#include "selfdrive/oscarpilot/settings/basic.h"
#include "selfdrive/ui/ui.h"

OscarPilotBasicPanel::OscarPilotBasicPanel(OscarSettingsWindow *parent) : FrogPilotListWidget(parent) {
  const std::vector<std::tuple<QString, QString, QString, QString>> visualToggles {
    {"CustomTheme", "Custom Themes", "Enable the ability to use custom themes.", "../frogpilot/assets/wheel_images/frog.png"},
    {"CustomColors", "Color Theme", "Switch out the standard openpilot color scheme with a custom color scheme.\n\nWant to submit your own color scheme? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
    {"CustomIcons", "Icon Pack", "Switch out the standard openpilot icons with a set of custom icons.\n\nWant to submit your own icon pack? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
    {"CustomSignals", "Turn Signals", "Add custom animations for your turn signals for a personal touch!\n\nWant to submit your own turn signal animation? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},
    {"CustomSounds", "Sound Pack", "Switch out the standard openpilot sounds with a set of custom sounds.\n\nWant to submit your own sound pack? Post it in the 'feature-request' channel in the FrogPilot Discord!", ""},

    {"CameraView", "Camera View", "Choose your preferred camera view for the onroad UI. This is a visual change only and doesn't impact openpilot.", "../frogpilot/assets/toggle_icons/icon_camera.png"},
    {"Compass", "Compass", "Add a compass to your onroad UI.", "../frogpilot/assets/toggle_icons/icon_compass.png"},

    {"CustomUI", "Custom Onroad UI", "Customize the Onroad UI with some additional visual functions.", "../assets/offroad/icon_road.png"},
    {"AdjacentPath", "Adjacent Paths", "Display paths to the left and right of your car, visualizing where the model detects lanes.", ""},
    {"BlindSpotPath", "Blind Spot Path", "Visualize your blind spots with a red path when another vehicle is detected nearby.", ""},
    {"ShowFPS", "FPS Counter", "Display the Frames Per Second (FPS) of your onroad UI for monitoring system performance.", ""},
    {"LeadInfo", "Lead Info and Logics", "Get detailed information about the vehicle ahead, including speed and distance, and the logic behind your following distance.", ""},
    {"RoadNameUI", "Road Name", "See the name of the road you're on at the bottom of your screen. Sourced from OpenStreetMap.", ""},
    {"UseVienna", "Use Vienna Speed Limit Signs", "Use the Vienna (EU) speed limit style signs as opposed to MUTCD (US).", ""},

    {"DriverCamera", "Driver Camera On Reverse", "Show the driver's camera feed when you shift to reverse.", "../assets/img_driver_face_static.png"},
    {"GreenLightAlert", "Green Light Alert", "Get an alert when a traffic light changes from red to green.", "../frogpilot/assets/toggle_icons/icon_green_light.png"},

    {"ModelUI", "Model UI", "Personalize how the model's visualizations appear on your screen.", "../assets/offroad/icon_calibration.png"},
    {"AccelerationPath", "Acceleration Path", "Visualize the car's intended acceleration or deceleration with a color-coded path.", ""},
    {"LaneLinesWidth", "Lane Lines", "Adjust the visual thickness of lane lines on your display.\n\nDefault matches the MUTCD average of 4 inches.", ""},
    {"PathEdgeWidth", "Path Edges", "Adjust the width of the path edges shown on your UI to represent different driving modes and statuses.\n\nDefault is 20% of the total path.\n\nBlue = Navigation\nLight Blue = Always On Lateral\nGreen = Default with 'FrogPilot Colors'\nLight Green = Default with stock colors\nOrange = Experimental Mode Active\nYellow = Conditional Overriden", ""},
    {"PathWidth", "Path Width", "Customize the width of the driving path shown on your UI.\n\nDefault matches the width of a 2019 Lexus ES 350.", ""},
    {"RoadEdgesWidth", "Road Edges", "Adjust the visual thickness of road edges on your display.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.", ""},
    {"UnlimitedLength", "'Unlimited' Road UI Length", "Extend the display of the path, lane lines, and road edges as far as the system can detect, providing a more expansive view of the road ahead.", ""},

