#!/usr/bin/env python3
import numpy as np
from iqdbc.car import get_safety_config, structs, uds
from iqdbc.car.common.conversions import Conversions as CV
from iqdbc.car.disable_ecu import disable_ecu, clear_all_dtcs, clear_ecu_dtcs
from iqdbc.car.honda.hondacan import CanBus
from iqdbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_CANFD, \
                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
                                                 HONDA_RADAR_SCAN_VERIFIED, HondaSafetyFlags
from iqdbc.car.honda.carcontroller import CarController
from iqdbc.car.honda.carstate import CarState
from iqdbc.car.honda.radar_interface import RadarInterface
from iqdbc.car.interfaces import CarInterfaceBase

from iqdbc.lvbs.car.honda.iq_values import HondaFlagsIQ, HondaSafetyFlagsIQ

TransmissionType = structs.CarParams.TransmissionType


class CarInterface(CarInterfaceBase):
  CarState = CarState
  CarController = CarController
  RadarInterface = RadarInterface

  DRIVABLE_GEARS = (structs.CarState.GearShifter.sport,)

  @staticmethod
  def get_pid_accel_limits(CP, CP_IQ, current_speed, cruise_speed):
    if CP.carFingerprint in HONDA_BOSCH:
      return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
    elif CP_IQ.enableGasInterceptor:
      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
    else:
      # NIDECs don't allow acceleration near cruise_speed,
      # so limit limits of pid to prevent windup
      ACCEL_MAX_VALS = [CarControllerParams.NIDEC_ACCEL_MAX, 0.2]
      ACCEL_MAX_BP = [cruise_speed - 2., cruise_speed - .2]
      return CarControllerParams.NIDEC_ACCEL_MIN, np.interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)

  @staticmethod
  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
    ret.brand = "honda"

    CAN = CanBus(ret, fingerprint)

    if candidate in HONDA_BOSCH:
      cfgs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
      if candidate in HONDA_BOSCH_CANFD and CAN.pt >= 4:
        cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
      ret.safetyConfigs = cfgs

      # The object scan survives openpilot longitudinal: the radar disable is subnet-scoped to the
      # powertrain bus, while the scan rides the camera-side ACC-CAN
      ret.radarUnavailable = docs or candidate not in HONDA_RADAR_SCAN_VERIFIED
      # Disable the radar and let openpilot control longitudinal
      # WARNING: THIS DISABLES AEB!
      # If Bosch radarless, this blocks ACC messages from the camera
      ret.alphaLongitudinalAvailable = True
      ret.openpilotLongitudinalControl = alpha_long
      ret.pcmCruise = not ret.openpilotLongitudinalControl
    else:
      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
      ret.openpilotLongitudinalControl = True

      ret.pcmCruise = True

    if candidate == CAR.HONDA_CRV_5G:
      ret.enableBsm = 0x12f8bfa7 in fingerprint[CAN.radar]

    # Detect Bosch cars with new HUD msgs
    if any(0x33DA in f for f in fingerprint.values()):
      ret.flags |= HondaFlags.BOSCH_EXT_HUD.value

    if 0x184 in fingerprint[CAN.pt]:
      ret.flags |= HondaFlags.HYBRID.value

    if ret.flags & HondaFlags.ALLOW_MANUAL_TRANS and all(msg not in fingerprint[CAN.pt] for msg in (0x191, 0x1A3)):
      # Manual transmission support for allowlisted cars only, to prevent silent fall-through on auto-detection failures
      ret.transmissionType = TransmissionType.manual
    elif 0x191 in fingerprint[CAN.pt] and candidate != CAR.ACURA_RDX:
      # Traditional CVTs, gearshift position in GEARBOX_CVT
      ret.transmissionType = TransmissionType.cvt
    else:
      # Traditional autos, direct-drive EVs and eCVTs, gearshift position in GEARBOX_AUTO
      ret.transmissionType = TransmissionType.automatic

    ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
    ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
    ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
    ret.steerActuatorDelay = 0.1

    if candidate in HONDA_BOSCH:
      if candidate in HONDA_BOSCH_RADARLESS:
        ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
        ret.longitudinalActuatorDelay = 0.25 # s
      elif candidate in HONDA_BOSCH_CANFD:
        ret.longitudinalActuatorDelay = 0.05  # near zero, canfd seems to have stock feedforward correction
      else:
        ret.longitudinalActuatorDelay = 0.25 # s, per Bosch A log
    else:
      # default longitudinal tuning for all hondas
      ret.longitudinalTuning.kiBP = [0., 5., 35.]
      ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]

    # Disable control if EPS mod detected
    for fw in car_fw:
      if fw.ecu == "eps" and b"," in fw.fwVersion:
        ret.dashcamOnly = True

    if candidate == CAR.HONDA_CIVIC:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]

