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

Always-on-Lateral adapter for Chrysler. CarState reads the LKAS toggle button
(and the forwarded LKAS heartbeat); CarController tracks the AOL state and, when
AOL is available, drives the LKAS_DISABLED bit the dash reads from the heartbeat.
"""
from enum import StrEnum
from collections import namedtuple

from iqdbc.car import Bus, structs
from iqdbc.car.chrysler.values import RAM_CARS
from iqdbc.lvbs.aol_base import AolCarStateBase
from iqdbc.can.parser import CANParser

AolDataIQ = namedtuple("AolDataIQ", ["enable_aol", "paused", "lkas_disabled"])
ButtonType = structs.CarState.ButtonEvent.Type

_HEARTBIT_FIELDS = ("LKAS_DISABLED", "AUTO_HIGH_BEAM", "FORWARD_1", "FORWARD_2", "FORWARD_3")


class AolCarController:
  def __init__(self):
    self.aol = AolDataIQ(False, False, False)

  @staticmethod
  def create_lkas_heartbit(packer, lkas_heartbit, aol):
    values = {name: lkas_heartbit[name] for name in _HEARTBIT_FIELDS}
    if aol.enable_aol:
      values["LKAS_DISABLED"] = 1 if aol.lkas_disabled else 0
    return packer.make_can_msg("LKAS_HEARTBIT", 0, values)

  @staticmethod
  def aol_status_update(CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS) -> AolDataIQ:
    enable_aol = CC_IQ.aol.available
    paused = CC_IQ.aol.enabled and not CC.latActive
    # A tap of the LKAS button flips the driver's "LKAS disabled" preference.
    if any(be.type == ButtonType.lkas and be.pressed for be in CS.out.buttonEvents):
      CS.lkas_disabled = not CS.lkas_disabled
    return AolDataIQ(enable_aol, paused, CS.lkas_disabled)

  def update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, CS) -> None:
    self.aol = self.aol_status_update(CC, CC_IQ, CS)


class AolCarState(AolCarStateBase):
  def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
    super().__init__(CP, CP_IQ)
    self.lkas_heartbit = 0
    self.init_lkas_disabled = False
    self.lkas_disabled = False

  @staticmethod
  def get_parser(CP, pt_messages, cam_messages) -> None:
    if CP.carFingerprint in RAM_CARS:
      pt_messages.append(("Center_Stack_2", 1))
    else:
      pt_messages.append(("TRACTION_BUTTON", 1))
      cam_messages.append(("LKAS_HEARTBIT", 1))

  def _read_lkas_button(self, cp, cp_cam) -> int:
    if self.CP.carFingerprint in RAM_CARS:
      return cp.vl["Center_Stack_2"]["LKAS_Button"]

    self.lkas_heartbit = cp_cam.vl["LKAS_HEARTBIT"]
    if not self.init_lkas_disabled:
      self.lkas_disabled = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_DISABLED"]
      self.init_lkas_disabled = True
    return cp.vl["TRACTION_BUTTON"]["TOGGLE_LKAS"]

  def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
    self.prev_lkas_button = self.lkas_button
    self.lkas_button = self._read_lkas_button(can_parsers[Bus.pt], can_parsers[Bus.cam])