text: from ROAR_Jetson.jetson_runner import JetsonRunner
  from ROAR.utilities_module.vehicle_models import Vehicle
  from ROAR_Jetson.configurations.configuration import Configuration as JetsonConfig
  from ROAR.configurations.configuration import Configuration as AgentConfig
  # from ROAR.agent_module.floodfill_based_lane_follower import FloodfillBasedLaneFollower
  # from ROAR.agent_module.michael_pid_agent import PIDAgent
  # from ROAR.agent_module.jetson_pure_pursuit_agent import PurePursuitAgent
  # from ROAR.agent_module.special_agents.waypoint_generating_agent import WaypointGeneratigAgent
  # from ROAR.agent_module.forward_only_agent import ForwardOnlyAgent
  # from ROAR.agent_module.lane_detection_agent import LaneDetectionAgent
  # from ROAR.agent_module.occupancy_map_agent import OccupancyMapAgent
  # from ROAR.agent_module.special_agents.recording_agent import RecordingAgent
  from ROAR.agent_module.michael_pid_agent import PIDAgent
  from pathlib import Path
  import logging
  import warnings
  import numpy as np
  import os
  import json
  import sys
  import serial
  import argparse
  
  
  def main(auto=False):
      try:
          agent_config = AgentConfig.parse_file(Path("./ROAR_Jetson/configurations/agent_configuration.json"))
          jetson_config = JetsonConfig.parse_file(Path("./ROAR_Jetson/configurations/configuration.json"))
  
          try:
              prepare(jetson_config=jetson_config)
          except Exception as e:
              logging.error(f"Ignoring Error during setup: {e}")
          agent = PIDAgent(vehicle=Vehicle(), agent_settings=agent_config, should_init_default_cam=False)
          jetson_runner = JetsonRunner(agent=agent, jetson_config=jetson_config)
          jetson_runner.start_game_loop(use_manual_control=not auto)
      except Exception as e:
          print(f"Something bad happened {e}")
  
  
  def prepare(jetson_config: JetsonConfig):
      if 'win' in sys.platform:
          # windows, just detect whether arduino exist on COM4
          s = serial.Serial(jetson_config.win_serial_port)
          status = s.isOpen()
      else:
          # assume that this is going to be a unix based system
          status = allow_dev_access(read_password(Path(jetson_config.jetson_sudo_password_file_path)))
      assert status is True, "Port not successfully opened"
  
  
  def read_password(jetson_sudo_setup_f_path: Path):
      d = json.load(fp=jetson_sudo_setup_f_path.open("r"))
      return d["sudo_password"]
  
  
  def allow_dev_access(pwd):
      command = 'chmod 777 /dev/ttyACM0'
      p = os.system(f'echo {pwd}|sudo -S {command}')
      return True if p == 0 else False
  
  
  def str2bool(v):
      if isinstance(v, bool):
          return v
      if v.lower() in ('yes', 'true', 't', 'y', '1'):
          return True
      elif v.lower() in ('no', 'false', 'f', 'n', '0'):
          return False
      else:
          raise argparse.ArgumentTypeError('Boolean value expected.')
  
  
  if __name__ == "__main__":
      parser = argparse.ArgumentParser()
      parser.add_argument("--debug", default=False, help="debug flag", type=str2bool)
      parser.add_argument("--auto", default=False, help="enable or disable auto drive", type=str2bool)
      args = parser.parse_args()
      logging.basicConfig(format='%(asctime)s - %(name)s - %(levelname)s - %(message)s',
                          datefmt="%H:%M:%S", level=logging.DEBUG if args.debug is True else logging.INFO)
      logging.getLogger("Vive Tracker Client [tracker_1]").setLevel(logging.WARNING)
      logging.getLogger("matplotlib").setLevel(logging.WARNING)
      warnings.simplefilter("ignore")
      np.set_printoptions(suppress=True)
      main(args.auto)
  