from cereal import car
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
import openpilot.selfdrive.controls.lib.longcontrol as longcontrol
from openpilot.selfdrive.controls.lib.longcontrol import LongControl




class TestLongControlStateTransition:

  def test_stay_stopped(self):
    CP = car.CarParams.new_message()
    active = True
    current_state = LongCtrlState.stopping
    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                             should_stop=True, brake_pressed=False, cruise_standstill=False)
    assert next_state == LongCtrlState.stopping
    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=True, cruise_standstill=False)
    assert next_state == LongCtrlState.stopping
    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=False, cruise_standstill=True)
    assert next_state == LongCtrlState.stopping
    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
    assert next_state == LongCtrlState.pid
    active = False
    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
    assert next_state == LongCtrlState.off

def test_engage():
  CP = car.CarParams.new_message()
  active = True
  current_state = LongCtrlState.off
  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                             should_stop=True, brake_pressed=False, cruise_standstill=False)
  assert next_state == LongCtrlState.stopping
  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=True, cruise_standstill=False)
  assert next_state == LongCtrlState.stopping
  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=False, cruise_standstill=True)
  assert next_state == LongCtrlState.stopping
  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
  assert next_state == LongCtrlState.pid

def test_starting():
  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
  active = True
  current_state = LongCtrlState.starting
  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
  assert next_state == LongCtrlState.starting
  next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
                             should_stop=False, brake_pressed=False, cruise_standstill=False)
  assert next_state == LongCtrlState.pid


def test_volt_testing_ground_handoff_freezes_integrator(monkeypatch):
  CP = car.CarParams.new_message()
  CP.brand = "gm"
  CP.enableGasInterceptorDEPRECATED = True
  CP.carFingerprint = "CHEVROLET_VOLT_ASCM"
  CP.longitudinalTuning.kpBP = [0.0]
  CP.longitudinalTuning.kpV = [0.1]
  CP.longitudinalTuning.kiBP = [0.0]
  CP.longitudinalTuning.kiV = [0.03]

  monkeypatch.setattr(longcontrol.testing_ground, "use_2", True, raising=False)

  lc = LongControl(CP)
  freeze = lc._get_pedal_long_freeze(a_target=0.7, error=0.7, v_ego=8.0, accel_limits=(-3.0, 2.0))

  assert freeze
  assert lc.integrator_hold_frames > 0