#!/usr/bin/env python3
from cereal import car
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
from openpilot.selfdrive.car.interfaces import CarInterfaceBase

ButtonType = car.CarState.ButtonEvent.Type


class CarInterface(CarInterfaceBase):

  @staticmethod
  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    ret.carName = "mazda"
    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
    ret.radarUnavailable = True

    ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)

    ret.steerActuatorDelay = 0.1
    ret.steerLimitTimer = 0.8

    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    if candidate not in (CAR.MAZDA_CX5_2022,):
      ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS

    ret.centerToFront = ret.wheelbase * 0.41

    return ret

  # returns a car.CarState
  def _update(self):
    ret = self.CS.update(self.cp, self.cp_cam)

    # TODO: add button types for inc and dec
    ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})

    return ret