistakes should be expected."))
                                  .arg(tr("Navigate on openpilot"))
                                  .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right "
                                          "appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around "
                                          "exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc."))
                                  .arg(tr("New Driving Visualization"))
                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. "
                                          "When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green."));

  const bool is_release = params.getBool("IsReleaseBranch");
  auto cp_bytes = params.get("CarParamsPersistent");
  if (!cp_bytes.empty()) {
    AlignedBuffer aligned_buf;
    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();

    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
      params.remove("ExperimentalLongitudinalEnabled");
    }
    op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
    if (hasLongitudinalControl(CP)) {
      // normal description and toggle
      experimental_mode_toggle->setEnabled(!params.getBool("ConditionalExperimental"));
      experimental_mode_toggle->setDescription(e2e_description);
      long_personality_setting->setEnabled(true);
    } else {
      // no long for now
      experimental_mode_toggle->setEnabled(false);
      long_personality_setting->setEnabled(false);
      params.remove("ExperimentalMode");

      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");

      QString long_desc = unavailable + " " + \
                          tr("openpilot longitudinal control may come in a future update.");
      if (CP.getExperimentalLongitudinalAvailable()) {
        if (is_release) {
          long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
        } else {
          long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.");
        }
      }
      experimental_mode_toggle->setDescription("<b>" + long_desc + "</b><br><br>" + e2e_description);
    }

    experimental_mode_toggle->refresh();
  } else {
    experimental_mode_toggle->setDescription(e2e_description);
    op_long_toggle->setVisible(false);
  }
}

DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
  setSpacing(50);
  addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A"))));
  addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str()));

  // offroad-only buttons

  auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
                                   tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
  connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
  addItem(dcamBtn);

  auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
  connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
  connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
      params.remove("CalibrationParams");
      params.remove("LiveTorqueParameters");
    }
  });
  addItem(resetCalibBtn);

  if (!params.getBool("Passive")) {
    auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
    connect(retrainingBtn, &ButtonControl::clicked, [=]() {
      if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) {
        emit reviewTrainingGuide();
      }
    });
    addItem(retrainingBtn);
  }

  if (Hardware::TICI()) {
    auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
    connect(regulatoryBtn, &ButtonControl::clicked, [=]() {
      const std::string txt = util::read_file("../assets/offroad/fcc.html");
      ConfirmationDialog::rich(QString::fromStdString(txt), this);
    });
    addItem(regulatoryBtn);
  }

  auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), "");
  connect(translateBtn, &ButtonControl::clicked, [=]() {
    QMap<QString, QString> langs = getSupportedLanguages();
    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this);
    if (!selection.isEmpty()) {
      // put language setting, exit Qt UI, and trigger fast restart
      params.put("LanguageSetting", langs[selection].toStdString());
      qApp->exit(18);
      watchdog_kick(0);
    }
  });
  addItem(translateBtn);

  // Delete driving footage button
  auto deleteFootageBtn = new ButtonControl(tr("Delete Driving Data"), tr("DELETE"), tr("This button provides a swift and secure way to permanently delete all "
    "stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space.")
  );
  connect(deleteFootageBtn, &ButtonControl::clicked, [this]() {
    if (!ConfirmationDialog::confirm(tr("Are you sure you want to permanently delete all of your driving footage and data?"), tr("Delete"), this)) return;
    std::thread([&] {
      std::system("rm -rf /data/media/0/realdata");
    }).detach();
  });
  addItem(deleteFootageBtn);

