from selfdrive.car.mazda import mazdacan
from selfdrive.car.mazda.values import CarControllerParams, Buttons
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits

class CarController():
  def __init__(self, dbc_name, CP, VM):
    self.apply_steer_last = 0
    self.packer = CANPacker(dbc_name)
    self.steer_rate_limited = False

  def update(self, enabled, CS, frame, actuators):
    """ Controls thread """

    can_sends = []

    ### STEER ###

    if enabled:
      # calculate steer and also set limits due to driver torque
      new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
                                                  CS.out.steeringTorque, CarControllerParams)
      self.steer_rate_limited = new_steer != apply_steer

      if CS.out.standstill and frame % 20 == 0:
        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
        # Send Resume button at 5hz if we're engaged at standstill to support full stop and go!
        # TODO: improve the resume trigger logic by looking at actual radar data
        can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.RESUME))
    else:
      apply_steer = 0
      self.steer_rate_limited = False
      if CS.out.cruiseState.enabled and frame % 20 == 0:
        # Cancel Stock ACC if it's enabled while OP is disengaged
        # Send at a rate of 5hz until we sync with stock ACC state
        can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))

    self.apply_steer_last = apply_steer

    can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
                                                      frame, apply_steer, CS.cam_lkas))
    return can_sends
