#!/usr/bin/env python3
import argparse
import math
import threading
import time
import os
from multiprocessing import Process, Queue
from typing import Any

import carla  # pylint: disable=import-error
import numpy as np
import pyopencl as cl
import pyopencl.array as cl_array
from lib.can import can_function

import cereal.messaging as messaging
from cereal import log
from cereal.visionipc.visionipc_pyx import VisionIpcServer, VisionStreamType  # pylint: disable=no-name-in-module, import-error
from common.basedir import BASEDIR
from common.numpy_fast import clip
from common.params import Params
from common.realtime import DT_DMON, Ratekeeper
from selfdrive.car.honda.values import CruiseButtons
from selfdrive.test.helpers import set_params_enabled

parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
parser.add_argument('--joystick', action='store_true')
parser.add_argument('--low_quality', action='store_true')
parser.add_argument('--town', type=str, default='Town04_Opt')
parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16)

args = parser.parse_args()

W, H = 1928, 1208
REPEAT_COUNTER = 5
PRINT_DECIMATION = 100
STEER_RATIO = 15.

pm = messaging.PubMaster(['roadCameraState', 'sensorEvents', 'can', "gpsLocationExternal"])
sm = messaging.SubMaster(['carControl', 'controlsState'])


class VehicleState:
  def __init__(self):
    self.speed = 0
    self.angle = 0
    self.bearing_deg = 0.0
    self.vel = carla.Vector3D()
    self.cruise_button = 0
    self.is_engaged = False


def steer_rate_limit(old, new):
  # Rate limiting to 0.5 degrees per step
  limit = 0.5
  if new > old + limit:
    return old + limit
  elif new < old - limit:
    return old - limit
  else:
    return new


class Camerad:
  def __init__(self):
    self.frame_id = 0
    self.vipc_server = VisionIpcServer("camerad")

    # TODO: remove RGB buffers once the last RGB vipc subscriber is removed
    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, W, H)
    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, W, H)
    self.vipc_server.start_listener()

    # set up for pyopencl rgb to yuv conversion
    self.ctx = cl.create_some_context()
    self.queue = cl.CommandQueue(self.ctx)
    cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W*3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG "

    # TODO: move rgb_to_yuv.cl to local dir once the frame stream camera is removed
    kernel_fn = os.path.join(BASEDIR, "selfdrive", "camerad", "transforms", "rgb_to_yuv.cl")
    prg = cl.Program(self.ctx, open(kernel_fn).read()).build(cl_arg)
    self.krnl = prg.rgb_to_yuv
    self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4
    self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4

  def cam_callback(self, image):
    img = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
    img = np.reshape(img, (H, W, 4))
    img = img[:, :, [0, 1, 2]].copy()

    # convert RGB frame to YUV
    rgb = np.reshape(img, (H, W * 3))
    rgb_cl = cl_array.to_device(self.queue, rgb)
    yuv_cl = cl_array.empty_like(rgb_cl)
    self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait()
    yuv = np.resize(yuv_cl.get(), np.int32(rgb.size / 2))
    eof = self.frame_id * 0.05

    # TODO: remove RGB send once the last RGB vipc subscriber is removed
    self.vipc_server.send(VisionStreamType.VISION_STREAM_RGB_BACK, img.tobytes(), self.frame_id, eof, eof)
    self.vipc_server.send(VisionStreamType.VISION_STREAM_ROAD, yuv.data.tobytes(), self.frame_id, eof, eof)

    dat = messaging.new_message('roadCameraState')
    dat.roadCameraState = {
      "frameId": image.frame,
      "transform": [1.0, 0.0, 0.0,
                    0.0, 1.0, 0.0,
                    0.0, 0.0, 1.0]
    }
    pm.send('roadCameraState', dat)
    self.frame_id += 1


