#!/usr/bin/env python3
from iqdbc.car import get_safety_config, structs
from iqdbc.car.chrysler.carcontroller import CarController
from iqdbc.car.chrysler.carstate import CarState
from iqdbc.car.chrysler.radar_interface import RadarInterface
from iqdbc.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerSafetyFlags
from iqdbc.car.interfaces import CarInterfaceBase
from iqdbc.lvbs.car.chrysler.iq_values import ChryslerFlagsIQ


class CarInterface(CarInterfaceBase):
  CarState = CarState
  CarController = CarController
  RadarInterface = RadarInterface

  DRIVABLE_GEARS = (structs.CarState.GearShifter.low,)

  @staticmethod
  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
    ret.brand = "chrysler"
    ret.dashcamOnly = candidate in RAM_HD

    # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
    ret.radarUnavailable = True # Bus.radar not in DBC[candidate][Bus.radar]
    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.4

    # safety config
    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chrysler)]
    if candidate in RAM_HD:
      ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_HD.value
    elif candidate in RAM_DT:
      ret.safetyConfigs[0].safetyParam |= ChryslerSafetyFlags.RAM_DT.value

    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
    if candidate not in RAM_CARS:
      # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
      new_eps_platform = candidate in (CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
      new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
      if new_eps_platform or new_eps_firmware:
        ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value

    # Chrysler
    if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
                     CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
      ret.lateralTuning.init('pid')
      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
      ret.lateralTuning.pid.kf = 0.00006

    # Jeep
    elif candidate in (CAR.JEEP_GRAND_CHEROKEE, CAR.JEEP_GRAND_CHEROKEE_2019):
      ret.steerActuatorDelay = 0.2

      ret.lateralTuning.init('pid')
      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
      ret.lateralTuning.pid.kf = 0.00006

    # Ram
    elif candidate == CAR.RAM_1500_5TH_GEN:
      ret.steerActuatorDelay = 0.2
      ret.wheelbase = 3.88
      # Older EPS FW allow steer to zero
      if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
        ret.minSteerSpeed = 0.

    elif candidate == CAR.RAM_HD_5TH_GEN:
      ret.steerActuatorDelay = 0.2

    else:
      raise ValueError(f"Unsupported car: {candidate}")

    if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
      # TODO: allow these cars to steer down to 13 m/s if already engaged.
      # TODO: Durango 2020 may be able to steer to zero once above 38 kph
      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.

    ret.centerToFront = ret.wheelbase * 0.44
    ret.enableBsm = 720 in fingerprint[0]

    return ret

  @staticmethod
  def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
                     car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
    if candidate == CAR.RAM_1500_5TH_GEN:
      if stock_cp.minSteerSpeed != 0.:
        stock_cp.minSteerSpeed = 0.5
      stock_cp.minEnableSpeed = 14.5
      if any(fw.ecu == 'eps' and fw.fwVersion in (b"68273275AF", b"68273275AG", b"68312176AE", b"68312176AG",) for fw in car_fw):
        stock_cp.minEnableSpeed = 0.

    if candidate == CAR.RAM_HD_5TH_GEN:
      stock_cp.dashcamOnly = False
      # https://github.com/commaai/openpilot/issues/25389
      stock_cp.tireStiffnessFactor = 1.0
      stock_cp.tireStiffnessFront = 65155.
      stock_cp.tireStiffnessRear = 80926.
      stock_cp.wheelbase = 3.79
      stock_cp.steerRatio = 19.

    # LKAS heartbeat on bus 0 (msg 0x4FF) means the camera is on the ADAS bus and
    # IQ.Pilot can steer down to a standstill.
    if 0x4FF in fingerprint[0]:
      ret.flags |= ChryslerFlagsIQ.NO_MIN_STEERING_SPEED.value
      stock_cp.minSteerSpeed = 0.

    return ret