text: import json
  import os
  import select
  import threading
  import time
  import socket
  import fcntl
  import struct
  from threading import Thread
  from cereal import messaging, log
  from common.numpy_fast import clip
  from common.realtime import sec_since_boot
  from common.conversions import Conversions as CV
  
  from selfdrive.kegman_kans_conf import kegman_kans_conf
  kegman_kans = kegman_kans_conf()
  
  CAMERA_SPEED_FACTOR = float(kegman_kans.conf['CAMERA_SPEED_FACTOR'])
  
  class Port:
    BROADCAST_PORT = 2899
    RECEIVE_PORT = 2843
    LOCATION_PORT = 2911
  
  
  class RoadLimitSpeedServer:
    def __init__(self):
      self.json_road_limit = None
      self.active = 0
      self.last_updated = 0
      self.last_updated_active = 0
      self.last_exception = None
      self.lock = threading.Lock()
  
      self.remote_addr = None
  
      broadcast = Thread(target=self.broadcast_thread, args=[])
      broadcast.setDaemon(True)
      broadcast.start()
  
      # gps = Thread(target=self.gps_thread, args=[])
      # gps.setDaemon(True)
      # gps.start()
  
    def gps_thread(self):
  
      sm = messaging.SubMaster(['gpsLocationExternal'], poll=['gpsLocationExternal'])
      with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock:
        while True:
          try:
            sm.update()
            if self.remote_addr is not None and sm.updated['gpsLocationExternal']:
              location = sm['gpsLocationExternal']
              json_location = json.dumps([
                location.latitude,
                location.longitude,
                location.altitude,
                location.speed,
                location.bearingDeg,
                location.accuracy,
                location.timestamp,
                location.source,
                location.vNED,
                location.verticalAccuracy,
                location.bearingAccuracyDeg,
                location.speedAccuracy,
              ])
  
              address = (self.remote_addr[0], Port.LOCATION_PORT)
              sock.sendto(json_location.encode(), address)
            else:
              time.sleep(1.)
          except Exception as e:
            print("exception", e)
            time.sleep(1.)
  
    def get_broadcast_address(self):
      try:
        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        ip = fcntl.ioctl(
          s.fileno(),
          0x8919,
          struct.pack('256s', 'wlan0'.encode('utf-8'))
        )[20:24]
  
        return socket.inet_ntoa(ip)
      except:
        return None
  
    def broadcast_thread(self):
  
      broadcast_address = None
      frame = 0
  
      with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock:
        try:
          sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
  
          while True:
  
            try:
  
              if broadcast_address is None or frame % 10 == 0:
                broadcast_address = self.get_broadcast_address()
  
              print('broadcast_address', broadcast_address)
  
              if broadcast_address is not None:
                address = (broadcast_address, Port.BROADCAST_PORT)
                sock.sendto('EON:ROAD_LIMIT_SERVICE:v1'.encode(), address)
            except:
              pass
  
            time.sleep(5.)
            frame += 1
  
        except:
          pass
  
    def send_sdp(self, sock):
      try:
        sock.sendto('EON:ROAD_LIMIT_SERVICE:v1'.encode(), (self.remote_addr[0], Port.BROADCAST_PORT))
      except:
        pass
  
    def udp_recv(self, sock):
      ret = False
      try:
        ready = select.select([sock], [], [], 1.)
        ret = bool(ready[0])
        if ret:
          data, self.remote_addr = sock.recvfrom(2048)
          json_obj = json.loads(data.decode())
  
          if 'cmd' in json_obj:
            try:
              os.system(json_obj['cmd'])
              ret = False
            except:
              pass
  
          if 'echo' in json_obj:
            try:
              echo = json.dumps(json_obj["echo"])
              sock.sendto(echo.encode(), (self.remote_addr[0], Port.BROADCAST_PORT))
              ret = False
            except:
              pass
  
          try:
            self.lock.acquire()
            try:
              if 'active' in json_obj:
                self.active = json_obj['active']
                self.last_updated_active = sec_since_boot()
            except:
              pass
  
            if 'road_limit' in json_obj:
              self.json_road_limit = json_obj['road_limit']
              self.last_updated = sec_since_boot()
  
          finally:
            self.lock.release()
  
      except:
  
        try:
          self.lock.acquire()
          self.json_road_limit = None
        finally:
          self.lock.release()
  
      return ret
  
    def check(self):
      now = sec_since_boot()
      if now - self.last_updated > 6.:
        try:
          self.lock.acquire()
          self.json_road_limit = None
        finally:
          self.lock.release()
  
      if now - self.last_updated_active > 6.:
        self.active = 0
  
    def get_limit_val(self, key, default=None):
      return self.get_json_val(self.json_road_limit, key, default)
  
    def get_json_val(self, json, key, default=None):
  
      try:
        if json is None:
          return default
  
        if key in json:
          return json[key]
  
      except:
        pass
  
      return default
  
  
  def main():
    server = RoadLimitSpeedServer()
    roadLimitSpeed = messaging.pub_sock('roadLimitSpeed')
  
    with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock:
      try:
  
        try:
          sock.bind(('0.0.0.0', 843))
        except:
          sock.bind(('0.0.0.0', Port.RECEIVE_PORT))
  
        sock.setblocking(False)
  
        while True:
  
