import re
from dataclasses import dataclass, field
from enum import Enum, IntFlag

from cereal import car
from panda.python import uds
from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16

Ecu = car.CarParams.Ecu


class CarControllerParams:
  ACCEL_MIN = -3.5 # m/s
  ACCEL_MAX = 2.0 # m/s

  def __init__(self, CP):
    self.STEER_DELTA_UP = 3
    self.STEER_DELTA_DOWN = 7
    self.STEER_DRIVER_ALLOWANCE = 50
    self.STEER_DRIVER_MULTIPLIER = 2
    self.STEER_DRIVER_FACTOR = 1
    self.STEER_THRESHOLD = 150
    self.STEER_STEP = 1  # 100 Hz

    if CP.carFingerprint in CANFD_CAR:
      self.STEER_MAX = 270
      self.STEER_DRIVER_ALLOWANCE = 250
      self.STEER_DRIVER_MULTIPLIER = 2
      self.STEER_THRESHOLD = 250
      self.STEER_DELTA_UP = 2
      self.STEER_DELTA_DOWN = 3

    # To determine the limit for your car, find the maximum value that the stock LKAS will request.
    # If the max stock LKAS request is <384, add your car to this list.
    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.HYUNDAI_ELANTRA, CAR.HYUNDAI_ELANTRA_GT_I30, CAR.HYUNDAI_IONIQ,
                               CAR.HYUNDAI_IONIQ_EV_LTD, CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.HYUNDAI_SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
                               CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
      self.STEER_MAX = 255

    # these cars have significantly more torque than most HKG; limit to 70% of max
    elif CP.flags & HyundaiFlags.ALT_LIMITS:
      self.STEER_MAX = 270
      self.STEER_DELTA_UP = 2
      self.STEER_DELTA_DOWN = 3

    # Default for most HKG
    else:
      self.STEER_MAX = 384


class HyundaiFlags(IntFlag):
  # Dynamic Flags
  CANFD_HDA2 = 1
  CANFD_ALT_BUTTONS = 2
  CANFD_ALT_GEARS = 2 ** 2
  CANFD_CAMERA_SCC = 2 ** 3

  ALT_LIMITS = 2 ** 4
  ENABLE_BLINKERS = 2 ** 5
  CANFD_ALT_GEARS_2 = 2 ** 6
  SEND_LFA = 2 ** 7
  USE_FCA = 2 ** 8
  CANFD_HDA2_ALT_STEERING = 2 ** 9

  # these cars use a different gas signal
  HYBRID = 2 ** 10
  EV = 2 ** 11

  # Static flags

  # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
  # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
  MANDO_RADAR = 2 ** 12
  CANFD = 2 ** 13

  # The radar does SCC on these cars when HDA I, rather than the camera
  RADAR_SCC = 2 ** 14
  CAMERA_SCC = 2 ** 15
  CHECKSUM_CRC8 = 2 ** 16
  CHECKSUM_6B = 2 ** 17

  # these cars require a special panda safety mode due to missing counters and checksums in the messages
  LEGACY = 2 ** 18

  # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
  UNSUPPORTED_LONGITUDINAL = 2 ** 19

  CANFD_NO_RADAR_DISABLE = 2 ** 20

  CLUSTER_GEARS = 2 ** 21
  TCU_GEARS = 2 ** 22

  MIN_STEER_32_MPH = 2 ** 23


class Footnote(Enum):
  CANFD = CarFootnote(
    "Requires a <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> if not using " +
    "comma 3X for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
    Column.MODEL, shop_footnote=False)


@dataclass
class HyundaiCarDocs(CarDocs):
  package: str = "Smart Cruise Control (SCC)"

  def init_make(self, CP: car.CarParams):
    if CP.flags & HyundaiFlags.CANFD:
      self.footnotes.insert(0, Footnote.CANFD)


@dataclass
class HyundaiPlatformConfig(PlatformConfig):
  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_kia_generic", None))

  def init(self):
    if self.flags & HyundaiFlags.MANDO_RADAR:
      self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated')

    if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
      self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)


