Revision 0e77683c scout/scoutsim/src/sim_frame.h

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scout/scoutsim/src/sim_frame.h
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#include <wx/event.h>
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#include <wx/timer.h>
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#include <wx/string.h>
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#include <wx/utils.h>
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#include <ros/ros.h>
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#include <std_srvs/Empty.h>
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#include <scoutsim/Spawn.h>
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#include <scoutsim/Kill.h>
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#include <motors/set_motors.h>
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#include <map>
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#include "scout.h"
......
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#define ID_MAP 4
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#define ID_LINES 5
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#define ID_WALLS 6
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#define ID_TELEOP_NONE 7
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#define ID_TELEOP_PRECISE 8
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#define ID_TELEOP_FLUID 9
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#define TELEOP_PRECISE_SPEED 30
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#define TELEOP_FLUID_MAX_SPEED 80
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// Teleop types
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#define TELEOP_OFF 0
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#define TELEOP_PRECISE 1
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#define TELEOP_FLUID 2
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namespace scoutsim
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{
......
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            void showMap(wxCommandEvent& event);
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            void showLines(wxCommandEvent& event);
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            void showWalls(wxCommandEvent& event);
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            void stopTeleop(wxCommandEvent& event);
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            void startTeleopPrecise(wxCommandEvent& event);
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            void startTeleopFluid(wxCommandEvent& event);
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            DECLARE_EVENT_TABLE()
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......
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            void onUpdate(wxTimerEvent& evt);
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            void onPaint(wxPaintEvent& evt);
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            void teleop_move_precise();
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            void teleop_move_fluid();
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            void teleop();
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            void updateScouts();
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            void clear();
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            bool hasScout(const std::string& name);
......
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            ros::Subscriber wireless_send;
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            ros::Publisher wireless_receive;
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            // Teleop
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            short teleop_l_speed;
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            short teleop_r_speed;
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            ros::Publisher teleop_pub;
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            int teleop_type;
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            short teleop_fluid_speed;
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            short teleop_fluid_omega;
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            ros::NodeHandle nh;
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            wxTimer* update_timer;
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            wxBitmap path_bitmap;
......
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            wxImage lines_image;
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            wxImage walls_image;
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            wxMemoryDC path_dc;
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	    wxMemoryDC sonar_dc;
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            wxMemoryDC sonar_dc;
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            uint64_t frame_count;
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