  // Panda flashing button
  auto flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), "Use this button to troubleshoot and update the Panda device's firmware.");
  connect(flashPandaBtn, &ButtonControl::clicked, [this]() {
    if (!ConfirmationDialog::confirm(tr("Are you sure you want to flash the Panda?"), tr("Flash"), this)) return;
    QProcess process;
    // Get Panda type
    SubMaster &sm = *(uiState()->sm);
    auto pandaStates = sm["pandaStates"].getPandaStates();
    // Choose recovery script based on Panda type
    if (pandaStates.size() != 0) {
      auto pandaType = pandaStates[0].getPandaType();
      bool isRedPanda = (pandaType == cereal::PandaState::PandaType::RED_PANDA ||
                               pandaType == cereal::PandaState::PandaType::RED_PANDA_V2);
      QString recoveryScript = isRedPanda ? "./recover.sh" : "./recover.py";
      // Run recovery script and flash Panda
      process.setWorkingDirectory("/data/openpilot/panda/board");
      process.start("/bin/sh", QStringList{"-c", recoveryScript});
      process.waitForFinished();
    }
    // Run the killall script as a redundancy
    process.setWorkingDirectory("/data/openpilot/panda");
    process.start("/bin/sh", QStringList{"-c", "pkill -f boardd; PYTHONPATH=.. python -c \"from panda import Panda; Panda().flash()\""});
    process.waitForFinished();
    Hardware::reboot();
  });
  addItem(flashPandaBtn);

  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
    for (auto btn : findChildren<ButtonControl *>()) {
      btn->setEnabled(offroad);
    }
  });

  // power buttons
  QHBoxLayout *power_layout = new QHBoxLayout();
  power_layout->setSpacing(30);

  QPushButton *reboot_btn = new QPushButton(tr("Reboot"));
  reboot_btn->setObjectName("reboot_btn");
  power_layout->addWidget(reboot_btn);
  QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);

  QPushButton *poweroff_btn = new QPushButton(tr("Power Off"));
  poweroff_btn->setObjectName("poweroff_btn");
  power_layout->addWidget(poweroff_btn);
  QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff);

  if (!Hardware::PC()) {
    connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible);
  }

  setStyleSheet(R"(
    #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
    #reboot_btn:pressed { background-color: #4a4a4a; }
    #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
    #poweroff_btn:pressed { background-color: #FF2424; }
  )");
  addItem(power_layout);
}

void DevicePanel::updateCalibDescription() {
  QString desc =
      tr("openpilot requires the device to be mounted within 4° left or right and "
         "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.");
  std::string calib_bytes = params.get("CalibrationParams");
  if (!calib_bytes.empty()) {
    try {
      AlignedBuffer aligned_buf;
      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
      auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
      if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
        double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
        double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
        desc += tr(" Your device is pointed %1° %2 and %3° %4.")
                    .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"),
                         QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right"));
      }
    } catch (kj::Exception) {
      qInfo() << "invalid CalibrationParams";
    }
  }
  qobject_cast<ButtonControl *>(sender())->setDescription(desc);
}

void DevicePanel::reboot() {
  if (!uiState()->engaged()) {
    if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) {
      // Check engaged again in case it changed while the dialog was open
      if (!uiState()->engaged()) {
        params.putBool("DoReboot", true);
      }
    }
  } else {
    ConfirmationDialog::alert(tr("Disengage to Reboot"), this);
  }
}

void DevicePanel::poweroff() {
  if (!uiState()->engaged()) {
    if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {
      // Check engaged again in case it changed while the dialog was open
      if (!uiState()->engaged()) {
        params.putBool("DoShutdown", true);
      }
    }
  } else {
    ConfirmationDialog::alert(tr("Disengage to Power Off"), this);
  }
}

void SettingsWindow::showEvent(QShowEvent *event) {
  setCurrentPanel(0);
}

void SettingsWindow::setCurrentPanel(int index, const QString &param) {
  panel_widget->setCurrentIndex(index);
  nav_btns->buttons()[index]->setChecked(true);
  if (!param.isEmpty()) {
    emit expandToggleDescription(param);
  }
}

SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {

  // setup two main layouts
  sidebar_widget = new QWidget;
  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
  sidebar_layout->setMargin(0);
  panel_widget = new QStackedWidget();

