From 84a2b6e8c837af204acf62593096ddd69cd02c03 Mon Sep 17 00:00:00 2001
From: Andrew Shum <84476051+ashum68@users.noreply.github.com>
Date: Tue, 20 Aug 2024 16:48:11 -0400
Subject: [PATCH] =?UTF-8?q?new=20cluster=20data=20struct=20and=20converted?=
 =?UTF-8?q?=20lidar=20detection=20to=20have=20x,=20y=20co=E2=80=A6=20(#35)?=
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* new cluster data struct and converted lidar detection to have x, y coords instead of dist, angle

* formatting

* added dist and angle back to struct and added better desc

* removed coordinates from lidar_detection

* edited docstring

* added better comments
---
 modules/detection_cluster.py | 39 ++++++++++++++++++++++++++++++++++++
 modules/lidar_detection.py   | 18 ++++++-----------
 2 files changed, 45 insertions(+), 12 deletions(-)
 create mode 100644 modules/detection_cluster.py

diff --git a/modules/detection_cluster.py b/modules/detection_cluster.py
new file mode 100644
index 0000000..4135c51
--- /dev/null
+++ b/modules/detection_cluster.py
@@ -0,0 +1,39 @@
+"""
+LiDAR detection cluster data structure.
+"""
+
+from . import lidar_detection
+
+
+class DetectionCluster:
+    """
+    Cluster of LiDAR detections.
+    """
+
+    __create_key = object()
+
+    @classmethod
+    def create(
+        cls, detections: "list[lidar_detection.LidarDetection]"
+    ) -> "tuple[bool, DetectionCluster]":
+        """
+        Combines lidar readings in close proximity.
+        """
+        return True, DetectionCluster(cls.__create_key, detections)
+
+    def __init__(
+        self, create_key: object, detections: "list[lidar_detection.LidarDetection]"
+    ) -> None:
+        """
+        Private constructor, use create() method.
+        """
+        assert create_key is DetectionCluster.__create_key, "Use create() method"
+
+        self.detections = detections
+
+    def __str__(self) -> str:
+        """
+        String representation.
+        """
+        detections_str = ", ".join(str(detection) for detection in self.detections)
+        return f"{self.__class__.__name__} (Count: {len(self.detections)}): {detections_str}. "
diff --git a/modules/lidar_detection.py b/modules/lidar_detection.py
index 3912052..88ea91a 100644
--- a/modules/lidar_detection.py
+++ b/modules/lidar_detection.py
@@ -5,26 +5,20 @@
 
 class LidarDetection:
     """
-    Lidar scan
+    Lidar scan.
     """
 
     __create_key = object()
 
-    __DISTANCE_LIMIT = 50
-    __ANGLE_LIMIT = 170
-
     @classmethod
     def create(cls, distance: float, angle: float) -> "tuple[bool, LidarDetection | None]":
         """
-        Distance is in meters.
+        Distance is in metres.
         Angle is in degrees.
         """
-        if distance < 0 or distance > cls.__DISTANCE_LIMIT:
-            return False, None
-
-        if abs(angle) > cls.__ANGLE_LIMIT:
+        # lidar_driver.py returns -1 for an invalid LiDAR reading.
+        if distance == -1:
             return False, None
-
         return True, LidarDetection(cls.__create_key, distance, angle)
 
     def __init__(self, create_key: object, distance: float, angle: float) -> None:
@@ -38,6 +32,6 @@ def __init__(self, create_key: object, distance: float, angle: float) -> None:
 
     def __str__(self) -> str:
         """
-        String representation
+        String representation.
         """
-        return f"{self.__class__.__name__}: Distance: {self.distance}, Angle: {self.angle}. "
+        return f"{self.__class__.__name__}: distance: {self.distance}, angle: {self.angle}. "