# distutils: language = c++

from libcpp cimport bool
from libc.stdint cimport uint32_t, uint64_t

from .commonmodel cimport mat3

cdef extern from "cereal/messaging/messaging.h":
  cdef cppclass MessageBuilder:
    size_t getSerializedSize()
    int serializeToBuffer(unsigned char *, size_t)

cdef extern from "selfdrive/modeld/models/driving.h":
  cdef int FEATURE_LEN
  cdef int HISTORY_BUFFER_LEN
  cdef int DESIRE_LEN
  cdef int TRAFFIC_CONVENTION_LEN
  cdef int DRIVING_STYLE_LEN
  cdef int NAV_FEATURE_LEN
  cdef int NAV_INSTRUCTION_LEN
  cdef int OUTPUT_SIZE
  cdef int NET_OUTPUT_SIZE
  cdef int MODEL_FREQ
  cdef bool CPP_USE_THNEED
  cdef struct PublishState: pass

  mat3 update_calibration(float *, bool, bool)
  void fill_model_msg(MessageBuilder, float *, PublishState, uint32_t, uint32_t, uint32_t, float, uint64_t, uint64_t, float, bool, bool)
  void fill_pose_msg(MessageBuilder, float *, uint32_t, uint32_t, uint64_t, bool)