#include "safety_hyundai_common.h"

const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
  .max_steer = 270,
  .max_rt_delta = 112,
  .max_rt_interval = 250000,
  .max_rate_up = 2,
  .max_rate_down = 3,
  .driver_torque_allowance = 250,
  .driver_torque_factor = 2,
  .type = TorqueDriverLimited,

  // the EPS faults when the steering angle is above a certain threshold for too long. to prevent this,
  // we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames
  .min_valid_request_frames = 89,
  .max_invalid_request_frames = 2,
  .min_valid_request_rt_interval = 810000,  // 810ms; a ~10% buffer on cutting every 90 frames
  .has_steer_req_tolerance = true,
};

const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = {
  {0x50, 0, 16},  // LKAS
  {0x1CF, 1, 8},  // CRUISE_BUTTON
  {426, 1, 16},  // CRUISE_BUTTONS_ALT
  {0x2A4, 0, 24}, // CAM_0x2A4
};

const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = {
  {0x110, 0, 32}, // LKAS_ALT
  {0x1CF, 1, 8},  // CRUISE_BUTTON
  {426, 1, 16},  // CRUISE_BUTTONS_ALT
  {0x362, 0, 32}, // CAM_0x362
};

const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = {
  {0x50, 0, 16},  // LKAS
  {0x1CF, 1, 8},  // CRUISE_BUTTON
  {426, 1, 16},  // CRUISE_BUTTONS_ALT
  {0x2A4, 0, 24}, // CAM_0x2A4
  {0x51, 0, 32},  // ADRV_0x51
  {0x730, 1, 8},  // tester present for ADAS ECU disable
  {0x12A, 1, 16}, // LFA
  {0x160, 1, 16}, // ADRV_0x160
  {0x1E0, 1, 16}, // LFAHDA_CLUSTER
  {0x1A0, 1, 32}, // CRUISE_INFO
  {0x1EA, 1, 32}, // ADRV_0x1ea
  {0x200, 1, 8},  // ADRV_0x200
  {0x345, 1, 8},  // ADRV_0x345
  {0x1DA, 1, 32}, // ADRV_0x1da
};

const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = {
  {0x12A, 0, 16}, // LFA
  {0x1A0, 0, 32}, // CRUISE_INFO
  {0x1CF, 2, 8},  // CRUISE_BUTTON
  {0x1E0, 0, 16}, // LFAHDA_CLUSTER
};


// *** Addresses checked in rx hook ***
// EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105)
#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus)                                                                              \
  {.msg = {{0x35, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U},                   \
           {0x100, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U},                  \
           {0x105, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}}},                \
  {.msg = {{0x175, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},  \
  {.msg = {{0xa0, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}},   \
  {.msg = {{0xea, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}},   \

#define HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(pt_bus)                                                                            \
  {.msg = {{0x1cf, (pt_bus), 8, .check_checksum = false, .max_counter = 0xfU, .frequency = 50U}, { 0 }, { 0 }}}, \

#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus)                                                                            \
  {.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},   \

#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus)                                                                            \
  {.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}},   \

// SCC_CONTROL (from ADAS unit or camera)
#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus)                                                                                 \
  {.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \


// *** Non-HDA2 checks ***
// Camera sends SCC messages on HDA1.
// Both button messages exist on some platforms, so we ensure we track the correct one using flag
RxCheck hyundai_canfd_rx_checks[] = {
  HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
  HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
  HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};
RxCheck hyundai_canfd_alt_buttons_rx_checks[] = {
  HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
  HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
  HYUNDAI_CANFD_SCC_ADDR_CHECK(2)
};

// Longitudinal checks for HDA1
RxCheck hyundai_canfd_long_rx_checks[] = {
  HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
  HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
};
RxCheck hyundai_canfd_long_alt_buttons_rx_checks[] = {
  HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
  HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
};

// Radar sends SCC messages on these cars instead of camera
RxCheck hyundai_canfd_radar_scc_rx_checks[] = {
  HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
  HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0)
  HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};
RxCheck hyundai_canfd_radar_scc_alt_buttons_rx_checks[] = {
  HYUNDAI_CANFD_COMMON_RX_CHECKS(0)
  HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0)
  HYUNDAI_CANFD_SCC_ADDR_CHECK(0)
};


