text: from cereal import car
  from common.numpy_fast import clip
  from selfdrive.config import Conversions as CV
  
  # kph
  V_CRUISE_MAX = 169
  V_CRUISE_MIN = 7
  V_CRUISE_DELTA = 7
  V_CRUISE_ENABLE_MIN = 7
  
  
  class MPC_COST_LAT:
    PATH = 1.0
    LANE = 3.0
    HEADING = 1.0
    STEER_RATE = 1.0
  
  
  class MPC_COST_LONG:
    TTC = 5.0
    DISTANCE = 0.8
    ACCELERATION = 10.0
    JERK = 20.0
  
  
  class EventTypes:
    ENABLE = 'enable'
    PRE_ENABLE = 'preEnable'
    NO_ENTRY = 'noEntry'
    WARNING = 'warning'
    USER_DISABLE = 'userDisable'
    SOFT_DISABLE = 'softDisable'
    IMMEDIATE_DISABLE = 'immediateDisable'
    PERMANENT = 'permanent'
  
  
  def create_event(name, types):
    event = car.CarEvent.new_message()
    event.name = name
    for t in types:
      setattr(event, t, True)
    return event
  
  
  def get_events(events, types):
    out = []
    for e in events:
      for t in types:
        if getattr(e, t):
          out.append(e.name)
    return out
  
  
  def rate_limit(new_value, last_value, dw_step, up_step):
    return clip(new_value, last_value + dw_step, last_value + up_step)
  
  
  def learn_angle_model_bias(lateral_control, v_ego, angle_model_bias, c_poly, c_prob, angle_steers, steer_override):
    # simple integral controller that learns how much steering offset to put to have the car going straight
    # while being in the middle of the lane
    min_offset = -5.  # deg
    max_offset = 5.  # deg
    alpha = 1. / 36000.  # correct by 1 deg in 2 mins, at 30m/s, with 50cm of error, at 20Hz
    min_learn_speed = 1.
  
    # learn less at low speed or when turning
    slow_factor = 1. / (1. + 0.02 * abs(angle_steers) * v_ego)
    alpha_v = alpha * c_prob * (max(v_ego - min_learn_speed, 0.)) * slow_factor
  
    # only learn if lateral control is active and if driver is not overriding:
    if lateral_control and not steer_override:
      angle_model_bias += c_poly[3] * alpha_v
      angle_model_bias = clip(angle_model_bias, min_offset, max_offset)
  
    return angle_model_bias
  
  
  def update_v_cruise(v_cruise_kph, buttonEvents, enabled):
    # handle button presses. TODO: this should be in state_control, but a decelCruise press
    # would have the effect of both enabling and changing speed is checked after the state transition
    for b in buttonEvents:
      if enabled and not b.pressed:
        if b.type == "accelCruise":
          v_cruise_kph += V_CRUISE_DELTA - (v_cruise_kph % V_CRUISE_DELTA)
        elif b.type == "decelCruise":
          v_cruise_kph -= V_CRUISE_DELTA - ((V_CRUISE_DELTA - v_cruise_kph) % V_CRUISE_DELTA)
        v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
  
    return v_cruise_kph
  
  
  def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
    for b in buttonEvents:
      # 250kph or above probably means we never had a set speed
      if b.type == "accelCruise" and v_cruise_last < 250:
        return v_cruise_last
  
    return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
  