    {"QOLVisuals", "Quality of Life", "Miscellaneous quality of life changes to improve your overall openpilot experience.", "../frogpilot/assets/toggle_icons/quality_of_life.png"},
    {"DriveStats", "Drive Stats In Home Screen", "Display your device's drive stats in the home screen.", ""},
    {"HideSpeed", "Hide Speed", "Hide the speed indicator in the onroad UI.", ""},
    {"ShowSLCOffset", "Show Speed Limit Offset", "Show the speed limit offset seperated from the speed limit in the onroad UI when using 'Speed Limit Controller'.", ""},

    {"RandomEvents", "Random Events", "Enjoy a bit of unpredictability with random events that can occur during certain driving conditions.", "../frogpilot/assets/toggle_icons/icon_random.png"},
    {"ScreenBrightness", "Screen Brightness", "Customize your screen brightness.", "../frogpilot/assets/toggle_icons/icon_light.png"},
    {"SilentMode", "Silent Mode", "Mute openpilot sounds for a quieter driving experience.", "../frogpilot/assets/toggle_icons/icon_mute.png"},
    {"WheelIcon", "Steering Wheel Icon", "Replace the default steering wheel icon with a custom design, adding a unique touch to your interface.", "../assets/offroad/icon_openpilot.png"},
  };

  for (const auto &[param, title, desc, icon] : visualToggles) {
    ParamControl *toggle;

    if (param == "CameraView") {
      std::vector<QString> cameraOptions{tr("Auto"), tr("Standard"), tr("Wide"), tr("Driver")};
      FrogPilotButtonParamControl *preferredCamera = new FrogPilotButtonParamControl(param, title, desc, icon, cameraOptions);
      toggle = preferredCamera;

    } else if (param == "CustomTheme") {
      FrogPilotParamManageControl *customThemeToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
      QObject::connect(customThemeToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
        parentToggleClicked();
        for (auto &[key, toggle] : toggles) {
          toggle->setVisible(customThemeKeys.find(key.c_str()) != customThemeKeys.end());
        }
      });
      toggle = customThemeToggle;
    } else if (param == "CustomColors" || param == "CustomIcons" || param == "CustomSignals" || param == "CustomSounds") {
      std::vector<QString> themeOptions{tr("Stock"), tr("Frog"), tr("Tesla"), tr("Stalin")};
      FrogPilotButtonParamControl *themeSelection = new FrogPilotButtonParamControl(param, title, desc, icon, themeOptions);
      toggle = themeSelection;

      if (param == "CustomSounds") {
        QObject::connect(static_cast<FrogPilotButtonParamControl*>(toggle), &FrogPilotButtonParamControl::buttonClicked, [this](int id) {
          if (id == 1) {
            if (FrogPilotConfirmationDialog::yesorno("Do you want to enable the bonus 'Goat' sound effect?", this)) {
              params.putBool("GoatScream", true);
            } else {
              params.putBool("GoatScream", false);
            }
          }
        });
      }

    } else if (param == "CustomUI") {
      FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
      QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
        parentToggleClicked();
        for (auto &[key, toggle] : toggles) {
          toggle->setVisible(customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end());
        }
      });
      toggle = customUIToggle;
    } else if (param == "LeadInfo") {
      std::vector<QString> leadInfoToggles{tr("UseSI")};
      std::vector<QString> leadInfoToggleNames{tr("Use SI Values")};
      toggle = new FrogPilotParamToggleControl(param, title, desc, icon, leadInfoToggles, leadInfoToggleNames);

