text: #!/usr/bin/env python3
  from cereal import car
  from panda import Panda
  from selfdrive.car.tesla.values import CANBUS, CAR
  from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config
  from selfdrive.car.interfaces import CarInterfaceBase
  
  
  class CarInterface(CarInterfaceBase):
    @staticmethod
    def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
      ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
      ret.carName = "tesla"
  
      # There is no safe way to do steer blending with user torque,
      # so the steering behaves like autopilot. This is not
      # how openpilot should be, hence dashcamOnly
      ret.dashcamOnly = True
  
      ret.steerControlType = car.CarParams.SteerControlType.angle
  
      # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
      ret.longitudinalTuning.kpBP = [0]
      ret.longitudinalTuning.kpV = [0]
      ret.longitudinalTuning.kiBP = [0]
      ret.longitudinalTuning.kiV = [0]
      ret.stopAccel = 0.0
      ret.longitudinalActuatorDelayUpperBound = 0.5 # s
      ret.radarTimeStep = (1.0 / 8) # 8Hz
  
      # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
      # If so, we assume that it is connected to the longitudinal harness.
      if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
        ret.openpilotLongitudinalControl = True
        ret.safetyConfigs = [
          get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
          get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
        ]
      else:
        ret.openpilotLongitudinalControl = False
        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
  
      ret.steerLimitTimer = 1.0
      ret.steerActuatorDelay = 0.25
      ret.steerRateCost = 0.5
  
      if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
        ret.mass = 2100. + STD_CARGO_KG
        ret.wheelbase = 2.959
        ret.centerToFront = ret.wheelbase * 0.5
        ret.steerRatio = 15.0
      else:
        raise ValueError(f"Unsupported car: {candidate}")
  
      ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
      ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
  
      return ret
  
    def update(self, c, can_strings):
      self.cp.update_strings(can_strings)
      self.cp_cam.update_strings(can_strings)
  
      ret = self.CS.update(self.cp, self.cp_cam)
      ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
  
      events = self.create_common_events(ret)
  
      ret.events = events.to_msg()
      self.CS.out = ret.as_reader()
      return self.CS.out
  
    def apply(self, c):
      ret = self.CC.update(c, self.CS, self.frame, c.actuators, c.cruiseControl.cancel)
      self.frame += 1
      return ret
  