text: from collections import namedtuple
  from common.realtime import DT_CTRL
  from selfdrive.controls.lib.drive_helpers import rate_limit
  from common.numpy_fast import clip
  from selfdrive.car import create_gas_command
  from selfdrive.car.honda import hondacan
  from selfdrive.car.honda.values import AH, CruiseButtons, CAR, HONDA_BOSCH
  from selfdrive.can.packer import CANPacker
  
  
  def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
    # hyst params
    brake_hyst_on = 0.02     # to activate brakes exceed this value
    brake_hyst_off = 0.005                     # to deactivate brakes below this value
    brake_hyst_gap = 0.01                      # don't change brake command for small oscillations within this value
  
    #*** hysteresis logic to avoid brake blinking. go above 0.1 to trigger
    if (brake < brake_hyst_on and not braking) or brake < brake_hyst_off:
      brake = 0.
    braking = brake > 0.
  
    # for small brake oscillations within brake_hyst_gap, don't change the brake command
    if brake == 0.:
      brake_steady = 0.
    elif brake > brake_steady + brake_hyst_gap:
      brake_steady = brake - brake_hyst_gap
    elif brake < brake_steady - brake_hyst_gap:
      brake_steady = brake + brake_hyst_gap
    brake = brake_steady
  
    if (car_fingerprint in (CAR.ACURA_ILX, CAR.CRV)) and brake > 0.0:
      brake += 0.15
  
    return brake, braking, brake_steady
  
  
  def brake_pump_hysteresis(apply_brake, apply_brake_last, last_pump_ts, ts):
    pump_on = False
  
    # reset pump timer if:
    # - there is an increment in brake request
    # - we are applying steady state brakes and we haven't been running the pump
    #   for more than 20s (to prevent pressure bleeding)
    if apply_brake > apply_brake_last or (ts - last_pump_ts > 20. and apply_brake > 0):
      last_pump_ts = ts
  
    # once the pump is on, run it for at least 0.2s
    if ts - last_pump_ts < 0.2 and apply_brake > 0:
      pump_on = True
  
    return pump_on, last_pump_ts
  
  
  def process_hud_alert(hud_alert):
    # initialize to no alert
    fcw_display = 0
    steer_required = 0
    acc_alert = 0
    if hud_alert == AH.NONE:          # no alert
      pass
    elif hud_alert == AH.FCW:         # FCW
      fcw_display = hud_alert[1]
    elif hud_alert == AH.STEER:       # STEER
      steer_required = hud_alert[1]
    else:                             # any other ACC alert
      acc_alert = hud_alert[1]
  
    return fcw_display, steer_required, acc_alert
  
  
  HUDData = namedtuple("HUDData",
                       ["pcm_accel", "v_cruise", "mini_car", "car", "X4",
                        "lanes", "fcw", "acc_alert", "steer_required"])
  
  
  class CarController():
    def __init__(self, dbc_name):
      self.braking = False
      self.brake_steady = 0.
      self.brake_last = 0.
      self.apply_brake_last = 0
      self.last_pump_ts = 0.
      self.packer = CANPacker(dbc_name)
      self.new_radar_config = False
  
    def update(self, enabled, CS, frame, actuators, \
               pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
               hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
  
      # *** apply brake hysteresis ***
      brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
  
      # *** no output if not enabled ***
      if not enabled and CS.pcm_acc_status:
        # send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
        pcm_cancel_cmd = True
  
      # *** rate limit after the enable check ***
      self.brake_last = rate_limit(brake, self.brake_last, -2., 1./100)
  
      # vehicle hud display, wait for one update from 10Hz 0x304 msg
      if hud_show_lanes:
        hud_lanes = 1
      else:
        hud_lanes = 0
  
      if enabled:
        if hud_show_car:
          hud_car = 2
        else:
          hud_car = 1
      else:
        hud_car = 0
  
      fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
  
      hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
                    0xc1, hud_lanes, fcw_display, acc_alert, steer_required)
  
      # **** process the car messages ****
  
      # *** compute control surfaces ***
      BRAKE_MAX = 1024//4
      if CS.CP.carFingerprint in (CAR.ACURA_ILX):
        STEER_MAX = 0xF00
      elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
        STEER_MAX = 0x3e8  # CR-V only uses 12-bits and requires a lower value (max value from energee)
      else:
        STEER_MAX = 0x1000
  
      # gas and brake
      apply_accel = actuators.gas - actuators.brake
      apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady, enabled)
      apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
  
      # steer torque is converted back to CAN reference (positive when steering right)
      apply_gas = clip(actuators.gas, 0., 1.)
      apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
      apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
  
      lkas_active = enabled and not CS.steer_not_allowed
  
      # Send CAN commands.
      can_sends = []
      self.radarVin_idx = 0
  
      #if using radar, we need to send the VIN
      if CS.useTeslaRadar and (frame % 100 == 0):
        can_sends.append(hondacan.create_radar_VIN_msg(self.radarVin_idx,CS.radarVIN,2,0x1d6,CS.useTeslaRadar))
        self.radarVin_idx += 1
        self.radarVin_idx = self.radarVin_idx  % 3
  
      # Send steering command.
      idx = frame % 4
      can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
        lkas_active, CS.CP.carFingerprint, idx, CS.CP.isPandaBlack))
  
      # Send dashboard UI commands.
      if (frame % 10) == 0:
        idx = (frame//10) % 4
        can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.isPandaBlack))
  
      if not CS.CP.openpilotLongitudinalControl:
        # If using stock ACC, spam cancel command to kill gas when OP disengages.
        if pcm_cancel_cmd:
          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
        elif CS.stopped:
          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
  
      else:
        # Send gas and brake commands.
        if (frame % 2) == 0:
          idx = frame // 2
          ts = frame * DT_CTRL
          pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
          can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
            pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
          self.apply_brake_last = apply_brake
  
          if CS.CP.enableGasInterceptor:
            # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
            # This prevents unexpected pedal range rescaling
            can_sends.append(create_gas_command(self.packer, apply_gas, idx))
  
      return can_sends
  