text: #!/usr/bin/env python3
  from cereal import car
  from panda import Panda
  from common.conversions import Conversions as CV
  from common.numpy_fast import interp
  from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
  from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
  from selfdrive.car.interfaces import CarInterfaceBase
  from selfdrive.car.disable_ecu import disable_ecu
  
  
  ButtonType = car.CarState.ButtonEvent.Type
  EventName = car.CarEvent.EventName
  TransmissionType = car.CarParams.TransmissionType
  BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                  CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
  
  
  class CarInterface(CarInterfaceBase):
    @staticmethod
    def get_pid_accel_limits(CP, current_speed, cruise_speed):
      if CP.carFingerprint in HONDA_BOSCH:
        return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
      else:
        # NIDECs don't allow acceleration near cruise_speed,
        # so limit limits of pid to prevent windup
        ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
        ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
        return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
  
    @staticmethod
    def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disable_radar=False):  # pylint: disable=dangerous-default-value
      ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
      ret.carName = "honda"
  
      if candidate in HONDA_BOSCH:
        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
        ret.radarOffCan = True
  
        # Disable the radar and let openpilot control longitudinal
        # WARNING: THIS DISABLES AEB!
        ret.openpilotLongitudinalControl = disable_radar
  
        ret.pcmCruise = not ret.openpilotLongitudinalControl
      else:
        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
        ret.enableGasInterceptor = 0x201 in fingerprint[0]
        ret.openpilotLongitudinalControl = True
  
        ret.pcmCruise = not ret.enableGasInterceptor
  
      if candidate == CAR.CRV_5G:
        ret.enableBsm = 0x12f8bfa7 in fingerprint[0]
  
      # Detect Bosch cars with new HUD msgs
      if any(0x33DA in f for f in fingerprint.values()):
        ret.flags |= HondaFlags.BOSCH_EXT_HUD.value
  
      # Accord 1.5T CVT has different gearbox message
      if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
        ret.transmissionType = TransmissionType.cvt
  
      # Certain Hondas have an extra steering sensor at the bottom of the steering rack,
      # which improves controls quality as it removes the steering column torsion from feedback.
      # Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
      # For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
      ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
  
      if candidate in HONDA_BOSCH:
        ret.longitudinalTuning.kpV = [0.25]
        ret.longitudinalTuning.kiV = [0.05]
        ret.longitudinalActuatorDelayUpperBound = 0.5 # s
      else:
        # default longitudinal tuning for all hondas
        ret.longitudinalTuning.kpBP = [0., 5., 35.]
        ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
        ret.longitudinalTuning.kiBP = [0., 35.]
        ret.longitudinalTuning.kiV = [0.18, 0.12]
  
      eps_modified = False
      for fw in car_fw:
        if fw.ecu == "eps" and b"," in fw.fwVersion:
          eps_modified = True
  
      if candidate == CAR.CIVIC:
        stop_and_go = True
        ret.mass = CivicParams.MASS
        ret.wheelbase = CivicParams.WHEELBASE
        ret.centerToFront = CivicParams.CENTER_TO_FRONT
        ret.steerRatio = 15.38  # 10.93 is end-to-end spec
        if eps_modified:
          # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
          # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
          # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
          # stock filter output values:     0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
          # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
          # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
          ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
        else:
          ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
        tire_stiffness_factor = 1.
  
      elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
        stop_and_go = True
        ret.mass = CivicParams.MASS
        ret.wheelbase = CivicParams.WHEELBASE
        ret.centerToFront = CivicParams.CENTER_TO_FRONT
        ret.steerRatio = 15.38  # 10.93 is end-to-end spec
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 1.
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
  
      elif candidate in (CAR.ACCORD, CAR.ACCORDH):
        stop_and_go = True
        ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.83
        ret.centerToFront = ret.wheelbase * 0.39
        ret.steerRatio = 16.33  # 11.82 is spec end-to-end
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.8467
  
        if eps_modified:
          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
        else:
          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
  
      elif candidate == CAR.ACURA_ILX:
        stop_and_go = False
        ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.67
        ret.centerToFront = ret.wheelbase * 0.37
        ret.steerRatio = 18.61  # 15.3 is spec end-to-end
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.72
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
  
      elif candidate in (CAR.CRV, CAR.CRV_EU):
        stop_and_go = False
        ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.62
        ret.centerToFront = ret.wheelbase * 0.41
        ret.steerRatio = 16.89  # as spec
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.444
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
        ret.wheelSpeedFactor = 1.025
  
      elif candidate == CAR.CRV_5G:
        stop_and_go = True
        ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.66
        ret.centerToFront = ret.wheelbase * 0.41
        ret.steerRatio = 16.0  # 12.3 is spec end-to-end
        if eps_modified:
          # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
          # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
          # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
          ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
        else:
          ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
        tire_stiffness_factor = 0.677
        ret.wheelSpeedFactor = 1.025
  
      elif candidate == CAR.CRV_HYBRID:
        stop_and_go = True
        ret.mass = 1667. + STD_CARGO_KG  # mean of 4 models in kg
        ret.wheelbase = 2.66
        ret.centerToFront = ret.wheelbase * 0.41
        ret.steerRatio = 16.0  # 12.3 is spec end-to-end
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.677
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
        ret.wheelSpeedFactor = 1.025
  