  // close button
  QPushButton *close_btn = new QPushButton(tr("← Back"));
  close_btn->setStyleSheet(R"(
    QPushButton {
      font-size: 50px;
      padding-bottom: 0px;
      border 1px grey solid;
      border-radius: 25px;
      background-color: #292929;
      font-weight: 500;
    }
    QPushButton:pressed {
      background-color: #3B3B3B;
    }
  )");
  close_btn->setFixedSize(300, 125);
  sidebar_layout->addSpacing(10);
  sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight);
  QObject::connect(close_btn, &QPushButton::clicked, [this]() {
    if (frogPilotTogglesOpen) {
      frogPilotTogglesOpen = false;
      this->closeParentToggle();
    } else {
      this->closeSettings();
    }
  });

  // setup panels
  DevicePanel *device = new DevicePanel(this);
  QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide);
  QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);

  TogglesPanel *toggles = new TogglesPanel(this);
  QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription);
  QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric);

  FrogPilotControlsPanel *frogpilotControls = new FrogPilotControlsPanel(this);
  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
  QObject::connect(frogpilotControls, &FrogPilotControlsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});

  FrogPilotVisualsPanel *frogpilotVisuals = new FrogPilotVisualsPanel(this);
  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::closeParentToggle, this, [this]() {frogPilotTogglesOpen = false;});
  QObject::connect(frogpilotVisuals, &FrogPilotVisualsPanel::openParentToggle, this, [this]() {frogPilotTogglesOpen = true;});

  QList<QPair<QString, QWidget *>> panels = {
    {tr("Basic"), toggles},
    {tr("Customization"), frogpilotVisuals},
    {tr("Advanced"), frogpilotControls},
    {tr("System"), new Networking(this)},
    {tr("Extras"), device},
    // {tr("Navigation"), new FrogPilotNavigationPanel(this)},
    // {tr("Vehicles"), new FrogPilotVehiclesPanel(this)},
    // {tr("Visuals"), frogpilotVisuals},
    // {tr("Device"), device},
  };

  nav_btns = new QButtonGroup(this);
  for (auto &[name, panel] : panels) {
    QPushButton *btn = new QPushButton(name);
    btn->setCheckable(true);
    btn->setChecked(nav_btns->buttons().size() == 0);
    btn->setStyleSheet(R"(
      QPushButton {
        color: grey;
        border: none;
        background: none;
        font-size: 65px;
        font-weight: 500;
      }
      QPushButton:checked {
        color: white;
      }
      QPushButton:pressed {
        color: #ADADAD;
      }
    )");
    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
    nav_btns->addButton(btn);
    sidebar_layout->addWidget(btn, 0, Qt::AlignRight);

    const int lr_margin = name != tr("Network") ? 50 : 0;  // Network panel handles its own margins
    panel->setContentsMargins(lr_margin, 25, lr_margin, 25);

    ScrollView *panel_frame = new ScrollView(panel, this);
    panel_widget->addWidget(panel_frame);

    if (name == tr("Controls") || name == tr("Visuals")) {
      QScrollBar *scrollbar = panel_frame->verticalScrollBar();

      QObject::connect(scrollbar, &QScrollBar::valueChanged, this, [this](int value) {
        if (!frogPilotTogglesOpen) {
          previousScrollPosition = value;
        }
      });

      QObject::connect(scrollbar, &QScrollBar::rangeChanged, this, [this, panel_frame]() {
        panel_frame->restorePosition(previousScrollPosition);
      });
    }

    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
      previousScrollPosition = 0;
      btn->setChecked(true);
      panel_widget->setCurrentWidget(w);
    });
  }
  sidebar_layout->setContentsMargins(50, 50, 100, 50);

  // main settings layout, sidebar + main panel
  QHBoxLayout *main_layout = new QHBoxLayout(this);

  sidebar_widget->setFixedWidth(500);
  main_layout->addWidget(sidebar_widget);
  main_layout->addWidget(panel_widget);

  setStyleSheet(R"(
    * {
      color: white;
      font-size: 50px;
    }
    SettingsWindow {
      background-color: black;
    }
    QStackedWidget, ScrollView {
      background-color: #292929;
      border-radius: 30px;
    }
  )");
}
