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

import cereal.messaging as messaging
from openpilot.common.params import Params
from openpilot.common.constants import CV
from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
from openpilot.iqpilot.navd.helpers import coordinate_from_param

MAX_SPEED_LIMIT = V_CRUISE_UNSET * CV.KPH_TO_MS


class BaseMapData(ABC):
  def __init__(self):
    self.params = Params()

    self.sm = messaging.SubMaster(['liveLocationKalman'])
    self.pm = messaging.PubMaster(['iqLiveData'])

    self.localizer_valid = False
    self.last_bearing = None
    self.last_position = coordinate_from_param("LastGPSPositionLLK", self.params)

  @abstractmethod
  def update_location(self) -> None:
    pass

  @abstractmethod
  def get_current_speed_limit(self) -> float:
    pass

  @abstractmethod
  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
    pass

  @abstractmethod
  def get_current_road_name(self) -> str:
    pass

  def publish(self) -> None:
    speed_limit = self.get_current_speed_limit()
    next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()

    mapd_send = messaging.new_message('iqLiveData')
    mapd_send.valid = self.sm['liveLocationKalman'].gpsOK
    live_map_data = mapd_send.iqLiveData

    live_map_data.speedLimitValid = bool(MAX_SPEED_LIMIT > speed_limit > 0)
    live_map_data.speedLimit = speed_limit
    live_map_data.speedLimitAheadValid = bool(MAX_SPEED_LIMIT > next_speed_limit > 0)
    live_map_data.speedLimitAhead = next_speed_limit
    live_map_data.speedLimitAheadDistance = next_speed_limit_distance
    live_map_data.roadName = self.get_current_road_name()

    self.pm.send('iqLiveData', mapd_send)

  def tick(self) -> None:
    self.sm.update(0)
    self.update_location()
    self.publish()