from cereal import car
from common.conversions import Conversions as CV
from common.numpy_fast import interp
from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.gm import gmcan
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR

VisualAlert = car.CarControl.HUDControl.VisualAlert
NetworkLocation = car.CarParams.NetworkLocation


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.frame = 0
    self.last_button_frame = 0

    self.lka_steering_cmd_counter_last = -1
    self.lka_icon_status_last = (False, False)

    self.params = CarControllerParams()

    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'])

  def update(self, CC, CS):
    actuators = CC.actuators
    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 (50Hz)
    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
    # next Panda loopback confirmation in the current CS frame.
    if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
      self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
    elif (self.frame % self.params.STEER_STEP) == 0:
      if CC.latActive:
        new_steer = int(round(actuators.steer * self.params.STEER_MAX))
        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
      else:
        apply_steer = 0

      self.apply_steer_last = apply_steer
      # GM EPS faults on any gap in received message counters. To handle transient OP/Panda safety sync issues at the
      # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
      idx = (CS.lka_steering_cmd_counter + 1) % 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:
        if not CC.longActive:
          # Stock ECU sends max regen when not enabled
          self.apply_gas = self.params.MAX_ACC_REGEN
          self.apply_brake = 0
        else:
          if self.CP.carFingerprint in EV_CAR:
            self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
            self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
          else:
            self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
            self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))

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

        at_full_stop = CC.longActive and CS.out.standstill
        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
        # 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, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))

        # 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))

      # Radar needs to know current speed and yaw rate (50hz),
      # and that ADAS is alive (10hz)
      if not self.CP.radarOffCan:
        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)

    else:
      # Stock longitudinal, integrated at camera
      if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
        if CC.cruiseControl.cancel:
          self.last_button_frame = self.frame
          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CruiseButtons.CANCEL))

    # Show green icon when LKA torque is applied, and
    # alarming orange icon when approaching torque limit.
    # If not sent again, LKA icon disappears in about 5 seconds.
    # Conveniently, sending camera message periodically also works as a keepalive.
    lka_active = CS.lkas_status == 1
    lka_critical = lka_active and abs(actuators.steer) > 0.9
    lka_icon_status = (lka_active, lka_critical)

    # SW_GMLAN not yet on cam harness, no HUD alerts
    if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
      steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
      can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
      self.lka_icon_status_last = lka_icon_status

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

    self.frame += 1
    return new_actuators, can_sends
