#!/usr/bin/env python3
"""
Scripts to drive a donkey 2 car

Usage:
    manage.py (drive) [--model=<model>] [--js] [--type=(linear|categorical)] [--camera=(single|stereo)] [--meta=<key:value> ...] [--myconfig=<filename>]
    manage.py (train) [--tubs=tubs] (--model=<model>) [--type=(linear|inferred|tensorrt_linear|tflite_linear)]

Options:
    -h --help               Show this screen.
    --js                    Use physical joystick.
    -f --file=<file>        A text file containing paths to tub files, one per line. Option may be used more than once.
    --meta=<key:value>      Key/Value strings describing describing a piece of meta data about this drive. Option may be used more than once.
    --myconfig=filename     Specify myconfig file to use. 
                            [default: myconfig.py]
"""
import os
import time
import logging
from docopt import docopt


import donkeycar as dk
from donkeycar.parts.transform import TriggeredCallback, DelayedTrigger
from donkeycar.parts.tub_v2 import TubWriter
from donkeycar.parts.datastore import TubHandler
from donkeycar.parts.controller import LocalWebController, WebFpv, JoystickController
from donkeycar.parts.throttle_filter import ThrottleFilter
from donkeycar.parts.behavior import BehaviorPart
from donkeycar.parts.file_watcher import FileWatcher
from donkeycar.parts.launch import AiLaunch
from donkeycar.pipeline.augmentations import ImageAugmentation
from donkeycar.utils import *

logger = logging.getLogger(__name__)
logging.basicConfig(level=logging.INFO)


def drive(cfg, model_path=None, use_joystick=False, model_type=None,
          camera_type='single', meta=[]):
    """
    Construct a working robotic vehicle from many parts. Each part runs as a
    job in the Vehicle loop, calling either it's run or run_threaded method
    depending on the constructor flag `threaded`. All parts are updated one
    after another at the framerate given in cfg.DRIVE_LOOP_HZ assuming each
    part finishes processing in a timely manner. Parts may have named outputs
    and inputs. The framework handles passing named outputs to parts
    requesting the same named input.
    """
    logger.info(f'PID: {os.getpid()}')
    if cfg.DONKEY_GYM:
        #the simulator will use cuda and then we usually run out of resources
        #if we also try to use cuda. so disable for donkey_gym.
        #os.environ["CUDA_VISIBLE_DEVICES"]="-1"
        pass

    if model_type is None:
        if cfg.TRAIN_LOCALIZER:
            model_type = "localizer"
        elif cfg.TRAIN_BEHAVIORS:
            model_type = "behavior"
        else:
            model_type = cfg.DEFAULT_MODEL_TYPE

    #Initialize car
    V = dk.vehicle.Vehicle()

    #Initialize logging before anything else to allow console logging
    if cfg.HAVE_CONSOLE_LOGGING:
        logger.setLevel(logging.getLevelName(cfg.LOGGING_LEVEL))
        ch = logging.StreamHandler()
        ch.setFormatter(logging.Formatter(cfg.LOGGING_FORMAT))
        logger.addHandler(ch)

    if cfg.HAVE_MQTT_TELEMETRY:
        from donkeycar.parts.telemetry import MqttTelemetry
        tel = MqttTelemetry(cfg)
        
    if cfg.HAVE_ODOM:
        if cfg.ENCODER_TYPE == "GPIO":
            from donkeycar.parts.encoder import RotaryEncoder
            enc = RotaryEncoder(mm_per_tick=0.306096, pin = cfg.ODOM_PIN, debug = cfg.ODOM_DEBUG)
            V.add(enc, inputs=['throttle'], outputs=['enc/speed'], threaded=True)
        elif cfg.ENCODER_TYPE == "arduino":
            from donkeycar.parts.encoder import ArduinoEncoder
            enc = ArduinoEncoder()
            V.add(enc, outputs=['enc/speed'], threaded=True)
        else:
            print("No supported encoder found")

    logger.info("cfg.CAMERA_TYPE %s"%cfg.CAMERA_TYPE)
    if camera_type == "stereo":

        if cfg.CAMERA_TYPE == "WEBCAM":
            from donkeycar.parts.camera import Webcam

            camA = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 0)
            camB = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 1)

        elif cfg.CAMERA_TYPE == "CVCAM":
            from donkeycar.parts.cv import CvCam

            camA = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 0)
            camB = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, iCam = 1)
        else:
            raise(Exception("Unsupported camera type: %s" % cfg.CAMERA_TYPE))