// *** HDA2 checks ***
// E-CAN is on bus 1, ADAS unit sends SCC messages on HDA2.
// Does not use the alt buttons message
RxCheck hyundai_canfd_hda2_rx_checks[] = {
  HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
  HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
  HYUNDAI_CANFD_SCC_ADDR_CHECK(1)
};
RxCheck hyundai_canfd_hda2_long_rx_checks[] = {
  HYUNDAI_CANFD_COMMON_RX_CHECKS(1)
  HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1)
};



const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128;
bool hyundai_canfd_alt_buttons = false;
bool hyundai_canfd_hda2_alt_steering = false;


int hyundai_canfd_hda2_get_lkas_addr(void) {
  return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50;
}

static uint8_t hyundai_canfd_get_counter(const CANPacket_t *to_push) {
  uint8_t ret = 0;
  if (GET_LEN(to_push) == 8U) {
    ret = GET_BYTE(to_push, 1) >> 4;
  } else {
    ret = GET_BYTE(to_push, 2);
  }
  return ret;
}

static uint32_t hyundai_canfd_get_checksum(const CANPacket_t *to_push) {
  uint32_t chksum = GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8);
  return chksum;
}

static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) {
  int bus = GET_BUS(to_push);
  int addr = GET_ADDR(to_push);

  const int pt_bus = hyundai_canfd_hda2 ? 1 : 0;
  const int scc_bus = hyundai_camera_scc ? 2 : pt_bus;

  // Todo: test:
  // BO_ 1345 CGW1: 8 BCM
  //   SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,DATC,IBOX,DATC,IBOX
  // BO_ 68 DATC11: 8 DATC
  //   SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg"  CLU,FPCM
  //   SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg"  CLU
  //   SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg"  BCM,CLU
  // BO_ 64 DATC14: 8 DATC
  //  SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] ""  CLU
  //  SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
  //  SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] ""  CLU
  //  SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] ""  CLU
  //  SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
  //  SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
  //  SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
  //  SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
  //  SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
  // VAL_ 1144 DRIVE_MODE2 3 "Set Sport" 1 "Set Normal" 2 "Set Eco";
//   BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
//  SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
//  SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
//  SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
//  SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
//  SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
//  SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
//  SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
//  SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
//  SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
//  SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
//  SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
// BO_ 304 GEAR_SHIFTER: 16 XXX
//  SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
//  SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
//  SG_ PARK_BUTTON : 32|2@1+ (1,0) [0|3] "" XXX
//  SG_ GEAR : 64|3@1+ (1,0) [0|7] "" XXX
//  SG_ KNOB_POSITION : 40|3@1+ (1,0) [0|3] "" XXX
// BO_ 1322 CLU15: 8 CLU
//  SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM
//  SG_ CF_Clu_Gear : 9|4@1+ (1,0) [0|15] "" BCM
//  SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] ""  HUD
//  SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
//  SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
//  SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
//  SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
//  SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
//  SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  HUD
//  SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
//  SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] ""  BCM,PGS
//  SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] ""  BCM,CGW,FATC
//  SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX
// BO_ 1292 CLU13: 8 CLU
//  SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,FPCM,IBOX
//  SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX
//  SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX
//  SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,SCC
//  SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] ""  IBOX
//  SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC,ECS,EMS,ESC,IAP,MDPS,TCU
//  SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] ""  CGW,IBOX
//  SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  MDPS
//  SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] ""  DATC
//  SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
//  SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] ""  ACU,EMS
//  SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC,EMS,TCU
//  SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  CUBIS,EMS,IAP,IBOX
//  SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
//  SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
//  SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,DATC,EMS
//  SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,LDWS_LKAS
  if (bus == pt_bus) {
    // driver torque
    if (addr == 0xea) {
      int torque_driver_new = ((GET_BYTE(to_push, 11) & 0x1fU) << 8U) | GET_BYTE(to_push, 10);
      torque_driver_new -= 4095;
      update_sample(&torque_driver, torque_driver_new);
    }

    // cruise buttons
    // todo: allow paddle shifter presses through
    const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf;
    if (addr == button_addr) {
      bool main_button = false;
      int cruise_button = 0;
      if (addr == 0x1cf) {
        cruise_button = GET_BYTE(to_push, 2) & 0x7U;
        main_button = GET_BIT(to_push, 19U);
      } else {
        cruise_button = (GET_BYTE(to_push, 4) >> 4) & 0x7U;
        main_button = GET_BIT(to_push, 34U);
      }
      hyundai_common_cruise_buttons_check(cruise_button, main_button);
    }

    // gas press, different for EV, hybrid, and ICE models
    if ((addr == 0x35) && hyundai_ev_gas_signal) {
      gas_pressed = GET_BYTE(to_push, 5) != 0U;
    } else if ((addr == 0x105) && hyundai_hybrid_gas_signal) {
      gas_pressed = GET_BIT(to_push, 103U) || (GET_BYTE(to_push, 13) != 0U) || GET_BIT(to_push, 112U);
    } else if ((addr == 0x100) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) {
      gas_pressed = GET_BIT(to_push, 176U);
    } else {
    }

