''' This module hauses all the constants used by the AWS DeepRacer enviroment
    package.
'''
# Dimensions of the input training image
TRAINING_IMAGE_SIZE = (160, 120)
# Dimensions of input lidar data
TRAINING_LIDAR_SIZE = 64

# SECTOR_LIDAR sensor constants
# Number of lidar sectors - to be used when filtering in observation_binary_filter
NUMBER_OF_LIDAR_SECTORS = 8
# Max clipping distance for sector lidar sensor
SECTOR_LIDAR_CLIPPING_DIST = 0.5

LINK_NAMES = ['racecar::left_rear_wheel', 'racecar::left_front_wheel',
              'racecar::right_rear_wheel', 'racecar::right_front_wheel']

# List of required velocity topics, one topic per wheel
VELOCITY_TOPICS = ['/racecar/left_rear_wheel_velocity_controller/command',
                   '/racecar/right_rear_wheel_velocity_controller/command',
                   '/racecar/left_front_wheel_velocity_controller/command',
                   '/racecar/right_front_wheel_velocity_controller/command']

# List of required steering hinges
STEERING_TOPICS = ['/racecar/left_steering_hinge_position_controller/command',
                   '/racecar/right_steering_hinge_position_controller/command']

# List of all effort joints
EFFORT_JOINTS = ['/racecar/left_rear_wheel_joint', '/racecar/right_rear_wheel_joint',
                 '/racecar/left_front_wheel_joint', '/racecar/right_front_wheel_joint',
                 '/racecar/left_steering_hinge_joint', '/racecar/right_steering_hinge_joint']

# The number of steps to wait before checking if the car is stuck
# This number should corespond to the camera FPS, since it is pacing the
# step rate.
NUM_STEPS_TO_CHECK_STUCK = 15

#Defines to upload SIM_TRACE data in S3
TRAINING_SIMTRACE_DATA_S3_OBJECT_KEY = "sim_inference_logs/TrainingSimTraceData.csv"
EVALUATION_SIMTRACE_DATA_S3_OBJECT_KEY = "sim_inference_logs/EvaluationSimTraceData.csv"
SIMAPP_DATA_UPLOAD_TIME_TO_S3 = 60 #in seconds