        V.add(camA, outputs=['cam/image_array_a'], threaded=True)
        V.add(camB, outputs=['cam/image_array_b'], threaded=True)

        from donkeycar.parts.image import StereoPair

        V.add(StereoPair(), inputs=['cam/image_array_a', 'cam/image_array_b'],
            outputs=['cam/image_array'])
    elif cfg.CAMERA_TYPE == "D435":
        from donkeycar.parts.realsense435i import RealSense435i
        cam = RealSense435i(
            enable_rgb=cfg.REALSENSE_D435_RGB,
            enable_depth=cfg.REALSENSE_D435_DEPTH,
            enable_imu=cfg.REALSENSE_D435_IMU,
            device_id=cfg.REALSENSE_D435_ID)
        V.add(cam, inputs=[],
              outputs=['cam/image_array', 'cam/depth_array',
                       'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
                       'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'],
              threaded=True)

    else:
        if cfg.DONKEY_GYM:
            from donkeycar.parts.dgym import DonkeyGymEnv

        inputs = []
        outputs = ['cam/image_array']
        threaded = True
        if cfg.DONKEY_GYM:
            from donkeycar.parts.dgym import DonkeyGymEnv 
            #rbx
            cam = DonkeyGymEnv(cfg.DONKEY_SIM_PATH, host=cfg.SIM_HOST, env_name=cfg.DONKEY_GYM_ENV_NAME, conf=cfg.GYM_CONF, record_location=cfg.SIM_RECORD_LOCATION, record_gyroaccel=cfg.SIM_RECORD_GYROACCEL, record_velocity=cfg.SIM_RECORD_VELOCITY, record_lidar=cfg.SIM_RECORD_LIDAR, delay=cfg.SIM_ARTIFICIAL_LATENCY)
            threaded = True
            inputs = ['angle', 'throttle']
        elif cfg.CAMERA_TYPE == "PICAM":
            from donkeycar.parts.camera import PiCamera
            cam = PiCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE, vflip=cfg.CAMERA_VFLIP, hflip=cfg.CAMERA_HFLIP)
        elif cfg.CAMERA_TYPE == "WEBCAM":
            from donkeycar.parts.camera import Webcam
            cam = Webcam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
        elif cfg.CAMERA_TYPE == "CVCAM":
            from donkeycar.parts.cv import CvCam
            cam = CvCam(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
        elif cfg.CAMERA_TYPE == "CSIC":
            from donkeycar.parts.camera import CSICamera
            cam = CSICamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE, gstreamer_flip=cfg.CSIC_CAM_GSTREAMER_FLIP_PARM)
        elif cfg.CAMERA_TYPE == "V4L":
            from donkeycar.parts.camera import V4LCamera
            cam = V4LCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH, framerate=cfg.CAMERA_FRAMERATE)
        elif cfg.CAMERA_TYPE == "MOCK":
            from donkeycar.parts.camera import MockCamera
            cam = MockCamera(image_w=cfg.IMAGE_W, image_h=cfg.IMAGE_H, image_d=cfg.IMAGE_DEPTH)
        elif cfg.CAMERA_TYPE == "IMAGE_LIST":
            from donkeycar.parts.camera import ImageListCamera
            cam = ImageListCamera(path_mask=cfg.PATH_MASK)
        elif cfg.CAMERA_TYPE == "LEOPARD":
            from donkeycar.parts.leopard_imaging import LICamera
            cam = LICamera(width=cfg.IMAGE_W, height=cfg.IMAGE_H, fps=cfg.CAMERA_FRAMERATE)
        else:
            raise(Exception("Unkown camera type: %s" % cfg.CAMERA_TYPE))

        
        # Donkey gym part will output position information if it is configured
        if cfg.DONKEY_GYM:
            if cfg.SIM_RECORD_LOCATION:
                outputs += ['pos/pos_x', 'pos/pos_y', 'pos/pos_z', 'pos/speed', 'pos/cte']
            if cfg.SIM_RECORD_GYROACCEL:
                outputs += ['gyro/gyro_x', 'gyro/gyro_y', 'gyro/gyro_z', 'accel/accel_x', 'accel/accel_y', 'accel/accel_z']
            if cfg.SIM_RECORD_VELOCITY:
                outputs += ['vel/vel_x', 'vel/vel_y', 'vel/vel_z']
            if cfg.SIM_RECORD_LIDAR:
                outputs += ['lidar/dist_array']
            
