# """

# CAR CONFIG

# This file is read by your car application's manage.py script to change the car

# performance.

# EXMAPLE

# -----------

# import dk

# cfg = dk.load_config(config_path='~/mycar/config.py')

# print(cfg.CAMERA_RESOLUTION)

# """

# import os

# #PATHS

# CAR_PATH = PACKAGE_PATH = os.path.dirname(os.path.realpath(__file__))

# DATA_PATH = os.path.join(CAR_PATH, 'data')

# MODELS_PATH = os.path.join(CAR_PATH, 'models')

# #VEHICLE

# DRIVE_LOOP_HZ = 20 # the vehicle loop will pause if faster than this speed.

# MAX_LOOPS = None # the vehicle loop can abort after this many iterations, when given a positive integer.

# #CAMERA

# CAMERA_TYPE = "CSIC" # (PICAM|WEBCAM|CVCAM|CSIC|V4L|D435|MOCK|IMAGE_LIST), We use CSIC in this competition.

# IMAGE_W = 224

# IMAGE_H = 224

# IMAGE_DEPTH = 3 # default RGB=3, make 1 for mono

# CAMERA_FRAMERATE = DRIVE_LOOP_HZ

# # Region of interst cropping

ROI_CROP_TOP = 35 #the number of rows of pixels to ignore on the top of the image

ROI_CROP_BOTTOM = 10 #the number of rows of pixels to ignore on the bottom of the image

# #9865, over rides only if needed, ie. TX2..

# PCA9685_I2C_ADDR = 0x40 #I2C address, use i2cdetect to validate this number

# PCA9685_I2C_BUSNUM = 1 #None will auto detect, which is fine on the pi. But other platforms should specify the bus num.

# #STEERING

# STEERING_CHANNEL = 0 #channel on the 9685 pwm board 0-15

STEERING_LEFT_PWM = 460 #pwm value for full left steering

STEERING_RIGHT_PWM = 290 #pwm value for full right steering

#THROTTLE

# THROTTLE_CHANNEL = 1 #channel on the 9685 pwm board 0-15

# THROTTLE_FORWARD_PWM = 420 #pwm value for max forward throttle, default: 420

# THROTTLE_STOPPED_PWM = 370 #pwm value for no movement, default: 370

# THROTTLE_REVERSE_PWM = 330 #pwm value for max reverse throttle, default: 330

# #STEERING FOR PIGPIO_PWM

# STEERING_PWM_PIN = 13 #Pin numbering according to Broadcom numbers

# STEERING_PWM_FREQ = 50 #Frequency for PWM

# STEERING_PWM_INVERTED = False #If PWM needs to be inverted

# #THROTTLE FOR PIGPIO_PWM

# THROTTLE_PWM_PIN = 18 #Pin numbering according to Broadcom numbers

# THROTTLE_PWM_FREQ = 50 #Frequency for PWM

# THROTTLE_PWM_INVERTED = False #If PWM needs to be inverted

# #TRAINING

# #The DEFAULT_MODEL_TYPE will choose which model will be created at training time. This chooses

# #between different neural network designs. You can override this setting by passing the command

# #line parameter --type to the python manage.py train and drive commands.

# DEFAULT_MODEL_TYPE = 'linear' #(linear|rnn|resnet18)

# BATCH_SIZE = 128 #how many records to use when doing one pass of gradient decent. Use a smaller number if your gpu is running out of memory.

# TRAIN_TEST_SPLIT = 0.8 #what percent of records to use for training. the remaining used for validation.

# MAX_EPOCHS = 100 #how many times to visit all records of your data

# EARLY_STOP_PATIENCE = 5 #how many epochs to wait before no improvement

# MIN_DELTA = .0005 #early stop will want this much loss change before calling it improved.

# PRINT_MODEL_SUMMARY = True #print layers and weights to stdout

# LEARNING_RATE = 0.0001 #only used when OPTIMIZER specified

# NUM_WORKERS = 8 # Setting the argument num_workers as a positive integer will turn on multi-process data loading with the specified number of loader worker processes.

# COLOR_JITTER_TRANSFORMS = True #weather to add color noise (brightness, contrast, ...) during training.

# #WEB CONTROL

# WEB_CONTROL_PORT = 8887 # which port to listen on when making a web controller

# WEB_INIT_MODE = "user" # which control mode to start in. one of user|local_angle|local. Setting local will start in ai mode.

# #JOYSTICK

# USE_JOYSTICK_AS_DEFAULT = False #when starting the manage.py, when True, will not require a --js option to use the joystick

JOYSTICK_MAX_THROTTLE = 0.4 # [0,1], this scalar is multiplied with the throttle value (-1 to 1) to limit the maximum throttle. This can help if you drop the controller or just don't need the full speed available.

# JOYSTICK_STEERING_SCALE = 1.0 #some people want a steering that is less sensitve. This scalar is multiplied with the steering -1 to 1. It can be negative to reverse dir.

# AUTO_RECORD_ON_THROTTLE = True #if true, we will record whenever throttle is not zero. if false, you must manually toggle recording with some other trigger. Usually circle button on joystick.

# JOYSTICK_DEADZONE = 0.0 # when non zero, this is the smallest throttle before recording triggered.

# JOYSTICK_THROTTLE_DIR = -1.0 # use -1.0 to flip forward/backward, use 1.0 to use joystick's natural forward/backward

# USE_FPV = False # send camera data to FPV webserver

# JOYSTICK_DEVICE_FILE = "/dev/input/js0" # this is the unix file use to access the joystick.

GENTLE_THROTTLE = 0.4

RAGE_THROTTLE = 0.7

# PER_THROTTLE_STEP = 0.05

# #RNN or 3D

# SEQUENCE_LENGTH = 3 #some models use a number of images over time. This controls how many.

# #RECORD OPTIONS

# RECORD_DURING_AI = False #normally we do not record during ai mode. Set this to true to get image and steering records for your Ai. Be careful not to use them to train.

# #Scale the output of the throttle of the ai pilot for all model types.

# AI_THROTTLE_MULT = 1.0 # this multiplier will scale every throttle value for all output from NN models

# AI_MAX_THROTTLE = 0.75 # the throttle upper bound during AI mode, in case the model outputs a too large values leading the car to drive too fast and become unstable.

# AI_MIN_THROTTLE = 0.1 # the throttle lower bound during AI mode, in case the model outputs a too small values leading the car to stop

# # Whether or not add extra control noise during user mode

# # IF set to TRUE, random action noise (on steering angle and throttle) will be added during your tele-operation.

# # This can help you to collect more data that the car recovers from off-center and off-orientation mistakes, and then your trained agent will be more "intelligent"

# CONTROL_NOISE = True

# THROTTLE_NOISE = 0.05 # should be > 0, then the range of throttle noise will be in [-THROTTLE_NOISE, THROTTLE_NOISE] (uniform random sampler), larger value leads to more difficult data collection

# ANGLE_NOISE = 0.25 # should be > 0, then the range of steering noise will be in [-ANGLE_NOISE, ANGLE_NOISE] (uniform random sampler), larger value leads to more difficult data collection