from types import SimpleNamespace

from cereal import car

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


def make_toggles(**overrides):
  defaults = {
    "custom_accel_profile": False,
    "human_acceleration": False,
    "startAccel": 1.5,
    "stopAccel": -0.5,
    "stoppingDecelRate": 0.8,
    "vEgoStarting": 0.5,
    "vEgoStopping": 0.5,
  }
  defaults.update(overrides)
  return SimpleNamespace(**defaults)


class TestLongControlStateTransition:

  def test_stay_stopped(self):
    CP = car.CarParams.new_message()
    toggles = make_toggles()
    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, starpilot_toggles=toggles)
    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, starpilot_toggles=toggles)
    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, starpilot_toggles=toggles)
    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, starpilot_toggles=toggles)
    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, starpilot_toggles=toggles)
    assert next_state == LongCtrlState.off


def test_engage():
  CP = car.CarParams.new_message()
  toggles = make_toggles()
  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, starpilot_toggles=toggles)
  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, starpilot_toggles=toggles)
  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, starpilot_toggles=toggles)
  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, starpilot_toggles=toggles)
  assert next_state == LongCtrlState.pid


def test_starting():
  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
  toggles = make_toggles(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, starpilot_toggles=toggles)
  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, starpilot_toggles=toggles)
  assert next_state == LongCtrlState.pid


def test_starting_accel_unchanged_when_custom_profile_disabled():
  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
  CP.longitudinalTuning.kpBP = [0.0]
  CP.longitudinalTuning.kpV = [0.1]
  CP.longitudinalTuning.kiBP = [0.0]
  CP.longitudinalTuning.kiV = [0.03]

  lc = LongControl(CP)
  CS = car.CarState.new_message(vEgo=0.0, aEgo=0.0, brakePressed=False)
  CS.cruiseState.standstill = False

  output_accel = lc.update(
    active=True,
    CS=CS,
    a_target=0.1,
    should_stop=False,
    accel_limits=(-3.0, 2.0),
    starpilot_toggles=make_toggles(startAccel=1.5),
  )

  assert lc.long_control_state == LongCtrlState.starting
  assert output_accel == 1.5


def test_starting_accel_obeys_a_target_cap_when_custom_profile_enabled():
  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
  CP.longitudinalTuning.kpBP = [0.0]
  CP.longitudinalTuning.kpV = [0.1]
  CP.longitudinalTuning.kiBP = [0.0]
  CP.longitudinalTuning.kiV = [0.03]

  lc = LongControl(CP)
  CS = car.CarState.new_message(vEgo=0.0, aEgo=0.0, brakePressed=False)
  CS.cruiseState.standstill = False

  output_accel = lc.update(
    active=True,
    CS=CS,
    a_target=0.1,
    should_stop=False,
    accel_limits=(-3.0, 2.0),
    starpilot_toggles=make_toggles(startAccel=1.5, custom_accel_profile=True),
  )

  assert lc.long_control_state == LongCtrlState.starting
  assert output_accel == 0.1


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