        V.add(cam, inputs=inputs, outputs=outputs, threaded=threaded)

    # add lidar
    if cfg.USE_LIDAR:
        from donkeycar.parts.lidar import RPLidar
        if cfg.LIDAR_TYPE == 'RP':
            print("adding RP lidar part")
            lidar = RPLidar(lower_limit = cfg.LIDAR_LOWER_LIMIT, upper_limit = cfg.LIDAR_UPPER_LIMIT)
            V.add(lidar, inputs=[],outputs=['lidar/dist_array'], threaded=True)
        if cfg.LIDAR_TYPE == 'YD':
            print("YD Lidar not yet supported")
    
#This web controller will create a web server that is capable
    #of managing steering, throttle, and modes, and more.
    ctr = LocalWebController(port=cfg.WEB_CONTROL_PORT, mode=cfg.WEB_INIT_MODE)
    
    V.add(ctr,
        inputs=['cam/image_array', 'tub/num_records'],
        outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],
        threaded=True)
        
    if use_joystick or cfg.USE_JOYSTICK_AS_DEFAULT:
        #modify max_throttle closer to 1.0 to have more power
        #modify steering_scale lower than 1.0 to have less responsive steering
        if cfg.CONTROLLER_TYPE == "pigpio_rc":    # an RC controllers read by GPIO pins. They typically don't have buttons
            from donkeycar.parts.controller import RCReceiver
            ctr = RCReceiver(cfg)
            V.add(ctr, outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],threaded=False)
        else:
            if cfg.CONTROLLER_TYPE == "custom":  #custom controller created with `donkey createjs` command
                from my_joystick import MyJoystickController
                ctr = MyJoystickController(
                throttle_dir=cfg.JOYSTICK_THROTTLE_DIR,
                throttle_scale=cfg.JOYSTICK_MAX_THROTTLE,
                steering_scale=cfg.JOYSTICK_STEERING_SCALE,
                auto_record_on_throttle=cfg.AUTO_RECORD_ON_THROTTLE)
                ctr.set_deadzone(cfg.JOYSTICK_DEADZONE)          
            elif cfg.CONTROLLER_TYPE == "MM1":
                from donkeycar.parts.robohat import RoboHATController            
                ctr = RoboHATController(cfg)
            else:
                from donkeycar.parts.controller import get_js_controller
                ctr = get_js_controller(cfg)
                if cfg.USE_NETWORKED_JS:
                    from donkeycar.parts.controller import JoyStickSub
                    netwkJs = JoyStickSub(cfg.NETWORK_JS_SERVER_IP)
                    V.add(netwkJs, threaded=True)
                    ctr.js = netwkJs
            V.add(ctr, inputs=['cam/image_array'], outputs=['user/angle', 'user/throttle', 'user/mode', 'recording'],threaded=True)
        

    #this throttle filter will allow one tap back for esc reverse
    th_filter = ThrottleFilter()
    V.add(th_filter, inputs=['user/throttle'], outputs=['user/throttle'])

    #See if we should even run the pilot module.
    #This is only needed because the part run_condition only accepts boolean
    class PilotCondition:
        def run(self, mode):
            if mode == 'user':
                return False
            else:
                return True

    V.add(PilotCondition(), inputs=['user/mode'], outputs=['run_pilot'])

    class LedConditionLogic:
        def __init__(self, cfg):
            self.cfg = cfg

        def run(self, mode, recording, recording_alert, behavior_state, model_file_changed, track_loc):
            #returns a blink rate. 0 for off. -1 for on. positive for rate.

            if track_loc is not None:
                led.set_rgb(*self.cfg.LOC_COLORS[track_loc])
                return -1

            if model_file_changed:
                led.set_rgb(self.cfg.MODEL_RELOADED_LED_R, self.cfg.MODEL_RELOADED_LED_G, self.cfg.MODEL_RELOADED_LED_B)
                return 0.1
            else:
                led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)

            if recording_alert:
                led.set_rgb(*recording_alert)
                return self.cfg.REC_COUNT_ALERT_BLINK_RATE
            else:
                led.set_rgb(self.cfg.LED_R, self.cfg.LED_G, self.cfg.LED_B)

