text: import os
  import math
  import numpy as np
  from common.realtime import sec_since_boot, DT_MDL
  from common.numpy_fast import interp
  from selfdrive.swaglog import cloudlog
  from selfdrive.controls.lib.lateral_mpc import libmpc_py
  from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
  from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE
  from selfdrive.config import Conversions as CV
  import cereal.messaging as messaging
  from cereal import log
  
  from selfdrive.car.hyundai.values import Buttons
  
  LaneChangeState = log.LateralPlan.LaneChangeState
  LaneChangeDirection = log.LateralPlan.LaneChangeDirection
  
  LOG_MPC = os.environ.get('LOG_MPC', False)
  
  LANE_CHANGE_SPEED_MIN = 40 * CV.KPH_TO_MS
  LANE_CHANGE_TIME_MAX = 10.
  LANE_CHANGE_AUTO_TIME = 0.5
  
  DESIRES = {
    LaneChangeDirection.none: {
      LaneChangeState.off: log.LateralPlan.Desire.none,
      LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
      LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.none,
      LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.none,
    },
    LaneChangeDirection.left: {
      LaneChangeState.off: log.LateralPlan.Desire.none,
      LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
      LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeLeft,
      LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeLeft,
    },
    LaneChangeDirection.right: {
      LaneChangeState.off: log.LateralPlan.Desire.none,
      LaneChangeState.preLaneChange: log.LateralPlan.Desire.none,
      LaneChangeState.laneChangeStarting: log.LateralPlan.Desire.laneChangeRight,
      LaneChangeState.laneChangeFinishing: log.LateralPlan.Desire.laneChangeRight,
    },
  }
  
  
  class LateralPlanner():
    def __init__(self, CP, use_lanelines=True, wide_camera=False):
      self.use_lanelines = use_lanelines
      self.LP = LanePlanner(wide_camera)
  
      self.last_cloudlog_t = 0
      self.steer_rate_cost = CP.steerRateCost
  
      self.setup_mpc()
      self.solution_invalid_cnt = 0
      self.lane_change_state = LaneChangeState.off
      self.lane_change_direction = LaneChangeDirection.none
      self.lane_change_timer = 0.0
      self.lane_change_ll_prob = 1.0
      self.keep_pulse_timer = 0.0
      self.prev_one_blinker = False
      self.desire = log.LateralPlan.Desire.none
  
      self.path_xyz = np.zeros((TRAJECTORY_SIZE,3))
      self.path_xyz_stds = np.ones((TRAJECTORY_SIZE,3))
      self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
      self.t_idxs = np.arange(TRAJECTORY_SIZE)
      self.y_pts = np.zeros(TRAJECTORY_SIZE)
  
      self.lane_change_timer_atuo = 0.0
  
  
  
    def auto_lanechange( self, md, torque_applied ):
      # auto
      self.lane_change_timer_auto += DT_MDL
      ll_probs = md.laneLineProbs   # 0,1,2,3
      if torque_applied or self.lane_change_timer_auto < LANE_CHANGE_AUTO_TIME:
          pass    
      elif self.lane_change_direction == LaneChangeDirection.left:
        if ll_probs[0] > 0.5:
          torque_applied = True
      elif self.lane_change_direction == LaneChangeDirection.right:
        if ll_probs[3] > 0.5:
          torque_applied = True
    
      return torque_applied
  
    def lanechange_cancel( self, cruiseState, steeringTorqueAbs ):
      if cruiseState.cruiseSwState == Buttons.CANCEL or steeringTorqueAbs > 200:
        self.lane_change_state = LaneChangeState.off
        self.lane_change_direction = LaneChangeDirection.none
    
  
    def setup_mpc(self):
      self.libmpc = libmpc_py.libmpc
      self.libmpc.init()
  
      self.mpc_solution = libmpc_py.ffi.new("log_t *")
      self.cur_state = libmpc_py.ffi.new("state_t *")
      self.cur_state[0].x = 0.0
      self.cur_state[0].y = 0.0
      self.cur_state[0].psi = 0.0
      self.cur_state[0].curvature = 0.0
  
