scoutos / scout / scoutsim / src / sim_frame.cpp @ 3a73516c
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1 | c492be62 | Alex Zirbel | /**
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2 | * The code in this package was developed using the structure of Willow
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3 | * Garage's turtlesim package. It was modified by the CMU Robotics Club
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4 | * to be used as a simulator for the Colony Scout robot.
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5 | 266ae7f2 | Alex Zirbel | *
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6 | c492be62 | Alex Zirbel | * All redistribution of this code is limited to the terms of Willow Garage's
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7 | * licensing terms, as well as under permission from the CMU Robotics Club.
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8 | *
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9 | * Copyright (c) 2011 Colony Project
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10 | *
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11 | * Permission is hereby granted, free of charge, to any person
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12 | * obtaining a copy of this software and associated documentation
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13 | * files (the "Software"), to deal in the Software without
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14 | * restriction, including without limitation the rights to use,
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15 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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16 | * copies of the Software, and to permit persons to whom the
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17 | * Software is furnished to do so, subject to the following
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18 | * conditions:
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19 | *
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20 | * The above copyright notice and this permission notice shall be
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21 | * included in all copies or substantial portions of the Software.
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22 | *
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23 | * Copyright (c) 2009, Willow Garage, Inc.
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24 | 266ae7f2 | Alex Zirbel | * All rights reserved.
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25 | c492be62 | Alex Zirbel | *
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26 | * Redistribution and use in source and binary forms, with or without
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27 | * modification, are permitted provided that the following conditions are met:
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28 | *
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29 | * Redistributions of source code must retain the above copyright
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30 | * notice, this list of conditions and the following disclaimer.
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31 | * Redistributions in binary form must reproduce the above copyright
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32 | * notice, this list of conditions and the following disclaimer in the
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33 | * documentation and/or other materials provided with the distribution.
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34 | * Neither the name of the Willow Garage, Inc. nor the names of its
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35 | * contributors may be used to endorse or promote products derived from
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36 | * this software without specific prior written permission.
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37 | *
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38 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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39 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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40 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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41 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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42 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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43 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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44 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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45 | * OTHER DEALINGS IN THE SOFTWARE.
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46 | 266ae7f2 | Alex Zirbel | */
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47 | |||
48 | 3a73516c | Alex | /**
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49 | * @file sim_frame.cpp
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50 | *
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51 | * @ingroup scoutsim
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52 | * @{
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53 | */
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54 | |||
55 | a8480867 | Alex Zirbel | #include "sim_frame.h" |
56 | 266ae7f2 | Alex Zirbel | |
57 | 2eaafff2 | Alex | #include <stdio.h> |
58 | |||
59 | 266ae7f2 | Alex Zirbel | #include <ros/package.h> |
60 | #include <cstdlib> |
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61 | #include <ctime> |
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62 | |||
63 | 2eaafff2 | Alex | using namespace std; |
64 | 266ae7f2 | Alex Zirbel | |
65 | namespace scoutsim
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66 | { |
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67 | 2eaafff2 | Alex | SimFrame::SimFrame(wxWindow* parent, string map_name)
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68 | 266ae7f2 | Alex Zirbel | : wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
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69 | wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER) |
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70 | 144137a1 | Alex Zirbel | , frame_count(0)
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71 | , id_counter(0)
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72 | 266ae7f2 | Alex Zirbel | { |
73 | 2eaafff2 | Alex | std::cout << "Constructing sim frame." << std::endl;
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74 | |||
75 | 266ae7f2 | Alex Zirbel | srand(time(NULL));
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76 | |||
77 | 144137a1 | Alex Zirbel | update_timer = new wxTimer(this); |
78 | 7f095440 | Priya | update_timer->Start(REAL_TIME_REFRESH_RATE * 1000);
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79 | 266ae7f2 | Alex Zirbel | |
80 | 144137a1 | Alex Zirbel | Connect(update_timer->GetId(), wxEVT_TIMER, |
81 | 266ae7f2 | Alex Zirbel | wxTimerEventHandler(SimFrame::onUpdate), NULL, this); |
82 | Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint), |
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83 | NULL, this); |
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84 | |||
85 | 594c3bb9 | Alex | images_path = ros::package::getPath("scoutsim") + "/images/"; |
86 | 266ae7f2 | Alex Zirbel | |
87 | ade1b7f9 | Alex | map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
88 | map_name + ".bmp";
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89 | map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
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90 | map_name + "_lines.bmp";
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91 | 7ffad595 | Alex | map_walls_name = ros::package::getPath("scoutsim") + "/maps/" + |
92 | map_name + "_walls.bmp";
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93 | ade1b7f9 | Alex | display_map_name = map_base_name; |
94 | |||
95 | wxBitmap lines_bitmap; |
