from collections import defaultdict
from dataclasses import dataclass
from enum import Enum, StrEnum
from typing import Dict, List, Union

from cereal import car
from openpilot.common.params import Params
from openpilot.selfdrive.car import dbc_dict
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
Ecu = car.CarParams.Ecu


class CarControllerParams:
  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
  STEER_STEP = 3  # Active control frames per command (~33hz)
  INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
  STEER_DELTA_DOWN = 15
  STEER_DRIVER_ALLOWANCE = 65
  STEER_DRIVER_MULTIPLIER = 4
  STEER_DRIVER_FACTOR = 100
  NEAR_STOP_BRAKE_PHASE = 0.25  # m/s
  SNG_INTERCEPTOR_GAS = 18. / 255.
  SNG_TIME = 30  # frames until the above is reached

  # Heartbeat for dash "Service Adaptive Cruise" and "Service Front Camera"
  ADAS_KEEPALIVE_STEP = 100
  CAMERA_KEEPALIVE_STEP = 100

  # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
  # perform the closed loop control, and might need some
  # to apply some more braking if we're on a downhill slope.
  # Our controller should still keep the 2 second average above
  # -3.5 m/s^2 as per planner limits
  ACCEL_MAX = 2.  # m/s^2
  ACCEL_MAX_PLUS = 4.  # m/s^2
  ACCEL_MIN = -4.  # m/s^2

  def __init__(self, CP):
    # Gas/brake lookups
    self.ZERO_GAS = 6144  # Coasting
    self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen

    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
      self.MAX_GAS = 7496
      self.MAX_ACC_REGEN = 5610
      self.INACTIVE_REGEN = 5650
      # Camera ACC vehicles have no regen while enabled.
      # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
      max_regen_acceleration = 0.

      if CP.carFingerprint in SLOW_ACC and Params().get_bool("GasRegenCmd"):
        self.MAX_GAS = 8650

    elif CP.carFingerprint in SDGM_CAR:
      self.MAX_GAS = 3400
      self.MAX_ACC_REGEN = 1514
      self.INACTIVE_REGEN = 1554
      max_regen_acceleration = 0.

    else:
      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
      self.INACTIVE_REGEN = 5500
      # ICE has much less engine braking force compared to regen in EVs,
      # lower threshold removes some braking deadzone
      max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1

    self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX]
    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]

    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration]
    self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]


class CAR(StrEnum):
  HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
  VOLT = "CHEVROLET VOLT PREMIER 2017"
  CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
  MALIBU = "CHEVROLET MALIBU PREMIER 2017"
  ACADIA = "GMC ACADIA DENALI 2018"
  BUICK_LACROSSE = "BUICK LACROSSE 2017"
  BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
  ESCALADE = "CADILLAC ESCALADE 2017"
  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
  ESCALADE_ESV_2019 = "CADILLAC ESCALADE ESV 2019"
  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
  EQUINOX = "CHEVROLET EQUINOX 2019"
  TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
  # Separate car def is required when there is no ASCM
  # (for now) unless there is a way to detect it when it has been unplugged...
  VOLT_CC = "CHEVROLET VOLT NO ACC"
  BOLT_CC = "CHEVROLET BOLT EV NO ACC"
  EQUINOX_CC = "CHEVROLET EQUINOX NO ACC"
  SUBURBAN = "CHEVROLET SUBURBAN PREMIER 2016"
  SUBURBAN_CC = "CHEVROLET SUBURBAN NO ACC"
  YUKON_CC = "GMC YUKON NO ACC"
  CT6_CC = "CADILLAC CT6 NO ACC"
  TRAILBLAZER_CC = "CHEVROLET TRAILBLAZER 2024 NO ACC"
  XT4 = "CADILLAC XT4 2023"


class Footnote(Enum):
  OBD_II = CarFootnote(
    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
    '<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
    Column.MODEL)


@dataclass
class GMCarInfo(CarInfo):
  package: str = "Adaptive Cruise Control (ACC)"

  def init_make(self, CP: car.CarParams):
    if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
      self.car_parts = CarParts.common([CarHarness.gm])
    else:
      self.car_parts = CarParts.common([CarHarness.obd_ii])
      self.footnotes.append(Footnote.OBD_II)


CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"),
  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"),
  CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
  CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
  CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
  CAR.ESCALADE_ESV_2019: GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"),
  CAR.BOLT_EUV: [
    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
    GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
  ],
  CAR.SILVERADO: [
    GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
  ],
  CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
  CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),

  CAR.VOLT_CC: GMCarInfo("Chevrolet Volt No ACC"),
  CAR.BOLT_CC: GMCarInfo("Chevrolet Bolt No ACC"),
  CAR.EQUINOX_CC: GMCarInfo("Chevrolet Equinox No ACC"),
  CAR.SUBURBAN: GMCarInfo("Chevrolet Suburban Premier 2016-2020"),
  CAR.SUBURBAN_CC: GMCarInfo("Chevrolet Suburban No ACC"),
  CAR.YUKON_CC: GMCarInfo("GMC Yukon No ACC"),
  CAR.CT6_CC: GMCarInfo("Cadillac CT6 No ACC"),
  CAR.TRAILBLAZER_CC: GMCarInfo("Chevrolet Trailblazer 2024 No ACC"),
  CAR.XT4: GMCarInfo("Cadillac XT4 2023", "Driver Assist Package"),
}


class CruiseButtons:
  INIT = 0
  UNPRESS = 1
  RES_ACCEL = 2
  DECEL_SET = 3
  MAIN = 5
  CANCEL = 6

class AccState:
  OFF = 0
  ACTIVE = 1
  FAULTED = 3
  STANDSTILL = 4

class CanBus:
  POWERTRAIN = 0
  OBSTACLE = 1
  CAMERA = 2
  CHASSIS = 2
  LOOPBACK = 128
  DROPPED = 192

class GMFlags(IntFlag):
  PEDAL_LONG = 1
  CC_LONG = 2
  NO_ACCELERATOR_POS_MSG = 8


GM_RX_OFFSET = 0x400

DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
DBC[CAR.VOLT] = dbc_dict('gm_global_a_powertrain_volt', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')
DBC[CAR.VOLT_CC] = DBC[CAR.VOLT]

EV_CAR = {CAR.VOLT, CAR.BOLT_EUV, CAR.VOLT_CC, CAR.BOLT_CC}
CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC}

# Slow acceleration cars
SLOW_ACC = {CAR.SILVERADO}

# We're integrated at the Safety Data Gateway Module on these cars
SDGM_CAR = {CAR.XT4}

# We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
CAMERA_ACC_CAR.update({CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC})

STEER_THRESHOLD = 1.0