      self.desired_curvature = 0.0
      self.safe_desired_curvature = 0.0
      self.desired_curvature_rate = 0.0
      self.safe_desired_curvature_rate = 0.0
  
    def update(self, sm, CP):
      v_ego = sm['carState'].vEgo
      active = sm['controlsState'].active
      measured_curvature = sm['controlsState'].curvature
      cruiseState  = sm['carState'].cruiseState    
      steeringTorqueAbs = abs(sm['carState'].steeringTorque)
  
      md = sm['modelV2']
      self.LP.parse_model(sm['modelV2'])
      if len(md.position.x) == TRAJECTORY_SIZE and len(md.orientation.x) == TRAJECTORY_SIZE:
        self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z])
        self.t_idxs = np.array(md.position.t)
        self.plan_yaw = list(md.orientation.z)
      if len(md.orientation.xStd) == TRAJECTORY_SIZE:
        self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd])
  
      # Lane change logic
      one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
      below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
  
      if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX):
        self.lane_change_state = LaneChangeState.off
        self.lane_change_direction = LaneChangeDirection.none
      else:
        # atom
        self.lanechange_cancel( cruiseState, steeringTorqueAbs )
  
  
        # LaneChangeState.off
        if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
          self.lane_change_state = LaneChangeState.preLaneChange
          self.lane_change_ll_prob = 1.0
          self.lane_change_timer_auto = 0.0
        # LaneChangeState.preLaneChange
        elif self.lane_change_state == LaneChangeState.preLaneChange:
          # Set lane change direction
          if sm['carState'].leftBlinker:
            self.lane_change_direction = LaneChangeDirection.left
          elif sm['carState'].rightBlinker:
            self.lane_change_direction = LaneChangeDirection.right
          else:  # If there are no blinkers we will go back to LaneChangeState.off
            self.lane_change_direction = LaneChangeDirection.none
  
          torque_applied = sm['carState'].steeringPressed and \
                          ((sm['carState'].steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                            (sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
  
          blindspot_detected = ((sm['carState'].leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
                                (sm['carState'].rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
  
          torque_applied = self.auto_lanechange( md, torque_applied )
  
          if not one_blinker or below_lane_change_speed:
            self.lane_change_state = LaneChangeState.off
          elif torque_applied and not blindspot_detected:
            self.lane_change_state = LaneChangeState.laneChangeStarting
  
        # LaneChangeState.laneChangeStarting
        elif self.lane_change_state == LaneChangeState.laneChangeStarting:
          # fade out over .5s
          self.lane_change_ll_prob = max(self.lane_change_ll_prob - 1.5*DT_MDL, 0.0)
  
          # 98% certainty
          lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
          if lane_change_prob < 0.02 and self.lane_change_ll_prob < 0.01:
            self.lane_change_state = LaneChangeState.laneChangeFinishing
  
        # LaneChangeState.laneChangeFinishing
        elif self.lane_change_state == LaneChangeState.laneChangeFinishing:
          # fade in laneline over 1s
          self.lane_change_ll_prob = min(self.lane_change_ll_prob + DT_MDL, 1.0)
          if one_blinker and self.lane_change_ll_prob > 0.99:
            self.lane_change_state = LaneChangeState.preLaneChange
          elif self.lane_change_ll_prob > 0.99:
            self.lane_change_state = LaneChangeState.off
  
      if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
        self.lane_change_timer = 0.0
      else:
        self.lane_change_timer += DT_MDL
  
      self.prev_one_blinker = one_blinker
  
      self.desire = DESIRES[self.lane_change_direction][self.lane_change_state]
  
      # Send keep pulse once per second during LaneChangeStart.preLaneChange
      if self.lane_change_state in [LaneChangeState.off, LaneChangeState.laneChangeStarting]:
        self.keep_pulse_timer = 0.0
      elif self.lane_change_state == LaneChangeState.preLaneChange:
        self.keep_pulse_timer += DT_MDL
        if self.keep_pulse_timer > 1.0:
          self.keep_pulse_timer = 0.0
        elif self.desire in [log.LateralPlan.Desire.keepLeft, log.LateralPlan.Desire.keepRight]:
          self.desire = log.LateralPlan.Desire.none
  
