import re
from collections import defaultdict
from dataclasses import dataclass, field
from enum import Enum, IntFlag

import panda.python.uds as uds
from cereal import car
from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, dbc_dict, DbcDict, PlatformConfig, Platforms
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
                                                     Device
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16

Ecu = car.CarParams.Ecu


class CarControllerParams:
  STEER_STEP = 5        # LateralMotionControl, 20Hz
  LKA_STEP = 3          # Lane_Assist_Data1, 33Hz
  ACC_CONTROL_STEP = 2  # ACCDATA, 50Hz
  LKAS_UI_STEP = 100    # IPMA_Data, 1Hz
  ACC_UI_STEP = 20      # ACCDATA_3, 5Hz
  BUTTONS_STEP = 5      # Steering_Data_FD1, 10Hz, but send twice as fast

  CURVATURE_MAX = 0.02  # Max curvature for steering command, m^-1
  STEER_DRIVER_ALLOWANCE = 1.0  # Driver intervention threshold, Nm

  # Curvature rate limits
  # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction
  # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph
  # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph
  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001])
  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
  CURVATURE_ERROR = 0.002  # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s

  ACCEL_MAX = 2.0               # m/s^2 max acceleration
  ACCEL_MIN = -3.5              # m/s^2 max deceleration
  MIN_GAS = -0.5
  INACTIVE_GAS = -5.0

  def __init__(self, CP):
    pass


class FordFlags(IntFlag):
  # Static flags
  CANFD = 1


class RADAR:
  DELPHI_ESR = 'ford_fusion_2018_adas'
  DELPHI_MRR = 'FORD_CADS'


class Footnote(Enum):
  FOCUS = CarFootnote(
    "Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
    "North and South America/Southeast Asia.",
    Column.MODEL,
  )


@dataclass
class FordCarInfo(CarInfo):
  package: str = "Co-Pilot360 Assist+"

  def init_make(self, CP: car.CarParams):
    harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3
    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1):
      self.car_parts = CarParts([Device.threex_angled_mount, harness])
    else:
      self.car_parts = CarParts([Device.threex, harness])


@dataclass
class FordPlatformConfig(PlatformConfig):
  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR))


@dataclass
class FordCANFDPlatformConfig(FordPlatformConfig):
  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None))

  def init(self):
    super().init()
    self.flags |= FordFlags.CANFD


class CAR(Platforms):
  BRONCO_SPORT_MK1 = FordPlatformConfig(
    "FORD BRONCO SPORT 1ST GEN",
    FordCarInfo("Ford Bronco Sport 2021-23"),
    CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
  )
  ESCAPE_MK4 = FordPlatformConfig(
    "FORD ESCAPE 4TH GEN",
    [
      FordCarInfo("Ford Escape 2020-22"),
      FordCarInfo("Ford Escape Hybrid 2020-22"),
      FordCarInfo("Ford Escape Plug-in Hybrid 2020-22"),
      FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
      FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
      FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"),
    ],
    CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
  )
  EXPLORER_MK6 = FordPlatformConfig(
    "FORD EXPLORER 6TH GEN",
    [
      FordCarInfo("Ford Explorer 2020-23"),
      FordCarInfo("Ford Explorer Hybrid 2020-23"),  # Limited and Platinum only
      FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"),
      FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"),  # Grand Touring only
    ],
    CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
  )
  F_150_MK14 = FordCANFDPlatformConfig(
    "FORD F-150 14TH GEN",
    [
      FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
      FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"),
    ],
    CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
  )
  F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig(
    "FORD F-150 LIGHTNING 1ST GEN",
    FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"),
    CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
  )
  FOCUS_MK4 = FordPlatformConfig(
    "FORD FOCUS 4TH GEN",
    [
      FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
      FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),  # mHEV only
    ],
    CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
  )
  MAVERICK_MK1 = FordPlatformConfig(
    "FORD MAVERICK 1ST GEN",
    [
      FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
      FordCarInfo("Ford Maverick Hybrid 2022", "LARIAT Luxury"),
      FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
      FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"),
    ],
    CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
  )
  MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
    "FORD MUSTANG MACH-E 1ST GEN",
    FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"),
    CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
  )


