text: import os
  import time
  from typing import Dict
  
  from cereal import car
  from common.kalman.simple_kalman import KF1D
  from common.realtime import DT_CTRL
  from selfdrive.car import gen_empty_fingerprint
  from selfdrive.config import Conversions as CV
  from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
  from selfdrive.controls.lib.events import Events
  from selfdrive.controls.lib.vehicle_model import VehicleModel
  
  GearShifter = car.CarState.GearShifter
  EventName = car.CarEvent.EventName
  MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS  # 135 + 4 = 86 mph
  
  # generic car and radar interfaces
  
  
  class CarInterfaceBase():
    def __init__(self, CP, CarController, CarState):
      self.CP = CP
      self.VM = VehicleModel(CP)
  
      self.frame = 0
      self.low_speed_alert = False
  
      if CarState is not None:
        self.CS = CarState(CP)
        self.cp = self.CS.get_can_parser(CP)
        self.cp_cam = self.CS.get_cam_can_parser(CP)
        self.cp_body = self.CS.get_body_can_parser(CP)
  
      self.CC = None
      if CarController is not None:
        self.CC = CarController(self.cp.dbc_name, CP, self.VM)
  
    @staticmethod
    def calc_accel_override(a_ego, a_target, v_ego, v_target):
      return 1.
  
    @staticmethod
    def compute_gb(accel, speed):
      raise NotImplementedError
  
    @staticmethod
    def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
      raise NotImplementedError
  
    # returns a set of default params to avoid repetition in car specific params
    @staticmethod
    def get_std_params(candidate, fingerprint, has_relay):
      ret = car.CarParams.new_message()
      ret.carFingerprint = candidate
  
      # standard ALC params
      ret.steerControlType = car.CarParams.SteerControlType.torque
      ret.steerMaxBP = [0.]
      ret.steerMaxV = [1.]
      ret.minSteerSpeed = 0.
  
      # stock ACC by default
      ret.enableCruise = True
      ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this
      ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
      ret.gasMaxBP = [0.]
      ret.gasMaxV = [.5]  # half max brake
      ret.brakeMaxBP = [0.]
      ret.brakeMaxV = [1.]
      ret.openpilotLongitudinalControl = False
      ret.startAccel = 0.0
      ret.minSpeedCan = 0.3
      ret.stoppingBrakeRate = 0.2 # brake_travel/s while trying to stop
      ret.startingBrakeRate = 0.8 # brake_travel/s while releasing on restart
      ret.stoppingControl = False
      ret.longitudinalTuning.deadzoneBP = [0.]
      ret.longitudinalTuning.deadzoneV = [0.]
      ret.longitudinalTuning.kpBP = [0.]
      ret.longitudinalTuning.kpV = [1.]
      ret.longitudinalTuning.kiBP = [0.]
      ret.longitudinalTuning.kiV = [1.]
      ret.longitudinalTuning.kf = 1.0
      return ret
  
    # returns a car.CarState, pass in car.CarControl
    def update(self, c, can_strings):
      raise NotImplementedError
  
    # return sendcan, pass in a car.CarControl
    def apply(self, c):
      raise NotImplementedError
  
    def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_enable=True):  # pylint: disable=dangerous-default-value
      events = Events()
  
      if cs_out.doorOpen:
        events.add(EventName.doorOpen)
      if cs_out.seatbeltUnlatched:
        events.add(EventName.seatbeltNotLatched)
      if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
        events.add(EventName.wrongGear)
      if cs_out.gearShifter == GearShifter.reverse:
        events.add(EventName.reverseGear)
      if not cs_out.cruiseState.available:
        events.add(EventName.wrongCarMode)
      if cs_out.espDisabled:
        events.add(EventName.espDisabled)
      #if cs_out.gasPressed:
      #  events.add(EventName.gasPressed)
      if cs_out.stockFcw:
        events.add(EventName.stockFcw)
      if cs_out.stockAeb:
        events.add(EventName.stockAeb)
      if cs_out.vEgo > MAX_CTRL_SPEED:
        events.add(EventName.speedTooHigh)
      if cs_out.cruiseState.nonAdaptive:
        events.add(EventName.wrongCruiseMode)
  
      if cs_out.steerError:
        events.add(EventName.steerUnavailable)
      elif cs_out.steerWarning:
        events.add(EventName.steerTempUnavailable)
  
      # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
      # Optionally allow to press gas at zero speed to resume.
      # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
      if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
         (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
        events.add(EventName.pedalPressed)
  
      # we engage when pcm is active (rising edge)
      if pcm_enable:
        if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
          events.add(EventName.pcmEnable)
        elif not cs_out.cruiseState.enabled:
          events.add(EventName.pcmDisable)
  
      return events
  
  
  class RadarInterfaceBase():
    def __init__(self, CP):
      self.pts = {}
      self.delay = 0
      self.radar_ts = CP.radarTimeStep
      self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
  
    def update(self, can_strings):
      ret = car.RadarData.new_message()
      if not self.no_radar_sleep:
        time.sleep(self.radar_ts)  # radard runs on RI updates
      return ret
  
  
  class CarStateBase:
    def __init__(self, CP):
      self.CP = CP
      self.car_fingerprint = CP.carFingerprint
      self.out = car.CarState.new_message()
  
      self.cruise_buttons = 0
      self.left_blinker_cnt = 0
      self.right_blinker_cnt = 0
  
      # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
      # R = 1e3
      self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
                           A=[[1.0, DT_CTRL], [0.0, 1.0]],
                           C=[1.0, 0.0],
                           K=[[0.12287673], [0.29666309]])
  
    def update_speed_kf(self, v_ego_raw):
      if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0:  # Prevent large accelerations when car starts at non zero speed
        self.v_ego_kf.x = [[v_ego_raw], [0.0]]
  
      v_ego_x = self.v_ego_kf.update(v_ego_raw)
      return float(v_ego_x[0]), float(v_ego_x[1])
  
    def update_blinker(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool):
      self.left_blinker_cnt = blinker_time if left_blinker_lamp else max(self.left_blinker_cnt - 1, 0)
      self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
      return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
  
    @staticmethod
    def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
      d: Dict[str, car.CarState.GearShifter] = {
          'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
          'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
          'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake
      }
      return d.get(gear, GearShifter.unknown)
  
    @staticmethod
    def get_cam_can_parser(CP):
      return None
  
    @staticmethod
    def get_body_can_parser(CP):
      return None
  