      # Turn off lanes during lane change
      if self.desire == log.LateralPlan.Desire.laneChangeRight or self.desire == log.LateralPlan.Desire.laneChangeLeft:
        self.LP.lll_prob *= self.lane_change_ll_prob
        self.LP.rll_prob *= self.lane_change_ll_prob
      if self.use_lanelines:
        d_path_xyz = self.LP.get_d_path(v_ego, self.t_idxs, self.path_xyz)
        self.libmpc.set_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.HEADING, CP.steerRateCost)
      else:
        d_path_xyz = self.path_xyz
        path_cost = np.clip(abs(self.path_xyz[0,1]/self.path_xyz_stds[0,1]), 0.5, 5.0) * MPC_COST_LAT.PATH
        # Heading cost is useful at low speed, otherwise end of plan can be off-heading
        heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.0])
        self.libmpc.set_weights(path_cost, heading_cost, CP.steerRateCost)
      y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:,1])
      heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
      self.y_pts = y_pts
  
      assert len(y_pts) == LAT_MPC_N + 1
      assert len(heading_pts) == LAT_MPC_N + 1
      # for now CAR_ROTATION_RADIUS is disabled
      # to use it, enable it in the MPC
      assert abs(CAR_ROTATION_RADIUS) < 1e-3
      self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
                          float(v_ego),
                          CAR_ROTATION_RADIUS,
                          list(y_pts),
                          list(heading_pts))
      # init state for next
      self.cur_state.x = 0.0
      self.cur_state.y = 0.0
      self.cur_state.psi = 0.0
      self.cur_state.curvature = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.mpc_solution.curvature)
  
      #  Check for infeasable MPC solution
      mpc_nans = any(math.isnan(x) for x in self.mpc_solution.curvature)
      t = sec_since_boot()
      if mpc_nans:
        self.libmpc.init()
        self.cur_state.curvature = measured_curvature
  
        if t > self.last_cloudlog_t + 5.0:
          self.last_cloudlog_t = t
          cloudlog.warning("Lateral mpc - nan: True")
  
      if self.mpc_solution[0].cost > 20000. or mpc_nans:   # TODO: find a better way to detect when MPC did not converge
        self.solution_invalid_cnt += 1
      else:
        self.solution_invalid_cnt = 0
  
    def publish(self, sm, pm):
      plan_solution_valid = self.solution_invalid_cnt < 2
      plan_send = messaging.new_message('lateralPlan')
      plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'modelV2'])
      plan_send.lateralPlan.laneWidth = float(self.LP.lane_width)
      plan_send.lateralPlan.dPathPoints = [float(x) for x in self.y_pts]
      plan_send.lateralPlan.psis = [float(x) for x in self.mpc_solution.psi[0:CONTROL_N]]
      plan_send.lateralPlan.curvatures = [float(x) for x in self.mpc_solution.curvature[0:CONTROL_N]]
      plan_send.lateralPlan.curvatureRates = [float(x) for x in self.mpc_solution.curvature_rate[0:CONTROL_N-1]] +[0.0]
      plan_send.lateralPlan.lProb = float(self.LP.lll_prob)
      plan_send.lateralPlan.rProb = float(self.LP.rll_prob)
      plan_send.lateralPlan.dProb = float(self.LP.d_prob)
  
      plan_send.lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
  
      plan_send.lateralPlan.desire = self.desire
      plan_send.lateralPlan.laneChangeState = self.lane_change_state
      plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction
  
      pm.send('lateralPlan', plan_send)
  
      if LOG_MPC:
        dat = messaging.new_message('liveMpc')
        dat.liveMpc.x = list(self.mpc_solution.x)
        dat.liveMpc.y = list(self.mpc_solution.y)
        dat.liveMpc.psi = list(self.mpc_solution.psi)
        dat.liveMpc.curvature = list(self.mpc_solution.curvature)
        dat.liveMpc.cost = self.mpc_solution.cost
        pm.send('liveMpc', dat)
  