import pytest
import json
import os
import random
import subprocess
import time
import capnp
from pathlib import Path

import iqpilot.cereal.messaging as messaging
from iqpilot.cereal.services import SERVICE_LIST
from iqpilot.common.params import Params
from iqpilot.common.transformations.coordinates import ecef2geodetic
from iqpilot.common.basedir import BASEDIR


@pytest.mark.linux
class TestIQLocdProc:
  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'extrinsicsCalibration',
              'accelerometer', 'gyroscope']

  @pytest.fixture(autouse=True)
  def setup_iqlocd(self, openpilot_function_fixture):
    self.pm = messaging.PubMaster(self.LLD_MSGS)
    self.sm = messaging.SubMaster(['iqLiveLocation'])
    self.params = Params()
    assert self.params.get_param_path().endswith(os.environ['OPENPILOT_PREFIX'])
    self.params.put_bool("UbloxAvailable", True)
    iqlocd_dir = Path(BASEDIR) / 'iqpilot/selfdrive/iqlocd'
    self.proc = subprocess.Popen(['./iqlocd'], cwd=iqlocd_dir, env=os.environ.copy())
    yield
    self.proc.terminate()
    self.proc.wait(timeout=5)

  def get_msg(self, name, t):
    try:
      msg = messaging.new_message(name)
    except capnp.lib.capnp.KjException:
      msg = messaging.new_message(name, 0)

    if name == "gpsLocationExternal":
      gps = getattr(msg, name)
      gps.flags = 1
      gps.hasFix = True
      gps.source = 'ublox'
      gps.horizontalAccuracy = 1.0
      gps.verticalAccuracy = 1.0
      gps.speedAccuracy = 1.0
      gps.bearingAccuracyDeg = 1.0
      gps.vNED = [0.0, 0.0, 0.0]
      gps.latitude = float(self.lat)
      gps.longitude = float(self.lon)
      gps.unixTimestampMillis = t // 1_000_000
      gps.altitude = float(self.alt)
    elif name == 'cameraOdometry':
      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
      msg.cameraOdometry.rotStd = [0.01, 0.01, 0.01]
      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
      msg.cameraOdometry.transStd = [0.01, 0.01, 0.01]
    elif name == 'extrinsicsCalibration':
      msg.extrinsicsCalibration.calStatus = 'calibrated'
      msg.extrinsicsCalibration.rpyCalib = [0.0, 0.0, 0.0]
    elif name == 'accelerometer':
      msg.accelerometer.sensor = 1
      msg.accelerometer.type = 1
      msg.accelerometer.timestamp = t
      msg.accelerometer.init('acceleration').v = [0.0, 0.0, 9.81]
    elif name == 'gyroscope':
      msg.gyroscope.sensor = 5
      msg.gyroscope.type = 16
      msg.gyroscope.timestamp = t
      msg.gyroscope.init('gyroUncalibrated').v = [0.0, 0.0, 0.0]
    msg.logMonoTime = t
    msg.valid = True
    return msg

  def test_params_gps(self):
    random.seed(123489234)
    self.params.remove('LastGPSPositionIQLoc')

    self.x = -2710700 + (random.random() * 1e5)
    self.y = -4280600 + (random.random() * 1e5)
    self.z = 3850300 + (random.random() * 1e5)
    self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z])
    msgs = []
    for sec in range(1, 4):
      for name in self.LLD_MSGS:
        for j in range(int(SERVICE_LIST[name].frequency)):
          msgs.append(self.get_msg(name, int((sec + j / SERVICE_LIST[name].frequency) * 1e9)))

    for msg in sorted(msgs, key=lambda x: x.logMonoTime):
      self.pm.send(msg.which(), msg)
      if msg.which() == "cameraOdometry":
        self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005)
        self.sm.update(0)
      time.sleep(0.001)
    deadline = time.monotonic() + 5.0
    last_gps_raw = None
    while time.monotonic() < deadline and last_gps_raw is None:
      last_gps_raw = self.params.get('LastGPSPositionIQLoc')
      self.sm.update(0)
      time.sleep(0.05)
    assert self.proc.poll() is None
    location = self.sm['iqLiveLocation']
    assert last_gps_raw is not None, {
      'gpsHealthy': location.gpsHealthy,
      'inputsHealthy': location.inputsHealthy,
      'sensorsHealthy': location.sensorsHealthy,
      'isolatedPath': self.params.get_param_path(),
    }
    lastGPS = json.loads(last_gps_raw)
    assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001)
    assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001)
    assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.2)