#!/usr/bin/env python3
import bisect
import math
import os
from enum import IntEnum
from collections.abc import Callable

from cereal import log, car
import cereal.messaging as messaging
from openpilot.common.conversions import Conversions as CV
from openpilot.common.git import get_short_branch
from openpilot.common.params import Params
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER

AlertSize = log.SelfdriveState.AlertSize
AlertStatus = log.SelfdriveState.AlertStatus
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
EventName = log.OnroadEvent.EventName


# Alert priorities
class Priority(IntEnum):
  LOWEST = 0
  LOWER = 1
  LOW = 2
  MID = 3
  HIGH = 4
  HIGHEST = 5


# Event types
class ET:
  ENABLE = 'enable'
  PRE_ENABLE = 'preEnable'
  OVERRIDE_LATERAL = 'overrideLateral'
  OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
  NO_ENTRY = 'noEntry'
  WARNING = 'warning'
  USER_DISABLE = 'userDisable'
  SOFT_DISABLE = 'softDisable'
  IMMEDIATE_DISABLE = 'immediateDisable'
  PERMANENT = 'permanent'


# get event name from enum
EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}


class Events:
  def __init__(self):
    self.events: list[int] = []
    self.static_events: list[int] = []
    self.event_counters = dict.fromkeys(EVENTS.keys(), 0)

  @property
  def names(self) -> list[int]:
    return self.events

  def __len__(self) -> int:
    return len(self.events)

  def add(self, event_name: int, static: bool=False) -> None:
    if static:
      bisect.insort(self.static_events, event_name)
    bisect.insort(self.events, event_name)

  def clear(self) -> None:
    self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
    self.events = self.static_events.copy()

  def contains(self, event_type: str) -> bool:
    return any(event_type in EVENTS.get(e, {}) for e in self.events)

  def create_alerts(self, event_types: list[str], callback_args=None):
    if callback_args is None:
      callback_args = []

    ret = []
    for e in self.events:
      types = EVENTS[e].keys()
      for et in event_types:
        if et in types:
          alert = EVENTS[e][et]
          if not isinstance(alert, Alert):
            alert = alert(*callback_args)

          if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
            alert.alert_type = f"{EVENT_NAME[e]}/{et}"
            alert.event_type = et
            ret.append(alert)
    return ret

  def add_from_msg(self, events):
    for e in events:
      bisect.insort(self.events, e.name.raw)

  def to_msg(self):
    ret = []
    for event_name in self.events:
      event = log.OnroadEvent.new_message()
      event.name = event_name
      for event_type in EVENTS.get(event_name, {}):
        setattr(event, event_type, True)
      ret.append(event)
    return ret


class Alert:
  def __init__(self,
               alert_text_1: str,
               alert_text_2: str,
               alert_status: log.SelfdriveState.AlertStatus,
               alert_size: log.SelfdriveState.AlertSize,
               priority: Priority,
               visual_alert: car.CarControl.HUDControl.VisualAlert,
               audible_alert: car.CarControl.HUDControl.AudibleAlert,
               duration: float,
               creation_delay: float = 0.):

    self.alert_text_1 = alert_text_1
    self.alert_text_2 = alert_text_2
    self.alert_status = alert_status
    self.alert_size = alert_size
    self.priority = priority
    self.visual_alert = visual_alert
    self.audible_alert = audible_alert

    self.duration = int(duration / DT_CTRL)

    self.creation_delay = creation_delay

    self.alert_type = ""
    self.event_type: str | None = None

  def __str__(self) -> str:
    return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"

  def __gt__(self, alert2) -> bool:
    if not isinstance(alert2, Alert):
      return False
    return self.priority > alert2.priority

EmptyAlert = Alert("" , "", AlertStatus.normal, AlertSize.none, Priority.LOWEST,
                   VisualAlert.none, AudibleAlert.none, 0)

class NoEntryAlert(Alert):
  def __init__(self, alert_text_2: str,
               alert_text_1: str = "openpilot不可用",
               visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
    super().__init__(alert_text_1, alert_text_2, AlertStatus.normal,
                     AlertSize.mid, Priority.LOW, visual_alert,
                     AudibleAlert.refuse, 3.)


class SoftDisableAlert(Alert):
  def __init__(self, alert_text_2: str):
    super().__init__("请立即接管", alert_text_2,
                     AlertStatus.userPrompt, AlertSize.full,
                     Priority.MID, VisualAlert.steerRequired,
                     AudibleAlert.warningSoft, 2.),