@dataclass
class HyundaiCanFDPlatformConfig(PlatformConfig):
  dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None))

  def init(self):
    self.flags |= HyundaiFlags.CANFD


class CAR(Platforms):
  # Hyundai
  HYUNDAI_AZERA_6TH_GEN = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5),
  )
  HYUNDAI_AZERA_HEV_6TH_GEN = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
      HyundaiCarDocs("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
    ],
    CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5),
    flags=HyundaiFlags.HYBRID,
  )
  HYUNDAI_ELANTRA = HyundaiPlatformConfig(
    [
      # TODO: 2017-18 could be Hyundai G
      HyundaiCarDocs("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
      HyundaiCarDocs("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
    ],
    # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127
    CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
  )
  HYUNDAI_ELANTRA_GT_I30 = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
      HyundaiCarDocs("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
    ],
    HYUNDAI_ELANTRA.specs,
    flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
  )
  HYUNDAI_ELANTRA_2021 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
  HYUNDAI_ELANTRA_HEV_2021 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
                    car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
  HYUNDAI_GENESIS = HyundaiPlatformConfig(
    [
      # TODO: check 2015 packages
      HyundaiCarDocs("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
      HyundaiCarDocs("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
    ],
    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS),
    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY,
  )
  HYUNDAI_IONIQ = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
  )
  HYUNDAI_IONIQ_HEV_2022 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h]))],  # TODO: confirm 2020-21 harness,
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
  )
  HYUNDAI_IONIQ_EV_LTD = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH,
  )
  HYUNDAI_IONIQ_EV_2020 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV,
  )
  HYUNDAI_IONIQ_PHEV_2019 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH,
  )
  HYUNDAI_IONIQ_PHEV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
    CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID,
  )
  HYUNDAI_KONA = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona 2020", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b]))],
    CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CLUSTER_GEARS,
  )
  HYUNDAI_KONA_EV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
    CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV,
  )
  HYUNDAI_KONA_EV_2022 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o]))],
    CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV,
  )
  HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
    CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
  )
  HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
    CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.HYBRID,
  )
  HYUNDAI_SANTA_FE = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s",
                    car_parts=CarParts.common([CarHarness.hyundai_d]))],
    CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
  HYUNDAI_SANTA_FE_2022 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
                    car_parts=CarParts.common([CarHarness.hyundai_l]))],
    HYUNDAI_SANTA_FE.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
  HYUNDAI_SANTA_FE_HEV_2022 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
    HYUNDAI_SANTA_FE.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
  HYUNDAI_SANTA_FE_PHEV_2022 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l]))],
    HYUNDAI_SANTA_FE.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
  HYUNDAI_SONATA = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
                   car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
  HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
    CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable

    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
  )
  HYUNDAI_STARIA_4TH_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94),  # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf
  )
  HYUNDAI_TUCSON = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarDocs("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
    ],
    CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.TCU_GEARS,
  )
  HYUNDAI_PALISADE = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
      HyundaiCarDocs("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
    ],
    CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63),
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
  HYUNDAI_VELOSTER = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e]))],
    CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS,
  )
  HYUNDAI_SONATA_HYBRID = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    HYUNDAI_SONATA.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
    ],
    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
    HYUNDAI_IONIQ_5.specs,
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
  )
  HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarDocs("Hyundai Tucson 2023-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarDocs("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid 2024", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
    ],
    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
  )
  HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
    # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
    CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
  )
  HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )

  # Kia
  KIA_FORTE = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Kia Forte 2019-21", min_enable_speed=6 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])),
      HyundaiCarDocs("Kia Forte 2022-23", car_parts=CarParts.common([CarHarness.hyundai_e])),
    ],
    CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
  )
  KIA_K5_2021 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
  KIA_K5_HEV_2020 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    KIA_K5_2021.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
  KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q]))],
    # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform
    CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27)
  )
  KIA_NIRO_EV = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
      HyundaiCarDocs("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
      HyundaiCarDocs("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
      HyundaiCarDocs("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
    ],
    CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385),  # average of all the cars
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV,
  )
  KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    KIA_NIRO_EV.specs,
    flags=HyundaiFlags.EV,
  )
  KIA_NIRO_PHEV = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_d])),
    ],
    KIA_NIRO_EV.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH,
  )
  KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
      HyundaiCarDocs("Kia Niro Plug-in Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
    ],
    KIA_NIRO_EV.specs,
    flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR,
  )
  KIA_NIRO_HEV_2021 = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
      HyundaiCarDocs("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
    ],
    KIA_NIRO_EV.specs,
    flags=HyundaiFlags.HYBRID,
  )
  KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    KIA_NIRO_EV.specs,
  )
  KIA_OPTIMA_G4 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Optima 2017", "Advanced Smart Cruise Control",
                    car_parts=CarParts.common([CarHarness.hyundai_b]))],  # TODO: may support 2016, 2018
    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH,
  )
  KIA_OPTIMA_G4_FL = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g]))],
    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS,
  )
  # TODO: may support adjacent years. may have a non-zero minimum steering speed
  KIA_OPTIMA_H = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
  )
  KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h]))],
    CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
  )
  KIA_SELTOS = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56),
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
  KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia Sportage 2023-24", car_parts=CarParts.common([CarHarness.hyundai_n])),
      HyundaiCarDocs("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
    ],
    # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
    CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
  )
  KIA_SORENTO = HyundaiPlatformConfig(
    [
      HyundaiCarDocs("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
                     car_parts=CarParts.common([CarHarness.hyundai_e])),
      HyundaiCarDocs("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
    ],
    CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1),  # 10% higher at the center seems reasonable
    flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL,
  )
  KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.RADAR_SCC,
  )
  KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
      HyundaiCarDocs("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
    ],
    CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.RADAR_SCC,
  )
  KIA_STINGER = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
                    car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15)  # 15% higher at the center seems reasonable
  )
  KIA_STINGER_2022 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    KIA_STINGER.specs,
  )
  KIA_CEED = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e]))],
    CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
    flags=HyundaiFlags.LEGACY,
  )
  KIA_EV6 = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia EV6 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
      HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
    ],
    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
  KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
      HyundaiCarDocs("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
    ],
    CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23),
    flags=HyundaiFlags.RADAR_SCC,
  )

