from openpilot.common.numpy_fast import clip
from openpilot.selfdrive.car import CanBusBase
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags

from openpilot.common.params import Params

class CanBus(CanBusBase):
  def __init__(self, CP, hda2=None, fingerprint=None) -> None:
    super().__init__(CP, fingerprint)

    if hda2 is None:
      assert CP is not None
      hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value

    # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
    # have a different harness than the HDA1 and non-HDA variants in order to split
    # a different bus, since the steering is done by different ECUs.
    self._a, self._e = 1, 0
    if hda2:
      self._a, self._e = 0, 1

    self._a += self.offset
    self._e += self.offset
    self._cam = 2 + self.offset

  @property
  def ECAN(self):
    return self._e

  @property
  def ACAN(self):
    return self._a

  @property
  def CAM(self):
    return self._cam


def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):

  # Im sure there is a better way to do this
  params_memory = Params("/dev/shm/params")
  no_lat_lane_change = params_memory.get_int("no_lat_lane_change", 1)

  ret = []

  values = {
    "LKA_MODE": 2,  
    "LKA_ICON": 0 if no_lat_lane_change else 2 if enabled else 1 if lat_active else 0, # right mode icon
    "TORQUE_REQUEST": apply_steer,
    "LKA_ASSIST": 0,
    "STEER_REQ": 1 if lat_active else 0,
    "STEER_MODE": 0,
    "HAS_LANE_SAFETY": 0,  # hide LKAS settings
    "NEW_SIGNAL_1": 0,
    "NEW_SIGNAL_2": 0,
  }

  if CP.flags & HyundaiFlags.CANFD_HDA2:
    hda2_lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
    if CP.openpilotLongitudinalControl:
      ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
    ret.append(packer.make_can_msg(hda2_lkas_msg, CAN.ACAN, values))
  else:
    ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))

  return ret

def create_suppress_lfa(packer, CAN, hda2_lfa_block_msg, hda2_alt_steering):
  suppress_msg = "CAM_0x362" if hda2_alt_steering else "CAM_0x2a4"
  msg_bytes = 32 if hda2_alt_steering else 24

  values = {f"BYTE{i}": hda2_lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
  values["COUNTER"] = hda2_lfa_block_msg["COUNTER"]
  values["SET_ME_0"] = 0
  values["SET_ME_0_2"] = 0
  values["LEFT_LANE_LINE"] = 0
  values["RIGHT_LANE_LINE"] = 0
  return packer.make_can_msg(suppress_msg, CAN.ACAN, values)

def create_buttons(packer, CP, CAN, cnt, btn):
  values = {
    "COUNTER": cnt,
    "SET_ME_1": 1,
    "CRUISE_BUTTONS": btn,
  }

  bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)

# null
# {'CHECKSUM': [], 'COUNTER': [], 'NEW_SIGNAL_1': [], 'SET_ME_1': [], 'DISTANCE_UNIT': [], 
# 'NEW_SIGNAL_2': [], 'ADAPT
# IVE_CRUISE_MAIN_BTN': [], 'NEW_SIGNAL_3': [], 'LFA_BTN': [], 'CRUISE_BUTTONS': [],
#  'NEW_SIGNAL_4': [], 'NORMAL_CRUI
# SE_MAIN_BTN': [], 'NEW_SIGNAL_5': [], 'SET_ME_2': [], 'NEW_SIGNAL_6': [], 'BYTE6': [], 
# 'BYTE7': [], 'BYTE8': [], 'B
# YTE9': [], 'BYTE10': [], 'BYTE11': [], 'BYTE12': [], 'BYTE13': [], 'BYTE14': [], 
# 'BYTE15': []}

# holding down up button
# {'CHECKSUM': [5774.0], 'COUNTER': [63.0], 'NEW_SIGNAL_1': [0.0], 'SET_ME_1': 
# [0.0], 'DISTANCE_UNIT': [1.0], 'NEW_SIGNAL_2': [4.0], 'ADAPTIVE_CRUISE_MAIN_BTN': 
# [0.0], 'NEW_SIGNAL_3': [0.0], 'LFA_BTN': [0.0], 'CRUISE_BUTTONS': [1.0], 
# 'NEW_SIGNAL_4': [0.0], 'NORMAL_CRUISE_MAIN_BTN': [0.0], 'NEW_SIGNAL_5': [0.0], 
# 'SET_ME_2': [2.0], 'NEW_SIGNAL_6': [1.0], 'BYTE6': [32.0], 'BYTE7': [0.0], 
# 'BYTE8': [26.0], 'BYTE9': [0.0], 'BYTE10': [0.0], 'BYTE11': [0.0], 'BYTE12': 
# [0.0], 'BYTE13': [0.0], 'BYTE14': [0.0], 'BYTE15': [0.0]}

