text: #!/usr/bin/env python3
  from cereal import car
  from panda import Panda
  from common.conversions import Conversions as CV
  from selfdrive.car.hyundai.values import CAR, DBC, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
  from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
  from selfdrive.car import STD_CARGO_KG, 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
  ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
  
  
  class CarInterface(CarInterfaceBase):
    @staticmethod
    def get_pid_accel_limits(CP, current_speed, cruise_speed):
      return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
  
    @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 = "hyundai"
      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
      ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
  
      # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
      ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR)
  
      ret.pcmCruise = not ret.openpilotLongitudinalControl
  
      # These cars have been put into dashcam only due to both a lack of users and test coverage.
      # These cars likely still work fine. Once a user confirms each car works and a test route is
      # added to selfdrive/car/tests/routes.py, we can remove it from this list.
      ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
  
      ret.steerActuatorDelay = 0.1  # Default delay
      ret.steerRateCost = 0.5
      ret.steerLimitTimer = 0.4
      tire_stiffness_factor = 1.
  
      ret.stoppingControl = True
      ret.vEgoStopping = 1.0
  
      ret.longitudinalTuning.kpV = [0.1]
      ret.longitudinalTuning.kiV = [0.0]
      ret.stopAccel = 0.0
  
      ret.longitudinalActuatorDelayUpperBound = 1.0 # s
  
      if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.766
        # Values from optimizer
        ret.steerRatio = 16.55  # 13.8 is spec end-to-end
        tire_stiffness_factor = 0.82
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
      elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 1513. + STD_CARGO_KG
        ret.wheelbase = 2.84
        ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
        tire_stiffness_factor = 0.65
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.SONATA_LF:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 4497. * CV.LB_TO_KG
        ret.wheelbase = 2.804
        ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.PALISADE:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 1999. + STD_CARGO_KG
        ret.wheelbase = 2.90
        ret.steerRatio = 15.6 * 1.15
        tire_stiffness_factor = 0.63
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
      elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
        ret.lateralTuning.pid.kf = 0.00006
        ret.mass = 1275. + STD_CARGO_KG
        ret.wheelbase = 2.7
        ret.steerRatio = 15.4            # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
        tire_stiffness_factor = 0.385    # stiffnessFactor settled on 1.0081302973865127
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
      elif candidate == CAR.ELANTRA_2021:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
        ret.wheelbase = 2.72
        ret.steerRatio = 12.9
        tire_stiffness_factor = 0.65
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.ELANTRA_HEV_2021:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
        ret.wheelbase = 2.72
        ret.steerRatio = 12.9
        tire_stiffness_factor = 0.65
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.HYUNDAI_GENESIS:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 2060. + STD_CARGO_KG
        ret.wheelbase = 3.01
        ret.steerRatio = 16.5
        ret.lateralTuning.init('indi')
        ret.lateralTuning.indi.innerLoopGainBP = [0.]
        ret.lateralTuning.indi.innerLoopGainV = [3.5]
        ret.lateralTuning.indi.outerLoopGainBP = [0.]
        ret.lateralTuning.indi.outerLoopGainV = [2.0]
        ret.lateralTuning.indi.timeConstantBP = [0.]
        ret.lateralTuning.indi.timeConstantV = [1.4]
        ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
        ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
        ret.minSteerSpeed = 60 * CV.KPH_TO_MS
      elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
        ret.wheelbase = 2.7
        ret.steerRatio = 13.73 * 1.15  # Spec
        tire_stiffness_factor = 0.385
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
        ret.lateralTuning.pid.kf = 0.00006
        ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
        ret.wheelbase = 2.7
        ret.steerRatio = 13.73  # Spec
        tire_stiffness_factor = 0.385
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
        if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
          ret.minSteerSpeed = 32 * CV.MPH_TO_MS
      elif candidate == CAR.IONIQ_PHEV_2019:
        ret.mass = 1550. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs
        ret.wheelbase = 2.7
        ret.steerRatio = 13.73
        ret.lateralTuning.init('indi')
        ret.lateralTuning.indi.innerLoopGainBP = [0.]
        ret.lateralTuning.indi.innerLoopGainV = [2.5]
        ret.lateralTuning.indi.outerLoopGainBP = [0.]
        ret.lateralTuning.indi.outerLoopGainV = [3.5]
        ret.lateralTuning.indi.timeConstantBP = [0.]
        ret.lateralTuning.indi.timeConstantV = [1.4]
        ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
        ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
      elif candidate == CAR.VELOSTER:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 3558. * CV.LB_TO_KG
        ret.wheelbase = 2.80
        ret.steerRatio = 13.75 * 1.15
        tire_stiffness_factor = 0.5
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.TUCSON_DIESEL_2019:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 3633. * CV.LB_TO_KG
        ret.wheelbase = 2.67
        ret.steerRatio = 14.00 * 1.15
        tire_stiffness_factor = 0.385
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
  