  # Genesis
  GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
      HyundaiCarDocs("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
    ],
    CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6),  # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
    flags=HyundaiFlags.EV,
  )
  GENESIS_G70 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Genesis G70 2018", "All", car_parts=CarParts.common([CarHarness.hyundai_f]))],
    CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56),
    flags=HyundaiFlags.LEGACY,
  )
  GENESIS_G70_2020 = HyundaiPlatformConfig(
    [
      # TODO: 2021 MY harness is unknown
      HyundaiCarDocs("Genesis G70 2019-21", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
      # TODO: From 3.3T Sport Advanced 2022 & Prestige 2023 Trim, 2.0T is unknown
      HyundaiCarDocs("Genesis G70 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
    ],
    GENESIS_G70.specs,
    flags=HyundaiFlags.MANDO_RADAR,
  )
  GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
    [
      # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
      HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
      HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
    ],
    CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
    flags=HyundaiFlags.RADAR_SCC,
  )
  GENESIS_G80 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
    CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
    flags=HyundaiFlags.LEGACY,
  )
  GENESIS_G90 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
  )
  GENESIS_GV80 = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
    CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
    flags=HyundaiFlags.RADAR_SCC,
  )


class Buttons:
  NONE = 0
  RES_ACCEL = 1
  SET_DECEL = 2
  GAP_DIST = 3
  CANCEL = 4  # on newer models, this is a pause/resume button


def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
  # Returns unique, platform-specific identification codes for a set of versions
  codes = set()  # (code-Optional[part], date)
  for fw in fw_versions:
    code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
    part_match = PART_NUMBER_FW_PATTERN.search(fw)
    date_match = DATE_FW_PATTERN.search(fw)
    if code_match is not None:
      code: bytes = code_match.group()
      part = part_match.group() if part_match else None
      date = date_match.group() if date_match else None
      if part is not None:
        # part number starts with generic ECU part type, add what is specific to platform
        code += b"-" + part[-5:]

      codes.add((code, date))
  return codes


def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str]:
  # Non-electric CAN FD platforms often do not have platform code specifiers needed
  # to distinguish between hybrid and ICE. All EVs so far are either exclusively
  # electric or specify electric in the platform code.
  fuzzy_platform_blacklist = {str(c) for c in (CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST)}
  candidates: set[str] = set()

  for candidate, fws in offline_fw_versions.items():
    # Keep track of ECUs which pass all checks (platform codes, within date range)
    valid_found_ecus = set()
    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
    for ecu, expected_versions in fws.items():
      addr = ecu[1:]
      # Only check ECUs expected to have platform codes
      if ecu[0] not in PLATFORM_CODE_ECUS:
        continue

      # Expected platform codes & dates
      codes = get_platform_codes(expected_versions)
      expected_platform_codes = {code for code, _ in codes}
      expected_dates = {date for _, date in codes if date is not None}

      # Found platform codes & dates
      codes = get_platform_codes(live_fw_versions.get(addr, set()))
      found_platform_codes = {code for code, _ in codes}
      found_dates = {date for _, date in codes if date is not None}