# {'CHECKSUM': [14783.0], 'COUNTER': [150.0], 'NEW_SIGNAL_1': [0.0], 
# 'SET_ME_1': [0.0], 'DISTANCE_UNIT': [1.0], 'NEW_
# SIGNAL_2': [6.0], 'ADAPTIVE_CRUISE_MAIN_BTN': [0.0], 'NEW_SIGNAL_3': [0.0], 
# 'LFA_BTN': [0.0], 'CRUISE_BUTTONS': [1.
# 0], 'NEW_SIGNAL_4': [0.0], 'NORMAL_CRUISE_MAIN_BTN': [0.0], 'NEW_SIGNAL_5': 
# [0.0], 'SET_ME_2': [2.0], 'NEW_SIGNAL_6
# ': [1.0], 'BYTE6': [37.0], 'BYTE7': [0.0], 'BYTE8': [30.0], 'BYTE9': [0.0],
#  'BYTE10': [0.0], 'BYTE11': [0.0], 'BYTE
# 12': [0.0], 'BYTE13': [0.0], 'BYTE14': [0.0], 'BYTE15': [0.0]}

# {'CHECKSUM': [61602.0], 'COUNTER': [153.0], 'NEW_SIGNAL_1': [0.0], 'SET_ME_1': 
# [0.0], 'DISTANCE_UNIT': [1.0], 'NEW_
# SIGNAL_2': [0.0], 'ADAPTIVE_CRUISE_MAIN_BTN': [0.0], 'NEW_SIGNAL_3': [0.0], 
# 'LFA_BTN': [1.0], 'CRUISE_BUTTONS': [1.
# 0], 'NEW_SIGNAL_4': [0.0], 'NORMAL_CRUISE_MAIN_BTN': [0.0], 'NEW_SIGNAL_5':
#  [0.0], 'SET_ME_2': [2.0], 'NEW_SIGNAL_6
# ': [1.0], 'BYTE6': [38.0], 'BYTE7': [0.0], 'BYTE8': [31.0], 'BYTE9': [0.0], 
# 'BYTE10': [0.0], 'BYTE11': [0.0], 'BYTE
# 12': [0.0], 'BYTE13': [0.0], 'BYTE14': [0.0], 'BYTE15': [0.0]}


def create_buttons_alt(packer, CP, CAN, cnt, btn, template):
  params_memory = Params("/dev/shm/params")
  self.params_memory.get_float("CarCruiseDisplayActual")

  values = {
    "COUNTER": cnt,
    "NEW_SIGNAL_1": 0.0,
    "DISTANCE_UNIT": 1.0,
    "SET_ME_1": 0.0,
    "NEW_SIGNAL_2": 0.0,
    "ADAPTIVE_CRUISE_MAIN_BTN": 0.0,
    "NEW_SIGNAL_3": 0.0,
    "CRUISE_BUTTONS": 1.0,  #btn * 1.0,
    "NEW_SIGNAL_4": 0.0,
    "NORMAL_CRUISE_MAIN_BTN": 0.0,
    "NEW_SIGNAL_5": 0.0,
    "SET_ME_2": 2.0,
    "NEW_SIGNAL_5": 1.0,
    "BYTE_6": CarCruiseDisplayActual+1,  # Target 
    "BYTE_7": 0.0,
    "BYTE_8": CarCruiseDisplayActual,  # Current cruise sets
    "BYTE_9": 0.0,
    "BYTE_10": 0.0,
    "BYTE_11": 0.0,
    "BYTE_12": 0.0,
    "BYTE_13": 0.0,
    "BYTE_14": 0.0,
    "BYTE_15": 0.0,
  }

  bus = CAN.ECAN # if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
  return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)