      # Kia
      elif candidate == CAR.KIA_SORENTO:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 1985. + STD_CARGO_KG
        ret.wheelbase = 2.78
        ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021):
        ret.lateralTuning.pid.kf = 0.00006
        ret.mass = 1737. + STD_CARGO_KG
        ret.wheelbase = 2.7
        ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
        tire_stiffness_factor = 0.385
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
        if candidate == CAR.KIA_NIRO_HEV:
          ret.minSteerSpeed = 32 * CV.MPH_TO_MS
      elif candidate == CAR.KIA_SELTOS:
        ret.mass = 1337. + STD_CARGO_KG
        ret.wheelbase = 2.63
        ret.steerRatio = 14.56
        tire_stiffness_factor = 1
        ret.lateralTuning.init('indi')
        ret.lateralTuning.indi.innerLoopGainBP = [0.]
        ret.lateralTuning.indi.innerLoopGainV = [4.]
        ret.lateralTuning.indi.outerLoopGainBP = [0.]
        ret.lateralTuning.indi.outerLoopGainV = [3.]
        ret.lateralTuning.indi.timeConstantBP = [0.]
        ret.lateralTuning.indi.timeConstantV = [1.4]
        ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
        ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
      elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 3558. * CV.LB_TO_KG
        ret.wheelbase = 2.80
        ret.steerRatio = 13.75
        tire_stiffness_factor = 0.5
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.KIA_STINGER:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 1825. + STD_CARGO_KG
        ret.wheelbase = 2.78
        ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.KIA_FORTE:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 3558. * CV.LB_TO_KG
        ret.wheelbase = 2.80
        ret.steerRatio = 13.75
        tire_stiffness_factor = 0.5
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.KIA_CEED:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 1450. + STD_CARGO_KG
        ret.wheelbase = 2.65
        ret.steerRatio = 13.75
        tire_stiffness_factor = 0.5
        ret.lateralTuning.pid.kf = 0.00005
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.KIA_K5_2021:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 3228. * CV.LB_TO_KG
        ret.wheelbase = 2.85
        ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
        tire_stiffness_factor = 0.5
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
  
      # Genesis
      elif candidate == CAR.GENESIS_G70:
        ret.lateralTuning.init('indi')
        ret.lateralTuning.indi.innerLoopGainBP = [0.]
        ret.lateralTuning.indi.innerLoopGainV = [2.5]
        ret.lateralTuning.indi.outerLoopGainBP = [0.]
        ret.lateralTuning.indi.outerLoopGainV = [3.5]
        ret.lateralTuning.indi.timeConstantBP = [0.]
        ret.lateralTuning.indi.timeConstantV = [1.4]
        ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
        ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
        ret.steerActuatorDelay = 0.1
        ret.mass = 1640.0 + STD_CARGO_KG
        ret.wheelbase = 2.84
        ret.steerRatio = 13.56
      elif candidate == CAR.GENESIS_G70_2020:
        ret.lateralTuning.pid.kf = 0.
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]]
        ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.83
        ret.steerRatio = 12.9
      elif candidate == CAR.GENESIS_G80:
        ret.lateralTuning.pid.kf = 0.00005
        ret.mass = 2060. + STD_CARGO_KG
        ret.wheelbase = 3.01
        ret.steerRatio = 16.5
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
      elif candidate == CAR.GENESIS_G90:
        ret.mass = 2200
        ret.wheelbase = 3.15
        ret.steerRatio = 12.069
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
  
      # these cars require a special panda safety mode due to missing counters and checksums in the messages
      if candidate in LEGACY_SAFETY_MODE_CAR:
        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
  
      # set appropriate safety param for gas signal
      if candidate in HYBRID_CAR:
        ret.safetyConfigs[0].safetyParam = 2
      elif candidate in EV_CAR:
        ret.safetyConfigs[0].safetyParam = 1
  
      ret.centerToFront = ret.wheelbase * 0.4
  
      # 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.enableBsm = 0x58b in fingerprint[0]
  
      if ret.openpilotLongitudinalControl:
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
  
      return ret
  
    @staticmethod
    def init(CP, logcan, sendcan):
      if CP.openpilotLongitudinalControl:
        disable_ecu(logcan, sendcan, addr=0x7d0, com_cont_req=b'\x28\x83\x01')
  
    def _update(self, c):
      ret = self.CS.update(self.cp, self.cp_cam)
      ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
  
      # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
      # Main button also can trigger an engagement on these cars
      allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
      events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
  
      if self.CS.brake_error:
        events.add(EventName.brakeUnavailable)
  
      if self.CS.CP.openpilotLongitudinalControl:
        buttonEvents = []
  
        if self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
          be = car.CarState.ButtonEvent.new_message()
          be.type = ButtonType.unknown
          if self.CS.cruise_buttons[-1] != 0:
            be.pressed = True
            but = self.CS.cruise_buttons[-1]
          else:
            be.pressed = False
            but = self.CS.prev_cruise_buttons
          if but == Buttons.RES_ACCEL:
            be.type = ButtonType.accelCruise
          elif but == Buttons.SET_DECEL:
            be.type = ButtonType.decelCruise
          elif but == Buttons.GAP_DIST:
            be.type = ButtonType.gapAdjustCruise
          elif but == Buttons.CANCEL:
            be.type = ButtonType.cancel
          buttonEvents.append(be)
  
          ret.buttonEvents = buttonEvents
  
          for b in ret.buttonEvents:
            # do enable on both accel and decel buttons
            if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
              events.add(EventName.buttonEnable)
            # do disable on button down
            if b.type == ButtonType.cancel and b.pressed:
              events.add(EventName.buttonCancel)
  
      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
      if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
        self.low_speed_alert = True
      if ret.vEgo > (self.CP.minSteerSpeed + 4.):
        self.low_speed_alert = False
      if self.low_speed_alert:
        events.add(car.CarEvent.EventName.belowSteerSpeed)
  
      ret.events = events.to_msg()
  
      return ret
  
    def apply(self, c):
      ret = self.CC.update(c, self.CS)
      return ret
  