#!/usr/bin/env python3
import unittest
import numpy as np
from panda import Panda
from panda.tests.safety import libpandasafety_py
from panda.tests.safety.common import StdTest, make_msg, UNSAFE_MODE

MAX_RATE_UP = 10
MAX_RATE_DOWN = 25
MAX_TORQUE = 1500

MAX_ACCEL = 1500
MIN_ACCEL = -3000

ISO_MAX_ACCEL = 2000
ISO_MIN_ACCEL = -3500

MAX_RT_DELTA = 375
RT_INTERVAL = 250000

STANDSTILL_THRESHOLD = 100  # 1kph

MAX_TORQUE_ERROR = 350
INTERCEPTOR_THRESHOLD = 475

TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0],  # DSU bus 0
           [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1],  # DSU bus 1
           [0x2E4, 0], [0x411, 0], [0x412, 0], [0x343, 0], [0x1D2, 0],  # LKAS + ACC
           [0x200, 0], [0x750, 0]];  # interceptor + blindspot monitor


def twos_comp(val, bits):
  if val >= 0:
    return val
  else:
    return (2**bits) + val

def sign(a):
  if a > 0:
    return 1
  else:
    return -1

def toyota_checksum(msg, addr, len_msg):
  checksum = (len_msg + addr + (addr >> 8))
  for i in range(len_msg):
    if i < 4:
      checksum += (msg.RDLR >> (8 * i))
    else:
      checksum += (msg.RDHR >> (8 * (i - 4)))
  return checksum & 0xff


class TestToyotaSafety(unittest.TestCase):
  @classmethod
  def setUp(cls):
    cls.safety = libpandasafety_py.libpandasafety
    cls.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 100)
    cls.safety.init_tests_toyota()

  def _set_prev_torque(self, t):
    self.safety.set_toyota_desired_torque_last(t)
    self.safety.set_toyota_rt_torque_last(t)
    self.safety.set_toyota_torque_meas(t, t)

  def _torque_meas_msg(self, torque):
    t = twos_comp(torque, 16)
    to_send = make_msg(0, 0x260)
    to_send[0].RDHR = (t & 0xff00) | ((t & 0xFF) << 16)
    to_send[0].RDHR |= toyota_checksum(to_send[0], 0x260, 8) << 24
    return to_send

  def _torque_msg(self, torque):
    t = twos_comp(torque, 16)
    to_send = make_msg(0, 0x2E4)
    to_send[0].RDLR = t | ((t & 0xFF) << 16)
    return to_send

  def _accel_msg(self, accel):
    to_send = make_msg(0, 0x343)
    a = twos_comp(accel, 16)
    to_send[0].RDLR = (a & 0xFF) << 8 | (a >> 8)
    return to_send

  def _speed_msg(self, s):
    offset = (0x6f << 8) + 0x1a  # there is a 0x1a6f offset in the signal
    to_send = make_msg(0, 0xaa)
    to_send[0].RDLR = ((s & 0xFF) << 8 | (s >> 8)) + offset
    to_send[0].RDLR += ((s & 0xFF) << 24 | ((s >> 8) << 16)) + (offset << 16)
    to_send[0].RDHR = ((s & 0xFF) << 8 | (s >> 8)) + offset
    to_send[0].RDHR += ((s & 0xFF) << 24 | ((s >> 8) << 16)) + (offset << 16)
    return to_send

  def _brake_msg(self, brake):
    to_send = make_msg(0, 0x226)
    to_send[0].RDHR = brake << 5
    to_send[0].RDHR |= toyota_checksum(to_send[0], 0x226, 8) << 24
    return to_send

  def _gas_pressed_msg(self, pressed, enable_cruise=False):
    to_send = make_msg(0, 0x1D2)
    to_send[0].RDLR = ((1*(not pressed)) << 4) | (1*enable_cruise << 5)
    to_send[0].RDHR = (toyota_checksum(to_send[0], 0x1D2, 8) << 24)
    return to_send

  def _send_interceptor_msg(self, gas, addr):
    gas2 = gas * 2
    to_send = make_msg(0, addr, 6)
    to_send[0].RDLR = ((gas & 0xff) << 8) | ((gas & 0xff00) >> 8) | \
                      ((gas2 & 0xff) << 24) | ((gas2 & 0xff00) << 8)
    return to_send

  def _pcm_cruise_msg(self, cruise_on):
    to_send = make_msg(0, 0x1D2)
    to_send[0].RDLR = cruise_on << 5
    to_send[0].RDHR = to_send[0].RDHR | (toyota_checksum(to_send[0], 0x1D2, 8) << 24)
    return to_send

  def test_spam_can_buses(self):
    StdTest.test_spam_can_buses(self, TX_MSGS)

  def test_relay_malfunction(self):
    StdTest.test_relay_malfunction(self, 0x2E4)

  def test_default_controls_not_allowed(self):
    self.assertFalse(self.safety.get_controls_allowed())

  def test_manually_enable_controls_allowed(self):
    StdTest.test_manually_enable_controls_allowed(self)

