#!/usr/bin/env python3
import unittest
import numpy as np
from iqdbc.car.structs import CarParams
from iqdbc.safety.tests.libsafety import libsafety_py
import iqdbc.safety.tests.common as common
from iqdbc.safety.tests.common import CANPackerSafety
from iqdbc.car.volkswagen.values import VolkswagenSafetyFlags

MAX_ACCEL = 2.0
MIN_ACCEL = -2.95               # MLB floor, the shared -3.5 faults the Q5 ACC ECU until an ignition cycle
INACTIVE_ACCEL = 3.01           # one increment above the ACC_01 range max
INACTIVE_ACCEL_TOLERANCE = 15   # raw counts, matches VOLKSWAGEN_MLB_INACTIVE_ACCEL_TOLERANCE

MSG_LH_EPS_03 = 0x9F    # RX from EPS, for driver steering torque
MSG_ACC_01 = 0x109      # TX by OP, ACC acceleration request to the drivetrain coordinator
MSG_ESP_03 = 0x103      # RX from ABS, for wheel speeds
MSG_MOTOR_03 = 0x105    # RX from ECU, for driver throttle input and driver brake input
MSG_ESP_05 = 0x106      # RX from ABS, for brake light state
MSG_LS_01 = 0x10B       # TX by OP, ACC control buttons for cancel/resume
MSG_TSK_02 = 0x10C      # RX from ECU, for ACC status from drivetrain coordinator
MSG_HCA_01 = 0x126      # TX by OP, Heading Control Assist steering torque
MSG_ACC_02 = 0x30C      # TX by OP, ACC HUD data to the instrument cluster
MSG_LDW_02 = 0x397      # TX by OP, Lane line recognition and text alerts


class TestVolkswagenMlbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest):
  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02)}

  MAX_RATE_UP = 9
  MAX_RATE_DOWN = 10
  MAX_TORQUE_LOOKUP = [0], [300]
  MAX_RT_DELTA = 169

  DRIVER_TORQUE_ALLOWANCE = 80
  DRIVER_TORQUE_FACTOR = 3

  # Wheel speeds _esp_03_msg
  def _speed_msg(self, speed):
    values = {"ESP_%s_Radgeschw" % s: speed for s in ["HL", "HR", "VL", "VR"]}
    return self.packer.make_can_msg_safety("ESP_03", 0, values)

  # Driver brake pressure over threshold
  def _esp_05_msg(self, brake):
    values = {"ESP_Fahrer_bremst": brake}
    return self.packer.make_can_msg_safety("ESP_05", 0, values)

  # Brake pedal switch
  def _motor_03_msg(self, brake_signal=False, gas_signal=0):
    values = {
      "MO_BLS": brake_signal,
      "MO_Fahrpedalrohwert_01": gas_signal,
    }
    return self.packer.make_can_msg_safety("Motor_03", 0, values)

  def _user_brake_msg(self, brake):
    return self._motor_03_msg(brake_signal=brake)

  def _user_gas_msg(self, gas):
    return self._motor_03_msg(gas_signal=gas)

  # ACC engagement status
  def _tsk_status_msg(self, enable, main_switch=True):
    values = {"ACC_Status_ACC": 1 if not main_switch else 3 if enable else 2}
    return self.packer.make_can_msg_safety("ACC_05", 2, values)

  def _pcm_status_msg(self, enable):
    return self._tsk_status_msg(enable)

  # Driver steering input torque
  def _torque_driver_msg(self, torque):
    values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0}
    return self.packer.make_can_msg_safety("LH_EPS_03", 0, values)

  # openpilot steering output torque
  def _torque_cmd_msg(self, torque, steer_req=1):
    values = {"HCA_01_LM_Offset": abs(torque),
              "HCA_01_LM_OffSign": torque < 0,
              "HCA_01_Sendestatus": steer_req,
              "HCA_01_Status_HCA": 7 if steer_req else 3}
    return self.packer.make_can_msg_safety("HCA_01", 0, values)

  # Cruise control buttons
  def _ls_01_msg(self, cancel=0, resume=0, _set=0, main_switch=1, bus=2):
    values = {"LS_Abbrechen": cancel, "LS_Tip_Setzen": _set, "LS_Tip_Wiederaufnahme": resume,
              "LS_Hauptschalter": main_switch}
    return self.packer.make_can_msg_safety("LS_01", bus, values)

  # Acceleration request to drivetrain coordinator
  def _acc_01_msg(self, accel):
    values = {"ACC_Sollbeschleunigung": accel}
    return self.packer.make_can_msg_safety("ACC_01", 0, values)