    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    elif candidate == CAR.HONDA_CIVIC_2022:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 5120], [0, 5120]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]]
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]

    elif candidate == CAR.HONDA_ACCORD:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
      if ret.transmissionType == TransmissionType.manual:
        CarControllerParams.BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]

    elif candidate == CAR.HONDA_ACCORD_11G:
      ret.steerActuatorDelay = 0.22
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 12747], [0, 12747]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.18]]

    elif candidate == CAR.ACURA_ILX:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    elif candidate in (CAR.HONDA_CRV, CAR.HONDA_CRV_EU):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.HONDA_CRV_5G:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.HONDA_CRV_HYBRID:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
      ret.wheelSpeedFactor = 1.025

    elif candidate == CAR.HONDA_CRV_6G:
      ret.steerActuatorDelay = 0.15
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 5100], [0, 5100]]
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate == CAR.HONDA_FIT:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

    elif candidate == CAR.HONDA_FREED:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]

    elif candidate in (CAR.HONDA_HRV, CAR.HONDA_HRV_3G):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
      if candidate == CAR.HONDA_HRV:
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
        ret.wheelSpeedFactor = 1.025
      else:
        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning

    elif candidate == CAR.ACURA_RDX:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    elif candidate == CAR.ACURA_RDX_3G:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4095], [0, 4095]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]

    elif candidate == CAR.HONDA_ODYSSEY:
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end

    elif candidate == CAR.HONDA_ODYSSEY_TWN:
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end

    elif candidate in (CAR.HONDA_PILOT, CAR.HONDA_PILOT_4G, CAR.HONDA_PASSPORT_4G, CAR.ACURA_MDX_4G_MMR):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]]
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]

    elif candidate == CAR.HONDA_RIDGELINE:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]

    elif candidate in (CAR.HONDA_INSIGHT, CAR.HONDA_NBOX_2G):
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]

    elif candidate == CAR.HONDA_E:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning

    elif candidate == CAR.HONDA_ODYSSEY_5G_MMR:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3810], [0, 3810]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
      ret.steerActuatorDelay = 0.15
      CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2000]
      if not ret.openpilotLongitudinalControl:
        # When using stock ACC, the radar intercepts and filters steering commands the EPS would otherwise accept
        ret.minSteerSpeed = 70. * CV.KPH_TO_MS

    elif candidate == CAR.ACURA_TLX_2G_MMR:
      ret.steerActuatorDelay = 0.15
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kpV = [[0, 10], [0.05, 0.5]]
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kiV = [[0, 10], [0.0125, 0.125]]

    elif candidate == CAR.HONDA_CLARITY:
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]

    else:
      ret.steerActuatorDelay = 0.15
      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    if candidate == CAR.HONDA_PILOT_4G:
      CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2200]
    elif candidate == CAR.ACURA_RDX_3G:
      CarControllerParams.BOSCH_GAS_LOOKUP_V = [0, 2200]
    elif candidate == CAR.HONDA_CRV_6G and ret.flags & HondaFlags.HYBRID:
      CarControllerParams.BOSCH_GAS_LOOKUP_BP = [-0.3, 2.0]

    # These cars use alternate user brake msg (0x1BE)
    if 0x1BE in fingerprint[CAN.pt] and candidate in HONDA_BOSCH:
      ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value

    if ret.flags & HondaFlags.BOSCH_ALT_BRAKE:
      ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.ALT_BRAKE.value
    if candidate in HONDA_NIDEC_ALT_SCM_MESSAGES:
      ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.NIDEC_ALT.value
    if ret.openpilotLongitudinalControl and candidate in HONDA_BOSCH:
      ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_LONG.value
    if candidate in HONDA_BOSCH_RADARLESS:
      ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value
    if candidate in HONDA_BOSCH_CANFD:
      ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD.value

    # min speed to enable ACC. if car can do stop and go, then set enabling speed
    # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
    # conflict with PCM acc
    if (ret.transmissionType == TransmissionType.manual) and (not ret.openpilotLongitudinalControl):
      ret.autoResumeSng = False
    else:
      ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
    if ret.autoResumeSng:
      ret.minEnableSpeed = -1.
    elif candidate == CAR.HONDA_ODYSSEY_TWN:
      ret.minEnableSpeed = 19. * CV.MPH_TO_MS
    else:
      ret.minEnableSpeed = 25.51 * CV.MPH_TO_MS

    ret.steerLimitTimer = 0.8
    ret.radarDelay = 0.1

    return ret

  @staticmethod
  def _get_params_iq(stock_cp: structs.CarParams, ret: structs.IQCarParams, candidate, fingerprint: dict[int, dict[int, int]],
                     car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
    CAN = CanBus(stock_cp, fingerprint)

    for fw in car_fw:
      if fw.ecu == "eps" and b"," in fw.fwVersion:
        ret.flags |= HondaFlagsIQ.EPS_MODIFIED.value
        stock_cp.dashcamOnly = False

