Combine.py

'''
#################### PATH PLAN TEAM ####################

## ABOUT
- 미션 번호에 따라 lane과 lidar를 적절히 혼합하여 target point를 반환해주는 코드

## INPUT & OUTPUT
- input: 미션 번호
- output: 제어에 넘겨줄 path의 list

'''
import Lane_Detection
import Lidar
import cv2
import numpy as np


class Combine:  # 나중에 이 함수에 display 메소드도 추가해야 할듯..?
    def __init__(self, mission_number,database):  # 초기화
        _mission_number = mission_number
        self.database = database
        self.radius = 5 # 5m to see
        self.map = [(0,0)]
        local_target = (0,0)
        if self._mission_num == 0: self._path_tracking()
        elif self._mission_num == 1: self._static_obstacle()
        elif self._mission_num == 2: self._dynamic_obstacle()
        elif self._mission_num == 3: self._cross_straight()
        elif self._mission_num == 4: self._cross_left()
        elif self._mission_num == 5: self._cross_right()
        elif self._mission_num == 6: self._cross_left()
        elif self._mission_num == 7: self._cross_straight()
        elif self._mission_num == 8: self._parking()

    def get_map(self): 
        img = self.database.main_cam.data
        Lane_map = Lane_Detection(img)
        lidar = self.database.lidar.data
        
        x = np.sin(angle)*lidar
        y = np.cos(angle)*lidar

        position = np.vstack([x,y])
        
        '''
        calibration 필요 --> pixel 하나당 몇 m 인지
        lm per 480 pixel
        '''
        l = 1
        x= 480 *x / l
        y = 680 *y / l /2
        
        for i in range(len(lidar)):
            cv2.line(img,(y,x),(y,x),(255,255,255))
        
                  
        
        self.map = img
        return self.map
    def get_local_target(self): 
        
        return self.local_target

    ########## 각 상황에 맞게 Lidar, Lane_Detection 이용하여 함수 짜기 ##########
    ## 신호/비신호는 path를 짜는것에 있어서는 같을 것 같아 하나로 묶음
    ## 각 상황에 맞는 map과 local target값을 넣으면
    def _path_tracking(self):
    def _static_obstacle(self):
    def _dynamic_obstacle(self):
    def _cross_left(self):
    def _cross_right(self):
    def _cross_straight(self):
    def _parking(self):