from cereal import log
from openpilot.common.params import Params, UnknownKeyName
from openpilot.system.ui.widgets import Widget
from openpilot.system.ui.widgets.list_view import multiple_button_item, toggle_item
from openpilot.system.ui.widgets.scroller import Scroller
from openpilot.selfdrive.ui.ui_state import ui_state

PERSONALITY_TO_INT = log.LongitudinalPersonality.schema.enumerants

# Description constants
DESCRIPTIONS = {
  "OpenpilotEnabledToggle": (
    "Use the openpilot system for adaptive cruise control and lane keep driver assistance. " +
    "Your attention is required at all times to use this feature."
  ),
  "DisengageOnAccelerator": "When enabled, pressing the accelerator pedal will disengage openpilot.",
  "LongitudinalPersonality": (
    "Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " +
    "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " +
    "your steering wheel distance button."
  ),
  "IsLdwEnabled": (
    "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
    "without a turn signal activated while driving over 31 mph (50 km/h)."
  ),
  "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.",
  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
  "IsMetric": "Display speed in km/h instead of mph.",
  "RecordAudio": "Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect.",
}


class TogglesLayout(Widget):
  def __init__(self):
    super().__init__()
    self._params = Params()
    self._is_release = self._params.get_bool("IsReleaseBranch")

    # param, title, desc, icon, needs_restart
    self._toggle_defs = {
      "OpenpilotEnabledToggle": (
        "Enable openpilot",
        DESCRIPTIONS["OpenpilotEnabledToggle"],
        "chffr_wheel.png",
        True,
      ),
      "ExperimentalMode": (
        "Experimental Mode",
        "",
        "experimental_white.png",
        False,
      ),
      "DisengageOnAccelerator": (
        "Disengage on Accelerator Pedal",
        DESCRIPTIONS["DisengageOnAccelerator"],
        "disengage_on_accelerator.png",
        False,
      ),
      "IsLdwEnabled": (
        "Enable Lane Departure Warnings",
        DESCRIPTIONS["IsLdwEnabled"],
        "warning.png",
        False,
      ),
      "AlwaysOnDM": (
        "Always-On Driver Monitoring",
        DESCRIPTIONS["AlwaysOnDM"],
        "monitoring.png",
        False,
      ),
      "RecordFront": (
        "Record and Upload Driver Camera",
        DESCRIPTIONS["RecordFront"],
        "monitoring.png",
        True,
      ),
      "RecordAudio": (
        "Record and Upload Microphone Audio",
        DESCRIPTIONS["RecordAudio"],
        "microphone.png",
        True,
      ),
      "IsMetric": (
        "Use Metric System",
        DESCRIPTIONS["IsMetric"],
        "metric.png",
        False,
      ),
    }

    self._long_personality_setting = multiple_button_item(
      "Driving Personality",
      DESCRIPTIONS["LongitudinalPersonality"],
      buttons=["Aggressive", "Standard", "Relaxed"],
      button_width=255,
      callback=self._set_longitudinal_personality,
      selected_index=self._params.get("LongitudinalPersonality", return_default=True),
      icon="speed_limit.png"
    )

    self._toggles = {}
    self._locked_toggles = set()
    for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
      toggle = toggle_item(
        title,
        desc,
        self._params.get_bool(param),
        callback=lambda state, p=param: self._toggle_callback(state, p),
        icon=icon,
      )

      try:
        locked = self._params.get_bool(param + "Lock")
      except UnknownKeyName:
        locked = False
      toggle.action_item.set_enabled(not locked)

      if needs_restart and not locked:
        toggle.set_description(toggle.description + " Changing this setting will restart openpilot if the car is powered on.")

      # track for engaged state updates
      if locked:
        self._locked_toggles.add(param)

      self._toggles[param] = toggle

      # insert longitudinal personality after NDOG toggle
      if param == "DisengageOnAccelerator":
        self._toggles["LongitudinalPersonality"] = self._long_personality_setting

    self._update_experimental_mode_icon()
    self._scroller = Scroller(list(self._toggles.values()), line_separator=True, spacing=0)

  def _update_state(self):
    if ui_state.sm.updated["selfdriveState"]:
      personality = PERSONALITY_TO_INT[ui_state.sm["selfdriveState"].personality]
      if personality != ui_state.personality and ui_state.started:
        self._long_personality_setting.action_item.set_selected_button(personality)
      ui_state.personality = personality

    # these toggles need restart, block while engaged
    for toggle_def in self._toggle_defs:
      if self._toggle_defs[toggle_def][3] and toggle_def not in self._locked_toggles:
        self._toggles[toggle_def].action_item.set_enabled(not ui_state.engaged)

  def show_event(self):
    self._update_toggles()

  def _update_toggles(self):
    e2e_description = (
      "openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. " +
      "Experimental features are listed below:<br>" +
      "<h4>End-to-End Longitudinal Control</h4><br>" +
      "Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " +
      "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " +
      "mistakes should be expected.<br>" +
      "<h4>New Driving Visualization</h4><br>" +
      "The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. " +
      "The Experimental mode logo will also be shown in the top right corner."
    )

    if ui_state.CP is not None:
      if ui_state.has_longitudinal_control:
        self._toggles["ExperimentalMode"].action_item.set_enabled(True)
        self._toggles["ExperimentalMode"].set_description(e2e_description)
        self._long_personality_setting.action_item.set_enabled(True)
      else:
        # no long for now
        self._toggles["ExperimentalMode"].action_item.set_enabled(False)
        self._toggles["ExperimentalMode"].action_item.set_state(False)
        self._long_personality_setting.action_item.set_enabled(False)
        self._params.remove("ExperimentalMode")

        unavailable = "Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."

        long_desc = unavailable + " openpilot longitudinal control may come in a future update."
        if ui_state.CP.getAlphaLongitudinalAvailable():
          if self._is_release:
            long_desc = unavailable + " " + ("An alpha version of openpilot longitudinal control can be tested, along with " +
                                             "Experimental mode, on non-release branches.")
          else:
            long_desc = "Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."

        self._toggles["ExperimentalMode"].set_description("<b>" + long_desc + "</b><br><br>" + e2e_description)
    else:
      self._toggles["ExperimentalMode"].set_description(e2e_description)

    self._update_experimental_mode_icon()

    # TODO: make a param control list item so we don't need to manage internal state as much here
    # refresh toggles from params to mirror external changes
    for param in self._toggle_defs:
      self._toggles[param].action_item.set_state(self._params.get_bool(param))

  def _render(self, rect):
    self._scroller.render(rect)

  def _update_experimental_mode_icon(self):
    icon = "experimental.png" if self._toggles["ExperimentalMode"].action_item.get_state() else "experimental_white.png"
    self._toggles["ExperimentalMode"].set_icon(icon)

  def _toggle_callback(self, state: bool, param: str):
    if param == "ExperimentalMode":
      self._update_experimental_mode_icon()

    self._params.put_bool(param, state)
    if self._toggle_defs[param][3]:
      self._params.put_bool("OnroadCycleRequested", True)

  def _set_longitudinal_personality(self, button_index: int):
    self._params.put("LongitudinalPersonality", button_index)