text: #!/usr/bin/env python
  from common.realtime import sec_since_boot
  from cereal import car, log
  from selfdrive.config import Conversions as CV
  from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
  from selfdrive.controls.lib.vehicle_model import VehicleModel
  from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
  from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR
  from selfdrive.swaglog import cloudlog
  
  try:
    from selfdrive.car.toyota.carcontroller import CarController
  except ImportError:
    CarController = None
  
  
  class CarInterface(object):
    def __init__(self, CP, sendcan=None):
      self.CP = CP
      self.VM = VehicleModel(CP)
  
      self.frame = 0
      self.gas_pressed_prev = False
      self.brake_pressed_prev = False
      self.can_invalid_count = 0
      self.cam_can_valid_count = 0
      self.cruise_enabled_prev = False
  
      # *** init the major players ***
      self.CS = CarState(CP)
  
      self.cp = get_can_parser(CP)
      self.cp_cam = get_cam_can_parser(CP)
  
      self.forwarding_camera = False
  
      # sending if read only is False
      if sendcan is not None:
        self.sendcan = sendcan
        self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)
  
    @staticmethod
    def compute_gb(accel, speed):
      return float(accel) / 3.0
  
    @staticmethod
    def calc_accel_override(a_ego, a_target, v_ego, v_target):
      return 1.0
  
    @staticmethod
    def get_params(candidate, fingerprint):
  
      # kg of standard extra cargo to count for drive, gas, etc...
      std_cargo = 136
  
      ret = car.CarParams.new_message()
  
      ret.carName = "toyota"
      ret.carFingerprint = candidate
  
      ret.safetyModel = car.CarParams.SafetyModels.toyota
  
      # pedal
      ret.enableCruise = True
  
      # FIXME: hardcoding honda civic 2016 touring params so they can be used to
      # scale unknown params for other cars
      mass_civic = 2923 * CV.LB_TO_KG + std_cargo
      wheelbase_civic = 2.70
      centerToFront_civic = wheelbase_civic * 0.4
      centerToRear_civic = wheelbase_civic - centerToFront_civic
      rotationalInertia_civic = 2500
      tireStiffnessFront_civic = 192150
      tireStiffnessRear_civic = 202500
  
      ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
  
      if candidate == CAR.PRIUS:
        ret.safetyParam = 66  # see conversion factor for STEER_TORQUE_EPS in dbc file
        ret.wheelbase = 2.70
        ret.steerRatio = 15.00   # unknown end-to-end spec
        tire_stiffness_factor = 0.6371   # hand-tune
        ret.mass = 3045 * CV.LB_TO_KG + std_cargo
        ret.steerKpV, ret.steerKiV = [[0.4], [0.01]]
        ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
        # TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
        ret.steerActuatorDelay = 0.25
  
      elif candidate in [CAR.RAV4, CAR.RAV4H]:
        ret.safetyParam = 73  # see conversion factor for STEER_TORQUE_EPS in dbc file
        ret.wheelbase = 2.65
        ret.steerRatio = 16.30   # 14.5 is spec end-to-end
        tire_stiffness_factor = 0.5533
        ret.mass = 3650 * CV.LB_TO_KG + std_cargo  # mean between normal and hybrid
        ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
        ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
  
      elif candidate == CAR.COROLLA:
        ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
        ret.wheelbase = 2.70
        ret.steerRatio = 17.8
        tire_stiffness_factor = 0.444
        ret.mass = 2860 * CV.LB_TO_KG + std_cargo  # mean between normal and hybrid
        ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
        ret.steerKf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594
  
      elif candidate == CAR.LEXUS_RXH:
        ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
        ret.wheelbase = 2.79
        ret.steerRatio = 16.  # 14.8 is spec end-to-end
        tire_stiffness_factor = 0.444  # not optimized yet
        ret.mass = 4481 * CV.LB_TO_KG + std_cargo  # mean between min and max
        ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
        ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
  
      elif candidate in [CAR.CHR, CAR.CHRH]:
        ret.safetyParam = 100
        ret.wheelbase = 2.63906
        ret.steerRatio = 13.6
        tire_stiffness_factor = 0.7933
        ret.mass = 3300. * CV.LB_TO_KG + std_cargo
        ret.steerKpV, ret.steerKiV = [[0.723], [0.0428]]
        ret.steerKf = 0.00006
  
      elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
        ret.safetyParam = 100
        ret.wheelbase = 2.82448
        ret.steerRatio = 13.7
        tire_stiffness_factor = 0.7933
        ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid
        ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
        ret.steerKf = 0.00006
  
      elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
        ret.safetyParam = 100
        ret.wheelbase = 2.78
        ret.steerRatio = 16.0
        tire_stiffness_factor = 0.444 # not optimized yet
        ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited
        ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
        ret.steerKf = 0.00006
  
      ret.steerRateCost = 1.
      ret.centerToFront = ret.wheelbase * 0.44
  
      ret.longPidDeadzoneBP = [0., 9.]
      ret.longPidDeadzoneV = [0., .15]
  
      # 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.
      # hybrid models can't do stop and go even though the stock ACC can't
      if candidate in [CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.CHR,
                       CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
        ret.minEnableSpeed = -1.
      elif candidate in [CAR.RAV4, CAR.COROLLA]: # TODO: hack ICE to do stop and go
        ret.minEnableSpeed = 19. * CV.MPH_TO_MS
  
      centerToRear = ret.wheelbase - ret.centerToFront
      # TODO: get actual value, for now starting with reasonable value for
      # civic and scaling by mass and wheelbase
      ret.rotationalInertia = rotationalInertia_civic * \
                              ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
  
      # 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 = (tireStiffnessFront_civic * tire_stiffness_factor) * \
                               ret.mass / mass_civic * \
                               (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
      ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
                              ret.mass / mass_civic * \
                              (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
  
      # no rear steering, at least on the listed cars above
      ret.steerRatioRear = 0.
      ret.steerControlType = car.CarParams.SteerControlType.torque
  
      # steer, gas, brake limitations VS speed
      ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS]  # breakpoints at 1 and 40 kph
      ret.steerMaxV = [1., 1.]  # 2/3rd torque allowed above 45 kph
      ret.gasMaxBP = [0.]
      ret.gasMaxV = [0.5]
      ret.brakeMaxBP = [5., 20.]
      ret.brakeMaxV = [1., 0.8]
  
      ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
      ret.enableDsu = not check_ecu_msgs(fingerprint, ECU.DSU)
      ret.enableApgs = False #not check_ecu_msgs(fingerprint, ECU.APGS)
      cloudlog.warn("ECU Camera Simulated: %r", ret.enableCamera)
      cloudlog.warn("ECU DSU Simulated: %r", ret.enableDsu)
      cloudlog.warn("ECU APGS Simulated: %r", ret.enableApgs)
  
      ret.steerLimitAlert = False
      ret.stoppingControl = False
      ret.startAccel = 0.0
  
      ret.longitudinalKpBP = [0., 5., 35.]
      ret.longitudinalKpV = [3.6, 2.4, 1.5]
      ret.longitudinalKiBP = [0., 35.]
      ret.longitudinalKiV = [0.54, 0.36]
  
      return ret
  
    # returns a car.CarState
    def update(self, c):
      # ******************* do can recv *******************
      canMonoTimes = []
  
      self.cp.update(int(sec_since_boot() * 1e9), False)
  
      # run the cam can update for 10s as we just need to know if the camera is alive
      if self.frame < 1000:
        self.cp_cam.update(int(sec_since_boot() * 1e9), False)
  
      self.CS.update(self.cp, self.cp_cam)
  
      # create message
      ret = car.CarState.new_message()
  
      # speeds
      ret.vEgo = self.CS.v_ego
      ret.vEgoRaw = self.CS.v_ego_raw
      ret.aEgo = self.CS.a_ego
      ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
      ret.standstill = self.CS.standstill
      ret.wheelSpeeds.fl = self.CS.v_wheel_fl
      ret.wheelSpeeds.fr = self.CS.v_wheel_fr
      ret.wheelSpeeds.rl = self.CS.v_wheel_rl
      ret.wheelSpeeds.rr = self.CS.v_wheel_rr
  