def imu_callback(imu, vehicle_state):
  vehicle_state.bearing_deg = math.degrees(imu.compass)
  dat = messaging.new_message('sensorEvents', 2)
  dat.sensorEvents[0].sensor = 4
  dat.sensorEvents[0].type = 0x10
  dat.sensorEvents[0].init('acceleration')
  dat.sensorEvents[0].acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z]
  # copied these numbers from locationd
  dat.sensorEvents[1].sensor = 5
  dat.sensorEvents[1].type = 0x10
  dat.sensorEvents[1].init('gyroUncalibrated')
  dat.sensorEvents[1].gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z]
  pm.send('sensorEvents', dat)


def panda_state_function(exit_event: threading.Event):
  pm = messaging.PubMaster(['pandaStates'])
  while not exit_event.is_set():
    dat = messaging.new_message('pandaStates', 1)
    dat.valid = True
    dat.pandaStates[0] = {
      'ignitionLine': True,
      'pandaType': "blackPanda",
      'controlsAllowed': True,
      'safetyModel': 'hondaNidec'
    }
    pm.send('pandaStates', dat)
    time.sleep(0.5)


def peripheral_state_function(exit_event: threading.Event):
  pm = messaging.PubMaster(['peripheralState'])
  while not exit_event.is_set():
    dat = messaging.new_message('peripheralState')
    dat.valid = True
    # fake peripheral state data
    dat.peripheralState = {
      'pandaType': log.PandaState.PandaType.blackPanda,
      'voltage': 12000,
      'current': 5678,
      'fanSpeedRpm': 1000
    }
    pm.send('peripheralState', dat)
    time.sleep(0.5)


def gps_callback(gps, vehicle_state):
  dat = messaging.new_message('gpsLocationExternal')

  # transform vel from carla to NED
  # north is -Y in CARLA
  velNED = [
    -vehicle_state.vel.y,  # north/south component of NED is negative when moving south
    vehicle_state.vel.x,  # positive when moving east, which is x in carla
    vehicle_state.vel.z,
  ]

  dat.gpsLocationExternal = {
    "timestamp": int(time.time() * 1000),
    "flags": 1,  # valid fix
    "accuracy": 1.0,
    "verticalAccuracy": 1.0,
    "speedAccuracy": 0.1,
    "bearingAccuracyDeg": 0.1,
    "vNED": velNED,
    "bearingDeg": vehicle_state.bearing_deg,
    "latitude": gps.latitude,
    "longitude": gps.longitude,
    "altitude": gps.altitude,
    "speed": vehicle_state.speed,
    "source": log.GpsLocationData.SensorSource.ublox,
  }

  pm.send('gpsLocationExternal', dat)


def fake_driver_monitoring(exit_event: threading.Event):
  pm = messaging.PubMaster(['driverState', 'driverMonitoringState'])
  while not exit_event.is_set():
    # dmonitoringmodeld output
    dat = messaging.new_message('driverState')
    dat.driverState.faceProb = 1.0
    pm.send('driverState', dat)

    # dmonitoringd output
    dat = messaging.new_message('driverMonitoringState')
    dat.driverMonitoringState = {
      "faceDetected": True,
      "isDistracted": False,
      "awarenessStatus": 1.,
    }
    pm.send('driverMonitoringState', dat)

    time.sleep(DT_DMON)


def can_function_runner(vs: VehicleState, exit_event: threading.Event):
  i = 0
  while not exit_event.is_set():
    can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
    time.sleep(0.01)
    i += 1


def bridge(q):
  # setup CARLA
  client = carla.Client("127.0.0.1", 2000)
  client.set_timeout(10.0)
  world = client.load_world(args.town)

  settings = world.get_settings()
  settings.synchronous_mode = True # Enables synchronous mode
  settings.fixed_delta_seconds = 0.05
  world.apply_settings(settings)

  world.set_weather(carla.WeatherParameters.ClearSunset)

  if args.low_quality:
    world.unload_map_layer(carla.MapLayer.Foliage)
    world.unload_map_layer(carla.MapLayer.Buildings)
    world.unload_map_layer(carla.MapLayer.ParkedVehicles)
    world.unload_map_layer(carla.MapLayer.Props)
    world.unload_map_layer(carla.MapLayer.StreetLights)
    world.unload_map_layer(carla.MapLayer.Particles)