    // brake press
    if (addr == 0x175) {
      brake_pressed = GET_BIT(to_push, 81U);
    }

    // vehicle moving
    if (addr == 0xa0) {
      uint32_t front_left_speed = GET_BYTES(to_push, 8, 2);
      uint32_t rear_right_speed = GET_BYTES(to_push, 14, 2);
      vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD);
    }
  }

  if (bus == scc_bus) {
    // cruise state
    if ((addr == 0x1a0) && !hyundai_longitudinal) {
      // 1=enabled, 2=driver override
      int cruise_status = ((GET_BYTE(to_push, 8) >> 4) & 0x7U);
      bool cruise_engaged = (cruise_status == 1) || (cruise_status == 2);
      hyundai_common_cruise_state_check(cruise_engaged);
    }
  }

  const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
  bool stock_ecu_detected = (addr == steer_addr) && (bus == 0);
  if (hyundai_longitudinal) {
    // on HDA2, ensure ADRV ECU is still knocked out
    // on others, ensure accel msg is blocked from camera
    const int stock_scc_bus = hyundai_canfd_hda2 ? 1 : 0;
    stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus));
  }
  generic_rx_checks(stock_ecu_detected);

}

static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
  bool tx = true;
  int addr = GET_ADDR(to_send);

  // steering
  const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a;
  if (addr == steer_addr) {
    int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U;
    bool steer_req = GET_BIT(to_send, 52U);

    if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
      tx = false;
    }
  }

  // cruise buttons check
  /*
BO_ 463 CRUISE_BUTTONS: 8 XXX
 SG_ _CHECKSUM : 0|8@1+ (1,0) [0|65535] "" XXX
 SG_ LKAS_BTN : 23|1@1+ (1,0) [0|1] "" XXX
 SG_ SET_ME_1 : 29|1@1+ (1,0) [0|1] "" XXX
 SG_ ADAPTIVE_CRUISE_MAIN_BTN : 19|1@1+ (1,0) [0|1] "" XXX
 SG_ NORMAL_CRUISE_MAIN_BTN : 21|1@1+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 12|4@1+ (1,0) [0|255] "" XXX
 SG_ CRUISE_BUTTONS : 16|3@1+ (1,0) [0|3] "" XXX
 */

  // Pass all desired buttons for now
  // if (addr == 0x1cf) {
  //   int button = GET_BYTE(to_send, 2) & 0x7U;
  //   bool is_cancel = (button == HYUNDAI_BTN_CANCEL);
  //   bool is_resume = (button == HYUNDAI_BTN_RESUME);
  //   bool is_set = (button == HYUNDAI_BTN_SET);

  //   bool allowed = 
  //     (is_cancel && cruise_engaged_prev) || 
  //     (is_resume && controls_allowed);
  //     (is_set && controls_allowed)
  //     ;
    
  //   if (!allowed) {
  //     tx = false;
  //   }
  // }

  

  // 'alt' buttons check
  /*
  
BO_ 426 CRUISE_BUTTONS_ALT: 16 XXX
 SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
 SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
 SG_ NEW_SIGNAL_1 : 24|4@1+ (1,0) [0|15] "" XXX
 SG_ SET_ME_1 : 28|2@1+ (1,0) [0|3] "" XXX
 SG_ DISTANCE_UNIT : 30|1@1+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_2 : 31|3@1+ (1,0) [0|7] "" XXX
 SG_ ADAPTIVE_CRUISE_MAIN_BTN : 34|1@1+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_3 : 35|1@1+ (1,0) [0|1] "" XXX
 SG_ LFA_BTN : 39|1@1+ (1,0) [0|1] "" XXX
 SG_ CRUISE_BUTTONS : 36|3@1+ (1,0) [0|4] "" XXX
 SG_ NEW_SIGNAL_4 : 40|1@1+ (1,0) [0|1] "" XXX
 SG_ NORMAL_CRUISE_MAIN_BTN : 41|1@1+ (1,0) [0|1] "" XXX
 SG_ NEW_SIGNAL_5 : 42|2@1+ (1,0) [0|3] "" XXX
 SG_ SET_ME_2 : 44|3@1+ (1,0) [0|7] "" XXX
 SG_ NEW_SIGNAL_6 : 47|1@1+ (1,0) [0|1] "" XXX
 SG_ BYTE6 : 48|8@1+ (1,0) [0|255] "" XXX
 SG_ BYTE7 : 56|8@1+ (1,0) [0|255] "" XXX
 SG_ BYTE8 : 64|8@1+ (1,0) [0|255] "" XXX
 SG_ BYTE9 : 72|8@1+ (1,0) [0|255] "" XXX
 SG_ BYTE10 : 80|8@1+ (1,0) [0|255] "" XXX
 SG_ BYTE11 : 88|8@1+ (1,0) [0|255] "" XXX
 SG_ BYTE12 : 96|8@1+ (1,0) [0|255] "" XXX
 SG_ BYTE13 : 104|8@1+ (1,0) [0|255] "" XXX
 SG_ BYTE14 : 112|8@1+ (1,0) [0|255] "" XXX
 SG_ BYTE15 : 120|8@1+ (1,0) [0|255] "" XXX
*/

