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

import numpy as np

from iqdbc.car import structs
from iqdbc.car.can_definitions import CanData
from iqdbc.car.toyota.values import CAR, MIN_ACC_SPEED, PEDAL_TRANSITION
from iqdbc.lvbs.car import create_gas_interceptor_command


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

    self.gas = 0.
    self.interceptor_gas_cmd = 0.

  def create_gas_command(self, CC: structs.CarControl, CS: structs.CarState, actuators: structs.CarControl.Actuators,
                         packer, frame: int) -> list[CanData]:
    can_sends = []

    if self.CP_IQ.enableGasInterceptor and CC.longActive:
      MAX_INTERCEPTOR_GAS = 0.3
      # RAV4 has very sensitive gas pedal
      if self.CP.carFingerprint in (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H, CAR.TOYOTA_HIGHLANDER):
        PEDAL_SCALE = np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
      elif self.CP.carFingerprint in (CAR.TOYOTA_COROLLA,):
        PEDAL_SCALE = np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
      else:
        PEDAL_SCALE = np.interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
      # offset for creep and windbrake
      pedal_offset = np.interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
      pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
      self.interceptor_gas_cmd = float(np.clip(pedal_command, 0., MAX_INTERCEPTOR_GAS))
    else:
      self.interceptor_gas_cmd = 0.

    if frame % 2 == 0 and self.CP_IQ.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
      # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
      # This prevents unexpected pedal range rescaling
      can_sends.append(create_gas_interceptor_command(packer, self.interceptor_gas_cmd, frame // 2))
      self.gas = self.interceptor_gas_cmd

    return can_sends