  blueprint_library = world.get_blueprint_library()

  world_map = world.get_map()

  vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
  spawn_points = world_map.get_spawn_points()
  assert len(spawn_points) > args.num_selected_spawn_point, \
    f'''No spawn point {args.num_selected_spawn_point}, try a value between 0 and
    {len(spawn_points)} for this town.'''
  spawn_point = spawn_points[args.num_selected_spawn_point]
  vehicle = world.spawn_actor(vehicle_bp, spawn_point)

  max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle

  # make tires less slippery
  # wheel_control = carla.WheelPhysicsControl(tire_friction=5)
  physics_control = vehicle.get_physics_control()
  physics_control.mass = 2326
  # physics_control.wheels = [wheel_control]*4
  physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
  physics_control.gear_switch_time = 0.0
  vehicle.apply_physics_control(physics_control)

  blueprint = blueprint_library.find('sensor.camera.rgb')
  blueprint.set_attribute('image_size_x', str(W))
  blueprint.set_attribute('image_size_y', str(H))
  blueprint.set_attribute('fov', '40')
  blueprint.set_attribute('sensor_tick', '0.05')
  transform = carla.Transform(carla.Location(x=0.8, z=1.13))
  camera = world.spawn_actor(blueprint, transform, attach_to=vehicle)
  camerad = Camerad()
  camera.listen(camerad.cam_callback)

  vehicle_state = VehicleState()

  # reenable IMU
  imu_bp = blueprint_library.find('sensor.other.imu')
  imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle)
  imu.listen(lambda imu: imu_callback(imu, vehicle_state))

  gps_bp = blueprint_library.find('sensor.other.gnss')
  gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle)
  gps.listen(lambda gps: gps_callback(gps, vehicle_state))

  # launch fake car threads
  threads = []
  exit_event = threading.Event()
  threads.append(threading.Thread(target=panda_state_function, args=(exit_event,)))
  threads.append(threading.Thread(target=peripheral_state_function, args=(exit_event,)))
  threads.append(threading.Thread(target=fake_driver_monitoring, args=(exit_event,)))
  threads.append(threading.Thread(target=can_function_runner, args=(vehicle_state, exit_event,)))
  for t in threads:
    t.start()

  # can loop
  rk = Ratekeeper(100, print_delay_threshold=0.05)

  # init
  throttle_ease_out_counter = REPEAT_COUNTER
  brake_ease_out_counter = REPEAT_COUNTER
  steer_ease_out_counter = REPEAT_COUNTER

  vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)

  is_openpilot_engaged = False
  throttle_out = steer_out = brake_out = 0
  throttle_op = steer_op = brake_op = 0
  throttle_manual = steer_manual = brake_manual = 0

  old_steer = old_brake = old_throttle = 0
  throttle_manual_multiplier = 0.7  # keyboard signal is always 1
  brake_manual_multiplier = 0.7  # keyboard signal is always 1
  steer_manual_multiplier = 45 * STEER_RATIO  # keyboard signal is always 1

  while True:
    # 1. Read the throttle, steer and brake from op or manual controls
    # 2. Set instructions in Carla
    # 3. Send current carstate to op via can

    cruise_button = 0
    throttle_out = steer_out = brake_out = 0.0
    throttle_op = steer_op = brake_op = 0
    throttle_manual = steer_manual = brake_manual = 0.0

