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

from cereal import car
from panda.python import uds
from openpilot.common.conversions import Conversions as CV
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, p16

Ecu = car.CarParams.Ecu


class CarControllerParams:
  ACCEL_MIN = -3.5 # m/s
  ACCEL_MAX = 2.0 # m/s

  def __init__(self, CP):
    self.STEER_DELTA_UP = 3
    self.STEER_DELTA_DOWN = 7
    self.STEER_DRIVER_ALLOWANCE = 50
    self.STEER_DRIVER_MULTIPLIER = 2
    self.STEER_DRIVER_FACTOR = 1
    self.STEER_THRESHOLD = 150
    self.STEER_STEP = 1  # 100 Hz

    if CP.carFingerprint in CANFD_CAR:
      self.STEER_MAX = 270
      self.STEER_DRIVER_ALLOWANCE = 250
      self.STEER_DRIVER_MULTIPLIER = 2
      self.STEER_THRESHOLD = 250
      self.STEER_DELTA_UP = 2
      self.STEER_DELTA_DOWN = 3

    # To determine the limit for your car, find the maximum value that the stock LKAS will request.
    # If the max stock LKAS request is <384, add your car to this list.
    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.IONIQ,
                               CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
                               CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
      self.STEER_MAX = 255

    # these cars have significantly more torque than most HKG; limit to 70% of max
    elif CP.flags & HyundaiFlags.ALT_LIMITS:
      self.STEER_MAX = 270
      self.STEER_DELTA_UP = 2
      self.STEER_DELTA_DOWN = 3

    # Default for most HKG
    else:
      self.STEER_MAX = 384


class HyundaiFlags(IntFlag):
  CANFD_HDA2 = 1
  CANFD_ALT_BUTTONS = 2
  CANFD_ALT_GEARS = 4
  CANFD_CAMERA_SCC = 8

  ALT_LIMITS = 16
  ENABLE_BLINKERS = 32
  CANFD_ALT_GEARS_2 = 64
  SEND_LFA = 128
  USE_FCA = 256
  CANFD_HDA2_ALT_STEERING = 512
  HYBRID = 1024
  EV = 2048


class CAR(StrEnum):
  # Hyundai
  AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
  AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
  ELANTRA = "HYUNDAI ELANTRA 2017"
  ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT"
  ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
  ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
  HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016"
  IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019"
  IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022"
  IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019"
  IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020"
  IONIQ_PHEV_2019 = "HYUNDAI IONIQ PLUG-IN HYBRID 2019"
  IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
  KONA = "HYUNDAI KONA 2020"
  KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
  KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
  KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN"
  KONA_HEV = "HYUNDAI KONA HYBRID 2020"
  SANTA_FE = "HYUNDAI SANTA FE 2019"
  SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
  SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022"
  SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022"
  SONATA = "HYUNDAI SONATA 2020"
  SONATA_LF = "HYUNDAI SONATA 2019"
  STARIA_4TH_GEN = "HYUNDAI STARIA 4TH GEN"
  TUCSON = "HYUNDAI TUCSON 2019"
  PALISADE = "HYUNDAI PALISADE 2020"
  VELOSTER = "HYUNDAI VELOSTER 2019"
  SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
  IONIQ_5 = "HYUNDAI IONIQ 5 2022"
  IONIQ_6 = "HYUNDAI IONIQ 6 2023"
  TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
  SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
  CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"

  # Kia
  KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
  KIA_K5_2021 = "KIA K5 2021"
  KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
  KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
  KIA_NIRO_EV = "KIA NIRO EV 2020"
  KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
  KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
  KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022"
  KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
  KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
  KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
  KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
  KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
  KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT"
  KIA_SELTOS = "KIA SELTOS 2021"
  KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
  KIA_SORENTO = "KIA SORENTO GT LINE 2018"
  KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN"
  KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN"
  KIA_STINGER = "KIA STINGER GT2 2018"
  KIA_STINGER_2022 = "KIA STINGER 2022"
  KIA_CEED = "KIA CEED INTRO ED 2019"
  KIA_EV6 = "KIA EV6 2022"
  KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN"

  # Genesis
  GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
  GENESIS_G70 = "GENESIS G70 2018"
  GENESIS_G70_2020 = "GENESIS G70 2020"
  GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
  GENESIS_G80 = "GENESIS G80 2017"
  GENESIS_G90 = "GENESIS G90 2017"
  GENESIS_GV80 = "GENESIS GV80 2023"


class Footnote(Enum):
  CANFD = CarFootnote(
    "Requires a <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> if not using " +
    "comma 3X for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
    Column.MODEL, shop_footnote=False)