            if behavior_state is not None and model_type == 'behavior':
                r, g, b = self.cfg.BEHAVIOR_LED_COLORS[behavior_state]
                led.set_rgb(r, g, b)
                return -1 #solid on

            if recording:
                return -1 #solid on
            elif mode == 'user':
                return 1
            elif mode == 'local_angle':
                return 0.5
            elif mode == 'local':
                return 0.1
            return 0

    if cfg.HAVE_RGB_LED and not cfg.DONKEY_GYM:
        from donkeycar.parts.led_status import RGB_LED
        led = RGB_LED(cfg.LED_PIN_R, cfg.LED_PIN_G, cfg.LED_PIN_B, cfg.LED_INVERT)
        led.set_rgb(cfg.LED_R, cfg.LED_G, cfg.LED_B)

        V.add(LedConditionLogic(cfg), inputs=['user/mode', 'recording', "records/alert", 'behavior/state', 'modelfile/modified', "pilot/loc"],
              outputs=['led/blink_rate'])

        V.add(led, inputs=['led/blink_rate'])

    def get_record_alert_color(num_records):
        col = (0, 0, 0)
        for count, color in cfg.RECORD_ALERT_COLOR_ARR:
            if num_records >= count:
                col = color
        return col

    class RecordTracker:
        def __init__(self):
            self.last_num_rec_print = 0
            self.dur_alert = 0
            self.force_alert = 0

        def run(self, num_records):
            if num_records is None:
                return 0

            if self.last_num_rec_print != num_records or self.force_alert:
                self.last_num_rec_print = num_records

                if num_records % 10 == 0:
                    print("recorded", num_records, "records")

                if num_records % cfg.REC_COUNT_ALERT == 0 or self.force_alert:
                    self.dur_alert = num_records // cfg.REC_COUNT_ALERT * cfg.REC_COUNT_ALERT_CYC
                    self.force_alert = 0

            if self.dur_alert > 0:
                self.dur_alert -= 1

            if self.dur_alert != 0:
                return get_record_alert_color(num_records)

            return 0

    rec_tracker_part = RecordTracker()
    V.add(rec_tracker_part, inputs=["tub/num_records"], outputs=['records/alert'])

    if cfg.AUTO_RECORD_ON_THROTTLE:
        def show_record_count_status():
            rec_tracker_part.last_num_rec_print = 0
            rec_tracker_part.force_alert = 1
        if (cfg.CONTROLLER_TYPE != "pigpio_rc") and (cfg.CONTROLLER_TYPE != "MM1"):  # these controllers don't use the joystick class
            if isinstance(ctr, JoystickController):
                ctr.set_button_down_trigger('circle', show_record_count_status) #then we are not using the circle button. hijack that to force a record count indication
        else:
            
            show_record_count_status()

    #Sombrero
    if cfg.HAVE_SOMBRERO:
        from donkeycar.parts.sombrero import Sombrero
        s = Sombrero()

    #IMU
    if cfg.HAVE_IMU:
        from donkeycar.parts.imu import IMU
        imu = IMU(sensor=cfg.IMU_SENSOR, dlp_setting=cfg.IMU_DLP_CONFIG)
        V.add(imu, outputs=['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
            'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z'], threaded=True)

    # Use the FPV preview, which will show the cropped image output, or the full frame.
    if cfg.USE_FPV:
        V.add(WebFpv(), inputs=['cam/image_array'], threaded=True)

    #Behavioral state
    if cfg.TRAIN_BEHAVIORS:
        bh = BehaviorPart(cfg.BEHAVIOR_LIST)
        V.add(bh, outputs=['behavior/state', 'behavior/label', "behavior/one_hot_state_array"])
        try:
            ctr.set_button_down_trigger('L1', bh.increment_state)
        except:
            pass

        inputs = ['cam/image_array', "behavior/one_hot_state_array"]
    #IMU
    elif cfg.USE_LIDAR:
        inputs = ['cam/image_array', 'lidar/dist_array']

    elif cfg.HAVE_ODOM:
        inputs = ['cam/image_array', 'enc/speed']

    elif model_type == "imu":
        assert cfg.HAVE_IMU, 'Missing imu parameter in config'
        # Run the pilot if the mode is not user.
        inputs = ['cam/image_array',
                  'imu/acl_x', 'imu/acl_y', 'imu/acl_z',
                  'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z']

    else:
        inputs = ['cam/image_array']