  # Verify brake_pressed is true if either the switch or pressure threshold signals are true
  def test_redundant_brake_signals(self):
    test_combinations = [(True, True, True), (True, True, False), (True, False, True), (False, False, False)]
    for brake_pressed, motor_03_signal, esp_05_signal in test_combinations:
      self._rx(self._motor_03_msg(brake_signal=False))
      self._rx(self._esp_05_msg(False))
      self.assertFalse(self.safety.get_brake_pressed_prev())
      self._rx(self._motor_03_msg(brake_signal=motor_03_signal))
      self._rx(self._esp_05_msg(esp_05_signal))
      self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev(),
                       f"expected {brake_pressed=} with {motor_03_signal=} and {esp_05_signal=}")

  def test_torque_measurements(self):
    # TODO: make this test work with all cars
    self._rx(self._torque_driver_msg(50))
    self._rx(self._torque_driver_msg(-50))
    self._rx(self._torque_driver_msg(0))
    self._rx(self._torque_driver_msg(0))
    self._rx(self._torque_driver_msg(0))
    self._rx(self._torque_driver_msg(0))

    self.assertEqual(-50, self.safety.get_torque_driver_min())
    self.assertEqual(50, self.safety.get_torque_driver_max())

    self._rx(self._torque_driver_msg(0))
    self.assertEqual(0, self.safety.get_torque_driver_max())
    self.assertEqual(-50, self.safety.get_torque_driver_min())

    self._rx(self._torque_driver_msg(0))
    self.assertEqual(0, self.safety.get_torque_driver_max())
    self.assertEqual(0, self.safety.get_torque_driver_min())


class TestVolkswagenMlbStockSafety(TestVolkswagenMlbSafetyBase):
  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LS_01, 0], [MSG_LS_01, 2]]
  FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02]}
  FWD_BUS_LOOKUP = {0: 2, 2: 0}

  def setUp(self):
    self.packer = CANPackerSafety("vw_mlb")
    self.safety = libsafety_py.libsafety
    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMlb, 0)
    self.safety.init_tests()

  def test_spam_cancel_safety_check(self):
    self.safety.set_controls_allowed(0)
    self.assertTrue(self._tx(self._ls_01_msg(cancel=1)))
    self.assertFalse(self._tx(self._ls_01_msg(resume=1)))
    self.assertFalse(self._tx(self._ls_01_msg(_set=1)))
    # do not block resume if we are engaged already
    self.safety.set_controls_allowed(1)
    self.assertTrue(self._tx(self._ls_01_msg(resume=1)))

  def test_cancel_button(self):
    # Disable on rising edge of cancel button
    self._rx(self._tsk_status_msg(False, main_switch=True))
    self.safety.set_controls_allowed(1)
    self._rx(self._ls_01_msg(cancel=True, bus=0))
    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")


class TestVolkswagenMlbLongSafety(TestVolkswagenMlbSafetyBase):
  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_ACC_01, 0], [MSG_ACC_02, 0]]
  FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02, MSG_ACC_01, MSG_ACC_02]}
  FWD_BUS_LOOKUP = {0: 2, 2: 0}
  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02, MSG_ACC_01, MSG_ACC_02)}

  def setUp(self):
    self.packer = CANPackerSafety("vw_mlb")
    self.safety = libsafety_py.libsafety
    safety_param = VolkswagenSafetyFlags.LONG_CONTROL | VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED
    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMlb, safety_param)
    self.safety.init_tests()

  # stock cruise controls are entirely bypassed under openpilot longitudinal control
  def test_disable_control_allowed_from_cruise(self):
    pass

  def test_enable_control_allowed_from_cruise(self):
    pass

  def test_cruise_engaged_prev(self):
    pass

  def test_set_and_resume_buttons(self):
    for button in ["set", "resume"]:
      # ACC main switch must be on, engage on falling edge
      self.safety.set_controls_allowed(0)
      self._rx(self._ls_01_msg(_set=(button == "set"), resume=(button == "resume"), main_switch=0, bus=0))
      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} with main switch off")
      self._rx(self._ls_01_msg(main_switch=0, bus=0))
      self._rx(self._ls_01_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} rising edge")
      self._rx(self._ls_01_msg(bus=0))
      self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge")

  def test_main_switch(self):
    # Disable as soon as the ACC main switch turns off
    self._rx(self._ls_01_msg(bus=0))
    self.safety.set_controls_allowed(1)
    self._rx(self._ls_01_msg(main_switch=0, bus=0))
    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")