      # gear shifter
      ret.gearShifter = self.CS.gear_shifter
  
      # gas pedal
      ret.gas = self.CS.car_gas
      ret.gasPressed = self.CS.pedal_gas > 0
  
      # brake pedal
      ret.brake = self.CS.user_brake
      ret.brakePressed = self.CS.brake_pressed != 0
      ret.brakeLights = self.CS.brake_lights
  
      # steering wheel
      ret.steeringAngle = self.CS.angle_steers
      ret.steeringRate = self.CS.angle_steers_rate
  
      ret.steeringTorque = self.CS.steer_torque_driver
      ret.steeringPressed = self.CS.steer_override
  
      # cruise state
      ret.cruiseState.enabled = self.CS.pcm_acc_active
      ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
      ret.cruiseState.available = bool(self.CS.main_on)
      ret.cruiseState.speedOffset = 0.
      if self.CP.carFingerprint in [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER]:
        # ignore standstill in hybrid vehicles, since pcm allows to restart without
        # receiving any special command
        ret.cruiseState.standstill = False
      else:
        ret.cruiseState.standstill = self.CS.pcm_acc_status == 7
  
      buttonEvents = []
      if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
        be = car.CarState.ButtonEvent.new_message()
        be.type = 'leftBlinker'
        be.pressed = self.CS.left_blinker_on != 0
        buttonEvents.append(be)
  
      if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
        be = car.CarState.ButtonEvent.new_message()
        be.type = 'rightBlinker'
        be.pressed = self.CS.right_blinker_on != 0
        buttonEvents.append(be)
  
      ret.buttonEvents = buttonEvents
      ret.leftBlinker = bool(self.CS.left_blinker_on)
      ret.rightBlinker = bool(self.CS.right_blinker_on)
  
      ret.doorOpen = not self.CS.door_all_closed
      ret.seatbeltUnlatched = not self.CS.seatbelt
  
      ret.genericToggle = self.CS.generic_toggle
  
      # events
      events = []
      if not self.CS.can_valid:
        self.can_invalid_count += 1
        if self.can_invalid_count >= 5:
          events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
      else:
        self.can_invalid_count = 0
  
      if self.CS.cam_can_valid:
        self.cam_can_valid_count += 1
        if self.cam_can_valid_count >= 5:
          self.forwarding_camera = True
  
      if not ret.gearShifter == 'drive' and self.CP.enableDsu:
        events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
      if ret.doorOpen:
        events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
      if ret.seatbeltUnlatched:
        events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
      if self.CS.esp_disabled and self.CP.enableDsu:
        events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
      if not self.CS.main_on and self.CP.enableDsu:
        events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
      if ret.gearShifter == 'reverse' and self.CP.enableDsu:
        events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
      if self.CS.steer_error:
        events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
      if self.CS.low_speed_lockout and self.CP.enableDsu:
        events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
      if ret.vEgo < self.CP.minEnableSpeed and self.CP.enableDsu:
        events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
        if c.actuators.gas > 0.1:
          # some margin on the actuator to not false trigger cancellation while stopping
          events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
        if ret.vEgo < 0.001:
          # while in standstill, send a user alert
          events.append(create_event('manualRestart', [ET.WARNING]))
  
      # enable request in prius is simple, as we activate when Toyota is active (rising edge)
      if ret.cruiseState.enabled and not self.cruise_enabled_prev:
        events.append(create_event('pcmEnable', [ET.ENABLE]))
      elif not ret.cruiseState.enabled:
        events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
  
      # disable on pedals rising edge or when brake is pressed and speed isn't zero
      if (ret.gasPressed and not self.gas_pressed_prev) or \
         (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
  
      if ret.gasPressed:
        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
  
      ret.events = events
      ret.canMonoTimes = canMonoTimes
  
      self.gas_pressed_prev = ret.gasPressed
      self.brake_pressed_prev = ret.brakePressed
      self.cruise_enabled_prev = ret.cruiseState.enabled
  
      return ret.as_reader()
  
    # pass in a car.CarControl
    # to be called @ 100hz
    def apply(self, c, perception_state=log.Live20Data.new_message()):
  
      self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
                     c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
                     c.hudControl.audibleAlert, self.forwarding_camera)
  
      self.frame += 1
      return False
  