  def test_enable_control_allowed_from_cruise(self):
    self.safety.safety_rx_hook(self._pcm_cruise_msg(False))
    self.assertFalse(self.safety.get_controls_allowed())
    self.safety.safety_rx_hook(self._pcm_cruise_msg(True))
    self.assertTrue(self.safety.get_controls_allowed())

  def test_disable_control_allowed_from_cruise(self):
    self.safety.set_controls_allowed(1)
    self.safety.safety_rx_hook(self._pcm_cruise_msg(False))
    self.assertFalse(self.safety.get_controls_allowed())

  def test_prev_gas(self):
    for pressed in [True, False]:
      self.safety.safety_rx_hook(self._gas_pressed_msg(pressed))
      self.assertEqual(pressed, self.safety.get_gas_pressed_prev())

  def test_prev_gas_interceptor(self):
    self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
    self.assertFalse(self.safety.get_gas_interceptor_prev())
    self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
    self.assertTrue(self.safety.get_gas_interceptor_prev())
    self.safety.safety_rx_hook(self._send_interceptor_msg(0x0, 0x201))
    self.safety.set_gas_interceptor_detected(False)

  def test_disengage_on_gas(self):
    self.safety.safety_rx_hook(self._gas_pressed_msg(False))
    self.safety.set_controls_allowed(True)
    self.safety.safety_rx_hook(self._gas_pressed_msg(True, enable_cruise=True))
    self.assertFalse(self.safety.get_controls_allowed())

  def test_unsafe_mode_no_disengage_on_gas(self):
    self.safety.safety_rx_hook(self._gas_pressed_msg(False))
    self.safety.set_controls_allowed(True)
    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
    self.safety.safety_rx_hook(self._gas_pressed_msg(True, enable_cruise=True))
    self.assertTrue(self.safety.get_controls_allowed())
    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)

  def test_allow_engage_with_gas_pressed(self):
    self.safety.safety_rx_hook(self._gas_pressed_msg(True))
    self.safety.set_controls_allowed(True)
    for _ in range(2):
      # since cruise msg is used for gas pedal state, cruise bit must
      # also be set for this test or else it will set controls_allowed
      self.safety.safety_rx_hook(self._gas_pressed_msg(True, enable_cruise=True))
      self.assertTrue(self.safety.get_controls_allowed())

  def test_disengage_on_gas_interceptor(self):
    for g in range(0, 0x1000):
      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
      self.safety.set_controls_allowed(True)
      self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
      remain_enabled = g <= INTERCEPTOR_THRESHOLD
      self.assertEqual(remain_enabled, self.safety.get_controls_allowed())
      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
      self.safety.set_gas_interceptor_detected(False)

  def test_unsafe_mode_no_disengage_on_gas_interceptor(self):
    self.safety.set_controls_allowed(True)
    self.safety.set_unsafe_mode(UNSAFE_MODE.DISABLE_DISENGAGE_ON_GAS)
    for g in range(0, 0x1000):
      self.safety.safety_rx_hook(self._send_interceptor_msg(g, 0x201))
      self.assertTrue(self.safety.get_controls_allowed())
      self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
      self.safety.set_gas_interceptor_detected(False)
    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)
    self.safety.set_controls_allowed(False)

  def test_brake_disengage(self):
    StdTest.test_allow_brake_at_zero_speed(self)
    StdTest.test_not_allow_brake_when_moving(self, STANDSTILL_THRESHOLD)

  def test_allow_engage_with_gas_interceptor_pressed(self):
    self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
    self.safety.set_controls_allowed(1)
    self.safety.safety_rx_hook(self._send_interceptor_msg(0x1000, 0x201))
    self.assertTrue(self.safety.get_controls_allowed())
    self.safety.safety_rx_hook(self._send_interceptor_msg(0, 0x201))
    self.safety.set_gas_interceptor_detected(False)

  def test_accel_actuation_limits(self):
    for accel in np.arange(MIN_ACCEL - 1000, MAX_ACCEL + 1000, 100):
      for controls_allowed in [True, False]:
        self.safety.set_controls_allowed(controls_allowed)
        if controls_allowed:
          send = MIN_ACCEL <= accel <= MAX_ACCEL
        else:
          send = accel == 0
        self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))

  def test_unsafe_iso_accel_actuation_limits(self):
    for accel in np.arange(ISO_MIN_ACCEL - 1000, ISO_MAX_ACCEL + 1000, 100):
      for controls_allowed in [True, False]:
        self.safety.set_controls_allowed(controls_allowed)
        self.safety.set_unsafe_mode(UNSAFE_MODE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)
        if controls_allowed:
          send = ISO_MIN_ACCEL <= accel <= ISO_MAX_ACCEL
        else:
          send = accel == 0
        self.assertEqual(send, self.safety.safety_tx_hook(self._accel_msg(accel)))
    self.safety.set_unsafe_mode(UNSAFE_MODE.DEFAULT)

