text: from common.numpy_fast import clip, interp
  from selfdrive.config import Conversions as CV
  from cereal import car
  
  ButtonType = car.CarState.ButtonEvent.Type
  ButtonPrev = ButtonType.unknown
  ButtonCnt = 0
  LongPressed = False
  
  # kph
  V_CRUISE_MAX = 144 # Default 135
  V_CRUISE_MIN = 8
  V_CRUISE_DELTA_MI = 5 * CV.MPH_TO_KPH
  V_CRUISE_DELTA_KM = 10
  V_CRUISE_ENABLE_MIN = 40
  MPC_N = 16
  CAR_ROTATION_RADIUS = 0.0
  
  class MPC_COST_LAT:
    PATH = 1.0
    HEADING = 1.0
    STEER_RATE = 1.0
  
  
  class MPC_COST_LONG:
    TTC = 5.0
    DISTANCE = 0.1
    ACCELERATION = 10.0
    JERK = 20.0
  
  
  def rate_limit(new_value, last_value, dw_step, up_step):
    return clip(new_value, last_value + dw_step, last_value + up_step)
  
  
  def get_steer_max(CP, v_ego):
    return interp(v_ego, CP.steerMaxBP, CP.steerMaxV)
  
  
  def update_v_cruise(v_cruise_kph, buttonEvents, enabled, metric):
    # handle button presses. TODO: this should be in state_control, but a decelCruise press
    # would have the effect of both enabling and changing speed is checked after the state transition
    global ButtonCnt, LongPressed, ButtonPrev
    if enabled:
      if ButtonCnt:
        ButtonCnt += 1
      for b in buttonEvents:
        if b.pressed and not ButtonCnt and (b.type == ButtonType.accelCruise or \
                                            b.type == ButtonType.decelCruise):
          ButtonCnt = 1
          ButtonPrev = b.type
        elif not b.pressed and ButtonCnt:
          if not LongPressed and b.type == ButtonType.accelCruise:
            v_cruise_kph += 1 if metric else 1 * CV.MPH_TO_KPH
          elif not LongPressed and b.type == ButtonType.decelCruise:
            v_cruise_kph -= 1 if metric else 1 * CV.MPH_TO_KPH
          LongPressed = False
          ButtonCnt = 0
      if ButtonCnt > 50:
        LongPressed = True
        V_CRUISE_DELTA = V_CRUISE_DELTA_KM if metric else V_CRUISE_DELTA_MI
        if ButtonPrev == ButtonType.accelCruise:
          v_cruise_kph += V_CRUISE_DELTA - v_cruise_kph % V_CRUISE_DELTA
        elif ButtonPrev == ButtonType.decelCruise:
          v_cruise_kph -= V_CRUISE_DELTA - -v_cruise_kph % V_CRUISE_DELTA
        ButtonCnt %= 50
      v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
  
    return v_cruise_kph
  
  
  def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
    for b in buttonEvents:
      # 250kph or above probably means we never had a set speed
      if b.type == ButtonType.accelCruise and v_cruise_last < 250:
        return v_cruise_last
  
    return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
  