import os
import hypothesis.strategies as st
from hypothesis import Phase, given, settings
from parameterized import parameterized
from types import SimpleNamespace

from cereal import car, custom
from iqdbc.car import DT_CTRL
from iqdbc.car.structs import CarParams
from iqdbc.car.tests.test_car_interfaces import get_fuzzy_car_interface
from iqdbc.car.mock.values import CAR as MOCK
from iqdbc.car.values import PLATFORMS
from openpilot.selfdrive.car.card import run_optional_pre_init
from openpilot.selfdrive.car.helpers import convert_iq_car_control, convert_iq_car_control_compact
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator

from openpilot.iqpilot.selfdrive.car import interfaces as iqpilot_interfaces

MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
VW_MLB_LONG_APPLY_EXCLUDE = {"AUDI_Q5_MK1", "PORSCHE_MACAN_MK1"}


class TestCarInterfaces:
  # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
  #  many generated examples to overrun when max_examples > ~20, don't use it
  @parameterized.expand([(car,) for car in sorted(PLATFORMS)] + [MOCK.MOCK])
  @settings(max_examples=MAX_EXAMPLES, deadline=None,
            phases=(Phase.reuse, Phase.generate, Phase.shrink))
  @given(data=st.data())
  def test_car_interfaces(self, car_name, data):
    car_interface = get_fuzzy_car_interface(car_name, data.draw)
    # IQ.Pilot VW MLB ports keep custom ACC behavior; don't fuzz long-apply path
    # in this generic interface test for these specific platforms.
    if car_name in VW_MLB_LONG_APPLY_EXCLUDE:
      car_interface.CP.openpilotLongitudinalControl = False
    car_params = car_interface.CP.as_reader()
    car_params_iq = car_interface.CP_IQ
    iqpilot_interfaces.apply_iq_car_config(car_interface)

    cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
    cc_sp_msg = FuzzyGenerator.get_random_msg(data.draw, custom.IQCarControl, real_floats=True)
    # Run car interface
    now_nanos = 0
    CC = car.CarControl.new_message(**cc_msg)
    CC = CC.as_reader()
    CC_IQ = custom.IQCarControl.new_message(**cc_sp_msg)
    CC_IQ = convert_iq_car_control(CC_IQ.as_reader())
    for _ in range(10):
      car_interface.update([])
      car_interface.apply(CC, CC_IQ, now_nanos)
      now_nanos += DT_CTRL * 1e9  # 10 ms

    CC = car.CarControl.new_message(**cc_msg)
    CC.enabled = True
    CC.latActive = True
    CC.longActive = True
    CC = CC.as_reader()
    for _ in range(10):
      car_interface.update([])
      car_interface.apply(CC, CC_IQ, now_nanos)
      now_nanos += DT_CTRL * 1e9  # 10ms

    # Test controller initialization
    # TODO: wait until card refactor is merged to run controller a few times,
    #  hypothesis also slows down significantly with just one more message draw
    LongControl(car_params, car_params_iq)
    if car_params.steerControlType == CarParams.SteerControlType.angle:
      LatControlAngle(car_params, car_params_iq, car_interface, DT_CTRL)
    elif car_params.lateralTuning.which() == 'pid':
      LatControlPID(car_params, car_params_iq, car_interface, DT_CTRL)
    elif car_params.lateralTuning.which() == 'torque':
      LatControlTorque(car_params, car_params_iq, car_interface, DT_CTRL)


def test_convert_iq_car_control_compact_skips_leads():
  msg = custom.IQCarControl.new_message()
  msg.aol.enabled = True
  msg.aol.active = True
  msg.aol.available = True
  param = msg.init("params", 1)
  param[0].key = "enhancedStockLongitudinalControl.setSpeedKph"
  param[0].type = "float"
  param[0].value = b"42.0"
  msg.leadOne.dRel = 42.0
  msg.leadOne.status = True
  msg.leadTwo.dRel = 84.0
  msg.leadTwo.status = True

  compact = convert_iq_car_control_compact(msg.as_reader(), include_leads=False)
  assert compact.aol.enabled
  assert compact.aol.active
  assert compact.aol.available
  assert len(compact.params) == 1
  assert compact.params[0].key == "enhancedStockLongitudinalControl.setSpeedKph"
  assert compact.params[0].type == "float"
  assert compact.params[0].value == b"42.0"
  assert compact.leadOne.dRel == 0.0
  assert not compact.leadOne.status
  assert compact.leadTwo.dRel == 0.0
  assert not compact.leadTwo.status

  full = convert_iq_car_control_compact(msg.as_reader(), include_leads=True)
  assert full.leadOne.dRel == 42.0
  assert full.leadOne.status
  assert full.leadTwo.dRel == 84.0
  assert full.leadTwo.status


def test_run_optional_pre_init_skips_missing_hook():
  ci = SimpleNamespace()
  run_optional_pre_init(ci, car.CarParams(), custom.IQCarParams(), (lambda wait_for_one=False: [], lambda msgs: None))


def test_run_optional_pre_init_calls_hook():
  called = []

  class CI:
    @staticmethod
    def pre_init(CP, CP_IQ, can_recv, can_send):
      called.append((CP, CP_IQ, can_recv, can_send))

  can_callbacks = (lambda wait_for_one=False: [], lambda msgs: None)
  cp = car.CarParams()
  cp_iq = custom.IQCarParams()
  run_optional_pre_init(CI(), cp, cp_iq, can_callbacks)

  assert called == [(cp, cp_iq, *can_callbacks)]