// HVAC
/*
BO_ 1151 HVAC_TOUCH_BUTTONS: 8 XXX
 SG_ AUTO_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX
 SG_ SYNC_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX
 SG_ FR_DEFROST_BUTTON : 20|1@0+ (1,0) [0|1] "" XXX
 SG_ RR_DEFROST_BUTTON : 22|1@0+ (1,0) [0|1] "" XXX
 SG_ FAN_SPEED_UP_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ FAN_SPEED_DOWN_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX
 SG_ AIR_DIRECTION_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX
 SG_ AC_BUTTON : 40|1@0+ (1,0) [0|1] "" XXX
 SG_ DRIVER_ONLY_BUTTON : 44|1@0+ (1,0) [0|1] "" XXX
 SG_ RECIRC_BUTTON : 48|1@0+ (1,0) [0|1] "" XXX
 SG_ HEAT_BUTTON : 52|1@0+ (1,0) [0|1] "" XXX
 */

  // UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address
  if ((addr == 0x730) && hyundai_canfd_hda2) {
    if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) {
      tx = false;
    }
  }

  // ACCEL: safety check
  if (addr == 0x1a0) {
    int desired_accel_raw = (((GET_BYTE(to_send, 17) & 0x7U) << 8) | GET_BYTE(to_send, 16)) - 1023U;
    int desired_accel_val = ((GET_BYTE(to_send, 18) << 4) | (GET_BYTE(to_send, 17) >> 4)) - 1023U;

    bool violation = false;

    if (hyundai_longitudinal) {
      violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS);
      violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS);
    } else {
      // only used to cancel on here
      if ((desired_accel_raw != 0) || (desired_accel_val != 0)) {
        violation = true;
      }
    }

    if (violation) {
      tx = false;
    }
  }

  return tx;
}

static int hyundai_canfd_fwd_hook(int bus_num, int addr) {
  int bus_fwd = -1;

  if (bus_num == 0) {
    bus_fwd = 2;
  }
  if (bus_num == 2) {
    // LKAS for HDA2, LFA for HDA1
    int hda2_lfa_block_addr = hyundai_canfd_hda2_alt_steering ? 0x362 : 0x2a4;
    bool is_lkas_msg = ((addr == hyundai_canfd_hda2_get_lkas_addr()) || (addr == hda2_lfa_block_addr)) && hyundai_canfd_hda2;
    bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2);

    // HUD icons
    bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2);

    // CRUISE_INFO for non-HDA2, we send our own longitudinal commands
    bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2);

    bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg;
    if (!block_msg) {
      bus_fwd = 0;
    }
  }

  return bus_fwd;
}

static safety_config hyundai_canfd_init(uint16_t param) {
  hyundai_common_init(param);

  gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
  hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
  hyundai_canfd_hda2_alt_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING);

  // no long for radar-SCC HDA1 yet
  if (!hyundai_canfd_hda2 && !hyundai_camera_scc) {
    hyundai_longitudinal = false;
  }

  safety_config ret;
  if (hyundai_longitudinal) {
    if (hyundai_canfd_hda2) {
      ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS);
    } else {
      ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_long_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
                                        BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
    }
  } else {
    if (hyundai_canfd_hda2) {
      ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS) : \
                                              BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_TX_MSGS);
    } else if (!hyundai_camera_scc) {
      ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
                                        BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
    } else {
      ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \
                                        BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS);
    }
  }

  return ret;
}

const safety_hooks hyundai_canfd_hooks = {
  .init = hyundai_canfd_init,
  .rx = hyundai_canfd_rx_hook,
  .tx = hyundai_canfd_tx_hook,
  .fwd = hyundai_canfd_fwd_hook,
  .get_counter = hyundai_canfd_get_counter,
  .get_checksum = hyundai_canfd_get_checksum,
  .compute_checksum = hyundai_common_canfd_compute_checksum,
};