#!/usr/bin/env python3
import os
from abc import ABC, abstractmethod

from openpilot.common.realtime import DT_TRML
from openpilot.common.numpy_fast import interp
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.controls.lib.pid import PIDController

BENCH_MODE = os.environ.get("BENCH_MODE") == "1"

class BaseFanController(ABC):
  @abstractmethod
  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
    pass


class TiciFanController(BaseFanController):
  def __init__(self) -> None:
    super().__init__()
    cloudlog.info("Setting up TICI fan handler")

    self.last_ignition = False
    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))

  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
    # CLEARPILOT: bench mode always uses normal onroad fan range (30-100%)
    if BENCH_MODE and ignition:
      self.controller.neg_limit = -100
      self.controller.pos_limit = -30
    # CLEARPILOT: at standstill below 74°C, clamp to 0-30% (quiet)
    # at standstill above 74°C, allow full 0-100% range
    elif ignition and standstill and cur_temp < 74:
      self.controller.neg_limit = -30
      self.controller.pos_limit = 0
    elif ignition and standstill:
      self.controller.neg_limit = -100
      self.controller.pos_limit = 0
    elif ignition:
      self.controller.neg_limit = -100
      self.controller.pos_limit = -15
    else:
      self.controller.neg_limit = -30
      self.controller.pos_limit = 0

    if ignition != self.last_ignition:
      self.controller.reset()

    error = 70 - cur_temp
    fan_pwr_out = -int(self.controller.update(
                      error=error,
                      feedforward=interp(cur_temp, [60.0, 100.0], [0, -100])
                    ))

    self.last_ignition = ignition
    return fan_pwr_out