    def load_model(kl, model_path):
        start = time.time()
        print('loading model', model_path)
        kl.load(model_path)
        print('finished loading in %s sec.' % (str(time.time() - start)) )

    def load_weights(kl, weights_path):
        start = time.time()
        try:
            print('loading model weights', weights_path)
            kl.model.load_weights(weights_path)
            print('finished loading in %s sec.' % (str(time.time() - start)) )
        except Exception as e:
            print(e)
            print('ERR>> problems loading weights', weights_path)

    def load_model_json(kl, json_fnm):
        start = time.time()
        print('loading model json', json_fnm)
        from tensorflow.python import keras
        try:
            with open(json_fnm, 'r') as handle:
                contents = handle.read()
                kl.model = keras.models.model_from_json(contents)
            print('finished loading json in %s sec.' % (str(time.time() - start)) )
        except Exception as e:
            print(e)
            print("ERR>> problems loading model json", json_fnm)

    if model_path:
        # When we have a model, first create an appropriate Keras part
        kl = dk.utils.get_model_by_type(model_type, cfg)

        model_reload_cb = None

        if '.h5' in model_path or '.trt' in model_path or '.tflite' in \
                model_path or '.savedmodel' in model_path:
            # load the whole model with weigths, etc
            load_model(kl, model_path)

            def reload_model(filename):
                load_model(kl, filename)

            model_reload_cb = reload_model

        elif '.json' in model_path:
            # when we have a .json extension
            # load the model from there and look for a matching
            # .wts file with just weights
            load_model_json(kl, model_path)
            weights_path = model_path.replace('.json', '.weights')
            load_weights(kl, weights_path)

            def reload_weights(filename):
                weights_path = filename.replace('.json', '.weights')
                load_weights(kl, weights_path)

            model_reload_cb = reload_weights

        else:
            print("ERR>> Unknown extension type on model file!!")
            return

        # this part will signal visual LED, if connected
        V.add(FileWatcher(model_path, verbose=True),
              outputs=['modelfile/modified'])

        # these parts will reload the model file, but only when ai is running
        # so we don't interrupt user driving
        V.add(FileWatcher(model_path), outputs=['modelfile/dirty'],
              run_condition="ai_running")
        V.add(DelayedTrigger(100), inputs=['modelfile/dirty'],
              outputs=['modelfile/reload'], run_condition="ai_running")
        V.add(TriggeredCallback(model_path, model_reload_cb),
              inputs=["modelfile/reload"], run_condition="ai_running")

        outputs = ['pilot/angle', 'pilot/throttle']

        if cfg.TRAIN_LOCALIZER:
            outputs.append("pilot/loc")
        # Add image transformations like crop or trapezoidal mask
        if hasattr(cfg, 'TRANSFORMATIONS') and cfg.TRANSFORMATIONS:
            V.add(ImageAugmentation(cfg, 'TRANSFORMATIONS'),
                  inputs=['cam/image_array'], outputs=['cam/image_array_trans'])
            inputs = ['cam/image_array_trans'] + inputs[1:]

        V.add(kl, inputs=inputs, outputs=outputs, run_condition='run_pilot')

    if cfg.STOP_SIGN_DETECTOR:
        from donkeycar.parts.object_detector.stop_sign_detector \
            import StopSignDetector
        V.add(StopSignDetector(cfg.STOP_SIGN_MIN_SCORE,
                               cfg.STOP_SIGN_SHOW_BOUNDING_BOX),
              inputs=['cam/image_array', 'pilot/throttle'],
              outputs=['pilot/throttle', 'cam/image_array'])

    # Choose what inputs should change the car.
    class DriveMode:
        drive_start = time.time()
        def run(self, mode,
                    user_angle, user_throttle,
                    pilot_angle, pilot_throttle):
            if mode == 'user':
                current_time = time.time()
                if current_time - self.drive_start >= 1.0:
                    print(f"user_angle: {user_angle}, user_throttle: {user_throttle}")
                    self.drive_start = current_time
                return user_angle, user_throttle

            elif mode == 'local_angle':
                return pilot_angle if pilot_angle else 0.0, user_throttle

            else:
                return pilot_angle if pilot_angle else 0.0, \
                       pilot_throttle * cfg.AI_THROTTLE_MULT \
                           if pilot_throttle else 0.0