# less harsh version of SoftDisable, where the condition is user-triggered
class UserSoftDisableAlert(SoftDisableAlert):
  def __init__(self, alert_text_2: str):
    super().__init__(alert_text_2),
    self.alert_text_1 = "openpilot即将解除"


class ImmediateDisableAlert(Alert):
  def __init__(self, alert_text_2: str):
    super().__init__("请立即接管", alert_text_2,
                     AlertStatus.critical, AlertSize.full,
                     Priority.HIGHEST, VisualAlert.steerRequired,
                     AudibleAlert.warningImmediate, 4.),


class EngagementAlert(Alert):
  def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert):
    super().__init__("", "",
                     AlertStatus.normal, AlertSize.none,
                     Priority.MID, VisualAlert.none,
                     audible_alert, .2),


class NormalPermanentAlert(Alert):
  def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.):
    super().__init__(alert_text_1, alert_text_2,
                     AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small,
                     priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay),


class StartupAlert(Alert):
  def __init__(self, alert_text_1: str, alert_text_2: str = "小鸽温馨提醒：请始终握住方向盘并注视前方道路", alert_status=AlertStatus.normal):
    super().__init__(alert_text_1, alert_text_2,
                     alert_status, AlertSize.mid,
                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),


# ********** helper functions **********
def get_display_speed(speed_ms: float, metric: bool) -> str:
  speed = int(round(speed_ms * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH)))
  unit = 'km/h' if metric else 'mph'
  return f"{speed} {unit}"


# ********** alert callback functions **********

AlertCallbackType = Callable[[car.CarParams, car.CarState, messaging.SubMaster, bool, int, log.ControlsState], Alert]


def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
    if soft_disable_time < int(0.5 / DT_CTRL):
      return ImmediateDisableAlert(alert_text_2)
    return SoftDisableAlert(alert_text_2)
  return func

def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
    if soft_disable_time < int(0.5 / DT_CTRL):
      return ImmediateDisableAlert(alert_text_2)
    return UserSoftDisableAlert(alert_text_2)
  return func

def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  branch = get_short_branch()  # Ensure get_short_branch is cached to avoid lags on startup
  if "REPLAY" in os.environ:
    branch = "replay"

  return StartupAlert("提醒：需配合CarrotAmap或CP搭子 App才能实现高德地图的NOO", branch, alert_status=AlertStatus.userPrompt)

def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  return NoEntryAlert(f"车速超过{get_display_speed(CP.minEnableSpeed, metric)}后可启用")


def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  return Alert(
    f"当前车速低于{get_display_speed(CP.minSteerSpeed, metric)}时无法提供转向",
    "",
    AlertStatus.userPrompt, AlertSize.small,
    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, 0.4)


def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  first_word = '重新校准' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else '校准'
  return Alert(
    f"{first_word}进行中：{sm['liveCalibration'].calPerc:.0f}%",
    f"请将车速提升至{get_display_speed(MIN_SPEED_FILTER, metric)}以上",
    AlertStatus.normal, AlertSize.mid,
    Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)

def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  model_name = Params().get("NNFFModelName", encoding='utf-8')
  if model_name == "":
    return Alert(
      "NNFF扭矩控制器不可用",
      "请向Twilsonco提供日志以便添加！",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 6.0)
  else:
    return Alert(
      "NNFF扭矩控制器已加载",
      model_name,
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 5.0)

# *** debug alerts ***

def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  full_perc = round(100. - sm['deviceState'].freeSpacePercent)
  return NormalPermanentAlert("存储空间不足", f"已使用{full_perc}%")


def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan
  err = CS.vEgo - mdl
  msg = f"速度误差：{err:.1f} m/s"
  return NoEntryAlert(msg, alert_text_1="Posenet速度无效")


def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
  msg = ', '.join(not_running)
  return NoEntryAlert(msg, alert_text_1="进程未运行")


def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])]
  msg = ', '.join(bs[:4])  # can't fit too many on one line
  return NoEntryAlert(msg, alert_text_1="进程间通信异常")


def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
  bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
  return NormalPermanentAlert("摄像头故障", ', '.join(bad_cams))


def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  rpy = sm['liveCalibration'].rpyCalib
  yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
  pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
  angles = f"请重新安装设备（俯仰：{pitch:.1f}°，偏航：{yaw:.1f}°）"
  return NormalPermanentAlert("校准无效", angles)


