import math

from cereal import car
from collections import namedtuple
from dataclasses import dataclass
from enum import Enum
from typing import Dict, List, Optional, Union, no_type_check

TACO_TORQUE_THRESHOLD = 2.5  # m/s^2
GREAT_TORQUE_THRESHOLD = 1.5  # m/s^2
GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2


class Tier(Enum):
  GOLD = "The best openpilot experience. Great highway driving and beyond."
  SILVER = "A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future."
  BRONZE = "A good highway experience, but may have limited performance in traffic and on sharp turns."


class Column(Enum):
  MAKE = "Make"
  MODEL = "Model"
  PACKAGE = "Supported Package"
  LONGITUDINAL = "openpilot ACC"
  FSR_LONGITUDINAL = "Stop and Go"
  FSR_STEERING = "Steer to 0"
  STEERING_TORQUE = "Steering Torque"
  MAINTAINED = "Actively Maintained"


class Star(Enum):
  FULL = "full"
  HALF = "half"
  EMPTY = "empty"


StarColumns = list(Column)[3:]
CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None])


def get_footnote(footnotes: Optional[List[Enum]], column: Column) -> Optional[Enum]:
  # Returns applicable footnote given current column
  if footnotes is not None:
    for fn in footnotes:
      if fn.value.column == column:
        return fn
  return None


@dataclass
class CarInfo:
  name: str
  package: str
  video_link: Optional[str] = None
  footnotes: Optional[List[Enum]] = None
  min_steer_speed: Optional[float] = None
  min_enable_speed: Optional[float] = None
  good_torque: bool = False
  harness: Optional[Enum] = None

  def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]):
    # TODO: set all the min steer speeds in carParams and remove this
    min_steer_speed = CP.minSteerSpeed
    if self.min_steer_speed is not None:
      min_steer_speed = self.min_steer_speed
      assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"

    assert self.harness is not None, f"{CP.carFingerprint}: Need to specify car harness"

    # TODO: set all the min enable speeds in carParams correctly and remove this
    min_enable_speed = CP.minEnableSpeed
    if self.min_enable_speed is not None:
      min_enable_speed = self.min_enable_speed

    self.car_name = CP.carName
    self.make, self.model = self.name.split(' ', 1)
    self.row = {
      Column.MAKE: self.make,
      Column.MODEL: self.model,
      Column.PACKAGE: self.package,
      # StarColumns
      Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
      Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
      Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
      Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY,  # TODO: remove hardcoding and use maxLateralAccel
      Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
    }

    if not math.isnan(CP.maxLateralAccel):
      if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
        self.row[Column.STEERING_TORQUE] = Star.FULL
      elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
        self.row[Column.STEERING_TORQUE] = Star.HALF
      else:
        self.row[Column.STEERING_TORQUE] = Star.EMPTY

    if CP.notCar:
      for col in StarColumns:
        self.row[col] = Star.FULL

    self.all_footnotes = all_footnotes
    for column in StarColumns:
      # Demote if footnote specifies a star
      footnote = get_footnote(self.footnotes, column)
      if footnote is not None and footnote.value.star is not None:
        self.row[column] = footnote.value.star

    self.tier = {5: Tier.GOLD, 4: Tier.SILVER}.get(list(self.row.values()).count(Star.FULL), Tier.BRONZE)
    return self

  @no_type_check
  def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
    item: Union[str, Star] = self.row[column]
    if column in StarColumns:
      item = star_icon.format(item.value)

    footnote = get_footnote(self.footnotes, column)
    if footnote is not None:
      item += footnote_tag.format(self.all_footnotes[footnote])

    return item


class Harness(Enum):
  nidec = "Honda Nidec"
  bosch = "Honda Bosch A"
  toyota = "Toyota"
  subaru = "Subaru"
  fca = "FCA"
  vw = "VW"
  j533 = "J533"
  hyundai_a = "Hyundai A"
  hyundai_b = "Hyundai B"
  hyundai_c = "Hyundai C"
  hyundai_d = "Hyundai D"
  hyundai_e = "Hyundai E"
  hyundai_f = "Hyundai F"
  hyundai_g = "Hyundai G"
  hyundai_h = "Hyundai H"
  hyundai_i = "Hyundai I"
  hyundai_j = "Hyundai J"
  hyundai_k = "Hyundai K"
  hyundai_l = "Hyundai L"
  hyundai_m = "Hyundai M"
  hyundai_n = "Hyundai N"
  hyundai_o = "Hyundai O"
  custom = "Developer"
  obd_ii = "OBD-II"
  nissan_a = "Nissan A"
  nissan_b = "Nissan B"
  mazda = "Mazda"
  none = "None"


STAR_DESCRIPTIONS = {
  "longitudinal": {
    "openpilot Adaptive Cruise Control (ACC)": [
      (Star.FULL.value, "openpilot is able to control the gas and brakes."),
      (Star.HALF.value, "openpilot is able to control the gas and brakes with some restrictions."),
      (Star.EMPTY.value, "The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system."),
    ],
    "Stop and Go": [
      (Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."),
      (Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."),
    ],
  },
  "steering": {
    "Steer to 0": [
      (Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."),
      (Star.EMPTY.value, "No steering control below certain speeds."),
    ],
    "Steering Torque": [
      (Star.FULL.value, "Car has enough steering torque to take tighter turns."),
      (Star.HALF.value, "Car has enough steering torque for comfortable highway driving."),
      (Star.EMPTY.value, "Limited ability to make turns."),
    ],
  },
  "support": {
    "Actively Maintained": [
      (Star.FULL.value, "Mainline software support, harness hardware sold by comma, lots of users, primary development target."),
      (Star.EMPTY.value, "Low user count, community maintained, harness hardware not sold by comma."),
    ],
  },
}