#!/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, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase


class CarInterface(CarInterfaceBase):
  @staticmethod
  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
    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.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.steerLimitTimer = 1.0
    ret.steerActuatorDelay = 0.25

    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 = 15.0
    else:
      raise ValueError(f"Unsupported car: {candidate}")

    return ret

  def _update(self, c):
    ret = self.CS.update(self.cp, self.cp_cam)

    ret.events = self.create_common_events(ret).to_msg()

    return ret

  def apply(self, c, now_nanos):
    return self.CC.update(c, self.CS, now_nanos)