def paramsd_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  if not sm['liveParameters'].angleOffsetValid:
    angle_offset_deg = sm['liveParameters'].angleOffsetDeg
    title = "检测到转向未对准"
    text = f"角度偏移过大（偏移：{angle_offset_deg:.1f}°）"
  elif not sm['liveParameters'].steerRatioValid:
    steer_ratio = sm['liveParameters'].steerRatio
    title = "转向比不匹配"
    text = f"转向齿条几何可能异常（比例：{steer_ratio:.1f}）"
  elif not sm['liveParameters'].stiffnessFactorValid:
    stiffness_factor = sm['liveParameters'].stiffnessFactor
    title = "轮胎刚度异常"
    text = f"请检查轮胎、胎压或定位（系数：{stiffness_factor:.1f}）"
  else:
    return NoEntryAlert("paramsd临时错误")

  return NoEntryAlert(alert_text_1=title, alert_text_2=text)

def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  cpu = max(sm['deviceState'].cpuTempC, default=0.)
  gpu = max(sm['deviceState'].gpuTempC, default=0.)
  temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
  return NormalPermanentAlert("系统过热", f"温度 {temp:.0f} °C")


def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  return NormalPermanentAlert("内存不足", f"已用{sm['deviceState'].memoryUsagePercent}%")


def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  x = max(sm['deviceState'].cpuUsagePercent, default=0.)
  return NormalPermanentAlert("CPU占用过高", f"已用{x}%")


def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  return NormalPermanentAlert("驾驶模型延迟", f"丢帧率{sm['modelV2'].frameDropPerc:.1f}%")


def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  text = "请启用自适应巡航以接入"
  if CP.brand == "honda":
    text = "请打开主开关以接入"
  return NoEntryAlert(text)


def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  gb = sm['carControl'].actuators.accel / 4.
  steer = sm['carControl'].actuators.torque
  vals = f"油门：{round(gb * 100.)}%，转向：{round(steer * 100.)}%"
  return NormalPermanentAlert("手柄模式", vals)


def longitudinal_maneuver_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  ad = sm['alertDebug']
  audible_alert = AudibleAlert.prompt if 'Active' in ad.alertText1 else AudibleAlert.none
  alert_status = AlertStatus.userPrompt if 'Active' in ad.alertText1 else AlertStatus.normal
  alert_size = AlertSize.mid if ad.alertText2 else AlertSize.small
  return Alert(ad.alertText1, ad.alertText2,
               alert_status, alert_size,
               Priority.LOW, VisualAlert.none, audible_alert, 0.2)


def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  personality = str(personality).title()
  return NormalPermanentAlert(f"驾驶风格：{personality}", duration=1.5)

def car_parser_result(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
  results = Params().get("CanParserResult")
  if results is None:
    results = ""
  return Alert(
    "CAN错误：请检查连接！！",
    results,
    AlertStatus.normal, AlertSize.small,
    Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.)


EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  # ********** events with no alerts **********

  EventName.stockFcw: {},
  EventName.actuatorsApiUnavailable: {},

  # ********** events only containing alerts displayed in all states **********

  EventName.joystickDebug: {
    ET.WARNING: joystick_alert,
    ET.PERMANENT: NormalPermanentAlert("手柄模式"),
  },

  EventName.longitudinalManeuver: {
    ET.WARNING: longitudinal_maneuver_alert,
    ET.PERMANENT: NormalPermanentAlert("纵向操作模式",
                                       "请确保前方道路无障碍"),
  },

  EventName.selfdriveInitializing: {
    ET.NO_ENTRY: NoEntryAlert("系统初始化中"),
  },

  EventName.startup: {
    ET.PERMANENT: StartupAlert("随时准备接管")
  },

  EventName.startupMaster: {
    ET.PERMANENT: startup_master_alert,
  },

  EventName.startupNoControl: {
    ET.PERMANENT: StartupAlert("行车记录仪模式"),
    ET.NO_ENTRY: NoEntryAlert("行车记录仪模式"),
  },

  EventName.startupNoCar: {
    ET.PERMANENT: StartupAlert("不支持车型，仅提供行车记录仪模式"),
  },

  EventName.startupNoSecOcKey: {
    ET.PERMANENT: NormalPermanentAlert("行车记录仪模式",
                                       "安全密钥不可用",
                                       priority=Priority.HIGH),
  },

  EventName.dashcamMode: {
    ET.PERMANENT: NormalPermanentAlert("行车记录仪模式",
                                       priority=Priority.LOWEST),
  },