    V.add(DriveMode(),
          inputs=['user/mode', 'user/angle', 'user/throttle',
                  'pilot/angle', 'pilot/throttle'],
          outputs=['angle', 'throttle'])


    #to give the car a boost when starting ai mode in a race.
    aiLauncher = AiLaunch(cfg.AI_LAUNCH_DURATION, cfg.AI_LAUNCH_THROTTLE, cfg.AI_LAUNCH_KEEP_ENABLED)

    V.add(aiLauncher,
          inputs=['user/mode', 'throttle'],
          outputs=['throttle'])

    if (cfg.CONTROLLER_TYPE != "pigpio_rc") and (cfg.CONTROLLER_TYPE != "MM1"):
        if isinstance(ctr, JoystickController):
            ctr.set_button_down_trigger(cfg.AI_LAUNCH_ENABLE_BUTTON, aiLauncher.enable_ai_launch)

    class AiRunCondition:
        '''
        A bool part to let us know when ai is running.
        '''
        def run(self, mode):
            if mode == "user":
                return False
            return True

    V.add(AiRunCondition(), inputs=['user/mode'], outputs=['ai_running'])

    # Ai Recording
    class AiRecordingCondition:
        '''
        return True when ai mode, otherwize respect user mode recording flag
        '''
        def run(self, mode, recording):
            if mode == 'user':
                return recording
            return True

    if cfg.RECORD_DURING_AI:
        V.add(AiRecordingCondition(), inputs=['user/mode', 'recording'], outputs=['recording'])

    # Drive train setup
    if cfg.DONKEY_GYM or cfg.DRIVE_TRAIN_TYPE == "MOCK":
        pass
    elif cfg.DRIVE_TRAIN_TYPE == "I2C_SERVO":
        from donkeycar.parts.actuator import PCA9685, PWMSteering, PWMThrottle

        steering_controller = PCA9685(cfg.STEERING_CHANNEL, cfg.PCA9685_I2C_ADDR, busnum=cfg.PCA9685_I2C_BUSNUM)
        steering = PWMSteering(controller=steering_controller,
                                        left_pulse=cfg.STEERING_LEFT_PWM,
                                        steering_zero_pulse=cfg.STEERING_STOPPED_PWM,
                                        right_pulse=cfg.STEERING_RIGHT_PWM)

        throttle_controller = PCA9685(cfg.THROTTLE_CHANNEL, cfg.PCA9685_I2C_ADDR, busnum=cfg.PCA9685_I2C_BUSNUM)
        throttle = PWMThrottle(controller=throttle_controller,
                                        max_pulse=cfg.THROTTLE_FORWARD_PWM,
                                        throttle_zero_pulse=cfg.THROTTLE_STOPPED_PWM,
                                        min_pulse=cfg.THROTTLE_REVERSE_PWM)

        V.add(steering, inputs=['angle'], threaded=False)
        V.add(throttle, inputs=['throttle'], threaded=False)

    elif cfg.DRIVE_TRAIN_TYPE == "DC_STEER_THROTTLE":
        from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM

        steering = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT, cfg.HBRIDGE_PIN_RIGHT)
        throttle = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD, cfg.HBRIDGE_PIN_BWD)

        V.add(steering, inputs=['angle'])
        V.add(throttle, inputs=['throttle'])

    elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL":
        from donkeycar.parts.actuator import TwoWheelSteeringThrottle, Mini_HBridge_DC_Motor_PWM

        left_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_LEFT_FWD, cfg.HBRIDGE_PIN_LEFT_BWD)
        right_motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_RIGHT_FWD, cfg.HBRIDGE_PIN_RIGHT_BWD)
        two_wheel_control = TwoWheelSteeringThrottle()

        V.add(two_wheel_control,
                inputs=['throttle', 'angle'],
                outputs=['left_motor_speed', 'right_motor_speed'])

        V.add(left_motor, inputs=['left_motor_speed'])
        V.add(right_motor, inputs=['right_motor_speed'])

    elif cfg.DRIVE_TRAIN_TYPE == "DC_TWO_WHEEL_L298N":
        from donkeycar.parts.actuator import TwoWheelSteeringThrottle, L298N_HBridge_DC_Motor

        left_motor = L298N_HBridge_DC_Motor(cfg.HBRIDGE_L298N_PIN_LEFT_FWD, cfg.HBRIDGE_L298N_PIN_LEFT_BWD, cfg.HBRIDGE_L298N_PIN_LEFT_EN)
        right_motor = L298N_HBridge_DC_Motor(cfg.HBRIDGE_L298N_PIN_RIGHT_FWD, cfg.HBRIDGE_L298N_PIN_RIGHT_BWD, cfg.HBRIDGE_L298N_PIN_RIGHT_EN)
        two_wheel_control = TwoWheelSteeringThrottle()