    } else if (param == "ModelUI") {
      FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
      QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
        parentToggleClicked();
        for (auto &[key, toggle] : toggles) {
          toggle->setVisible(modelUIKeys.find(key.c_str()) != modelUIKeys.end());
        }
      });
      toggle = modelUIToggle;
    } else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") {
      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, std::map<int, QString>(), this, false, " inches");
    } else if (param == "PathEdgeWidth") {
      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, "%");
    } else if (param == "PathWidth") {
      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, " feet", 10);

    } else if (param == "QOLVisuals") {
      FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
      QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {
        parentToggleClicked();
        for (auto &[key, toggle] : toggles) {
          toggle->setVisible(qolKeys.find(key.c_str()) != qolKeys.end());
        }
      });
      toggle = qolToggle;

    } else if (param == "ScreenBrightness") {
      std::map<int, QString> brightnessLabels;
      for (int i = 0; i <= 101; ++i) {
        brightnessLabels[i] = i == 0 ? "Screen Off" : i == 101 ? "Auto" : QString::number(i) + "%";
      }
      toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 101, brightnessLabels, this, false);

    } else if (param == "WheelIcon") {
      std::vector<QString> wheelToggles{"RotatingWheel"};
      std::vector<QString> wheelToggleNames{tr("Rotating")};
      std::map<int, QString> steeringWheelLabels = {{0, "Stock"}, {1, "Lexus"}, {2, "Toyota"}, {3, "Frog"}, {4, "Rocket"}, {5, "Hyundai"}, {6, "Stalin"}};
      toggle = new FrogPilotParamValueToggleControl(param, title, desc, icon, 0, 6, steeringWheelLabels, this, true, "", 1, wheelToggles, wheelToggleNames);

    } else {
      toggle = new ParamControl(param, title, desc, icon, this);
    }

    addItem(toggle);
    toggles[param.toStdString()] = toggle;

    QObject::connect(toggle, &ToggleControl::toggleFlipped, [this]() {
      updateToggles();
    });

    QObject::connect(static_cast<FrogPilotParamValueControl*>(toggle), &FrogPilotParamValueControl::buttonPressed, [this]() {
      updateToggles();
    });

    QObject::connect(toggle, &AbstractControl::showDescriptionEvent, [this]() {
      update();
    });

    QObject::connect(static_cast<FrogPilotParamManageControl*>(toggle), &FrogPilotParamManageControl::manageButtonClicked, [this]() {
      update();
    });
  }

  std::set<std::string> rebootKeys = {"DriveStats"};
  for (const std::string &key : rebootKeys) {
    QObject::connect(toggles[key], &ToggleControl::toggleFlipped, [this]() {
      if (FrogPilotConfirmationDialog::toggle("Reboot required to take effect.", "Reboot Now", this)) {
        Hardware::reboot();
      }
    });
  }

  customOnroadUIKeys = {"AdjacentPath", "BlindSpotPath", "ShowFPS", "LeadInfo", "RoadNameUI", "UseVienna"};
  customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
  modelUIKeys = {"AccelerationPath", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
  qolKeys = {"DriveStats", "HideSpeed", "ShowSLCOffset"};

  QObject::connect(device(), &Device::interactiveTimeout, this, &OscarPilotBasicPanel::hideSubToggles);
  QObject::connect(parent, &OscarSettingsWindow::closeParentToggle, this, &OscarPilotBasicPanel::hideSubToggles);
  // QObject::connect(parent, &OscarSettingsWindow::updateMetric, this, &OscarPilotBasicPanel::updateMetric);

  hideSubToggles();
  // updateMetric();
}

void OscarPilotBasicPanel::updateToggles() {
  std::thread([this]() {
    paramsMemory.putBool("FrogPilotTogglesUpdated", true);
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    paramsMemory.putBool("FrogPilotTogglesUpdated", false);
  }).detach();
}

// void OscarPilotBasicPanel::updateMetric() {
//   bool previousIsMetric = isMetric;
//   isMetric = params.getBool("IsMetric");

