import math
from cereal import car
from openpilot.selfdrive.car import DT_CTRL, get_safety_config, structs
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.body.carstate import CarState
from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM

class CarInterface(CarInterfaceBase):
  CS: CarState

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

    ret.minSteerSpeed = -math.inf
    ret.maxLateralAccel = math.inf  # TODO: set to a reasonable value
    ret.steerLimitTimer = 1.0
    ret.steerActuatorDelay = 0.

    ret.wheelSpeedFactor = SPEED_FROM_RPM

    ret.radarUnavailable = True
    ret.openpilotLongitudinalControl = True
    ret.steerControlType = structs.CarParams.SteerControlType.angle

    return ret

  def _update(self, c) -> structs.CarState:
    ret = self.CS.update(self.cp)

    # # wait for everything to init first
    # if self.frame > int(5. / DT_CTRL):
    #   # body always wants to enable
    #   ret.init('events', 1)
    #   ret.events[0].name = car.CarEvent.EventName.pcmEnable
    #   ret.events[0].enable = True
    # self.frame += 1

    return ret