        V.add(two_wheel_control,
                inputs=['throttle', 'angle'],
                outputs=['left_motor_speed', 'right_motor_speed'])

        V.add(left_motor, inputs=['left_motor_speed'])
        V.add(right_motor, inputs=['right_motor_speed'])

    elif cfg.DRIVE_TRAIN_TYPE == "SERVO_HBRIDGE_PWM":
        from donkeycar.parts.actuator import ServoBlaster, PWMSteering
        steering_controller = ServoBlaster(cfg.STEERING_CHANNEL) #really pin
        # PWM pulse values should be in the range of 100 to 200
        assert(cfg.STEERING_LEFT_PWM <= 200)
        assert(cfg.STEERING_RIGHT_PWM <= 200)
        steering = PWMSteering(controller=steering_controller,
                               left_pulse=cfg.STEERING_LEFT_PWM,
                               right_pulse=cfg.STEERING_RIGHT_PWM)

        from donkeycar.parts.actuator import Mini_HBridge_DC_Motor_PWM
        motor = Mini_HBridge_DC_Motor_PWM(cfg.HBRIDGE_PIN_FWD, cfg.HBRIDGE_PIN_BWD)

        V.add(steering, inputs=['angle'], threaded=True)
        V.add(motor, inputs=["throttle"])
        
    elif cfg.DRIVE_TRAIN_TYPE == "MM1":
        from donkeycar.parts.robohat import RoboHATDriver
        V.add(RoboHATDriver(cfg), inputs=['angle', 'throttle'])
    
    elif cfg.DRIVE_TRAIN_TYPE == "PIGPIO_PWM":
        from donkeycar.parts.actuator import PWMSteering, PWMThrottle, PiGPIO_PWM
        steering_controller = PiGPIO_PWM(cfg.STEERING_PWM_PIN, freq=cfg.STEERING_PWM_FREQ, inverted=cfg.STEERING_PWM_INVERTED)
        steering = PWMSteering(controller=steering_controller,
                                        left_pulse=cfg.STEERING_LEFT_PWM, 
                                        steering_zero_pulse=cfg.STEERING_STOPPED_PWM,
                                        right_pulse=cfg.STEERING_RIGHT_PWM)
        
        throttle_controller = PiGPIO_PWM(cfg.THROTTLE_PWM_PIN, freq=cfg.THROTTLE_PWM_FREQ, inverted=cfg.THROTTLE_PWM_INVERTED)
        throttle = PWMThrottle(controller=throttle_controller,
                                            max_pulse=cfg.THROTTLE_FORWARD_PWM,
                                            throttle_zero_pulse=cfg.THROTTLE_STOPPED_PWM, 
                                            min_pulse=cfg.THROTTLE_REVERSE_PWM)
        V.add(steering, inputs=['angle'], threaded=True)
        V.add(throttle, inputs=['throttle'], threaded=True)

    # OLED setup
    if cfg.USE_SSD1306_128_32:
        from donkeycar.parts.oled import OLEDPart
        auto_record_on_throttle = cfg.USE_JOYSTICK_AS_DEFAULT and cfg.AUTO_RECORD_ON_THROTTLE
        oled_part = OLEDPart(cfg.SSD1306_128_32_I2C_ROTATION, cfg.SSD1306_RESOLUTION, auto_record_on_throttle)
        V.add(oled_part, inputs=['recording', 'tub/num_records', 'user/mode'], outputs=[], threaded=True)

    # add tub to save data

    inputs = ['cam/image_array', 'user/angle', 'user/throttle', 'user/mode',]
    types = ['image_array', 'float', 'float', 'str']
 
    if cfg.USE_LIDAR:
        inputs += ['lidar/dist_array']
        types += ['nparray']

    if cfg.HAVE_ODOM:
        inputs += ['enc/speed']
        types += ['float']

    if cfg.TRAIN_BEHAVIORS:
        inputs += ['behavior/state', 'behavior/label', "behavior/one_hot_state_array"]
        types += ['int', 'str', 'vector']

    if cfg.CAMERA_TYPE == "D435" and cfg.REALSENSE_D435_DEPTH:
        inputs += ['cam/depth_array']
        types += ['gray16_array']

    if cfg.HAVE_IMU or (cfg.CAMERA_TYPE == "D435" and cfg.REALSENSE_D435_IMU):
        inputs += ['imu/acl_x', 'imu/acl_y', 'imu/acl_z',
            'imu/gyr_x', 'imu/gyr_y', 'imu/gyr_z']

        types +=['float', 'float', 'float',
           'float', 'float', 'float']