//   if (isMetric != previousIsMetric) {
//     double distanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH;
//     double speedConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
//     params.putInt("LaneLinesWidth", std::nearbyint(params.getInt("LaneLinesWidth") * distanceConversion));
//     params.putInt("RoadEdgesWidth", std::nearbyint(params.getInt("RoadEdgesWidth") * distanceConversion));
//     params.putInt("PathWidth", std::nearbyint(params.getInt("PathWidth") * speedConversion));
//   }

//   FrogPilotParamValueControl *laneLinesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneLinesWidth"]);
//   FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["RoadEdgesWidth"]);
//   FrogPilotParamValueControl *pathWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["PathWidth"]);

//   if (isMetric) {
//     laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the Vienna average of 10 centimeters.");
//     roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the Vienna average lane line width of 10 centimeters.");

//     laneLinesWidthToggle->updateControl(0, 60, " centimeters");
//     roadEdgesWidthToggle->updateControl(0, 60, " centimeters");
//     pathWidthToggle->updateControl(0, 30, " meters");
//   } else {
//     laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the MUTCD average of 4 inches.");
//     roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.");

//     laneLinesWidthToggle->updateControl(0, 24, " inches");
//     roadEdgesWidthToggle->updateControl(0, 24, " inches");
//     pathWidthToggle->updateControl(0, 100, " feet");
//   }

//   laneLinesWidthToggle->refresh();
//   roadEdgesWidthToggle->refresh();

//   previousIsMetric = isMetric;
// }

// void OscarPilotBasicPanel::updateMetric() {
//   bool previousIsMetric = isMetric;
//   isMetric = params.getBool("IsMetric");

//   if (isMetric != previousIsMetric) {
//     double distanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH;
//     double speedConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
//     params.putInt("LaneLinesWidth", std::nearbyint(params.getInt("LaneLinesWidth") * distanceConversion));
//     params.putInt("RoadEdgesWidth", std::nearbyint(params.getInt("RoadEdgesWidth") * distanceConversion));
//     params.putInt("PathWidth", std::nearbyint(params.getInt("PathWidth") * speedConversion));
//   }

//   FrogPilotParamValueControl *laneLinesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneLinesWidth"]);
//   FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["RoadEdgesWidth"]);
//   FrogPilotParamValueControl *pathWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["PathWidth"]);

//   if (isMetric) {
//     laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the Vienna average of 10 centimeters.");
//     roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the Vienna average lane line width of 10 centimeters.");

//     laneLinesWidthToggle->updateControl(0, 60, " centimeters");
//     roadEdgesWidthToggle->updateControl(0, 60, " centimeters");
//     pathWidthToggle->updateControl(0, 30, " meters");
//   } else {
//     laneLinesWidthToggle->setDescription("Customize the lane line width.\n\nDefault matches the MUTCD average of 4 inches.");
//     roadEdgesWidthToggle->setDescription("Customize the road edges width.\n\nDefault is 1/2 of the MUTCD average lane line width of 4 inches.");

//     laneLinesWidthToggle->updateControl(0, 24, " inches");
//     roadEdgesWidthToggle->updateControl(0, 24, " inches");
//     pathWidthToggle->updateControl(0, 100, " feet");
//   }

//   laneLinesWidthToggle->refresh();
//   roadEdgesWidthToggle->refresh();

//   previousIsMetric = isMetric;
// }

void OscarPilotBasicPanel::parentToggleClicked() {
  this->openParentToggle();
}

void OscarPilotBasicPanel::hideSubToggles() {
  for (auto &[key, toggle] : toggles) {
    bool subToggles = modelUIKeys.find(key.c_str()) != modelUIKeys.end() ||
                      customOnroadUIKeys.find(key.c_str()) != customOnroadUIKeys.end() ||
                      customThemeKeys.find(key.c_str()) != customThemeKeys.end() ||
                      qolKeys.find(key.c_str()) != qolKeys.end();
    toggle->setVisible(!subToggles);
  }

  this->closeParentToggle();
}

void OscarPilotBasicPanel::hideEvent(QHideEvent *event) {
  hideSubToggles();
}