text: #!/usr/bin/env python3
  from cereal import car, arne182
  from selfdrive.config import Conversions as CV
  from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
  from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
  from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
  from selfdrive.car.interfaces import CarInterfaceBase
  
  class CarInterface(CarInterfaceBase):
  
    @staticmethod
    def compute_gb(accel, speed):
      return float(accel) / 3.0
  
    @staticmethod
    def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
      ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
  
      ret.carName = "hyundai"
      ret.safetyModel = car.CarParams.SafetyModel.hyundai
      ret.radarOffCan = True
  
      # Hyundai port is a community feature for now
      ret.communityFeature = True
  
      ret.steerActuatorDelay = 0.1  # Default delay
      ret.steerRateCost = 0.5
      ret.steerLimitTimer = 0.4
      tire_stiffness_factor = 1.
  
      if candidate == CAR.SANTA_FE:
        ret.lateralTuning.pid.kfV = [0.00005]
        ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
        ret.wheelbase = 2.766
        # Values from optimizer
        ret.steerRatio = 16.55  # 13.8 is spec end-to-end
        tire_stiffness_factor = 0.82
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[9., 22.], [9., 22.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
        ret.minSteerSpeed = 0.
      elif candidate == CAR.SONATA:
        ret.lateralTuning.pid.kfV = [0.00005]
        ret.mass = 1513. + STD_CARGO_KG
        ret.wheelbase = 2.84
        ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
        ret.minSteerSpeed = 0.
      elif candidate == CAR.PALISADE:
        ret.lateralTuning.pid.kfV = [0.00005]
        ret.mass = 1999. + STD_CARGO_KG
        ret.wheelbase = 2.90
        ret.steerRatio = 13.75 * 1.15
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.KIA_SORENTO:
        ret.lateralTuning.pid.kfV = [0.00005]
        ret.mass = 1985. + STD_CARGO_KG
        ret.wheelbase = 2.78
        ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
        ret.minSteerSpeed = 0.
      elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
        ret.lateralTuning.pid.kfV = [0.00006]
        ret.mass = 1275. + STD_CARGO_KG
        ret.wheelbase = 2.7
        ret.steerRatio = 13.73   #Spec
        tire_stiffness_factor = 0.385
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
      elif candidate == CAR.HYUNDAI_GENESIS:
        ret.lateralTuning.pid.kfV = [0.00005]
        ret.mass = 2060. + STD_CARGO_KG
        ret.wheelbase = 3.01
        ret.steerRatio = 16.5
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
        ret.minSteerSpeed = 60 * CV.KPH_TO_MS
      elif candidate in [CAR.GENESIS_G90, CAR.GENESIS_G80]:
        ret.mass = 2200
        ret.wheelbase = 3.15
        ret.steerRatio = 12.069
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]]
      elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
        ret.lateralTuning.pid.kfV = [0.00005]
        ret.mass = 3558. * CV.LB_TO_KG
        ret.wheelbase = 2.80
        ret.steerRatio = 13.75
        tire_stiffness_factor = 0.5
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.KIA_STINGER:
        ret.lateralTuning.pid.kfV = [0.00005]
        ret.mass = 1825. + STD_CARGO_KG
        ret.wheelbase = 2.78
        ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
        ret.minSteerSpeed = 0.
      elif candidate == CAR.KONA:
        ret.lateralTuning.pid.kfV = [0.00006]
        ret.mass = 1275. + STD_CARGO_KG
        ret.wheelbase = 2.7
        ret.steerRatio = 13.73   #Spec
        tire_stiffness_factor = 0.385
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.IONIQ:
        ret.lateralTuning.pid.kfV = [0.00006]
        ret.mass = 1275. + STD_CARGO_KG
        ret.wheelbase = 2.7
        ret.steerRatio = 13.73   #Spec
        tire_stiffness_factor = 0.385
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
      elif candidate == CAR.KONA_EV:
        ret.lateralTuning.pid.kfV = [0.00006]
        ret.mass = 1685. + STD_CARGO_KG
        ret.wheelbase = 2.7
        ret.steerRatio = 13.73   #Spec
        tire_stiffness_factor = 0.385
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
      elif candidate == CAR.IONIQ_EV_LTD:
        ret.lateralTuning.pid.kfV = [0.00006]
        ret.mass = 1490. + STD_CARGO_KG   #weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
        ret.wheelbase = 2.7
        ret.steerRatio = 13.73   #Spec
        tire_stiffness_factor = 0.385
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
        ret.minSteerSpeed = 32 * CV.MPH_TO_MS
      elif candidate == CAR.KIA_FORTE:
        ret.lateralTuning.pid.kfV = [0.00005]
        ret.mass = 3558. * CV.LB_TO_KG
        ret.wheelbase = 2.80
        ret.steerRatio = 13.75
        tire_stiffness_factor = 0.5
        ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kfBP = [[0.], [0.], [0.]]
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
  
      ret.centerToFront = ret.wheelbase * 0.4
  
      # TODO: get actual value, for now starting with reasonable value for
      # civic and scaling by mass and wheelbase
      ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
  
      # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
      # mass and CG position, so all cars will have approximately similar dyn behaviors
      ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                           tire_stiffness_factor=tire_stiffness_factor)
  
      ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
  
      return ret
  
    def update(self, c, can_strings):
      self.cp.update_strings(can_strings)
      self.cp_cam.update_strings(can_strings)
      ret_arne182 = arne182.CarStateArne182.new_message()
      ret = self.CS.update(self.cp, self.cp_cam)
      ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
  
      # TODO: button presses
      ret.buttonEvents = []
  
      events, eventsArne182 = self.create_common_events(ret)
  
  
      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
      if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
        self.low_speed_alert = True
      if ret.vEgo > (self.CP.minSteerSpeed + 4.):
        self.low_speed_alert = False
  
      if self.low_speed_alert:
        events.append(create_event('belowSteerSpeed', [ET.WARNING]))
  
      ret.events = events
      ret_arne182.events = eventsArne182
  
      self.gas_pressed_prev = ret.gasPressed
      self.brake_pressed_prev = ret.brakePressed
      self.cruise_enabled_prev = ret.cruiseState.enabled
  
      self.CS.out = ret.as_reader()
      return self.CS.out, ret_arne182.as_reader()
  
    def apply(self, c):
      can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
                                 c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.leftLaneVisible,
                                 c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
      self.frame += 1
      return can_sends
  