    if bool(stock_cp.flags & HondaFlags.NIDEC) and bool(stock_cp.flags & HondaFlags.HYBRID):
      ret.flags |= HondaFlagsIQ.NIDEC_HYBRID.value
      ret.iqSafetyFlags |= HondaSafetyFlagsIQ.NIDEC_HYBRID
      # some hybrids use a different brake hold
      if 0x223 in fingerprint[CAN.pt]:
        ret.flags |= HondaFlagsIQ.HYBRID_ALT_BRAKEHOLD.value

    if 0x35E in fingerprint[CAN.pt]:
      ret.flags |= HondaFlagsIQ.HAS_CAMERA_MESSAGES.value

    if candidate == CAR.HONDA_CIVIC:
      if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
        # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
        # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
        # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
        # stock filter output values:     0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
        # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
        # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
        stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.1]]

    elif candidate in (CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL):
      if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
        stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.09]]  # 2.5x Modded EPS

    elif candidate == CAR.HONDA_CIVIC_2022:
      if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
        stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.09]]  # 2.5x Modded EPS

    elif candidate == CAR.HONDA_ACCORD:
      if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.09]]

    elif candidate == CAR.HONDA_CRV_5G:
      if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
        # stock request input values:     0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
        # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
        # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
        stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.21], [0.07]]

    elif candidate == CAR.HONDA_CLARITY:
      stock_cp.autoResumeSng = True
      stock_cp.minEnableSpeed = -1
      if ret.flags & HondaFlagsIQ.EPS_MODIFIED:
        for fw in car_fw:
          if fw.ecu == "eps" and b"-" not in fw.fwVersion and b"," in fw.fwVersion:
            stock_cp.lateralTuning.pid.kf = 0.00004
            stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 5760, 15360], [0, 2560, 3840]]
            stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.1575], [0.05175]]
          elif fw.ecu == "eps" and b"-" in fw.fwVersion and b"," in fw.fwVersion:
            stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 5760, 10240], [0, 2560, 3840]]
            stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.3], [0.1]]
      else:
        stock_cp.lateralParams.torqueBP, stock_cp.lateralParams.torqueV = [[0, 2560], [0, 2560]]
        stock_cp.lateralTuning.pid.kpV, stock_cp.lateralTuning.pid.kiV = [[0.8], [0.24]]

    if candidate in HONDA_BOSCH:
      pass
    else:
      ret.enableGasInterceptor = 0x201 in fingerprint[CAN.pt]
      stock_cp.pcmCruise = not ret.enableGasInterceptor

    if ret.enableGasInterceptor and candidate not in HONDA_BOSCH:
      ret.iqSafetyFlags |= HondaSafetyFlagsIQ.GAS_INTERCEPTOR

    stock_cp.autoResumeSng = stock_cp.autoResumeSng or ret.enableGasInterceptor

    if candidate == CAR.HONDA_CITY_7G:
      ret.longitudinalStoppingSpeedOverride = 2.0
      ret.stoppingDecelRateOverride = 0.3
    else:
      ret.longitudinalStoppingSpeedOverride = 0.5
      ret.stoppingDecelRateOverride = 0.1

    return ret

  @staticmethod
  def init(CP, CP_IQ, can_recv, can_send, communication_control=None):
    if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
      if communication_control is None and CP.carFingerprint in HONDA_BOSCH_CANFD:
        # CAN FD: only clear DTCs here; the radar silencing itself is deferred to CarController until
        # the comma relay is confirmed open. init() runs while the panda is still in the ELM327 safety
        # mode, and silencing the radar from here raced the safety-mode switch: whenever the switch
        # took longer than ~110 ms after radar silence, the brake module latched CRUISE_FAULT for the
        # entire drive.
        #
        # The brake module's radar lost-communication DTC matures over trips (Honda two-trip
        # detection): once confirmed from a previous drive, the very next comm-loss detection faults
        # ~0.16 s after the radar goes silent. Broadcast-clear stored DTCs on the powertrain and
        # camera buses every drive to reset the maturation counter, and clear the radar's own stored
        # DTCs so codes accumulated while it was disabled don't re-fault a later drive. Clearing must
        # precede the radar silence because a DTC clear can take an ECU several hundred ms.
        # NOTE: ELM327 safety mode allows the 29-bit functional diagnostic address on every bus, so
        # the broadcast needs no TX allowlist entry in the car safety mode
        clear_all_dtcs(can_send, [CanBus(CP).pt, CanBus(CP).camera])
        clear_ecu_dtcs(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1)
      else:
        # 0x80 silences response
        if communication_control is None:
          communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
                                         uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
        disable_ecu(can_recv, can_send, bus=CanBus(CP).pt, addr=0x18DAB0F1, com_cont_req=communication_control)

  @staticmethod
  def deinit(CP, can_recv, can_send):
    communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.ENABLE_RX_ENABLE_TX,
                                   uds.MESSAGE_TYPE.NORMAL_AND_NETWORK_MANAGEMENT])
    CarInterface.init(CP, None, can_recv, can_send, communication_control)