"""
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
"""

from enum import StrEnum

from opendbc.car import Bus, structs
from opendbc.can.parser import CANParser
from opendbc.car.hyundai.values import HyundaiFlags
from opendbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ


class CarStateExt:
  def __init__(self, CP, CP_IQ):
    self.CP = CP
    self.CP_IQ = CP_IQ

    self.aBasis = 0.0

  def update_speed_limit(self, cp, cp_cam) -> float:
    speed_limit = 0

    if self.CP.flags & HyundaiFlags.CANFD:
      if self.CP_IQ.flags & HyundaiFlagsIQ.SPEED_LIMIT_AVAILABLE:
        bus = cp if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING else cp_cam
        speed_limit = bus.vl["FR_CMR_02_100ms"]["ISLW_SpdCluMainDis"]
    else:
      nav, cam = 0, 0
      if self.CP_IQ.flags & HyundaiFlagsIQ.SPEED_LIMIT_AVAILABLE:
        nav = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"]
      if self.CP_IQ.flags & HyundaiFlagsIQ.HAS_LKAS12:
        cam = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"]

      speed_limit = cam if cam not in (0, 255) else nav

    if speed_limit in (0, 255):
      speed_limit = 0

    return speed_limit

  def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser], speed_conv: float) -> None:
    cp = can_parsers[Bus.pt]
    cp_cam = can_parsers[Bus.cam]

    self.aBasis = cp.vl["TCS13"]["aBasis"]

    if self.CP_IQ.flags & HyundaiFlagsIQ.NON_SCC:
      cruise_msg = "LABEL11" if self.CP.flags & HyundaiFlags.EV else \
                   "E_CRUISE_CONTROL" if self.CP.flags & HyundaiFlags.HYBRID else \
                   "EMS16"
      cruise_available_sig = "CC_React" if self.CP.flags & HyundaiFlags.EV else "CRUISE_LAMP_M"
      cruise_enabled_sig = "CC_ACT" if self.CP.flags & HyundaiFlags.EV else "CRUISE_LAMP_S"
      cruise_speed_msg = "E_EMS11" if self.CP.flags & HyundaiFlags.EV else \
                         "ELECT_GEAR" if self.CP.flags & HyundaiFlags.HYBRID else \
                         "LVR12"
      cruise_speed_sig = "Cruise_Limit_Target" if self.CP.flags & HyundaiFlags.EV else \
                         "SLC_SET_SPEED" if self.CP.flags & HyundaiFlags.HYBRID else \
                         "CF_Lvr_CruiseSet"
      ret.cruiseState.available = cp.vl[cruise_msg][cruise_available_sig] != 0
      ret.cruiseState.enabled = cp.vl[cruise_msg][cruise_enabled_sig] != 0
      ret.cruiseState.speed = cp.vl[cruise_speed_msg][cruise_speed_sig] * speed_conv
      ret.cruiseState.standstill = False
      ret.cruiseState.nonAdaptive = False

      if not self.CP_IQ.flags & HyundaiFlagsIQ.NON_SCC_NO_FCA:
        cp_cruise = cp if self.CP_IQ.flags & HyundaiFlagsIQ.NON_SCC_RADAR_FCA else cp_cam

        aeb_src = "FCA11"
        aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
        aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src]["FCA_CmdAct"] != 0
        ret.stockFcw = aeb_warning and not aeb_braking
        ret.stockAeb = aeb_warning and aeb_braking

    ret_iq.speedLimit = self.update_speed_limit(cp, cp_cam) * speed_conv

  def update_canfd_ext(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser],
                       speed_factor: float) -> None:
    cp = can_parsers[Bus.pt]
    cp_cam = can_parsers[Bus.cam]

    self.aBasis = cp.vl["TCS"]["aBasis"]

    ret_iq.speedLimit = self.update_speed_limit(cp, cp_cam) * speed_factor