"""
Default action space from re:Invent (6 actions).
"""
model_metadata = {
    "action_space": [
        {
            "steering_angle": 45,
            "speed": 0.8
        },
        {
            "steering_angle": -45,
            "speed": 0.8
        },
        {
            "steering_angle": 0,
            "speed": 0.8
        },
        {
            "steering_angle": 22.5,
            "speed": 0.8
        },
        {
            "steering_angle": -22.5,
            "speed": 0.8
        },
        {
            "steering_angle": 0,
            "speed": 0.4
        }
    ]
}

"""
Default reward function is the centerline.
"""
def reward_function(params):

    distance_from_center = params['distance_from_center']
    track_width = params['track_width']

    marker_1 = 0.1 * track_width
    marker_2 = 0.25 * track_width
    marker_3 = 0.5 * track_width

    reward = 1e-3
    if distance_from_center <= marker_1:
        reward = 1
    elif distance_from_center <= marker_2:
        reward = 0.5
    elif distance_from_center <= marker_3:
        reward = 0.1
    else:
        reward = 1e-3  # likely crashed/ close to off track

    return float(reward)


"""
Default Main Camera
"""
DEFAULT_MAIN_CAMERA = "follow_car_camera"


"""
Default Sub Camera
"""
DEFAULT_SUB_CAMERA = "top_camera"