from dataclasses import dataclass, field
from enum import Enum, IntFlag, StrEnum
from typing import Dict, List, Union

from cereal import car
from panda.python import uds
from openpilot.common.params import Params
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16

Ecu = car.CarParams.Ecu


class CarControllerParams:
  def __init__(self, CP):
    self.STEER_STEP = 2                # how often we update the steer cmd
    self.STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
    self.STEER_DELTA_DOWN = 70         # torque decrease per refresh
    self.STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
    self.STEER_DRIVER_MULTIPLIER = 50  # weight driver torque heavily
    self.STEER_DRIVER_FACTOR = 1       # from dbc

    if CP.carFingerprint in GLOBAL_GEN2:
      self.STEER_MAX = 1000
      self.STEER_DELTA_UP = 40
      self.STEER_DELTA_DOWN = 40
    elif CP.carFingerprint == CAR.IMPREZA_2020:
      self.STEER_MAX = 1439
    else:
      self.STEER_MAX = 2047

  THROTTLE_MIN = 808
  THROTTLE_MAX = 3400

  THROTTLE_INACTIVE     = 1818   # corresponds to zero acceleration
  THROTTLE_ENGINE_BRAKE = 808    # while braking, eyesight sets throttle to this, probably for engine braking

  BRAKE_MIN = 0
  BRAKE_MAX = 600                # about -3.5m/s2 from testing

  RPM_MIN = 0
  RPM_MAX = 2400

  RPM_INACTIVE = 600             # a good base rpm for zero acceleration

  THROTTLE_LOOKUP_BP = [0, 2]
  THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]

  RPM_LOOKUP_BP = [0, 2]
  RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]

  BRAKE_LOOKUP_BP = [-3.5, 0]
  BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]


class SubaruFlags(IntFlag):
  SEND_INFOTAINMENT = 1
  DISABLE_EYESIGHT = 2


GLOBAL_ES_ADDR = 0x787
GEN2_ES_BUTTONS_DID = b'\x11\x30'


class CanBus:
  main = 0
  alt = 1
  camera = 2


class CAR(StrEnum):
  # Global platform
  ASCENT = "SUBARU ASCENT LIMITED 2019"
  ASCENT_2023 = "SUBARU ASCENT 2023"
  IMPREZA = "SUBARU IMPREZA LIMITED 2019"
  IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
  FORESTER = "SUBARU FORESTER 2019"
  OUTBACK = "SUBARU OUTBACK 6TH GEN"
  CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020"
  FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020"
  LEGACY = "SUBARU LEGACY 7TH GEN"
  FORESTER_2022 = "SUBARU FORESTER 2022"
  OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"

  # Pre-global
  FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
  LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
  OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
  OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"


class Footnote(Enum):
  GLOBAL = CarFootnote(
    "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
    Column.PACKAGE)
  EXP_LONG = CarFootnote(
    "Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB.",
    Column.LONGITUDINAL)


@dataclass
class SubaruCarInfo(CarInfo):
  package: str = "EyeSight Driver Assistance"
  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])

  def init_make(self, CP: car.CarParams):
    self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])

    if CP.experimentalLongitudinalAvailable:
      self.footnotes.append(Footnote.EXP_LONG)

CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
  CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
  CAR.IMPREZA: [
    SubaruCarInfo("Subaru Impreza 2017-19"),
    SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
    SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
  ],
  CAR.IMPREZA_2020: [
    SubaruCarInfo("Subaru Impreza 2020-22"),
    SubaruCarInfo("Subaru Crosstrek 2020-23"),
    SubaruCarInfo("Subaru XV 2020-21"),
  ],
  # TODO: is there an XV and Impreza too?
  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])),
  CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
  CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
  CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
  CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
  CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
  CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
  CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
}

LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023, CAR.ASCENT_2023}
GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023, CAR.ASCENT_2023}
PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}

# Cars that temporarily fault when steering angle rate is greater than some threshold.
# Appears to be all torque-based cars produced around 2019 - present
STEER_RATE_LIMITED = GLOBAL_GEN2 | {CAR.IMPREZA_2020, CAR.FORESTER}

SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)

FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
    Request(
      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
    ),
    # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
    # TODO: check if this resolves the fingerprinting issue for the 2023 Ascent and other new Subaru cars
    Request(
      [SUBARU_VERSION_REQUEST],
      [SUBARU_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.fwdCamera],
    ),
    # Non-OBD requests
    Request(
      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
      bus=0,
    ),
    Request(
      [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
      [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
      whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.fwdCamera, Ecu.engine, Ecu.transmission],
      bus=1,
      obd_multiplexing=False,
    ),
  ],
  # We don't get the EPS from non-OBD queries on GEN2 cars. Note that we still attempt to match when it exists
  non_essential_ecus={
    Ecu.eps: list(GLOBAL_GEN2),
  }
)

DBC = {
  CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
  CAR.ASCENT_2023: dbc_dict('subaru_global_2017_generated', None),
  CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
  CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
  CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
  CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
  CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
  CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
  CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
  CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None),
  CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
  CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
  CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
  CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
  CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
}