text: from cereal import car
  from common.realtime import DT_CTRL
  from common.numpy_fast import clip, interp
  from selfdrive.config import Conversions as CV
  from selfdrive.car import apply_std_steer_torque_limits
  from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfahda_mfc, create_acc_commands, create_acc_opt, create_frt_radar_opt
  from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR
  from opendbc.can.packer import CANPacker
  
  VisualAlert = car.CarControl.HUDControl.VisualAlert
  LongCtrlState = car.CarControl.Actuators.LongControlState
  
  
  def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
                        right_lane, left_lane_depart, right_lane_depart):
    sys_warning = (visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw])
  
    # initialize to no line visible
    sys_state = 1
    if left_lane and right_lane or sys_warning:  # HUD alert only display when LKAS status is active
      sys_state = 3 if enabled or sys_warning else 4
    elif left_lane:
      sys_state = 5
    elif right_lane:
      sys_state = 6
  
    # initialize to no warnings
    left_lane_warning = 0
    right_lane_warning = 0
    if left_lane_depart:
      left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
    if right_lane_depart:
      right_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
  
    return sys_warning, sys_state, left_lane_warning, right_lane_warning
  
  
  class CarController():
    def __init__(self, dbc_name, CP, VM):
      self.p = CarControllerParams(CP)
      self.packer = CANPacker(dbc_name)
  
      self.apply_steer_last = 0
      self.car_fingerprint = CP.carFingerprint
      self.steer_rate_limited = False
      self.last_resume_frame = 0
  
    def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
               left_lane, right_lane, left_lane_depart, right_lane_depart):
      # Steering Torque
      new_steer = int(round(actuators.steer * self.p.STEER_MAX))
      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
      self.steer_rate_limited = new_steer != apply_steer
  
      # disable when temp fault is active, or below LKA minimum speed
      lkas_active = enabled and not CS.out.steerWarning and CS.out.vEgo >= CS.CP.minSteerSpeed
  
      if not lkas_active:
        apply_steer = 0
  
      self.apply_steer_last = apply_steer
  
      sys_warning, sys_state, left_lane_warning, right_lane_warning = \
        process_hud_alert(enabled, self.car_fingerprint, visual_alert,
                          left_lane, right_lane, left_lane_depart, right_lane_depart)
  
      can_sends = []
  
      # tester present - w/ no response (keeps radar disabled)
      if CS.CP.openpilotLongitudinalControl:
        if (frame % 100) == 0:
          can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
  
      can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
                                     CS.lkas11, sys_warning, sys_state, enabled,
                                     left_lane, right_lane,
                                     left_lane_warning, right_lane_warning))
  
      if not CS.CP.openpilotLongitudinalControl:
        if pcm_cancel_cmd:
          can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
        elif CS.out.cruiseState.standstill:
          # send resume at a max freq of 10Hz
          if (frame - self.last_resume_frame) * DT_CTRL > 0.1:
            # send 25 messages at a time to increases the likelihood of resume being accepted
            can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
            self.last_resume_frame = frame
  
      if frame % 2 == 0 and CS.CP.openpilotLongitudinalControl:
        lead_visible = False
        accel = actuators.accel if enabled else 0
  
        jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
  
        if accel < 0:
          accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel])
  
        accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
  
        stopping = (actuators.longControlState == LongCtrlState.stopping)
        set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
        can_sends.extend(create_acc_commands(self.packer, enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping))
  
      # 20 Hz LFA MFA message
      if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
                                                     CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
                                                     CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
                                                     CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]:
        can_sends.append(create_lfahda_mfc(self.packer, enabled))
  
      # 5 Hz ACC options
      if frame % 20 == 0 and CS.CP.openpilotLongitudinalControl:
        can_sends.extend(create_acc_opt(self.packer))
  
      # 2 Hz front radar options
      if frame % 50 == 0 and CS.CP.openpilotLongitudinalControl:
        can_sends.append(create_frt_radar_opt(self.packer))
  
      return can_sends
  