#!/usr/bin/env python3
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase

EventName = car.CarEvent.EventName


class CarInterface(CarInterfaceBase):
  @staticmethod
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
    return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX

  @staticmethod
  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)

    ret.carName = "toyota"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]

    ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
    ret.steerLimitTimer = 0.4

    ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop

    # Most cars use this default safety param
    ret.safetyConfigs[0].safetyParam = 73

    if candidate == CAR.PRIUS:
      ret.safetyConfigs[0].safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
      stop_and_go = True
      ret.wheelbase = 2.70
      ret.steerRatio = 15.74   # unknown end-to-end spec
      tire_stiffness_factor = 0.6371   # hand-tune
      ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG

      set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS)
      ret.steerActuatorDelay = 0.3

    elif candidate in (CAR.RAV4, CAR.RAV4H):
      stop_and_go = True if (candidate in CAR.RAV4H) else False
      ret.wheelbase = 2.65
      ret.steerRatio = 16.88   # 14.5 is spec end-to-end
      tire_stiffness_factor = 0.5533
      ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
      set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4)

    elif candidate == CAR.COROLLA:
      ret.safetyConfigs[0].safetyParam = 88
      stop_and_go = False
      ret.wheelbase = 2.70
      ret.steerRatio = 18.27
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
      set_lat_tune(ret.lateralTuning, LatTunes.PID_A)

    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.79
      ret.steerRatio = 16.  # 14.8 is spec end-to-end
      ret.wheelSpeedFactor = 1.035
      tire_stiffness_factor = 0.5533
      ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.CHR, CAR.CHRH):
      stop_and_go = True
      ret.wheelbase = 2.63906
      ret.steerRatio = 13.6
      tire_stiffness_factor = 0.7933
      ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_F)

    elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.82448
      ret.steerRatio = 13.7
      tire_stiffness_factor = 0.7933
      ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.84988  # 112.2 in = 2.84988 m
      ret.steerRatio = 16.0
      tire_stiffness_factor = 0.8
      ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)

    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
      stop_and_go = True
      ret.wheelbase = 2.78
      ret.steerRatio = 16.0
      tire_stiffness_factor = 0.8
      ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)

    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2):
      stop_and_go = False
      ret.wheelbase = 2.82
      ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
      tire_stiffness_factor = 0.7983
      ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
      set_lat_tune(ret.lateralTuning, LatTunes.PID_H)

    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.68986
      ret.steerRatio = 14.3
      tire_stiffness_factor = 0.7933
      ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG  # Average between ICE and Hybrid
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

      # 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary.
      # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891
      for fw in car_fw:
        if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']):
          set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
          break

    elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
      ret.steerRatio = 13.9
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

    elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.8702
      ret.steerRatio = 16.0  # not optimized
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

    elif candidate == CAR.LEXUS_ESH:
      stop_and_go = True
      ret.wheelbase = 2.8190
      ret.steerRatio = 16.06
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_D)

    elif candidate == CAR.SIENNA:
      stop_and_go = True
      ret.wheelbase = 3.03
      ret.steerRatio = 15.5
      tire_stiffness_factor = 0.444
      ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)

    elif candidate == CAR.LEXUS_IS:
      ret.safetyConfigs[0].safetyParam = 77
      stop_and_go = False
      ret.wheelbase = 2.79908
      ret.steerRatio = 13.3
      tire_stiffness_factor = 0.444
      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_L)

    elif candidate == CAR.LEXUS_RC:
      ret.safetyConfigs[0].safetyParam = 77
      stop_and_go = False
      ret.wheelbase = 2.73050
      ret.steerRatio = 13.3
      tire_stiffness_factor = 0.444
      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_L)

    elif candidate == CAR.LEXUS_CTH:
      ret.safetyConfigs[0].safetyParam = 100
      stop_and_go = True
      ret.wheelbase = 2.60
      ret.steerRatio = 18.6
      tire_stiffness_factor = 0.517
      ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
      set_lat_tune(ret.lateralTuning, LatTunes.PID_M)

    elif candidate in (CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
      stop_and_go = True
      ret.wheelbase = 2.66
      ret.steerRatio = 14.7
      tire_stiffness_factor = 0.444  # not optimized yet
      ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate == CAR.PRIUS_TSS2:
      stop_and_go = True
      ret.wheelbase = 2.70002  # from toyota online sepc.
      ret.steerRatio = 13.4   # True steerRatio from older prius
      tire_stiffness_factor = 0.6371   # hand-tune
      ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)

    elif candidate == CAR.MIRAI:
      stop_and_go = True
      ret.wheelbase = 2.91
      ret.steerRatio = 14.8
      tire_stiffness_factor = 0.8
      ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)

    elif candidate == CAR.ALPHARD_TSS2:
      stop_and_go = True
      ret.wheelbase = 3.00
      ret.steerRatio = 14.2
      tire_stiffness_factor = 0.444
      ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
      set_lat_tune(ret.lateralTuning, LatTunes.PID_J)

    ret.steerRateCost = 1.
    ret.centerToFront = ret.wheelbase * 0.44

    # TODO: get actual value, for now starting with reasonable value for
    # civic and scaling by mass and wheelbase
    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)

    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                         tire_stiffness_factor=tire_stiffness_factor)

    ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
    # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
    smartDsu = 0x2FF in fingerprint[0]
    # In TSS2 cars the camera does long control
    found_ecus = [fw.ecu for fw in car_fw]
    ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu)
    ret.enableGasInterceptor = 0x201 in fingerprint[0]
    # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
    ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR

    # min speed to enable ACC. if car can do stop and go, then set enabling speed
    # to a negative value, so it won't matter.
    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED

    if ret.enableGasInterceptor:
      set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
    elif candidate in TSS2_CAR:
      set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
    else:
      set_long_tune(ret.longitudinalTuning, LongTunes.TSS)

    return ret

  # returns a car.CarState
  def update(self, c, can_strings):
    # ******************* do can recv *******************
    self.cp.update_strings(can_strings)
    self.cp_cam.update_strings(can_strings)

    ret = self.CS.update(self.cp, self.cp_cam)

    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False

    # events
    events = self.create_common_events(ret)

    if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
      events.add(EventName.lowSpeedLockout)
    if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
      events.add(EventName.belowEngageSpeed)
      if c.actuators.accel > 0.3:
        # some margin on the actuator to not false trigger cancellation while stopping
        events.add(EventName.speedTooLow)
      if ret.vEgo < 0.001:
        # while in standstill, send a user alert
        events.add(EventName.manualRestart)

    ret.events = events.to_msg()

    self.CS.out = ret.as_reader()
    return self.CS.out

  # pass in a car.CarControl
  # to be called @ 100hz
  def apply(self, c):
    hud_control = c.hudControl
    ret = self.CC.update(c.enabled, c.active, self.CS, self.frame,
                         c.actuators, c.cruiseControl.cancel,
                         hud_control.visualAlert, hud_control.leftLaneVisible,
                         hud_control.rightLaneVisible, hud_control.leadVisible,
                         hud_control.leftLaneDepart, hud_control.rightLaneDepart)

    self.frame += 1
    return ret