  from panda import Panda
  from common.numpy_fast import interp
  from common.params import Params
  from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
  from selfdrive.car.honda.hondacan import disable_radar
  from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
  from selfdrive.car.interfaces import CarInterfaceBase
  from selfdrive.config import Conversions as CV
  
  
 
</s> remove from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 </s> add  </s> remove from selfdrive.swaglog import cloudlog
 </s> add 
  from panda import Panda
  from common.numpy_fast import interp
  from common.params import Params
  from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL

  from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
  from selfdrive.car.interfaces import CarInterfaceBase
  from selfdrive.config import Conversions as CV
  
  
keep keep keep keep replace keep keep keep keep keep
 Hyundai longitudinal prerequisites (#22121)

* panda

* bring over changes

* dont check car model

* remove comment

* fix typo

* more stuff gated behind long

* not

* not used

* gate that too

* try honda tuning

* clip accel values

* fix up merge

* fix stopping

* add retry logic around knockout

* increase timeout

* keep flipping lead bit

* true for now

* less tuning

* update comment

* 0.1 s is fine now

* merge honda and hyundai knockout

* more lead fields

* another obj bit

* increase timeout

* fix stopping flag

* only lag compensate for braking

* no lead

* less tuning

* only do knockout if not readonly

* try controlling using jerk

* tuning

* try higher stopping rate

* set stopping flag at higher speed

* clip upper jerk when stopping

* remove comments

* tester present 1hz

* use positive start accel

* 1.0 to maybe improve low speed stuff

* no point going over 0

* bump panda

* bump panda

* revert that change

* update ref 
selfdrive/car/honda/interface.py