      elif candidate == CAR.FIT:
        stop_and_go = False
        ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.53
        ret.centerToFront = ret.wheelbase * 0.39
        ret.steerRatio = 13.06
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.75
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
  
      elif candidate == CAR.FREED:
        stop_and_go = False
        ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.74
        # the remaining parameters were copied from FIT
        ret.centerToFront = ret.wheelbase * 0.39
        ret.steerRatio = 13.06
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
        tire_stiffness_factor = 0.75
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
  
      elif candidate == CAR.HRV:
        stop_and_go = False
        ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.61
        ret.centerToFront = ret.wheelbase * 0.41
        ret.steerRatio = 15.2
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
        tire_stiffness_factor = 0.5
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
        ret.wheelSpeedFactor = 1.025
  
      elif candidate == CAR.ACURA_RDX:
        stop_and_go = False
        ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.68
        ret.centerToFront = ret.wheelbase * 0.38
        ret.steerRatio = 15.0  # as spec
        tire_stiffness_factor = 0.444
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
  
      elif candidate == CAR.ACURA_RDX_3G:
        stop_and_go = True
        ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.75
        ret.centerToFront = ret.wheelbase * 0.41
        ret.steerRatio = 11.95  # as spec
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
        tire_stiffness_factor = 0.677
  
      elif candidate == CAR.ODYSSEY:
        stop_and_go = False
        ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 3.00
        ret.centerToFront = ret.wheelbase * 0.41
        ret.steerRatio = 14.35  # as spec
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.82
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
  
      elif candidate == CAR.ODYSSEY_CHN:
        stop_and_go = False
        ret.mass = 1849.2 + STD_CARGO_KG  # mean of 4 models in kg
        ret.wheelbase = 2.90
        ret.centerToFront = ret.wheelbase * 0.41  # from CAR.ODYSSEY
        ret.steerRatio = 14.35
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.82
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
  
      elif candidate in (CAR.PILOT, CAR.PASSPORT):
        stop_and_go = False
        ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
        ret.wheelbase = 2.82
        ret.centerToFront = ret.wheelbase * 0.428
        ret.steerRatio = 17.25  # as spec
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.444
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
  
      elif candidate == CAR.RIDGELINE:
        stop_and_go = False
        ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 3.18
        ret.centerToFront = ret.wheelbase * 0.41
        ret.steerRatio = 15.59  # as spec
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.444
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
  
      elif candidate == CAR.INSIGHT:
        stop_and_go = True
        ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.7
        ret.centerToFront = ret.wheelbase * 0.39
        ret.steerRatio = 15.0  # 12.58 is spec end-to-end
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.82
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
  
      elif candidate == CAR.HONDA_E:
        stop_and_go = True
        ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.5
        ret.centerToFront = ret.wheelbase * 0.5
        ret.steerRatio = 16.71
        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
        tire_stiffness_factor = 0.82
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
  
      else:
        raise ValueError(f"unsupported car {candidate}")
  
      # These cars use alternate user brake msg (0x1BE)
      if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
  
      # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
      if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_NIDEC_ALT
  
      if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_BOSCH_LONG
  
      # min speed to enable ACC. if car can do stop and go, then set enabling speed
      # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
      # conflict with PCM acc
      ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
  
      # TODO: get actual value, for now starting with reasonable value for
      # civic and scaling by mass and wheelbase
      ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
  
      # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
      # mass and CG position, so all cars will have approximately similar dyn behaviors
      ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                           tire_stiffness_factor=tire_stiffness_factor)
  
      ret.steerActuatorDelay = 0.1
      ret.steerLimitTimer = 0.8
  
      return ret
  
    @staticmethod
    def init(CP, logcan, sendcan):
      if CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl:
        disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
  
    # returns a car.CarState
    def _update(self, c):
      ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
  
      buttonEvents = []
  
      if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
        buttonEvents.append(create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT))
  
      if self.CS.cruise_setting != self.CS.prev_cruise_setting:
        buttonEvents.append(create_button_event(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}))
  
      ret.buttonEvents = buttonEvents
  
      # events
      events = self.create_common_events(ret, pcm_enable=False)
      if self.CS.brake_error:
        events.add(EventName.brakeUnavailable)
  
      if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
        events.add(EventName.belowEngageSpeed)
  
      if self.CP.pcmCruise:
        # we engage when pcm is active (rising edge)
        if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
          events.add(EventName.pcmEnable)
        elif not ret.cruiseState.enabled and (c.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
          # it can happen that car cruise disables while comma system is enabled: need to
          # keep braking if needed or if the speed is very low
          if ret.vEgo < self.CP.minEnableSpeed + 2.:
            # non loud alert if cruise disables below 25mph as expected (+ a little margin)
            events.add(EventName.speedTooLow)
          else:
            events.add(EventName.cruiseDisabled)
      if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
        events.add(EventName.manualRestart)
  
      # handle button presses
      events.events.extend(create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise))
  
      ret.events = events.to_msg()
  
      return ret
  
    # pass in a car.CarControl
    # to be called @ 100hz
    def apply(self, c):
      return self.CC.update(c, self.CS)
  