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

from openpilot.selfdrive.ui.mici.widgets.stock_button import BigButton, BigParamControl
from openpilot.selfdrive.ui.mici.layouts.settings.iq_widgets import MappedParamToggle, IQModeSelector, SafeParamControl
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets.scroller import NavScroller

FOLLOW_DISTANCE_OPTIONS = ["aggressive", "standard", "relaxed", "stock"]
FOLLOW_DISTANCE_VALUES = [0, 1, 2, 3]

MS_TO_MPH = 2.23694
_SPEED_MPH = [10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80]
_SPEED_OPTIONS = [f"{s} mph" for s in _SPEED_MPH]
_SPEED_VALUES = [round(s / MS_TO_MPH, 2) for s in _SPEED_MPH]

_LEAD_SPEED_MPH = [10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85]
_LEAD_SPEED_OPTIONS = [f"{s} mph" for s in _LEAD_SPEED_MPH]
_LEAD_SPEED_VALUES = [round(s / MS_TO_MPH, 2) for s in _LEAD_SPEED_MPH]

_STOP_TIME_OPTIONS = ["1.0s", "1.5s", "2.0s", "2.5s", "3.0s", "3.5s", "4.0s", "4.5s", "5.0s", "5.5s", "6.0s"]
_STOP_TIME_VALUES = [1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0, 5.5, 6.0]

_LOOKAHEAD_OPTIONS = ["1.0s", "2.0s", "3.0s", "4.0s", "5.0s", "6.0s", "7.0s", "8.0s", "9.0s", "10.0s"]
_LOOKAHEAD_VALUES = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0]


class DynamicSettingsPanel(NavScroller):
  def __init__(self):
    super().__init__()
    self._items = [
      BigParamControl("IQ.Dynamic Curves", "IQDynamicConditionalCurves"),
      BigParamControl("IQ.Dynamic Slower Lead", "IQDynamicConditionalSlowerLead"),
      BigParamControl("IQ.Dynamic Stopped Lead", "IQDynamicConditionalStoppedLead"),
      BigParamControl("IQ.Dynamic Model Stops", "IQDynamicConditionalModelStops"),
      BigParamControl("IQ.Dynamic SLC Fallback", "IQDynamicConditionalSLCFallback"),
      MappedParamToggle("IQ.Dynamic Low Speed", "IQDynamicConditionalSpeed", _SPEED_OPTIONS, _SPEED_VALUES),
      MappedParamToggle("IQ.Dynamic Lead Speed", "IQDynamicConditionalLeadSpeed", _LEAD_SPEED_OPTIONS, _LEAD_SPEED_VALUES),
      MappedParamToggle("Model Stop Time", "IQDynamicModelStopTime", _STOP_TIME_OPTIONS, _STOP_TIME_VALUES),
      BigParamControl("IQ Force Stops", "IQForceStops"),
    ]
    self._scroller.add_widgets(self._items)

  def show_event(self):
    super().show_event()
    for w in self._items:
      w.refresh()


class SlcSettingsPanel(NavScroller):
  def __init__(self):
    super().__init__()
    self._items = [
      MappedParamToggle("SLC Policy", "SLCPolicy", ["map only", "map priority", "combined"], [0, 1, 2]),
      MappedParamToggle("SLC Override", "SLCOverrideMethod", ["manual", "set speed"], [0, 1]),
      BigParamControl("SLC Confirm Higher", "SpeedLimitConfirmationHigher"),
      BigParamControl("SLC Confirm Lower", "SpeedLimitConfirmationLower"),
      BigParamControl("SLC Auto Confirm", "SLCAutoConfirm"),
      BigParamControl("SLC Fallback IQ.Pilot", "SLCFallbackExperimentalMode"),
      BigParamControl("SLC Online Filler", "SLCOnlineFiller"),
      MappedParamToggle("Lookahead Higher", "MapSpeedLookaheadHigher", _LOOKAHEAD_OPTIONS, _LOOKAHEAD_VALUES),
      MappedParamToggle("Lookahead Lower", "MapSpeedLookaheadLower", _LOOKAHEAD_OPTIONS, _LOOKAHEAD_VALUES),
    ]
    self._scroller.add_widgets(self._items)

  def show_event(self):
    super().show_event()
    for w in self._items:
      w.refresh()


class CruiseLayoutMici(NavScroller):
  def __init__(self):
    super().__init__()

    self._dynamic_panel = DynamicSettingsPanel()
    self._slc_panel = SlcSettingsPanel()

    self._mode = IQModeSelector()
    self._dynamic_settings = BigButton("iq.dynamic settings")
    self._dynamic_settings.set_click_callback(lambda: gui_app.push_widget(self._dynamic_panel))
    self._dynamic_settings.set_visible(self._mode.is_dynamic)
    self._follow_dist = MappedParamToggle("Follow Distance", "LongitudinalPersonality",
                                          FOLLOW_DISTANCE_OPTIONS, FOLLOW_DISTANCE_VALUES)
    self._speed_limit = MappedParamToggle("Speed Limit", "IQSpeedAssistMode",
                                          ["off", "info", "warning", "control"])
    self._slc_settings = BigButton("speed limit settings")
    self._slc_settings.set_click_callback(lambda: gui_app.push_widget(self._slc_panel))
    self._new_lead_mpc = SafeParamControl("Experimental Lead MPC", "newLeadMpc", default_on=True)

    self._main = [self._mode, self._dynamic_settings, self._follow_dist, self._speed_limit,
                  self._new_lead_mpc, self._slc_settings]
    self._scroller.add_widgets(self._main)

  def _refresh(self):
    self._mode.refresh()
    self._follow_dist.refresh()
    self._speed_limit.refresh()
    self._new_lead_mpc.refresh()

  def show_event(self):
    super().show_event()
    self._refresh()