  EventName.invalidLkasSetting: {
    ET.PERMANENT: NormalPermanentAlert("LKAS设置无效",
                                       "请切换原厂LKAS开关后再接入"),
    ET.NO_ENTRY: NoEntryAlert("LKAS设置无效"),
  },

  EventName.cruiseMismatch: {
    #ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"),
  },

  # openpilot doesn't recognize the car. This switches openpilot into a
  # read-only mode. This can be solved by adding your fingerprint.
  # See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information
  EventName.carUnrecognized: {
    ET.PERMANENT: NormalPermanentAlert("行车记录仪模式",
                                       "车辆未识别",
                                       priority=Priority.LOWEST),
  },

  EventName.aeb: {
    ET.PERMANENT: Alert(
      "刹车！",
      "紧急制动：存在碰撞风险",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.stopStop, 2.),
    ET.NO_ENTRY: NoEntryAlert("AEB：存在碰撞风险"),
  },

  EventName.stockAeb: {
    ET.PERMANENT: Alert(
      "刹车！",
      "原厂AEB：存在碰撞风险",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.stopStop, 2.),
    ET.NO_ENTRY: NoEntryAlert("原厂AEB：存在碰撞风险"),
  },

  EventName.fcw: {
    ET.PERMANENT: Alert(
      "刹车！",
      "存在碰撞风险",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.stopStop, 2.),
  },

  EventName.ldw: {
    ET.PERMANENT: Alert(
      "检测到车道偏离",
      "",
      AlertStatus.userPrompt, AlertSize.small,
      Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.),
  },

  # ********** events only containing alerts that display while engaged **********

  EventName.steerTempUnavailableSilent: {
    ET.WARNING: Alert(
      "小鸽提醒：驻车中...",
      "",
      AlertStatus.userPrompt, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, 1.8),
  },

  EventName.preDriverDistracted: {
    ET.WARNING: Alert(
      "请注意驾驶",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.promptDriverDistracted: {
    ET.WARNING: Alert(
      "请注意驾驶",
      "驾驶员分心",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
  },

  EventName.driverDistracted: {
    ET.WARNING: Alert(
      "请立即解除",
      "驾驶员分心",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
  },

  EventName.preDriverUnresponsive: {
    ET.WARNING: Alert(
      "请握住方向盘：未检测到人脸",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .1),
  },

  EventName.promptDriverUnresponsive: {
    ET.WARNING: Alert(
      "请握住方向盘",
      "驾驶员无响应",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.promptDistracted, .1),
  },

  EventName.driverUnresponsive: {
    ET.WARNING: Alert(
      "请立即解除",
      "驾驶员无响应",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.warningImmediate, .1),
  },

  EventName.manualRestart: {
    ET.WARNING: Alert(
      "请接管",
      "请手动恢复驾驶",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
  },

  EventName.resumeRequired: {
    ET.WARNING: Alert(
      "按下恢复以结束静止",
      "",
      AlertStatus.userPrompt, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
  },

  EventName.belowSteerSpeed: {
    ET.WARNING: below_steer_speed_alert,
  },

  EventName.preLaneChangeLeft: {
    ET.WARNING: Alert(
      "确认安全后向左转向开始变道",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.preLaneChangeRight: {
    ET.WARNING: Alert(
      "确认安全后向右转向开始变道",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.laneChangeBlocked: {
    ET.WARNING: Alert(
      "盲区内检测到车辆",
      "",
      AlertStatus.userPrompt, AlertSize.none,
      Priority.LOW, VisualAlert.none, AudibleAlert.bsdWarning, .1),
  },

  EventName.laneChange: {
    ET.WARNING: Alert(
      "正在变道",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.steerSaturated: {
    ET.WARNING: Alert(
      "请接管",
      "转向角超出限制",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
  },

  # Thrown when the fan is driven at >50% but is not rotating
  EventName.fanMalfunction: {
    ET.PERMANENT: NormalPermanentAlert("风扇故障", "可能是硬件问题"),
  },

  # Camera is not outputting frames
  EventName.cameraMalfunction: {
    ET.PERMANENT: camera_malfunction_alert,
    ET.SOFT_DISABLE: soft_disable_alert("摄像头故障"),
    ET.NO_ENTRY: NoEntryAlert("摄像头故障：请重启设备"),
  },
  # Camera framerate too low
  EventName.cameraFrameRate: {
    ET.PERMANENT: NormalPermanentAlert("摄像头帧率过低", "请重启设备"),
    ET.SOFT_DISABLE: soft_disable_alert("摄像头帧率过低"),
    ET.NO_ENTRY: NoEntryAlert("摄像头帧率过低：请重启设备"),
  },

