Refactor: Make drive loop easier to innovate by changing vehicle model.

[wroscoe]

"""
Proposed Refactor: 
The current platform design does not leave room to change/innovate
the drive loop. This an alternative way to define the drive loop
using modular components and shared variables. It borrows from
the design of Keras and ROS.

"""



#Local Car

    V = Vehicle()

    V.data = ['img',  		#image from camera
    			'c_angle',		#control angle (from user)
    			'c_throttle',
    			'c_drive_mode',
    			'p_angle', 
    			'p_throttle',
    			'a_angle',
    			'a_throttle',

    V.add(WebMonitor(), 
    		output='c_angle', 'c_throttle', 'c_drive_mode')
    
    V.add(PiCamera(), 
    		output='img')

    V.add(CNN(), 
    		input=['img', 'a_angle', 'a_throttle'],
    		output=['p_angle', 'p_throttle'])
    

    V.add(DriveLogic(), 
    		input=['c_angle', 'c_throttle', 'c_drive_mode', 
    			   'p_angle', 'p_throttle'],
    		output=['a_angle', 'a_throttle'])

    V.add(SteeringActuator(), 
    		input='a_angle')
    
    V.add(ThrottleActuator(), 
    		input='a_throttle')

    V.add(Recorder(), input='*')





#Remote Car

    V = Vehicle()

    V.data = ['img',  		#image from camera
    			'c_angle',		#control angle (from user)
    			'c_throttle',
    			'c_drive_mode',
    			'p_angle', 
    			'p_throttle',
    			'a_angle',
    			'a_throttle',

    V.add(RemoteMonitor(), 
    		output='c_angle', 'c_throttle', 'c_drive_mode')
    
    V.add(PiCamera(), 
    		output='img')


    V.add(RemoteLogic(), 
    		input=['img',
    			   'c_angle', 'c_throttle', 'c_drive_mode', 
    			   'a_angle', 'a_throttle'],
    		output=['a_angle', 'a_throttle'])

    V.add(SteeringActuator(), 
    		input='a_angle')
    
    V.add(ThrottleActuator(), 
    		input='a_throttle')