@dataclass
class HyundaiCarInfo(CarInfo):
  package: str = "Smart Cruise Control (SCC)"

  def init_make(self, CP: car.CarParams):
    if CP.carFingerprint in CANFD_CAR:
      self.footnotes.insert(0, Footnote.CANFD)


CAR_INFO: dict[str, HyundaiCarInfo | list[HyundaiCarInfo] | None] = {
  CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.AZERA_HEV_6TH_GEN: [
    HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
    HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
  ],
  CAR.ELANTRA: [
    # TODO: 2017-18 could be Hyundai G
    HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
    HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
  ],
  CAR.ELANTRA_GT_I30: [
    HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
    HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
  ],
  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
                                       car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.HYUNDAI_GENESIS: [
    # TODO: check 2015 packages
    HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
    HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
  ],
  CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])),  # TODO: confirm 2020-21 harness
  CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
  CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
  CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
  CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
  # TODO: this is the 2024 US MY, not yet released
  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
                                      car_parts=CarParts.common([CarHarness.hyundai_r])),
  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
                               car_parts=CarParts.common([CarHarness.hyundai_d])),
  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
                                    car_parts=CarParts.common([CarHarness.hyundai_l])),
  CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
                             car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.STARIA_4TH_GEN: HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
  CAR.TUCSON: [
    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
    HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
  ],
  CAR.PALISADE: [
    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
    HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
  ],
  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.IONIQ_5: [
    HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
    HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
    HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
  ],
  CAR.IONIQ_6: [
    HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
  ],
  CAR.TUCSON_4TH_GEN: [
    HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
    HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
    HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
  ],
  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
  CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),

  # Kia
  CAR.KIA_FORTE: [
    HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
    HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
  ],
  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
  CAR.KIA_NIRO_EV: [
    HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
    HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
    HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
    HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
  ],
  CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_NIRO_PHEV: [
    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
  ],
  CAR.KIA_NIRO_PHEV_2022: [
    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
  ],
  CAR.KIA_NIRO_HEV_2021: [
    HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
    HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
  ],
  CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
                                    car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
  CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
  # TODO: may support adjacent years. may have a non-zero minimum steering speed
  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])),
  CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_SPORTAGE_5TH_GEN: [
    HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
    HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
  ],
  CAR.KIA_SORENTO: [
    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
                   car_parts=CarParts.common([CarHarness.hyundai_e])),
    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
  ],
  CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.KIA_SORENTO_HEV_4TH_GEN: [
    HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
    HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
  ],
  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
                                  car_parts=CarParts.common([CarHarness.hyundai_c])),
  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
  CAR.KIA_EV6: [
    HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
    HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
    HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
  ],
  CAR.KIA_CARNIVAL_4TH_GEN: [
    HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
    HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
  ],

  # Genesis
  CAR.GENESIS_GV60_EV_1ST_GEN: [
    HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
    HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
  ],
  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
  CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
  CAR.GENESIS_GV70_1ST_GEN: [
    HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
    HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
  ],
  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
  CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
}

class Buttons:
  NONE = 0
  RES_ACCEL = 1
  SET_DECEL = 2
  GAP_DIST = 3
  CANCEL = 4  # on newer models, this is a pause/resume button


def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
  # Returns unique, platform-specific identification codes for a set of versions
  codes = set()  # (code-Optional[part], date)
  for fw in fw_versions:
    code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
    part_match = PART_NUMBER_FW_PATTERN.search(fw)
    date_match = DATE_FW_PATTERN.search(fw)
    if code_match is not None:
      code: bytes = code_match.group()
      part = part_match.group() if part_match else None
      date = date_match.group() if date_match else None
      if part is not None:
        # part number starts with generic ECU part type, add what is specific to platform
        code += b"-" + part[-5:]

      codes.add((code, date))
  return codes


def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]:
  # Non-electric CAN FD platforms often do not have platform code specifiers needed
  # to distinguish between hybrid and ICE. All EVs so far are either exclusively
  # electric or specify electric in the platform code.
  fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
  candidates: set[str] = set()

  for candidate, fws in offline_fw_versions.items():
    # Keep track of ECUs which pass all checks (platform codes, within date range)
    valid_found_ecus = set()
    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
    for ecu, expected_versions in fws.items():
      addr = ecu[1:]
      # Only check ECUs expected to have platform codes
      if ecu[0] not in PLATFORM_CODE_ECUS:
        continue

      # Expected platform codes & dates
      codes = get_platform_codes(expected_versions)
      expected_platform_codes = {code for code, _ in codes}
      expected_dates = {date for _, date in codes if date is not None}

