from dataclasses import dataclass
from enum import Enum, IntFlag, StrEnum

from cereal import car
from openpilot.common.conversions import Conversions as CV
from panda.python import uds
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16

Ecu = car.CarParams.Ecu
VisualAlert = car.CarControl.HUDControl.VisualAlert


class CarControllerParams:
  # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
  # perform the closed loop control, and might need some
  # to apply some more braking if we're on a downhill slope.
  # Our controller should still keep the 2 second average above
  # -3.5 m/s^2 as per planner limits
  NIDEC_ACCEL_MIN = -4.0  # m/s^2
  NIDEC_ACCEL_MAX = 1.6  # m/s^2, lower than 2.0 m/s^2 for tuning reasons

  NIDEC_ACCEL_LOOKUP_BP = [-1., 0., .6]
  NIDEC_ACCEL_LOOKUP_V = [-4.8, 0., 2.0]

  NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6]
  NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.]

  NIDEC_GAS_MAX = 198  # 0xc6
  NIDEC_BRAKE_MAX = 1024 // 4

  BOSCH_ACCEL_MIN = -3.5  # m/s^2
  BOSCH_ACCEL_MAX = 2.0  # m/s^2

  BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
  BOSCH_GAS_LOOKUP_V = [0, 1600]

  def __init__(self, CP):
    self.STEER_MAX = CP.lateralParams.torqueBP[-1]
    # mirror of list (assuming first item is zero) for interp of signed request values
    assert(CP.lateralParams.torqueBP[0] == 0)
    assert(CP.lateralParams.torqueBP[0] == 0)
    self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
    self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)


class HondaFlags(IntFlag):
  # Bosch models with alternate set of LKAS_HUD messages
  BOSCH_EXT_HUD = 1
  BOSCH_ALT_BRAKE = 2


# Car button codes
class CruiseButtons:
  RES_ACCEL = 4
  DECEL_SET = 3
  CANCEL = 2
  MAIN = 1


# See dbc files for info on values
VISUAL_HUD = {
  VisualAlert.none: 0,
  VisualAlert.fcw: 1,
  VisualAlert.steerRequired: 1,
  VisualAlert.ldw: 1,
  VisualAlert.brakePressed: 10,
  VisualAlert.wrongGear: 6,
  VisualAlert.seatbeltUnbuckled: 5,
  VisualAlert.speedTooHigh: 8
}


class CAR(StrEnum):
  ACCORD = "HONDA ACCORD 2018"
  ACCORDH = "HONDA ACCORD HYBRID 2018"
  CIVIC = "HONDA CIVIC 2016"
  CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019"
  CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019"
  CIVIC_2022 = "HONDA CIVIC 2022"
  ACURA_ILX = "ACURA ILX 2016"
  CRV = "HONDA CR-V 2016"
  CRV_5G = "HONDA CR-V 2017"
  CRV_EU = "HONDA CR-V EU 2016"
  CRV_HYBRID = "HONDA CR-V HYBRID 2019"
  FIT = "HONDA FIT 2018"
  FREED = "HONDA FREED 2020"
  HRV = "HONDA HRV 2019"
  HRV_3G = "HONDA HR-V 2023"
  ODYSSEY = "HONDA ODYSSEY 2018"
  ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
  ACURA_RDX = "ACURA RDX 2018"
  ACURA_RDX_3G = "ACURA RDX 2020"
  PILOT = "HONDA PILOT 2017"
  RIDGELINE = "HONDA RIDGELINE 2017"
  INSIGHT = "HONDA INSIGHT 2019"
  HONDA_E = "HONDA E 2020"


class Footnote(Enum):
  CIVIC_DIESEL = CarFootnote(
    "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
    Column.FSR_STEERING)


@dataclass
class HondaCarInfo(CarInfo):
  package: str = "Honda Sensing"

  def init_make(self, CP: car.CarParams):
    if CP.carFingerprint in HONDA_BOSCH:
      self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
    else:
      self.car_parts = CarParts.common([CarHarness.nidec])


CAR_INFO: dict[str, HondaCarInfo | list[HondaCarInfo] | None] = {
  CAR.ACCORD: [
    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
  ],
  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
  CAR.CIVIC_BOSCH: [
    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
                 footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
  ],
  CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
  CAR.CIVIC_2022: [
    HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
    HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
  ],
  CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
  CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
  CAR.PILOT: [
    HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
    HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
  ],
  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
}

HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(0xF112)
HONDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
  p16(0xF112)

FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
    # Currently used to fingerprint
    Request(
      [StdQueries.UDS_VERSION_REQUEST],
      [StdQueries.UDS_VERSION_RESPONSE],
      bus=1,
    ),

    # Data collection requests:
    # Attempt to get the radarless Civic 2022+ camera FW
    Request(
      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
      bus=0,
      logging=True
    ),
    # Log extra identifiers for current ECUs
    Request(
      [HONDA_VERSION_REQUEST],
      [HONDA_VERSION_RESPONSE],
      bus=1,
      logging=True,
    ),
    # Nidec PT bus
    Request(
      [StdQueries.UDS_VERSION_REQUEST],
      [StdQueries.UDS_VERSION_RESPONSE],
      bus=0,
      logging=True,
    ),
    # Bosch PT bus
    Request(
      [StdQueries.UDS_VERSION_REQUEST],
      [StdQueries.UDS_VERSION_RESPONSE],
      bus=1,
      obd_multiplexing=False,
    ),
  ],
  # We lose these ECUs without the comma power on these cars.
  # Note that we still attempt to match with them when they are present
  non_essential_ecus={
    Ecu.programmedFuelInjection: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
    Ecu.transmission: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
    Ecu.vsa: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
    Ecu.combinationMeter: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
    Ecu.gateway: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
    Ecu.electricBrakeBooster: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
  },
  extra_ecus=[
    # The only other ECU on PT bus accessible by camera on radarless Civic
    (Ecu.unknown, 0x18DAB3F1, None),
  ],
)


DBC = {
  CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None),
  CAR.ACCORDH: dbc_dict('honda_accord_2018_can_generated', None),
  CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
  CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'),
  CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None),
  CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
  CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None),
  CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_accord_2018_can_generated', None),
  CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'),
  CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'),
  CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'),
  CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None),
  CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
  CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
  CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
  CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
  CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
  CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
  CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
  CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
  CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None),
  CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None),
  CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None),
}

STEER_THRESHOLD = {
  # default is 1200, overrides go here
  CAR.ACURA_RDX: 400,
  CAR.CRV_EU: 400,
}

HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
                                CAR.PILOT, CAR.RIDGELINE}
HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}