Leo
Thakur

class LapCounter:
    """Tracks completed laps using the sim's last_lap_time telemetry
    and writes live state to a file for the overlay to display."""

    def run(self):
        info = getattr(self.gym_env, 'info', {}) or {}
        lap_time = info.get('last_lap_time', 0.0)
        if lap_time and lap_time != self.last_seen_lap_time:
            self.last_seen_lap_time = lap_time
            self.lap_count += 1
            if self.best_lap_time is None or lap_time < self.best_lap_time:
                self.best_lap_time = lap_time

{"_index": 0,
 "_session_id": "26-05-28_0",
 "cam/image_array": "0_cam_image_array_.jpg",
 "user/angle": 0.0,
 "user/mode": "user",
 "user/throttle": 0.0}

"""
Double the training dataset by horizontally flipping all images
and negating steering angles. Writes to data_aug/ directory.
"""
from PIL import Image, ImageOps

img = ImageOps.mirror(Image.open(src))
new_r["user/angle"] = -r["user/angle"]  # negate steering

DEFAULT_MODEL_TYPE = 'categorical'
BATCH_SIZE = 64
LEARNING_RATE = 0.0005

# python train.py --tubs data/ --model models/mypilot_cat.h5

SAFE_THROTTLE_SCALE = 0.4  # cap AI throttle for the first real-world test

class SafetyGate:
    """'user' mode drives manually (also acts as e-stop); any other
    mode runs the AI pilot with throttle capped."""

    def run(self, user_mode, user_angle, user_throttle, pilot_steering, pilot_throttle):
        if user_mode == 'user':
            return user_angle, user_throttle
        return pilot_steering, pilot_throttle * SAFE_THROTTLE_SCALE