  # Unused

  EventName.locationdTemporaryError: {
    ET.NO_ENTRY: NoEntryAlert("locationd临时错误"),
    ET.SOFT_DISABLE: soft_disable_alert("locationd临时错误"),
  },

  EventName.locationdPermanentError: {
    ET.NO_ENTRY: NoEntryAlert("locationd永久错误"),
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("locationd永久错误"),
    ET.PERMANENT: NormalPermanentAlert("locationd永久错误"),
  },

  # openpilot tries to learn certain parameters about your car by observing
  # how the car behaves to steering inputs from both human and openpilot driving.
  # This includes:
  # - steer ratio: gear ratio of the steering rack. Steering angle divided by tire angle
  # - tire stiffness: how much grip your tires have
  # - angle offset: most steering angle sensors are offset and measure a non zero angle when driving straight
  # This alert is thrown when any of these values exceed a sanity check. This can be caused by
  # bad alignment or bad sensor data. If this happens consistently consider creating an issue on GitHub
  EventName.paramsdTemporaryError: {
    ET.NO_ENTRY: paramsd_invalid_alert,
    ET.SOFT_DISABLE: soft_disable_alert("paramsd临时错误"),
  },

  EventName.paramsdPermanentError: {
    ET.NO_ENTRY: NoEntryAlert("paramsd永久错误"),
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("paramsd永久错误"),
    ET.PERMANENT: NormalPermanentAlert("paramsd永久错误"),
  },

  # ********** events that affect controls state transitions **********

  EventName.pcmEnable: {
    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
  },

  EventName.buttonEnable: {
    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
  },

  EventName.pcmDisable: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
  },

  EventName.buttonCancel: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("已按下取消"),
  },

  EventName.brakeHold: {
    ET.WARNING: Alert(
      "按下恢复以解除制动保持",
      "",
      AlertStatus.userPrompt, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
  },

  EventName.parkBrake: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("驻车制动已启用"),
  },

  EventName.pedalPressed: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("踏板被踩下",
                              visual_alert=VisualAlert.brakePressed),
  },

  EventName.preEnableStandstill: {
    ET.PRE_ENABLE: Alert(
      "松开刹车以接入",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.),
  },

  EventName.gasPressedOverride: {
    ET.OVERRIDE_LONGITUDINAL: Alert(
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.steerOverride: {
    ET.OVERRIDE_LATERAL: Alert(
      "",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.wrongCarMode: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: wrong_car_mode_alert,
  },

  EventName.resumeBlocked: {
    ET.NO_ENTRY: NoEntryAlert("按下设定以接入"),
  },

  EventName.wrongCruiseMode: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
    ET.NO_ENTRY: NoEntryAlert("自适应巡航已关闭"),
  },

  EventName.steerTempUnavailable: {
    ET.SOFT_DISABLE: soft_disable_alert("转向暂时不可用"),
    ET.NO_ENTRY: NoEntryAlert("转向暂时不可用"),
  },

  EventName.steerTimeLimit: {
    ET.SOFT_DISABLE: soft_disable_alert("车辆转向时间限制"),
    ET.NO_ENTRY: NoEntryAlert("车辆转向时间限制"),
  },

  EventName.outOfSpace: {
    ET.PERMANENT: out_of_space_alert,
    ET.NO_ENTRY: NoEntryAlert("存储空间不足"),
  },

  EventName.belowEngageSpeed: {
    ET.NO_ENTRY: below_engage_speed_alert,
  },

  EventName.sensorDataInvalid: {
    ET.PERMANENT: Alert(
      "传感器数据无效",
      "可能是硬件问题",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
    ET.NO_ENTRY: NoEntryAlert("传感器数据无效"),
    ET.SOFT_DISABLE: soft_disable_alert("传感器数据无效"),
  },

  EventName.noGps: {
    ET.PERMANENT: Alert(
      "GPS信号弱",
      "请确保设备具有开阔的天空视野",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=600.)
  },

  EventName.tooDistracted: {
    ET.NO_ENTRY: NoEntryAlert("分心程度过高"),
  },

  EventName.overheat: {
    ET.PERMANENT: overheat_alert,
    ET.SOFT_DISABLE: soft_disable_alert("系统过热"),
    ET.NO_ENTRY: NoEntryAlert("系统过热"),
  },