          if server.udp_recv(sock):
            dat = messaging.new_message()
            dat.init('roadLimitSpeed')
            dat.roadLimitSpeed.active = server.active
            dat.roadLimitSpeed.roadLimitSpeed = server.get_limit_val("road_limit_speed", 0)
            dat.roadLimitSpeed.isHighway = server.get_limit_val("is_highway", False)
            dat.roadLimitSpeed.camType = server.get_limit_val("cam_type", 0)
            dat.roadLimitSpeed.camLimitSpeedLeftDist = server.get_limit_val("cam_limit_speed_left_dist", 0)
            dat.roadLimitSpeed.camLimitSpeed = server.get_limit_val("cam_limit_speed", 0)
            dat.roadLimitSpeed.sectionLimitSpeed = server.get_limit_val("section_limit_speed", 0)
            dat.roadLimitSpeed.sectionLeftDist = server.get_limit_val("section_left_dist", 0)
  
            try:
              json = server.json_road_limit
              if json is not None and "rest_area" in json:
  
                restAreaList = []
                for rest_area in json["rest_area"]:
                  restArea = log.RoadLimitSpeed.RestArea.new_message()
                  restArea.image = server.get_json_val(rest_area, "image")
                  restArea.title = server.get_json_val(rest_area, "title")
                  restArea.oilPrice = server.get_json_val(rest_area, "oilPrice")
                  restArea.distance = server.get_json_val(rest_area, "distance")
                  restAreaList.append(restArea)
  
                dat.roadLimitSpeed.restArea = restAreaList
            except:
              pass
  
            roadLimitSpeed.send(dat.to_bytes())
  
            server.send_sdp(sock)
  
          server.check()
  
      except Exception as e:
        server.last_exception = e
  
  
  class RoadSpeedLimiter:
    def __init__(self):
      self.slowing_down = False
      self.started_dist = 0
  
      self.sock = messaging.sub_sock("roadLimitSpeed")
      self.roadLimitSpeed = None
  
    def recv(self):
      try:
        dat = messaging.recv_sock(self.sock, wait=False)
        if dat is not None:
          self.roadLimitSpeed = dat.roadLimitSpeed
      except:
        pass
  
    def get_active(self):
      self.recv()
      if self.roadLimitSpeed is not None:
        return self.roadLimitSpeed.active
      return 0
  
    def get_max_speed(self, CS, v_cruise_speed):
  
      log = ""
      self.recv()
  
      if self.roadLimitSpeed is None:
        return 0, 0, 0, False, ""
  
      try:
  
        road_limit_speed = self.roadLimitSpeed.roadLimitSpeed
        is_highway = self.roadLimitSpeed.isHighway
  
        cam_type = int(self.roadLimitSpeed.camType)
  
        cam_limit_speed_left_dist = self.roadLimitSpeed.camLimitSpeedLeftDist
        cam_limit_speed = self.roadLimitSpeed.camLimitSpeed
  
        section_limit_speed = self.roadLimitSpeed.sectionLimitSpeed
        section_left_dist = self.roadLimitSpeed.sectionLeftDist
  
        if is_highway is not None:
          if is_highway:
            MIN_LIMIT = 40
            MAX_LIMIT = 120
          else:
            MIN_LIMIT = 20
            MAX_LIMIT = 100
        else:
          MIN_LIMIT = 20
          MAX_LIMIT = 120
  
        v_ego = CS.vEgo
  
        if cam_limit_speed_left_dist is not None and cam_limit_speed is not None and cam_limit_speed_left_dist > 0:
  
          diff_speed = v_ego * 3.6 - (cam_limit_speed * CAMERA_SPEED_FACTOR)
  
          starting_dist = v_ego * 20.
          safe_dist = v_ego * 6.
  
          if MIN_LIMIT <= cam_limit_speed <= MAX_LIMIT and (self.slowing_down or cam_limit_speed_left_dist < starting_dist):
            if not self.slowing_down:
              self.started_dist = cam_limit_speed_left_dist
              self.slowing_down = True
              first_started = True
            else:
              first_started = False
  
            td = self.started_dist - safe_dist
            d = cam_limit_speed_left_dist - safe_dist
  
            if d > 0. and td > 0. and diff_speed > 0. and (section_left_dist is None or section_left_dist < 10):
              pp = (d / td) ** 0.6
            else:
              pp = 0
  
            return cam_limit_speed * CAMERA_SPEED_FACTOR + int(pp * diff_speed), \
                   cam_limit_speed, cam_limit_speed_left_dist, first_started, log
  
          self.slowing_down = False
          return 0, cam_limit_speed, cam_limit_speed_left_dist, False, log
  
        elif section_left_dist is not None and section_limit_speed is not None and section_left_dist > 0:
          if MIN_LIMIT <= section_limit_speed <= MAX_LIMIT:
  
            if not self.slowing_down:
              self.slowing_down = True
              first_started = True
            else:
              first_started = False
  
            return section_limit_speed * CAMERA_SPEED_FACTOR, section_limit_speed, section_left_dist, first_started, log
  
          self.slowing_down = False
          return 0, section_limit_speed, section_left_dist, False, log
  
      except Exception as e:
        log = "Ex: " + str(e)
        pass
  
      self.slowing_down = False
      return 0, 0, 0, False, log
  
  
  road_speed_limiter = None
  
  
  def road_speed_limiter_get_active():
    global road_speed_limiter
    if road_speed_limiter is None:
      road_speed_limiter = RoadSpeedLimiter()
  
    return road_speed_limiter.get_active()
  
  
  def road_speed_limiter_get_max_speed(CS, v_cruise_speed):
    global road_speed_limiter
    if road_speed_limiter is None:
      road_speed_limiter = RoadSpeedLimiter()
  
    return road_speed_limiter.get_max_speed(CS, v_cruise_speed)
  
  
  def get_road_speed_limiter():
    global road_speed_limiter
    if road_speed_limiter is None:
      road_speed_limiter = RoadSpeedLimiter()
    return road_speed_limiter
  
  
  if __name__ == "__main__":
    main()