  @staticmethod
  def _acc_01_accel_on_wire(accel):
    # ACC_Sollbeschleunigung: 11 bits, 0.005 m/s^2 per count, offset -7.22, scaled by 1000 in safety
    raw = round((accel + 7.22) / 0.005) & 0x7FF
    return raw * 5 - 7220

  def test_accel_safety_check(self):
    for controls_allowed in [True, False]:
      for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, INACTIVE_ACCEL])):
        accel = round(accel, 2)
        on_wire = self._acc_01_accel_on_wire(accel)
        is_inactive_accel = on_wire == 0 or abs(on_wire - 3010) <= INACTIVE_ACCEL_TOLERANCE
        send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel
        self.safety.set_controls_allowed(controls_allowed)
        self.assertEqual(send, self._tx(self._acc_01_msg(accel)), (controls_allowed, accel))

  def test_accel_allowed_with_gas_pressed(self):
    self._rx(self._user_gas_msg(1))
    self.safety.set_controls_allowed(True)
    self.assertTrue(self._tx(self._acc_01_msg(0.5)))


class TestVolkswagenMlbNoEcanSafety(TestVolkswagenMlbSafetyBase):
  TX_MSGS = [[MSG_HCA_01, 1], [MSG_LDW_02, 1], [MSG_LS_01, 1]]
  FWD_BLACKLISTED_ADDRS = {}
  FWD_BUS_LOOKUP = {0: 2, 2: 0}
  RELAY_MALFUNCTION_ADDRS = {1: (MSG_HCA_01, MSG_LDW_02)}

  def setUp(self):
    self.packer = CANPackerSafety("vw_mlb")
    self.safety = libsafety_py.libsafety
    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMlb, VolkswagenSafetyFlags.MLB_NO_ECAN)
    self.safety.init_tests()

  def _speed_msg(self, speed):
    values = {"ESP_%s_Radgeschw" % s: speed for s in ["HL", "HR", "VL", "VR"]}
    return self.packer.make_can_msg_safety("ESP_03", 1, values)

  def _esp_05_msg(self, brake):
    values = {"ESP_Fahrer_bremst": brake}
    return self.packer.make_can_msg_safety("ESP_05", 1, values)

  def _motor_03_msg(self, brake_signal=False, gas_signal=0):
    values = {"MO_BLS": brake_signal, "MO_Fahrpedalrohwert_01": gas_signal}
    return self.packer.make_can_msg_safety("Motor_03", 1, values)

  def _torque_driver_msg(self, torque):
    values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0}
    return self.packer.make_can_msg_safety("LH_EPS_03", 1, values)

  def _torque_cmd_msg(self, torque, steer_req=1):
    values = {"HCA_01_LM_Offset": abs(torque),
              "HCA_01_LM_OffSign": torque < 0,
              "HCA_01_Sendestatus": steer_req,
              "HCA_01_Status_HCA": 7 if steer_req else 3}
    return self.packer.make_can_msg_safety("HCA_01", 1, values)

  def _ls_01_msg(self, cancel=0, resume=0, _set=0, main_switch=1, bus=1):
    values = {"LS_Abbrechen": cancel, "LS_Tip_Setzen": _set, "LS_Tip_Wiederaufnahme": resume,
              "LS_Hauptschalter": main_switch}
    return self.packer.make_can_msg_safety("LS_01", bus, values)

  def _tsk_status_msg(self, enable, main_switch=True):
    values = {"TSK_Status": 1 if enable else 0 if main_switch else 3}
    return self.packer.make_can_msg_safety("TSK_02", 1, values)

  def test_spam_cancel_safety_check(self):
    self.safety.set_controls_allowed(0)
    self.assertTrue(self._tx(self._ls_01_msg(cancel=1)))
    self.assertFalse(self._tx(self._ls_01_msg(resume=1)))
    self.assertFalse(self._tx(self._ls_01_msg(_set=1)))
    self.safety.set_controls_allowed(1)
    self.assertTrue(self._tx(self._ls_01_msg(resume=1)))

  def test_cancel_button(self):
    self._rx(self._tsk_status_msg(False, main_switch=True))
    self.safety.set_controls_allowed(1)
    self._rx(self._ls_01_msg(cancel=True))
    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")

  def test_ecan_bus_is_ignored(self):
    self._rx(self._torque_driver_msg(0))
    self.safety.set_controls_allowed(1)
    self._rx(self.packer.make_can_msg_safety("LS_01", 0, {"LS_Abbrechen": 1, "LS_Hauptschalter": 1}))
    self.assertTrue(self.safety.get_controls_allowed(), "bus 0 cancel disengaged a no-ECAN car")
    self._rx(self.packer.make_can_msg_safety("LH_EPS_03", 0, {"EPS_Lenkmoment": 200, "EPS_VZ_Lenkmoment": 0}))
    self.assertEqual(0, self.safety.get_torque_driver_max(), "bus 0 EPS torque reached the driver sample")


if __name__ == "__main__":
  unittest.main()