  EventName.wrongGear: {
    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), #carrot
    #ET.SOFT_DISABLE: user_soft_disable_alert("Gear not D"),
    ET.NO_ENTRY: NoEntryAlert("挡位非D挡"),
  },

  # This alert is thrown when the calibration angles are outside of the acceptable range.
  # For example if the device is pointed too much to the left or the right.
  # Usually this can only be solved by removing the mount from the windshield completely,
  # and attaching while making sure the device is pointed straight forward and is level.
  # See https://comma.ai/setup for more information
  EventName.calibrationInvalid: {
    ET.PERMANENT: calibration_invalid_alert,
    ET.SOFT_DISABLE: soft_disable_alert("校准无效：请重新安装设备并重新校准"),
    ET.NO_ENTRY: NoEntryAlert("校准无效：请重新安装设备并重新校准"),
  },

  EventName.calibrationIncomplete: {
    ET.PERMANENT: calibration_incomplete_alert,
    ET.SOFT_DISABLE: soft_disable_alert("校准未完成"),
    ET.NO_ENTRY: NoEntryAlert("校准进行中"),
  },

  EventName.calibrationRecalibrating: {
    ET.PERMANENT: calibration_incomplete_alert,
    ET.SOFT_DISABLE: soft_disable_alert("检测到设备重新安装：重新校准中"),
    ET.NO_ENTRY: NoEntryAlert("检测到重新安装：正在重新校准"),
  },

  EventName.doorOpen: {
    ET.SOFT_DISABLE: user_soft_disable_alert("车门已打开"),
    ET.NO_ENTRY: NoEntryAlert("车门已打开"),
  },

  EventName.seatbeltNotLatched: {
    ET.SOFT_DISABLE: user_soft_disable_alert("安全带未扣"),
    ET.NO_ENTRY: NoEntryAlert("安全带未扣"),
  },

  EventName.espDisabled: {
    ET.SOFT_DISABLE: soft_disable_alert("电子稳定控制已关闭"),
    ET.NO_ENTRY: NoEntryAlert("电子稳定控制已关闭"),
  },

  EventName.lowBattery: {
    ET.SOFT_DISABLE: soft_disable_alert("电量低"),
    ET.NO_ENTRY: NoEntryAlert("电量低"),
  },

  # Different openpilot services communicate between each other at a certain
  # interval. If communication does not follow the regular schedule this alert
  # is thrown. This can mean a service crashed, did not broadcast a message for
  # ten times the regular interval, or the average interval is more than 10% too high.
  EventName.commIssue: {
    ET.SOFT_DISABLE: soft_disable_alert("进程间通信异常"),
    ET.NO_ENTRY: comm_issue_alert,
  },
  EventName.commIssueAvgFreq: {
    ET.SOFT_DISABLE: soft_disable_alert("进程间通信速率低"),
    ET.NO_ENTRY: NoEntryAlert("进程间通信速率低"),
  },

  EventName.selfdrivedLagging: {
    ET.SOFT_DISABLE: soft_disable_alert("系统运行缓慢"),
    ET.NO_ENTRY: NoEntryAlert("自驾进程延迟：请重启设备"),
  },

  # Thrown when manager detects a service exited unexpectedly while driving
  EventName.processNotRunning: {
    ET.NO_ENTRY: process_not_running_alert,
    ET.SOFT_DISABLE: soft_disable_alert("进程未运行"),
  },

  EventName.radarFault: {
    ET.SOFT_DISABLE: soft_disable_alert("雷达错误：请重启车辆"),
    ET.NO_ENTRY: NoEntryAlert("雷达错误：请重启车辆"),
  },

  EventName.radarTempUnavailable: {
    ET.SOFT_DISABLE: soft_disable_alert("雷达暂时不可用"),
    ET.NO_ENTRY: NoEntryAlert("雷达暂时不可用"),
  },

  # Every frame from the camera should be processed by the model. If modeld
  # is not processing frames fast enough they have to be dropped. This alert is
  # thrown when over 20% of frames are dropped.
  EventName.modeldLagging: {
    ET.SOFT_DISABLE: soft_disable_alert("驾驶模型延迟"),
    ET.NO_ENTRY: NoEntryAlert("驾驶模型延迟"),
    ET.PERMANENT: modeld_lagging_alert,
  },