  def test_torque_absolute_limits(self):
    for controls_allowed in [True, False]:
      for torque in np.arange(-MAX_TORQUE - 1000, MAX_TORQUE + 1000, MAX_RATE_UP):
          self.safety.set_controls_allowed(controls_allowed)
          self.safety.set_toyota_rt_torque_last(torque)
          self.safety.set_toyota_torque_meas(torque, torque)
          self.safety.set_toyota_desired_torque_last(torque - MAX_RATE_UP)

          if controls_allowed:
            send = (-MAX_TORQUE <= torque <= MAX_TORQUE)
          else:
            send = torque == 0

          self.assertEqual(send, self.safety.safety_tx_hook(self._torque_msg(torque)))

  def test_non_realtime_limit_up(self):
    self.safety.set_controls_allowed(True)

    self._set_prev_torque(0)
    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP)))

    self._set_prev_torque(0)
    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(MAX_RATE_UP + 1)))

  def test_non_realtime_limit_down(self):
    self.safety.set_controls_allowed(True)

    self.safety.set_toyota_rt_torque_last(1000)
    self.safety.set_toyota_torque_meas(500, 500)
    self.safety.set_toyota_desired_torque_last(1000)
    self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN)))

    self.safety.set_toyota_rt_torque_last(1000)
    self.safety.set_toyota_torque_meas(500, 500)
    self.safety.set_toyota_desired_torque_last(1000)
    self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(1000 - MAX_RATE_DOWN + 1)))

  def test_exceed_torque_sensor(self):
    self.safety.set_controls_allowed(True)

    for sign in [-1, 1]:
      self._set_prev_torque(0)
      for t in np.arange(0, MAX_TORQUE_ERROR + 10, 10):
        t *= sign
        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))

      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * (MAX_TORQUE_ERROR + 10))))

  def test_realtime_limit_up(self):
    self.safety.set_controls_allowed(True)

    for sign in [-1, 1]:
      self.safety.init_tests_toyota()
      self._set_prev_torque(0)
      for t in np.arange(0, 380, 10):
        t *= sign
        self.safety.set_toyota_torque_meas(t, t)
        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))
      self.assertFalse(self.safety.safety_tx_hook(self._torque_msg(sign * 380)))

      self._set_prev_torque(0)
      for t in np.arange(0, 370, 10):
        t *= sign
        self.safety.set_toyota_torque_meas(t, t)
        self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(t)))

      # Increase timer to update rt_torque_last
      self.safety.set_timer(RT_INTERVAL + 1)
      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * 370)))
      self.assertTrue(self.safety.safety_tx_hook(self._torque_msg(sign * 380)))

  def test_torque_measurements(self):
    self.safety.safety_rx_hook(self._torque_meas_msg(50))
    self.safety.safety_rx_hook(self._torque_meas_msg(-50))
    self.safety.safety_rx_hook(self._torque_meas_msg(0))
    self.safety.safety_rx_hook(self._torque_meas_msg(0))
    self.safety.safety_rx_hook(self._torque_meas_msg(0))
    self.safety.safety_rx_hook(self._torque_meas_msg(0))

    self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())
    self.assertEqual(51, self.safety.get_toyota_torque_meas_max())

    self.safety.safety_rx_hook(self._torque_meas_msg(0))
    self.assertEqual(1, self.safety.get_toyota_torque_meas_max())
    self.assertEqual(-51, self.safety.get_toyota_torque_meas_min())

    self.safety.safety_rx_hook(self._torque_meas_msg(0))
    self.assertEqual(1, self.safety.get_toyota_torque_meas_max())
    self.assertEqual(-1, self.safety.get_toyota_torque_meas_min())

  def test_gas_interceptor_safety_check(self):

    self.safety.set_controls_allowed(0)
    self.assertTrue(self.safety.safety_tx_hook(self._send_interceptor_msg(0, 0x200)))
    self.assertFalse(self.safety.safety_tx_hook(self._send_interceptor_msg(0x1000, 0x200)))
    self.safety.set_controls_allowed(1)
    self.assertTrue(self.safety.safety_tx_hook(self._send_interceptor_msg(0x1000, 0x200)))

  def test_rx_hook(self):
    # checksum checks
    for msg in ["trq", "pcm"]:
      self.safety.set_controls_allowed(1)
      if msg == "trq":
        to_push = self._torque_meas_msg(0)
      if msg == "pcm":
        to_push = self._pcm_cruise_msg(1)
      self.assertTrue(self.safety.safety_rx_hook(to_push))
      to_push[0].RDHR = 0
      self.assertFalse(self.safety.safety_rx_hook(to_push))
      self.assertFalse(self.safety.get_controls_allowed())

  def test_fwd_hook(self):

    buss = list(range(0x0, 0x3))
    msgs = list(range(0x1, 0x800))

    blocked_msgs = [0x2E4, 0x412, 0x191]
    blocked_msgs += [0x343]
    for b in buss:
      for m in msgs:
        if b == 0:
          fwd_bus = 2
        elif b == 1:
          fwd_bus = -1
        elif b == 2:
          fwd_bus = -1 if m in blocked_msgs else 0

        # assume len 8
        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, make_msg(b, m, 8)))


if __name__ == "__main__":
  unittest.main()