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

from dataclasses import dataclass, field

from iqdbc.car.hyundai.values import CAR


@dataclass
class CarTuningConfig:
  v_ego_stopping: float = 0.25
  v_ego_starting: float = 0.10
  stopping_decel_rate: float = 0.40
  lookahead_jerk_bp: list[float] = field(default_factory=lambda: [5., 20.])
  lookahead_jerk_upper_v: list[float] = field(default_factory=lambda: [0.25, 0.5])
  lookahead_jerk_lower_v: list[float] = field(default_factory=lambda: [0.15, 0.3])
  longitudinal_actuator_delay: float = 0.45
  jerk_limits: float = 4.0


# Default configurations for different car types
TUNING_CONFIGS = {
  "CANFD": CarTuningConfig(
    v_ego_stopping=0.365,
    lookahead_jerk_bp=[2., 5., 20.],
    lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
    lookahead_jerk_lower_v=[0.05, 0.10, 0.325],
  ),
  "EV": CarTuningConfig(
    stopping_decel_rate=0.45,
    v_ego_stopping=0.35,
    lookahead_jerk_upper_v=[0.3, 0.7],
    lookahead_jerk_lower_v=[0.2, 0.4],
  ),
  "HYBRID": CarTuningConfig(
    v_ego_starting=0.15,
    stopping_decel_rate=0.45,
    v_ego_stopping=0.4,
  ),
  "DEFAULT": CarTuningConfig(
    lookahead_jerk_bp=[2., 5., 20.],
    lookahead_jerk_upper_v=[0.25, 0.5, 1.0],
    lookahead_jerk_lower_v=[0.05, 0.10, 0.3],
  )
}

# Car-specific configs
CAR_SPECIFIC_CONFIGS = {
  CAR.KIA_NIRO_EV: CarTuningConfig(
    stopping_decel_rate=0.3,
    lookahead_jerk_upper_v=[0.3, 1.0],
    lookahead_jerk_lower_v=[0.2, 0.4],
    jerk_limits=2.5,
  ),
  CAR.KIA_NIRO_PHEV_2022: CarTuningConfig(
    stopping_decel_rate=0.3,
    lookahead_jerk_upper_v=[0.3, 1.0],
    lookahead_jerk_lower_v=[0.15, 0.3],
    jerk_limits=4.0,
  ),
  CAR.HYUNDAI_IONIQ: CarTuningConfig(
    jerk_limits=4.5,
  )
}