# def create_buttons_alt(packer, CP, CAN, cnt, btn, template):
#   template.update({
#     "CRUISE_BUTTONS": btn
#   })

#   bus = CAN.ECAN # if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
#   return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, template)


def create_acc_set_speed(packer, CP, CAN, cruise_info_copy, speed):
  # why are we executing this at all?
  # TODO: why do we copy different values here?
  if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
    values = {s: cruise_info_copy[s] for s in [
      "COUNTER",
      "CHECKSUM",
      "NEW_SIGNAL_1",
      "MainMode_ACC",
      "ACCMode",
      "ZEROS_9",
      "CRUISE_STANDSTILL",
      "ZEROS_5",
      "DISTANCE_SETTING",
      "VSetDis",
    ]}
  else:
    values = {s: cruise_info_copy[s] for s in [
      "COUNTER",
      "CHECKSUM",
      "ACCMode",
      "VSetDis",
      "CRUISE_STANDSTILL",
    ]}
  values.update({
    "ACCMode": 1, # testing 1 instead of 4
    "VSetDis": speed
  })
  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)


def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
  # This does nothing on the tucson
  # TODO: why do we copy different values here?
  if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
    values = {s: cruise_info_copy[s] for s in [
      "COUNTER",
      "CHECKSUM",
      "NEW_SIGNAL_1",
      "MainMode_ACC",
      "ACCMode",
      "ZEROS_9",
      "CRUISE_STANDSTILL",
      "ZEROS_5",
      "DISTANCE_SETTING",
      "VSetDis",
    ]}
  else:
    values = {s: cruise_info_copy[s] for s in [
      "COUNTER",
      "CHECKSUM",
      "ACCMode",
      "VSetDis",
      "CRUISE_STANDSTILL",
    ]}
  values.update({
    "ACCMode": 4, # testing 1 instead of 4
    "aReqRaw": 0.0,
    "aReqValue": 0.0,
  })
  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)

# CLEARPILOT changed HDA icons
# This doesn't appear to do anything on my tucson
def create_lfahda_cluster(packer, CAN, enabled, lat_active):
  values = {
    "HDA_ICON": 0, # Literally shows HDA.  Maybe we use this to indicate experimental mode
    "LFA_ICON": 2 if enabled else 1 if lat_active else 0
  }

  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)


def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
    a_val, a_raw = 0, 0
  else:
    a_raw = accel
    a_val = clip(accel, accel_last - jn, accel_last + jn)

  values = {
    "ACCMode": 0 if not enabled else (2 if gas_override else 1),
    "MainMode_ACC": 1,
    "StopReq": 1 if stopping else 0,
    "aReqValue": a_val,
    "aReqRaw": a_raw,
    "VSetDis": set_speed,
    "JerkLowerLimit": jerk if enabled else 1,
    "JerkUpperLimit": 3.0,

    "ACC_ObjDist": 1,
    "ObjValid": 0,
    "OBJ_STATUS": 2,
    "SET_ME_2": 0x4,
    "SET_ME_3": 0x3,
    "SET_ME_TMP_64": 0x64,
    "DISTANCE_SETTING": hud_control.leadDistanceBars,
  }

  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)

# Disabled blinker messages
def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
  ret = []
  return ret

  values = {
  }
  ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))

  blink = 0
  if left_blink:
    blink = 3
  elif right_blink:
    blink = 4
  values = {
    "BLINKER_CONTROL": blink,
  }
  ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))

  return ret


def create_adrv_messages(packer, CAN, frame):
  # messages needed to car happy after disabling
  # the ADAS Driving ECU to do longitudinal control

  ret = []

  values = {
  }
  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))

  if frame % 2 == 0:
    values = {
      'AEB_SETTING': 0x1,  # show AEB disabled icon
      'SET_ME_2': 0x2,
      'SET_ME_FF': 0xff,
      'SET_ME_FC': 0xfc,
      'SET_ME_9': 0x9,
    }
    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))

  if frame % 5 == 0:
    values = {
      'SET_ME_1C': 0x1c,
      'SET_ME_FF': 0xff,
      'SET_ME_TMP_F': 0xf,
      'SET_ME_TMP_F_2': 0xf,
    }
    ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))

    values = {
      'SET_ME_E1': 0xe1,
      'SET_ME_3A': 0x3a,
    }
    ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))

  if frame % 20 == 0:
    values = {
      'SET_ME_15': 0x15,
    }
    ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))

  if frame % 100 == 0:
    values = {
      'SET_ME_22': 0x22,
      'SET_ME_41': 0x41,
    }
    ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))

  return ret