text: from cereal import car
  from common.numpy_fast import clip
  from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command, make_can_msg
  from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                             create_accel_command, create_acc_cancel_command, \
                                             create_fcw_command
  from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, SteerLimitParams
  from opendbc.can.packer import CANPacker
  import logging
  
  VisualAlert = car.CarControl.HUDControl.VisualAlert
  
  # Accel limits
  ACCEL_HYST_GAP = 0.02  # don't change accel command for small oscilalitons within this value
  ACCEL_MAX = 1.5  # 1.5 m/s2
  ACCEL_MIN = -3.0  # 3   m/s2
  ACCEL_SCALE = max(ACCEL_MAX, -ACCEL_MIN)
  
  def accel_hysteresis(accel, accel_steady, enabled):
  
    # for small accel oscillations within ACCEL_HYST_GAP, don't change the accel command
    if not enabled:
      # send 0 when disabled, otherwise acc faults
      accel_steady = 0.
    elif accel > accel_steady + ACCEL_HYST_GAP:
      accel_steady = accel - ACCEL_HYST_GAP
    elif accel < accel_steady - ACCEL_HYST_GAP:
      accel_steady = accel + ACCEL_HYST_GAP
    accel = accel_steady
  
    return accel, accel_steady
  
  
  class CarController():
    def __init__(self, dbc_name, CP, VM):
      logging.basicConfig(level=logging.CRITICAL, filename="/tmp/brucelog", filemode="a+", format="%(asctime)-15s %(levelname)-8s %(message)s")
      logging.info("CarController __init__")
  
      self.last_steer = 0
      self.accel_steady = 0.
      self.alert_active = False
      self.last_standstill = False
      self.standstill_req = False
  
      self.last_fault_frame = -200
      self.steer_rate_limited = False
      self.full_speed = True
  
      self.fake_ecus = set()
      if CP.enableCamera:
        self.fake_ecus.add(Ecu.fwdCamera)
      if CP.enableDsu:
        self.fake_ecus.add(Ecu.dsu)
  
      self.packer = CANPacker(dbc_name)
      logging.info("existing CarController __init_")
  
    def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
               left_line, right_line, lead, left_lane_depart, right_lane_depart):
  
      # *** compute control surfaces ***
  
      # gas and brake
      logging.info("CarController update")
      apply_gas = clip(actuators.gas, 0., 1.)
  
      if CS.CP.enableGasInterceptor:
        # send only negative accel if interceptor is detected. otherwise, send the regular value
        # +0.06 offset to reduce ABS pump usage when OP is engaged
        apply_accel = 0.06 - actuators.brake
      else:
        apply_accel = actuators.gas - actuators.brake
  
      apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady, enabled)
      apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
  
      # steer torque
      new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, SteerLimitParams)
      self.steer_rate_limited = new_steer != apply_steer
  
      # only cut torque when steer state is a known fault
      if CS.steer_state in [9, 25]:
        self.last_fault_frame = frame
  
      # Cut steering for 2s after fault
      if not enabled or (frame - self.last_fault_frame < 200):
        apply_steer = 0
        apply_steer_req = 0
      else:
        apply_steer_req = 1
  
      if not enabled and CS.pcm_acc_status:
        # send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
        pcm_cancel_cmd = 1
  
      # on entering standstill, send standstill request
      if CS.out.standstill and not self.last_standstill:
        self.standstill_req = True
      if CS.pcm_acc_status != 8:
        # pcm entered standstill or it's disabled
        self.standstill_req = False
  
      self.last_steer = apply_steer
      self.last_accel = apply_accel
      self.last_standstill = CS.out.standstill
  
      can_sends = []
      if(CS.CP.carFingerprint == CAR.COROLLA_TSS2_LTD):
          self.full_speed_acc = False
      else:
          self.full_speed_acc = True
  
      #*** control msgs ***
      #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
  
      # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
      # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
      # on consecutive messages
      if Ecu.fwdCamera in self.fake_ecus:
        can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
  
        # LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
        # if frame % 2 == 0:
        #   can_sends.append(create_steer_command(self.packer, 0, 0, frame // 2))
        #   can_sends.append(create_lta_steer_command(self.packer, actuators.steerAngle, apply_steer_req, frame // 2))
  
      # we can spam can to cancel the system even if we are using lat only control
      if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus):
        lead = lead or CS.out.vEgo < 12.    # at low speed we always assume the lead is present do ACC can be engaged
  
        # Lexus IS uses a different cancellation message
        if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
          can_sends.append(create_acc_cancel_command(self.packer))
        elif CS.CP.openpilotLongitudinalControl:
          can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead, self.full_speed_acc))
        else:
          can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, self.full_speed_acc))
  
      if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
        # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
        # This prevents unexpected pedal range rescaling
        can_sends.append(create_gas_command(self.packer, apply_gas, frame//2))
  
      # ui mesg is at 100Hz but we send asap if:
      # - there is something to display
      # - there is something to stop displaying
      fcw_alert = hud_alert == VisualAlert.fcw
      steer_alert = hud_alert == VisualAlert.steerRequired
  
      send_ui = False
      if ((fcw_alert or steer_alert) and not self.alert_active) or \
         (not (fcw_alert or steer_alert) and self.alert_active):
        send_ui = True
        self.alert_active = not self.alert_active
      elif pcm_cancel_cmd:
        # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
        send_ui = True
  
      if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:           
          can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart, self.full_speed_acc))
  
      if frame % 100 == 0 and Ecu.dsu in self.fake_ecus:
        can_sends.append(create_fcw_command(self.packer, fcw_alert))
  
      #*** static msgs ***
  
      for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
        if frame % fr_step == 0 and ecu in self.fake_ecus and CS.CP.carFingerprint in cars:
          can_sends.append(make_can_msg(addr, vl, bus))
          logging.info("Static CAN MSGS appended to be sent")
      
      logging.info("exiting CarController update")
      
      return can_sends
  