      # Found platform codes & dates
      codes = get_platform_codes(live_fw_versions.get(addr, set()))
      found_platform_codes = {code for code, _ in codes}
      found_dates = {date for _, date in codes if date is not None}

      # Check platform code + part number matches for any found versions
      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
        break

      if ecu[0] in DATE_FW_ECUS:
        # If ECU can have a FW date, require it to exist
        # (this excludes candidates in the database without dates)
        if not len(expected_dates) or not len(found_dates):
          break

        # Check any date within range in the database, format is %y%m%d
        if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
          break

      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 - fuzzy_platform_blacklist


HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(0xf100)  # Long description

HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(0xf110)  # Alt long description

HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
  p16(0xf100)

HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)

HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])

# Regex patterns for parsing platform code, FW date, and part number from FW versions
PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
                                      b')[A-Z]{2}[A-Za-z0-9]{0,2})')
DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')

# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}

# List of ECUs expected to have platform codes, camera and radar should exist on all cars
# TODO: use abs, it has the platform code and part number on many platforms
PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
# So far we've only seen dates in fwdCamera
# TODO: there are date codes in the ABS firmware versions in hex
DATE_FW_ECUS = [Ecu.fwdCamera]

ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas, Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar]

FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
    # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
    # CAN queries (OBD-II port)
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
    ),
    Request(
      [HYUNDAI_VERSION_REQUEST_MULTI],
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
    ),

    # CAN-FD queries (from camera)
    # TODO: combine shared whitelists with CAN requests
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac],
      bus=0,
      auxiliary=True,
    ),
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
      bus=1,
      auxiliary=True,
      obd_multiplexing=False,
    ),

    # CAN & CAN FD query to understand the three digit date code
    # HDA2 cars usually use 6 digit date codes, so skip bus 1
    Request(
      [HYUNDAI_ECU_MANUFACTURING_DATE],
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.fwdCamera],
      bus=0,
      auxiliary=True,
      logging=True,
    ),

    # CAN & CAN FD logging queries (from camera)
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=ALL_HYUNDAI_ECUS,
      bus=0,
      auxiliary=True,
      logging=True,
    ),
    Request(
      [HYUNDAI_VERSION_REQUEST_MULTI],
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=ALL_HYUNDAI_ECUS,
      bus=0,
      auxiliary=True,
      logging=True,
    ),
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=ALL_HYUNDAI_ECUS,
      bus=1,
      auxiliary=True,
      obd_multiplexing=False,
      logging=True,
    ),

    # CAN-FD alt request logging queries
    Request(
      [HYUNDAI_VERSION_REQUEST_ALT],
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
      bus=0,
      auxiliary=True,
      logging=True,
    ),
    Request(
      [HYUNDAI_VERSION_REQUEST_ALT],
      [HYUNDAI_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
      bus=1,
      auxiliary=True,
      logging=True,
      obd_multiplexing=False,
    ),
  ],
  extra_ecus=[
    (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
    (Ecu.parkingAdas, 0x7b1, None),  # ADAS Parking ECU (may exist on all platforms)
    (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
    (Ecu.cornerRadar, 0x7b7, None),
  ],
  # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
)


CHECKSUM = {
  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
           CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
           CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN],
  "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
}

CAN_GEARS = {
  # which message has the gear. hybrid and EV use ELECT_GEAR
  "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
  "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
}

CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN,
             CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN,
             CAR.STARIA_4TH_GEN}

# The radar does SCC on these cars when HDA I, rather than the camera
CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}

# These CAN FD cars do not accept communication control to disable the ADAS ECU,
# responds with 0x7F2822 - 'conditions not correct'
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN}

# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }

# these cars use a different gas signal
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
              CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KIA_K5_HEV_2020,
              CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022}

EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
          CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}

# these cars require a special panda safety mode due to missing counters and checksums in the messages
LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
                          CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
                          CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}

# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
                                                         CAR.KIA_OPTIMA_H_G4_FL}

# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
# If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
DBC = {
  CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
  CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
  CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None),
  CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None),
  CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None),
  CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None),
  CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None),
  CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None),
  CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.IONIQ: dbc_dict('hyundai_kia_generic', None),
  CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_K5_HEV_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
  CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_STINGER_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.KONA: dbc_dict('hyundai_kia_generic', None),
  CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
  CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
  CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None),
  CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
  CAR.TUCSON: dbc_dict('hyundai_kia_generic', None),
  CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_EV6: dbc_dict('hyundai_canfd', None),
  CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
  CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
  CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
  CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
  CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
  CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
  CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
  CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
  CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
  CAR.STARIA_4TH_GEN: dbc_dict('hyundai_canfd', None),
}