      # Check platform code + part number matches for any found versions
      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
        break

      if ecu[0] in DATE_FW_ECUS:
        # If ECU can have a FW date, require it to exist
        # (this excludes candidates in the database without dates)
        if not len(expected_dates) or not len(found_dates):
          break

        # Check any date within range in the database, format is %y%m%d
        if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
          break

      valid_found_ecus.add(addr)

    # If all live ECUs pass all checks for candidate, add it as a match
    if valid_expected_ecus.issubset(valid_found_ecus):
      candidates.add(candidate)

  return candidates - fuzzy_platform_blacklist


HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(0xf100)  # Long description

HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(0xf110)  # Alt long description

HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)

HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])

# Regex patterns for parsing platform code, FW date, and part number from FW versions
PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
                                      b')[A-Z]{2}[A-Za-z0-9]{0,2})')
DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')

# We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
                         # TODO: the hybrid variant is not out yet
                         CAR.KIA_CARNIVAL_4TH_GEN}

# List of ECUs expected to have platform codes, camera and radar should exist on all cars
# TODO: use abs, it has the platform code and part number on many platforms
PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
# So far we've only seen dates in fwdCamera
# TODO: there are date codes in the ABS firmware versions in hex
DATE_FW_ECUS = [Ecu.fwdCamera]

# Note: an ECU on CAN FD cars may sometimes send 0x30080aaaaaaaaaaa (flow control continue) while we
# are attempting to query ECUs. This currently does not seem to affect fingerprinting from the camera
FW_QUERY_CONFIG = FwQueryConfig(
  requests=[
    # TODO: add back whitelists
    # CAN queries (OBD-II port)
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
    ),

    # CAN & CAN-FD queries (from camera)
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
      bus=0,
      auxiliary=True,
    ),
    Request(
      [HYUNDAI_VERSION_REQUEST_LONG],
      [HYUNDAI_VERSION_RESPONSE],
      bus=1,
      auxiliary=True,
      obd_multiplexing=False,
    ),

    # CAN & CAN FD query to understand the three digit date code
    # HDA2 cars usually use 6 digit date codes, so skip bus 1
    Request(
      [HYUNDAI_ECU_MANUFACTURING_DATE],
      [HYUNDAI_VERSION_RESPONSE],
      bus=0,
      auxiliary=True,
      logging=True,
    ),

    # CAN-FD alt request logging queries for hvac and parkingAdas
    Request(
      [HYUNDAI_VERSION_REQUEST_ALT],
      [HYUNDAI_VERSION_RESPONSE],
      bus=0,
      auxiliary=True,
      logging=True,
    ),
    Request(
      [HYUNDAI_VERSION_REQUEST_ALT],
      [HYUNDAI_VERSION_RESPONSE],
      bus=1,
      auxiliary=True,
      logging=True,
      obd_multiplexing=False,
    ),
  ],
  # We lose these ECUs without the comma power on these cars.
  # Note that we still attempt to match with them when they are present
  non_essential_ecus={
    Ecu.abs: [CAR.HYUNDAI_PALISADE, CAR.HYUNDAI_SONATA, CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_ELANTRA_2021,
              CAR.HYUNDAI_SANTA_FE, CAR.HYUNDAI_KONA_EV_2022, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.KIA_SORENTO,
              CAR.KIA_CEED, CAR.KIA_SELTOS],
  },
  extra_ecus=[
    (Ecu.adas, 0x730, None),              # ADAS Driving ECU on HDA2 platforms
    (Ecu.parkingAdas, 0x7b1, None),       # ADAS Parking ECU (may exist on all platforms)
    (Ecu.hvac, 0x7b3, None),              # HVAC Control Assembly
    (Ecu.cornerRadar, 0x7b7, None),
    (Ecu.combinationMeter, 0x7c6, None),  # CAN FD Instrument cluster
  ],
  # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
)

CHECKSUM = {
  "crc8": CAR.with_flags(HyundaiFlags.CHECKSUM_CRC8),
  "6B": CAR.with_flags(HyundaiFlags.CHECKSUM_6B),
}

CAN_GEARS = {
  # which message has the gear. hybrid and EV use ELECT_GEAR
  "use_cluster_gears": CAR.with_flags(HyundaiFlags.CLUSTER_GEARS),
  "use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS),
}

CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)

# These CAN FD cars do not accept communication control to disable the ADAS ECU,
# responds with 0x7F2822 - 'conditions not correct'
CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE)

# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)

HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID)

EV_CAR = CAR.with_flags(HyundaiFlags.EV)

LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY)

UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)

DBC = CAR.create_dbc_map()