  # Besides predicting the path, lane lines and lead car data the model also
  # predicts the current velocity and rotation speed of the car. If the model is
  # very uncertain about the current velocity while the car is moving, this
  # usually means the model has trouble understanding the scene. This is used
  # as a heuristic to warn the driver.
  EventName.posenetInvalid: {
    ET.SOFT_DISABLE: soft_disable_alert("Posenet速度无效"),
    ET.NO_ENTRY: posenet_invalid_alert,
  },

  # When the localizer detects an acceleration of more than 40 m/s^2 (~4G) we
  # alert the driver the device might have fallen from the windshield.
  EventName.deviceFalling: {
    ET.SOFT_DISABLE: soft_disable_alert("设备从支架掉落"),
    ET.NO_ENTRY: NoEntryAlert("设备从支架掉落"),
  },

  EventName.lowMemory: {
    ET.SOFT_DISABLE: soft_disable_alert("内存不足：请重启设备"),
    ET.PERMANENT: low_memory_alert,
    ET.NO_ENTRY: NoEntryAlert("内存不足：请重启设备"),
  },

  EventName.accFaulted: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("巡航acc故障：请重启车辆"),
    ET.PERMANENT: NormalPermanentAlert("巡航故障：重启车辆后再接入"),
    ET.NO_ENTRY: NoEntryAlert("巡航故障：请重启车辆"),
  },

  EventName.espActive: {
    ET.SOFT_DISABLE: soft_disable_alert("电子稳定控制介入"),
    ET.NO_ENTRY: NoEntryAlert("电子稳定控制介入"),
  },

  EventName.controlsMismatch: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("控制不匹配"),
    ET.NO_ENTRY: NoEntryAlert("控制不匹配"),
  },

  # Sometimes the USB stack on the device can get into a bad state
  # causing the connection to the panda to be lost
  EventName.usbError: {
    ET.SOFT_DISABLE: soft_disable_alert("USB错误：请重启设备"),
    ET.PERMANENT: NormalPermanentAlert("USB错误：请重启设备", ""),
    ET.NO_ENTRY: NoEntryAlert("USB错误：请重启设备"),
  },

  # This alert can be thrown for the following reasons:
  # - No CAN data received at all
  # - CAN data is received, but some message are not received at the right frequency
  # If you're not writing a new car port, this is usually cause by faulty wiring
  EventName.canError: {
    ET.PERMANENT: car_parser_result,
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN错误"),
    #ET.PERMANENT: Alert(
    #  "CAN Error: Check Connections",
    #  "",
    #  AlertStatus.normal, AlertSize.small,
    #  Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
    ET.NO_ENTRY: NoEntryAlert("CAN错误：请检查连接"),
  },

  EventName.canBusMissing: {
    ET.PERMANENT: car_parser_result,
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN总线已断开"),
    #ET.PERMANENT: Alert(
    #  "CAN Bus Disconnected: Likely Faulty Cable",
    #  "",
    #  AlertStatus.normal, AlertSize.small,
    #  Priority.LOW, VisualAlert.none, AudibleAlert.none, 1., creation_delay=1.),
    ET.NO_ENTRY: NoEntryAlert("CAN总线断开：请检查连接"),
  },

  EventName.steerUnavailable: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS故障：请重启车辆"),
    ET.PERMANENT: ImmediateDisableAlert("LKAS故障：重启车辆后再接入"),
    ET.NO_ENTRY: NoEntryAlert("LKAS故障：请重启车辆"),
  },

  EventName.reverseGear: {
    ET.PERMANENT: Alert(
      "倒车\n档",
      "",
      AlertStatus.normal, AlertSize.none,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.reverseGear, .2, creation_delay=0.5),
    ET.SOFT_DISABLE: SoftDisableAlert("倒挡"),
    ET.NO_ENTRY: NoEntryAlert("倒挡"),
  },

  # On cars that use stock ACC the car can decide to cancel ACC for various reasons.
  # When this happens we can no long control the car so the user needs to be warned immediately.
  EventName.cruiseDisabled: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("巡航已关闭"),
  },

  # When the relay in the harness box opens the CAN bus between the LKAS camera
  # and the rest of the car is separated. When messages from the LKAS camera
  # are received on the car side this usually means the relay hasn't opened correctly
  # and this alert is thrown.
  EventName.relayMalfunction: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("线束继电器故障"),
    ET.PERMANENT: NormalPermanentAlert("线束继电器故障", "请检查硬件"),
    ET.NO_ENTRY: NoEntryAlert("线束继电器故障"),
  },

  EventName.speedTooLow: {
    ET.IMMEDIATE_DISABLE: Alert(
      "openpilot已取消",
      "车速过低",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.),
  },

