#!/usr/bin/env python3
from cereal import car
import numpy as np
from selfdrive.modeld.constants import T_IDXS
from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_LONG
from common.params import Params
from common.realtime import Priority, config_realtime_process
from system.swaglog import cloudlog
from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
from selfdrive.controls.lib.lateral_planner import LateralPlanner
import cereal.messaging as messaging


def plannerd_thread(sm=None, pm=None):
  config_realtime_process(5, Priority.CTRL_LOW)

  cloudlog.info("plannerd is waiting for CarParams")
  params = Params()
  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
  cloudlog.info("plannerd got CarParams: %s", CP.carName)

  longitudinal_planner = LongitudinalPlanner(CP)
  lateral_planner = LateralPlanner(CP)

  if sm is None:
    sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                             poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])

  if pm is None:
    pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan'])

  while True:
    sm.update()

    if sm.updated['modelV2']:
      longitudinal_planner.update(sm)
      longitudinal_planner.publish(sm, pm)
      lateral_planner.update(sm, np.interp(T_IDXS, T_IDXS_LONG, longitudinal_planner.mpc.v_solution))
      lateral_planner.publish(sm, pm)


def main(sm=None, pm=None):
  plannerd_thread(sm, pm)


if __name__ == "__main__":
  main()