# functions common among cars
from collections import namedtuple
from dataclasses import dataclass
from enum import IntFlag, ReprEnum, EnumType
from dataclasses import replace

import capnp

from cereal import car
from openpilot.common.numpy_fast import clip, interp
from openpilot.common.utils import Freezable
from openpilot.selfdrive.car.docs_definitions import CarDocs


# kg of standard extra cargo to count for drive, gas, etc...
STD_CARGO_KG = 136.

ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])


def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
  if val > val_steady + hyst_gap:
    val_steady = val - hyst_gap
  elif val < val_steady - hyst_gap:
    val_steady = val + hyst_gap
  return val_steady


def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, capnp.lib.capnp._EnumModule],
                         unpressed_btn: int = 0) -> list[capnp.lib.capnp._DynamicStructBuilder]:
  events: list[capnp.lib.capnp._DynamicStructBuilder] = []

  if cur_btn == prev_btn:
    return events

  # Add events for button presses, multiple when a button switches without going to unpressed
  for pressed, btn in ((False, prev_btn), (True, cur_btn)):
    if btn != unpressed_btn:
      events.append(car.CarState.ButtonEvent(pressed=pressed,
                                             type=buttons_dict.get(btn, ButtonType.unknown)))
  return events


def gen_empty_fingerprint():
  return {i: {} for i in range(8)}


# these params were derived for the Civic and used to calculate params for other cars
class VehicleDynamicsParams:
  MASS = 1326. + STD_CARGO_KG
  WHEELBASE = 2.70
  CENTER_TO_FRONT = WHEELBASE * 0.4
  CENTER_TO_REAR = WHEELBASE - CENTER_TO_FRONT
  ROTATIONAL_INERTIA = 2500
  TIRE_STIFFNESS_FRONT = 192150
  TIRE_STIFFNESS_REAR = 202500


# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
def scale_rot_inertia(mass, wheelbase):
  return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2)


# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
# mass and CG position, so all cars will have approximately similar dyn behaviors
def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor):
  center_to_rear = wheelbase - center_to_front
  tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
                         (center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE)

  tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
                        (center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE)

  return tire_stiffness_front, tire_stiffness_rear


DbcDict = dict[str, str]


def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict:
  return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}


def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):

  # limits due to driver torque
  driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
  driver_min_torque = -LIMITS.STEER_MAX + (-LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
  max_steer_allowed = max(min(LIMITS.STEER_MAX, driver_max_torque), 0)
  min_steer_allowed = min(max(-LIMITS.STEER_MAX, driver_min_torque), 0)
  apply_torque = clip(apply_torque, min_steer_allowed, max_steer_allowed)

  # slow rate if steer torque increases in magnitude
  if apply_torque_last > 0:
    apply_torque = clip(apply_torque, max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
                        apply_torque_last + LIMITS.STEER_DELTA_UP)
  else:
    apply_torque = clip(apply_torque, apply_torque_last - LIMITS.STEER_DELTA_UP,
                        min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))

  return int(round(float(apply_torque)))


def apply_dist_to_meas_limits(val, val_last, val_meas,
                              STEER_DELTA_UP, STEER_DELTA_DOWN,
                              STEER_ERROR_MAX, STEER_MAX):
  # limits due to comparison of commanded val VS measured val (torque/angle/curvature)
  max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
  min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)

  val = clip(val, min_lim, max_lim)

  # slow rate if val increases in magnitude
  if val_last > 0:
    val = clip(val,
               max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
               val_last + STEER_DELTA_UP)
  else:
    val = clip(val,
               val_last - STEER_DELTA_UP,
               min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))

  return float(val)


def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
  return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque,
                                             LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN,
                                             LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))


def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
  # pick angle rate limits based on wind up/down
  steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
  rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN

  angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
  return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)


def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
                           max_above_limit_frames: int, max_mismatching_frames: int = 1):
  """
  Several cars have the ability to work around their EPS limits by cutting the
  request bit of their LKAS message after a certain number of frames above the limit.
  """

  # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault
  if request and fault_condition:
    above_limit_frames += 1
  else:
    above_limit_frames = 0

  # Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again.
  # Some brands do not respect our workaround without multiple messages on the bus, for example
  if above_limit_frames > max_above_limit_frames:
    request = False

  if above_limit_frames >= max_above_limit_frames + max_mismatching_frames:
    above_limit_frames = 0

  return above_limit_frames, request


def crc8_pedal(data):
  crc = 0xFF    # standard init value
  poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
  size = len(data)
  for i in range(size - 1, -1, -1):
    crc ^= data[i]
    for _ in range(8):
      if ((crc & 0x80) != 0):
        crc = ((crc << 1) ^ poly) & 0xFF
      else:
        crc <<= 1
  return crc


def create_gas_interceptor_command(packer, gas_amount, idx):
  # Common gas pedal msg generator
  enable = gas_amount > 0.001

  values = {
    "ENABLE": enable,
    "COUNTER_PEDAL": idx & 0xF,
  }

  if enable:
    values["GAS_COMMAND"] = gas_amount * 255.
    values["GAS_COMMAND2"] = gas_amount * 255.

  dat = packer.make_can_msg("GAS_COMMAND", 0, values)[2]

  checksum = crc8_pedal(dat[:-1])
  values["CHECKSUM_PEDAL"] = checksum

  return packer.make_can_msg("GAS_COMMAND", 0, values)


def make_can_msg(addr, dat, bus):
  return [addr, 0, dat, bus]


def get_safety_config(safety_model, safety_param = None):
  ret = car.CarParams.SafetyConfig.new_message()
  ret.safetyModel = safety_model
  if safety_param is not None:
    ret.safetyParam = safety_param
  return ret


class CanBusBase:
  offset: int

  def __init__(self, CP, fingerprint: dict[int, dict[int, int]] | None) -> None:
    if CP is None:
      assert fingerprint is not None
      num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
    else:
      num = len(CP.safetyConfigs)
    self.offset = 4 * (num - 1)


class CanSignalRateCalculator:
  """
  Calculates the instantaneous rate of a CAN signal by using the counter
  variable and the known frequency of the CAN message that contains it.
  """
  def __init__(self, frequency):
    self.frequency = frequency
    self.previous_counter = 0
    self.previous_value = 0
    self.rate = 0

  def update(self, current_value, current_counter):
    if current_counter != self.previous_counter:
      self.rate = (current_value - self.previous_value) * self.frequency

    self.previous_counter = current_counter
    self.previous_value = current_value

    return self.rate


@dataclass(frozen=True, kw_only=True)
class CarSpecs:
  mass: float  # kg, curb weight
  wheelbase: float  # meters
  steerRatio: float
  centerToFrontRatio: float = 0.5
  minSteerSpeed: float = 0.0  # m/s
  minEnableSpeed: float = -1.0  # m/s
  tireStiffnessFactor: float = 1.0

  def override(self, **kwargs):
    return replace(self, **kwargs)


@dataclass(order=True)
class PlatformConfig(Freezable):
  car_docs: list[CarDocs]
  specs: CarSpecs

  dbc_dict: DbcDict

  flags: int = 0

  platform_str: str | None = None

  def __hash__(self) -> int:
    return hash(self.platform_str)

  def override(self, **kwargs):
    return replace(self, **kwargs)

  def init(self):
    pass

  def __post_init__(self):
    self.init()


class PlatformsType(EnumType):
  def __new__(metacls, cls, bases, classdict, *, boundary=None, _simple=False, **kwds):
    for key in classdict._member_names.keys():
      cfg: PlatformConfig = classdict[key]
      cfg.platform_str = key
      cfg.freeze()
    return super().__new__(metacls, cls, bases, classdict, boundary=boundary, _simple=_simple, **kwds)


class Platforms(str, ReprEnum, metaclass=PlatformsType):
  config: PlatformConfig

  def __new__(cls, platform_config: PlatformConfig):
    member = str.__new__(cls, platform_config.platform_str)
    member.config = platform_config
    member._value_ = platform_config.platform_str
    return member

  def __repr__(self):
    return f"<{self.__class__.__name__}.{self.name}>"

  @classmethod
  def create_dbc_map(cls) -> dict[str, DbcDict]:
    return {p: p.config.dbc_dict for p in cls}

  @classmethod
  def with_flags(cls, flags: IntFlag) -> set['Platforms']:
    return {p for p in cls if p.config.flags & flags}