# FW response contains a combined software and part number
# A-Z except no I, O or W
# e.g. NZ6A-14C204-AAA
#      1222-333333-444
# 1 = Model year (can be incremented for each model year)
# 2 = Platform hint
# 3 = Part number
# 4 = Software version
FW_ALPHABET = b'A-HJ-NP-VX-Z'
FW_RE = re.compile(b'^(?P<model_year_hint>[' + FW_ALPHABET + b'])' +
                   b'(?P<platform_hint>[0-9' + FW_ALPHABET + b']{3})-' +
                   b'(?P<part_number>[0-9' + FW_ALPHABET + b']{5,6})-' +
                   b'(?P<software_revision>[' + FW_ALPHABET + b']{2,})$')


def get_platform_codes(fw_versions: list[bytes] | set[bytes]) -> set[tuple[bytes, bytes]]:
  codes = set()  # (platform_hint, model_year_hint)

  for firmware in fw_versions:
    m = FW_RE.match(firmware.rstrip(b'\0'))
    if m is None:
      continue
    codes.add((m.group('platform_hint'), m.group('model_year_hint')))

  return codes


def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, offline_fw_versions: OfflineFwVersions) -> set[str]:
  candidates: set[str] = set()

  def match_ecu_fw(offline_ecu_fws: list[bytes], live_ecu_fws: set[bytes]) -> bool:
    expected_codes = get_platform_codes(offline_ecu_fws)
    live_codes = get_platform_codes(live_ecu_fws)

    for live_platform_hint, live_model_year_hint in live_codes:
      expected_model_year_hints = {
        model_year_hint for platform_hint, model_year_hint in expected_codes
        if platform_hint == live_platform_hint
      }
      if not expected_model_year_hints:
        continue

      # TODO: check whether this can be expanded to the full range of model year hints
      if min(expected_model_year_hints) <= live_model_year_hint <= max(expected_model_year_hints):
        return True

    return False

  for candidate, fws in offline_fw_versions.items():
    # Keep track of ECUs which pass all checks (platform codes, within version range)
    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}

    valid_found_ecus = {
      addr[1:] for addr, ecu_fws in fws.items()
      if match_ecu_fw(ecu_fws, live_fw_versions.get(addr[1:], set()))
    }

    for ecu, ecu_fws in fws.items():
      addr = ecu[1:]

      # Expected platform and model year hints
      expected_codes = get_platform_codes(ecu_fws)
      expected_model_years_by_platform_hint = defaultdict(set)
      for platform_hint, model_year_hint in expected_codes:
        expected_model_years_by_platform_hint[platform_hint].add(model_year_hint)

      # Live platform and model year hints
      live_codes = get_platform_codes(live_fw_versions.get(addr, set()))

      # For each of the live platform hints, check if there is a matching expected platform hint
      found = False
      for live_platform_hint, live_model_year_hint in live_codes:
        expected_model_year_hints = expected_model_years_by_platform_hint.get(live_platform_hint)
        if not expected_model_year_hints:
          continue

        # Check if the model year hint is within the expected range for this platform hint
        # TODO: check whether this can be expanded to the full range of model year hints
        if min(expected_model_year_hints) <= live_model_year_hint <= max(expected_model_year_hints):
          found = True
          break

      if found:
        valid_found_ecus.add(addr)

    # If all live ECUs pass all checks for candidate, add it as a match
    if valid_expected_ecus.issubset(valid_found_ecus):
      candidates.add(candidate)

  return candidates


# All of these ECUs must be present and are expected to have platform codes we can match
PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)

DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00

ASBUILT_BLOCKS: list[tuple[int, list]] = [
  (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
  (2, [Ecu.abs, Ecu.debug, Ecu.eps]),
  (3, [Ecu.abs, Ecu.debug, Ecu.eps]),
  (4, [Ecu.debug, Ecu.fwdCamera]),
  (5, [Ecu.debug]),
  (6, [Ecu.debug]),
  (7, [Ecu.debug]),
  (8, [Ecu.debug]),
  (9, [Ecu.debug]),
  (16, [Ecu.debug, Ecu.fwdCamera]),
  (18, [Ecu.fwdCamera]),
  (20, [Ecu.fwdCamera]),
  (21, [Ecu.fwdCamera]),
]


def ford_asbuilt_block_request(block_id: int):
  return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)


def ford_asbuilt_block_response(block_id: int):
  return bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + p16(DATA_IDENTIFIER_FORD_ASBUILT + block_id - 1)


FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
    # CAN and CAN FD queries are combined.
    # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
    Request(
      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
      logging=True,
    ),
    Request(
      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
      bus=0,
      auxiliary=True,
    ),
    *[Request(
      [StdQueries.TESTER_PRESENT_REQUEST, ford_asbuilt_block_request(block_id)],
      [StdQueries.TESTER_PRESENT_RESPONSE, ford_asbuilt_block_response(block_id)],
      whitelist_ecus=ecus,
      bus=0,
      logging=True,
    ) for block_id, ecus in ASBUILT_BLOCKS],
  ],
  extra_ecus=[
    (Ecu.engine, 0x7e0, None),        # Powertrain Control Module
                                      # Note: We are unlikely to get a response from behind the gateway
    (Ecu.shiftByWire, 0x732, None),   # Gear Shift Module
    (Ecu.debug, 0x7d0, None),         # Accessory Protocol Interface Module
  ],
  # Custom fuzzy fingerprinting function using platform codes, part numbers and software versions
  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
)

DBC = CAR.create_dbc_map()