#!/usr/bin/env python3
from cereal import car
from panda import Panda
from selfdrive.car.tesla.values import CANBUS, CAR
from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase


class CarInterface(CarInterfaceBase):
  @staticmethod
  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
    ret.carName = "tesla"

    # There is no safe way to do steer blending with user torque,
    # so the steering behaves like autopilot. This is not
    # how openpilot should be, hence dashcamOnly
    ret.dashcamOnly = True

    ret.steerControlType = car.CarParams.SteerControlType.angle

    # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
    ret.longitudinalTuning.kpBP = [0]
    ret.longitudinalTuning.kpV = [0]
    ret.longitudinalTuning.kiBP = [0]
    ret.longitudinalTuning.kiV = [0]
    ret.stopAccel = 0.0
    ret.startAccel = 0.0
    ret.longitudinalActuatorDelayUpperBound = 0.5 # s
    ret.radarTimeStep = (1.0 / 8) # 8Hz

    # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
    # If so, we assume that it is connected to the longitudinal harness.
    if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
      ret.openpilotLongitudinalControl = True
      ret.safetyConfigs = [
        get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
        get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
      ]
    else:
      ret.openpilotLongitudinalControl = False
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]

    ret.steerActuatorDelay = 0.1
    ret.steerRateCost = 0.5

    if candidate in [CAR.AP2_MODELS, CAR.AP1_MODELS]:
      ret.mass = 2100. + STD_CARGO_KG
      ret.wheelbase = 2.959
      ret.centerToFront = ret.wheelbase * 0.5
      ret.steerRatio = 13.5
    else:
      raise ValueError(f"Unsupported car: {candidate}")

    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)

    return ret

  def update(self, c, can_strings):
    self.cp.update_strings(can_strings)
    self.cp_cam.update_strings(can_strings)

    ret = self.CS.update(self.cp, self.cp_cam)
    ret.canValid = self.cp.can_valid and self.cp_cam.can_valid

    events = self.create_common_events(ret)

    ret.events = events.to_msg()
    self.CS.out = ret.as_reader()
    return self.CS.out

  def apply(self, c):
    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, c.cruiseControl.cancel)
    self.frame += 1
    return can_sends