    # --------------Step 1-------------------------------
    if not q.empty():
      message = q.get()
      m = message.split('_')
      if m[0] == "steer":
        steer_manual = float(m[1])
        is_openpilot_engaged = False
      elif m[0] == "throttle":
        throttle_manual = float(m[1])
        is_openpilot_engaged = False
      elif m[0] == "brake":
        brake_manual = float(m[1])
        is_openpilot_engaged = False
      elif m[0] == "reverse":
        cruise_button = CruiseButtons.CANCEL
        is_openpilot_engaged = False
      elif m[0] == "cruise":
        if m[1] == "down":
          cruise_button = CruiseButtons.DECEL_SET
          is_openpilot_engaged = True
        elif m[1] == "up":
          cruise_button = CruiseButtons.RES_ACCEL
          is_openpilot_engaged = True
        elif m[1] == "cancel":
          cruise_button = CruiseButtons.CANCEL
          is_openpilot_engaged = False
      elif m[0] == "quit":
        break

      throttle_out = throttle_manual * throttle_manual_multiplier
      steer_out = steer_manual * steer_manual_multiplier
      brake_out = brake_manual * brake_manual_multiplier

      old_steer = steer_out
      old_throttle = throttle_out
      old_brake = brake_out

    if is_openpilot_engaged:
      sm.update(0)

      # TODO gas and brake is deprecated
      throttle_op = clip(sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
      brake_op = clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
      steer_op = sm['carControl'].actuators.steeringAngleDeg

      throttle_out = throttle_op
      steer_out = steer_op
      brake_out = brake_op

      steer_out = steer_rate_limit(old_steer, steer_out)
      old_steer = steer_out

    else:
      if throttle_out == 0 and old_throttle > 0:
        if throttle_ease_out_counter > 0:
          throttle_out = old_throttle
          throttle_ease_out_counter += -1
        else:
          throttle_ease_out_counter = REPEAT_COUNTER
          old_throttle = 0

      if brake_out == 0 and old_brake > 0:
        if brake_ease_out_counter > 0:
          brake_out = old_brake
          brake_ease_out_counter += -1
        else:
          brake_ease_out_counter = REPEAT_COUNTER
          old_brake = 0

      if steer_out == 0 and old_steer != 0:
        if steer_ease_out_counter > 0:
          steer_out = old_steer
          steer_ease_out_counter += -1
        else:
          steer_ease_out_counter = REPEAT_COUNTER
          old_steer = 0

    # --------------Step 2-------------------------------
    steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1)

    steer_carla = np.clip(steer_carla, -1, 1)
    steer_out = steer_carla * (max_steer_angle * STEER_RATIO * -1)
    old_steer = steer_carla * (max_steer_angle * STEER_RATIO * -1)

    vc.throttle = throttle_out / 0.6
    vc.steer = steer_carla
    vc.brake = brake_out
    vehicle.apply_control(vc)

    # --------------Step 3-------------------------------
    vel = vehicle.get_velocity()
    speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2)  # in m/s
    vehicle_state.speed = speed
    vehicle_state.vel = vel
    vehicle_state.angle = steer_out
    vehicle_state.cruise_button = cruise_button
    vehicle_state.is_engaged = is_openpilot_engaged

    if rk.frame % PRINT_DECIMATION == 0:
      print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ", round(vc.throttle, 3), "; steer(c/deg): ", round(vc.steer, 3), round(steer_out, 3), "; brake: ", round(vc.brake, 3))

    if rk.frame % 5 == 0:
      world.tick()

    rk.keep_time()

  # Clean up resources in the opposite order they were created.
  exit_event.set()
  for t in reversed(threads):
    t.join()
  gps.destroy()
  imu.destroy()
  camera.destroy()
  vehicle.destroy()


def bridge_keep_alive(q: Any):
  while 1:
    try:
      bridge(q)
      break
    except RuntimeError:
      print("Restarting bridge...")


if __name__ == "__main__":
  # make sure params are in a good state
  set_params_enabled()

  msg = messaging.new_message('liveCalibration')
  msg.liveCalibration.validBlocks = 20
  msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
  Params().put("CalibrationParams", msg.to_bytes())

  q: Any = Queue()
  p = Process(target=bridge_keep_alive, args=(q,), daemon=True)
  p.start()

  if args.joystick:
    # start input poll for joystick
    from lib.manual_ctrl import wheel_poll_thread
    wheel_poll_thread(q)
    p.join()
  else:
    # start input poll for keyboard
    from lib.keyboard_ctrl import keyboard_poll_thread
    keyboard_poll_thread(q)
