def main():
db = Database(gps=False, imu=False)
db.start()
yolo = YOLO(db=db)
yolo.start()
path = Path(db=db)
control = Control(db=db, path=path)
# 미션 매니저 생성
mission_manager = MissionManager(db=db)
# 수행할 미션 순서
mission_manager.mission_keys =\
["TrafficLight", "Default2", "Narrow", "U-Turn",
"Target_Car", "Default", "Parking",
"CrossWalk"]
# 시작 미션 할당(일반적인 경우 0번째 미션부터 시작)
mission_manager.mission_idx = 0
mission_manager.current_mission_key = mission_manager.mission_keys[
mission_manager.mission_idx]
# 수행할 미션들을 생성
trafficlight_mission = TrafficLightMission(db=db,
control=control,
path=path)
narrow_mission = NarrowMission(db=db, control=control, path=path)
uturn_mission = UturnMission(db=db, control=control, path=path)
target_mission = TargetCarMission(db=db, control=control, path=path)
default_mission = DefaultMission(db=db, control=control, path=path)
default_mission2 = DefaultMission2(db=db, control=control, path=path)
parking_mission = ParkingMission(db=db, control=control, path=path)
crosswalk_mission = CrosswalkMission(db=db, control=control, path=path)
# 미션 매니저에 수행할 미션들을 추가.
mission_manager.add_mission(key="TrafficLight",
mission=trafficlight_mission)
mission_manager.add_mission(key="Narrow", mission=narrow_mission)
mission_manager.add_mission(key="U-Turn", mission=uturn_mission)
mission_manager.add_mission(key="Target_Car", mission=target_mission)
mission_manager.add_mission(key="Default", mission=default_mission)
mission_manager.add_mission(key="Default2", mission=default_mission2)
mission_manager.add_mission(key="Parking", mission=parking_mission)
mission_manager.add_mission(key="CrossWalk", mission=crosswalk_mission)
mission_manager.start()
while True:
if db.flag.system_stop:
break
else:
try:
print(mission_manager.current_mission_key)
print(db.mission)
time.sleep(1)
except KeyboardInterrupt:
print("Keyboard Interrupt detected!")
db.flag.system_stop = True
break
yolo.join()
mission_manager.join()
db.join()
return 0
if self.db.flag.system_stop:
end = True
else:
end = False
check = self.control.crosswalk_mission_end
if end or check:
return True
else:
return False
if __name__ == "__main__":
db = Database(gps=False, imu=False)
db.start()
time.sleep(1)
path = Path(db=db)
control = Control(db=db, path=path)
default = DefaultMission(db=db, control=control, path=path)
narrow = NarrowMission(db=db, control=control, path=path)
uturn = UturnMission(db=db, control=control, path=path)
targetcar = TargetCarMission(db=db, control=control, path=path)
crosswalk = CrosswalkMission(db=db, control=control, path=path)
parking = ParkingMission(db=db, control=control, path=path)
sample = SampleMission(db=db, control=control, path=path)
sample.main()
#narrow.main()
