from cereal import car
from common.conversions import Conversions as CV
from common.numpy_fast import mean
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD

TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation


class CarState(CarStateBase):
  def __init__(self, CP):
    super().__init__(CP)
    can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
    self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
    self.lka_steering_cmd_counter = 0
    self.buttons_counter = 0

  def update(self, pt_cp, cam_cp, loopback_cp):
    ret = car.CarState.new_message()

    self.prev_cruise_buttons = self.cruise_buttons
    self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
    self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]

    ret.wheelSpeeds = self.get_wheel_speeds(
      pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
      pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"],
      pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"],
      pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"],
    )
    ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
    ret.standstill = ret.vEgoRaw < 0.01

    if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
      ret.gearShifter = self.parse_gear_shifter("T")
    else:
      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))

    # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
    ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
    ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10

    # Regen braking is braking
    if self.CP.transmissionType == TransmissionType.direct:
      ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0

    ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
    ret.gasPressed = ret.gas > 1e-5

    ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
    ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]
    ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"]
    ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"]
    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
    self.lka_steering_cmd_counter = loopback_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]

    # 0 inactive, 1 active, 2 temporarily limited, 3 failed
    self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"]
    ret.steerFaultTemporary = self.lkas_status == 2
    ret.steerFaultPermanent = self.lkas_status == 3

    # 1 - open, 0 - closed
    ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]["FrontLeftDoor"] == 1 or
                    pt_cp.vl["BCMDoorBeltStatus"]["FrontRightDoor"] == 1 or
                    pt_cp.vl["BCMDoorBeltStatus"]["RearLeftDoor"] == 1 or
                    pt_cp.vl["BCMDoorBeltStatus"]["RearRightDoor"] == 1)

    # 1 - latched
    ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]["LeftSeatBelt"] == 0
    ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
    ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2

    ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
    ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
    ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
    ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED

    ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS

    return ret

  @staticmethod
  def get_cam_can_parser(CP):
    signals = []
    checks = []
    if CP.networkLocation == NetworkLocation.fwdCamera:
      signals.append(("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"))
      checks.append(("ASCMActiveCruiseControlStatus", 25))

    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)

  @staticmethod
  def get_can_parser(CP):
    signals = [
      # sig_name, sig_address
      ("BrakePedalPosition", "EBCMBrakePedalPosition"),
      ("FrontLeftDoor", "BCMDoorBeltStatus"),
      ("FrontRightDoor", "BCMDoorBeltStatus"),
      ("RearLeftDoor", "BCMDoorBeltStatus"),
      ("RearRightDoor", "BCMDoorBeltStatus"),
      ("LeftSeatBelt", "BCMDoorBeltStatus"),
      ("RightSeatBelt", "BCMDoorBeltStatus"),
      ("TurnSignals", "BCMTurnSignals"),
      ("AcceleratorPedal2", "AcceleratorPedal2"),
      ("CruiseState", "AcceleratorPedal2"),
      ("ACCButtons", "ASCMSteeringButton"),
      ("RollingCounter", "ASCMSteeringButton"),
      ("SteeringWheelAngle", "PSCMSteeringAngle"),
      ("SteeringWheelRate", "PSCMSteeringAngle"),
      ("FLWheelSpd", "EBCMWheelSpdFront"),
      ("FRWheelSpd", "EBCMWheelSpdFront"),
      ("RLWheelSpd", "EBCMWheelSpdRear"),
      ("RRWheelSpd", "EBCMWheelSpdRear"),
      ("PRNDL2", "ECMPRDNL2"),
      ("ManualMode", "ECMPRDNL2"),
      ("LKADriverAppldTrq", "PSCMStatus"),
      ("LKATorqueDelivered", "PSCMStatus"),
      ("LKATorqueDeliveredStatus", "PSCMStatus"),
      ("TractionControlOn", "ESPStatus"),
      ("ParkBrake", "VehicleIgnitionAlt"),
      ("CruiseMainOn", "ECMEngineStatus"),
    ]

    checks = [
      ("BCMTurnSignals", 1),
      ("ECMPRDNL2", 10),
      ("PSCMStatus", 10),
      ("ESPStatus", 10),
      ("BCMDoorBeltStatus", 10),
      ("VehicleIgnitionAlt", 10),
      ("EBCMWheelSpdFront", 20),
      ("EBCMWheelSpdRear", 20),
      ("AcceleratorPedal2", 33),
      ("ASCMSteeringButton", 33),
      ("ECMEngineStatus", 100),
      ("PSCMSteeringAngle", 100),
      ("EBCMBrakePedalPosition", 100),
    ]

    if CP.transmissionType == TransmissionType.direct:
      signals.append(("RegenPaddle", "EBCMRegenPaddle"))
      checks.append(("EBCMRegenPaddle", 50))

    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN)

  @staticmethod
  def get_loopback_can_parser(CP):
    signals = [
      ("RollingCounter", "ASCMLKASteeringCmd"),
    ]

    checks = [
      ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms).
      #                             While active 50 Hz (every 20 ms) is normal
      #                             EPS will tolerate around 200ms when active before faulting
    ]

    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)