"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.

This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
import openpilot.cereal.messaging as messaging
from openpilot.cereal import log, custom
from opendbc.car.structs import car
from openpilot.common.constants import CV
from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
  NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQUIRED_MAX_SET_SPEED, CONFIRM_SPEED_THRESHOLD
from openpilot.common.hardware import HARDWARE

AlertSize = log.SelfdriveState.AlertSize
AlertStatus = log.SelfdriveState.AlertStatus
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
AudibleAlertSP = custom.SelfdriveStateSP.AudibleAlert
EventNameSP = custom.OnroadEventSP.EventName


# get event name from enum
EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}

IS_MICI = HARDWARE.get_device_type() == 'mici'


def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  speedLimit = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimit
  speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
  message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit'
  return Alert(
    message,
    "",
    AlertStatus.normal, AlertSize.small,
    Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.)


def speed_limit_pre_active_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  speed_conv = CV.MS_TO_KPH if metric else CV.MS_TO_MPH
  v_cruise_cluster = CS.vCruiseCluster
  set_speed = sm['controlsState'].deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
  set_speed_conv = round(set_speed * speed_conv)

  speed_limit_final_last = sm['longitudinalPlanSP'].speedLimit.resolver.speedLimitFinalLast
  speed_limit_final_last_conv = round(speed_limit_final_last * speed_conv)
  alert_1_str = ""
  alert_size = AlertSize.small

  if CP.openpilotLongitudinalControl and CP.pcmCruise:
    # PCM long
    cst_low, cst_high = PCM_LONG_REQUIRED_MAX_SET_SPEED[metric]
    pcm_long_required_max = cst_low if speed_limit_final_last_conv < CONFIRM_SPEED_THRESHOLD[metric] else cst_high
    pcm_long_required_max_set_speed_conv = round(pcm_long_required_max * speed_conv)
    speed_unit = "km/h" if metric else "mph"

    alert_1_str = f"Speed Limit Assist: set to {pcm_long_required_max_set_speed_conv} {speed_unit} to engage"
  else:
    if IS_MICI:
      if set_speed_conv < speed_limit_final_last_conv:
        alert_1_str = "Press + to confirm speed limit"
      elif set_speed_conv > speed_limit_final_last_conv:
        alert_1_str = "Press - to confirm speed limit"
    else:
      alert_size = AlertSize.none

  return Alert(
    alert_1_str,
    "",
    AlertStatus.normal, alert_size,
    Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleLow, .1)


class EventsSP(EventsBase):
  def __init__(self):
    super().__init__()
    self.event_counters = dict.fromkeys(EVENTS_SP.keys(), 0)

  def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
    return EVENTS_SP

  def get_event_name(self, event: int):
    return EVENT_NAME_SP[event]

  def get_event_msg_type(self):
    return custom.OnroadEventSP.Event


EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
  # sunnypilot
  EventNameSP.lkasEnable: {
    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
  },

  EventNameSP.lkasDisable: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
  },

  EventNameSP.manualSteeringRequired: {
    ET.USER_DISABLE: Alert(
      "Automatic Lane Centering is OFF",
      "Manual Steering Required",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
  },

  EventNameSP.manualLongitudinalRequired: {
    ET.WARNING: Alert(
      "Smart/Adaptive Cruise Control: OFF",
      "Manual Speed Control Required",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
  },

  EventNameSP.silentLkasEnable: {
    ET.ENABLE: EngagementAlert(AudibleAlert.none),
  },

  EventNameSP.silentLkasDisable: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
  },

  EventNameSP.silentBrakeHold: {
    ET.WARNING: EngagementAlert(AudibleAlert.none),
    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
  },

  EventNameSP.silentWrongGear: {
    ET.WARNING: Alert(
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
    ET.NO_ENTRY: Alert(
      "Gear not D",
      "openpilot Unavailable",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
  },

  EventNameSP.silentReverseGear: {
    ET.PERMANENT: Alert(
      "Reverse\nGear",
      "",
      AlertStatus.normal, AlertSize.full,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
  },

  EventNameSP.silentDoorOpen: {
    ET.WARNING: Alert(
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
    ET.NO_ENTRY: NoEntryAlert("Door Open"),
  },

  EventNameSP.silentSeatbeltNotLatched: {
    ET.WARNING: Alert(
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
    ET.NO_ENTRY: NoEntryAlert("Seatbelt Unlatched"),
  },

  EventNameSP.silentParkBrake: {
    ET.WARNING: Alert(
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
    ET.NO_ENTRY: NoEntryAlert("Parking Brake Engaged"),
  },

  EventNameSP.controlsMismatchLateral: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch: Lateral"),
    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
  },

  EventNameSP.experimentalModeSwitched: {
    ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
  },

  EventNameSP.wrongCarModeAlertOnly: {
    ET.WARNING: wrong_car_mode_alert,
  },

  EventNameSP.pedalPressedAlertOnly: {
    ET.WARNING: NoEntryAlert("Pedal Pressed")
  },

  EventNameSP.laneTurnLeft: {
    ET.WARNING: Alert(
      "Turning Left",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
  },

  EventNameSP.laneTurnRight: {
    ET.WARNING: Alert(
      "Turning Right",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
  },

  EventNameSP.speedLimitActive: {
    ET.WARNING: Alert(
      "Auto adjusting to speed limit",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.speedLimitChanged: {
    ET.WARNING: Alert(
      "Set speed changed",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.speedLimitPreActive: {
    ET.WARNING: speed_limit_pre_active_alert,
  },

  EventNameSP.speedLimitPending: {
    ET.WARNING: Alert(
      "Auto adjusting to last speed limit",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlertSP.promptSingleHigh, 5.),
  },

  EventNameSP.e2eChime: {
    ET.PERMANENT: Alert(
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
  },
}