  # When the car is driving faster than most cars in the training data, the model outputs can be unpredictable.
  EventName.speedTooHigh: {
    ET.WARNING: Alert(
      "车速过高",
      "模型在该车速下存在不确定性",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 4.),
    ET.NO_ENTRY: NoEntryAlert("请减速后接入"),
  },

  EventName.vehicleSensorsInvalid: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("车辆传感器无效"),
    ET.PERMANENT: NormalPermanentAlert("车辆传感器校准中", "请行驶以完成校准"),
    ET.NO_ENTRY: NoEntryAlert("车辆传感器校准中"),
  },

  EventName.personalityChanged: {
    ET.WARNING: personality_changed_alert,
  },

  EventName.softHold: {
    ET.WARNING: Alert(
      "软保持",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },
  EventName.trafficStopping: {
    ET.WARNING: EngagementAlert(AudibleAlert.stopping),
    #ET.WARNING: Alert(
    #  "신호 감속정지중입니다.",
    #  "",
    #  AlertStatus.normal, AlertSize.small,
    #  Priority.LOW, VisualAlert.none, AudibleAlert.stopping, 3.),
  },
  EventName.audioPrompt: {
     ET.WARNING: EngagementAlert(AudibleAlert.prompt),
  },
  EventName.audioRefuse: {
     ET.WARNING: EngagementAlert(AudibleAlert.refuse),
  },
  EventName.stopStop: {
     ET.WARNING: EngagementAlert(AudibleAlert.stopStop),
  },
  EventName.audioLaneChange: {
     ET.WARNING: EngagementAlert(AudibleAlert.laneChange),
  },
  EventName.audioTurn: {
     ET.WARNING: EngagementAlert(AudibleAlert.audioTurn),
  },
  EventName.trafficSignGreen: {
    ET.WARNING: EngagementAlert(AudibleAlert.trafficSignGreen),
    #ET.WARNING: Alert(
    #  "출발합니다.",
    #  "",
    #  AlertStatus.normal, AlertSize.small,
    #  Priority.LOW, VisualAlert.none, AudibleAlert.trafficSignGreen, 3.),
  },
  EventName.trafficSignChanged: {
    ET.WARNING: Alert(
      "信号灯已变化",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.trafficSignChanged, 1.),
  },
  EventName.turningLeft: {
    ET.WARNING: Alert(
      "左转中",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },

  EventName.turningRight: {
    ET.WARNING: Alert(
      "右转中",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1),
  },
  EventName.audio1: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio1),
  },
  EventName.audio2: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio2),
  },
  EventName.audio3: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio3),
  },
  EventName.audio4: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio4),
  },
  EventName.audio5: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio5),
  },
  EventName.audio6: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio6),
  },
  EventName.audio7: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio7),
  },
  EventName.audio8: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio8),
  },
  EventName.audio9: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio9),
  },
  EventName.audio10: {
     ET.WARNING: EngagementAlert(AudibleAlert.audio10),
  },
  EventName.audio0: {
     ET.WARNING: EngagementAlert(AudibleAlert.longDisengaged),
  },
  EventName.torqueNNLoad: {
    ET.PERMANENT: torque_nn_load_alert,
  },

}


if __name__ == '__main__':
  # print all alerts by type and priority
  from cereal.services import SERVICE_LIST
  from collections import defaultdict

  event_names = {v: k for k, v in EventName.schema.enumerants.items()}
  alerts_by_type: dict[str, dict[Priority, list[str]]] = defaultdict(lambda: defaultdict(list))

  CP = car.CarParams.new_message()
  CS = car.CarState.new_message()
  sm = messaging.SubMaster(list(SERVICE_LIST.keys()))

  for i, alerts in EVENTS.items():
    for et, alert in alerts.items():
      if callable(alert):
        alert = alert(CP, CS, sm, False, 1, log.LongitudinalPersonality.standard)
      alerts_by_type[et][alert.priority].append(event_names[i])

  all_alerts: dict[str, list[tuple[Priority, list[str]]]] = {}
  for et, priority_alerts in alerts_by_type.items():
    all_alerts[et] = sorted(priority_alerts.items(), key=lambda x: x[0], reverse=True)

  for status, evs in sorted(all_alerts.items(), key=lambda x: x[0]):
    print(f"**** {status} ****")
    for p, alert_list in evs:
      print(f"  {repr(p)}:")
      print("   ", ', '.join(alert_list), "\n")