import math

from cereal import log
from selfdrive.controls.lib.latcontrol import LatControl

STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees


class LatControlAngle(LatControl):
  def __init__(self, CP, CI):
    super().__init__(CP, CI)
    self.sat_check_min_speed = 5.

  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
    angle_log = log.ControlsState.LateralAngleState.new_message()

    if not active:
      angle_log.active = False
      angle_steers_des = float(CS.steeringAngleDeg)
    else:
      angle_log.active = True
      angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
      angle_steers_des += params.angleOffsetDeg

    angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
    angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
    angle_log.steeringAngleDesiredDeg = angle_steers_des
    return 0, float(angle_steers_des), angle_log