    # rbx
    if cfg.DONKEY_GYM:
        if cfg.SIM_RECORD_LOCATION:  
            inputs += ['pos/pos_x', 'pos/pos_y', 'pos/pos_z', 'pos/speed', 'pos/cte']
            types  += ['float', 'float', 'float', 'float', 'float']
        if cfg.SIM_RECORD_GYROACCEL: 
            inputs += ['gyro/gyro_x', 'gyro/gyro_y', 'gyro/gyro_z', 'accel/accel_x', 'accel/accel_y', 'accel/accel_z']
            types  += ['float', 'float', 'float', 'float', 'float', 'float']
        if cfg.SIM_RECORD_VELOCITY:  
            inputs += ['vel/vel_x', 'vel/vel_y', 'vel/vel_z']
            types  += ['float', 'float', 'float']
        if cfg.SIM_RECORD_LIDAR:
            inputs += ['lidar/dist_array']
            types  += ['nparray']

    if cfg.RECORD_DURING_AI:
        inputs += ['pilot/angle', 'pilot/throttle']
        types += ['float', 'float']

    if cfg.HAVE_PERFMON:
        from donkeycar.parts.perfmon import PerfMonitor
        mon = PerfMonitor(cfg)
        perfmon_outputs = ['perf/cpu', 'perf/mem', 'perf/freq']
        inputs += perfmon_outputs
        types += ['float', 'float', 'float']
        V.add(mon, inputs=[], outputs=perfmon_outputs, threaded=True)

    # do we want to store new records into own dir or append to existing
    tub_path = TubHandler(path=cfg.DATA_PATH).create_tub_path() if \
        cfg.AUTO_CREATE_NEW_TUB else cfg.DATA_PATH
    tub_writer = TubWriter(tub_path, inputs=inputs, types=types, metadata=meta)
    V.add(tub_writer, inputs=inputs, outputs=["tub/num_records"], run_condition='recording')

    # Telemetry (we add the same metrics added to the TubHandler
    if cfg.HAVE_MQTT_TELEMETRY:
        telem_inputs, _ = tel.add_step_inputs(inputs, types)
        V.add(tel, inputs=telem_inputs, outputs=["tub/queue_size"], threaded=True)

    if cfg.PUB_CAMERA_IMAGES:
        from donkeycar.parts.network import TCPServeValue
        from donkeycar.parts.image import ImgArrToJpg
        pub = TCPServeValue("camera")
        V.add(ImgArrToJpg(), inputs=['cam/image_array'], outputs=['jpg/bin'])
        V.add(pub, inputs=['jpg/bin'])

    if type(ctr) is LocalWebController:
        if cfg.DONKEY_GYM:
            print("You can now go to http://localhost:%d to drive your car." % cfg.WEB_CONTROL_PORT)
        else:
            print("You can now go to <your hostname.local>:%d to drive your car." % cfg.WEB_CONTROL_PORT)        
    elif (cfg.CONTROLLER_TYPE != "pigpio_rc") and (cfg.CONTROLLER_TYPE != "MM1"):
        if isinstance(ctr, JoystickController):
            print("You can now move your joystick to drive your car.")
            ctr.set_tub(tub_writer.tub)
            ctr.print_controls()

    # run the vehicle
    V.start(rate_hz=cfg.DRIVE_LOOP_HZ, max_loop_count=cfg.MAX_LOOPS)


if __name__ == '__main__':
    args = docopt(__doc__)
    cfg = dk.load_config(myconfig=args['--myconfig'])

    if args['drive']:
        model_type = args['--type']
        camera_type = args['--camera']
        drive(cfg, model_path=args['--model'], use_joystick=args['--js'],
              model_type=model_type, camera_type=camera_type,
              meta=args['--meta'])
    elif args['train']:
        print('Use python train.py instead.\n')

tensorflow.python.keras.models.model_from_json