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96 | e2770306 | Alex | wxBitmap walls_bitmap; |
97 | 4c9fb6ba | viki | ROS_INFO("Loading map: %s", display_map_name.c_str());
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98 | e2770306 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
99 | |||
100 | // Try to load the file; if it fails, make a new blank file
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101 | if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
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102 | { |
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103 | lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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104 | } |
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105 | ade1b7f9 | Alex | lines_image = lines_bitmap.ConvertToImage(); |
106 | |||
107 | e2770306 | Alex | // Try to load the file; if it fails, make a new blank file
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108 | if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
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109 | { |
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110 | walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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111 | } |
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112 | 7ffad595 | Alex | walls_image = walls_bitmap.ConvertToImage(); |
113 | |||
114 | 266ae7f2 | Alex Zirbel | clear(); |
115 | |||
116 | 144137a1 | Alex Zirbel | clear_srv = nh.advertiseService("clear",
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117 | 4612f7e4 | Alex Zirbel | &SimFrame::clearCallback, this);
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118 | 144137a1 | Alex Zirbel | reset_srv = nh.advertiseService("reset",
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119 | 4612f7e4 | Alex Zirbel | &SimFrame::resetCallback, this);
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120 | 144137a1 | Alex Zirbel | spawn_srv = nh.advertiseService("spawn",
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121 | 4612f7e4 | Alex Zirbel | &SimFrame::spawnCallback, this);
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122 | 144137a1 | Alex Zirbel | kill_srv = nh.advertiseService("kill",
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123 | 43811241 | Alex | &SimFrame::killCallback, this);
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124 | set_sonar_viz_srv = nh.advertiseService("set_sonar_viz",
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125 | &SimFrame::setSonarVizCallback, this);
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126 | set_ghost_srv = nh.advertiseService("set_ghost",
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127 | &SimFrame::setGhostCallback, this);
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128 | set_teleop_srv = nh.advertiseService("set_teleop",
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129 | &SimFrame::setTeleopCallback, this);
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130 | 266ae7f2 | Alex Zirbel | |
131 | 82f3f746 | Priya | // Subscribe and publisher wirless from robots
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132 | 7ffad595 | Alex | wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
133 | "/wireless/receive", 1000); |
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134 | wireless_send = nh.subscribe("/wireless/send", 1000, |
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135 | &SimFrame::wirelessCallback, this);
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136 | 82f3f746 | Priya | |
137 | 0e77683c | Alex | // Teleop
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138 | 43811241 | Alex | teleop_type = TELEOP_OFF; |
139 | 0e77683c | Alex | teleop_l_speed = 0;
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140 | teleop_r_speed = 0;
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141 | 60a90290 | Hui Jun Tay | teleop_scoutname = "scout1";
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142 | |||
143 | 6ebee82c | Alex | teleop_pub = nh.advertise< ::messages::set_motors>("/scout1/set_motors", 1000); |
144 | 0e77683c | Alex | |
145 | 266ae7f2 | Alex Zirbel | ROS_INFO("Starting scoutsim with node name %s",
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146 | ros::this_node::getName().c_str()) ; |
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147 | |||
148 | 2eaafff2 | Alex | wxMenu *menuFile = new wxMenu;
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149 | menuFile->Append(ID_ABOUT, _("&About"));
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150 | menuFile->AppendSeparator(); |
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151 | menuFile->Append(ID_QUIT, _("E&xit"));
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152 | |||
153 | wxMenu *menuSim = new wxMenu;
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154 | menuSim->Append(ID_CLEAR, _("&Clear"));
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155 | |||
156 | wxMenu *menuView = new wxMenu;
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157 | menuView->Append(ID_MAP, _("&Map"));
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158 | menuView->Append(ID_LINES, _("&Lines"));
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159 | 7ffad595 | Alex | menuView->Append(ID_WALLS, _("&Walls"));
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160 | 2eaafff2 | Alex | |
161 | 0e77683c | Alex | wxMenu *menuTeleop = new wxMenu;
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162 | menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
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163 | menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
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164 | menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
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165 | |||
166 | 2eaafff2 | Alex | wxMenuBar *menuBar = new wxMenuBar;
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167 | menuBar->Append(menuFile, _("&File"));
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168 | menuBar->Append(menuSim, _("&Sim"));
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169 | menuBar->Append(menuView, _("&View"));
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170 | 0e77683c | Alex | menuBar->Append(menuTeleop, _("&Teleop"));
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171 | 2eaafff2 | Alex | |
172 | SetMenuBar(menuBar); |
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173 | |||
174 | c63c9752 | Alex | width_in_meters = GetSize().GetWidth() / PIX_PER_METER; |
175 | height_in_meters = GetSize().GetHeight() / PIX_PER_METER; |
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176 | 25694a03 | Priya | |
177 | spawnScout("scout1", 1.4, .78, 0); |
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178 | 266ae7f2 | Alex Zirbel | } |
179 | |||
180 | SimFrame::~SimFrame() |
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181 | { |
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182 | 144137a1 | Alex Zirbel | delete update_timer;
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183 | 266ae7f2 | Alex Zirbel | } |
184 | |||
185 | 4612f7e4 | Alex Zirbel | bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
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186 | scoutsim::Spawn::Response &res) |
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187 | 266ae7f2 | Alex Zirbel | { |
188 | std::string name = spawnScout(req.name, req.x, req.y, req.theta);
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189 | if (name.empty())
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190 | { |
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191 | 43811241 | Alex | ROS_WARN("A scout named [%s] already exists", req.name.c_str());
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192 | 266ae7f2 | Alex Zirbel | return false; |
193 | } |
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194 | |||
195 | res.name = name; |
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196 | return true; |
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197 | } |
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198 | |||
199 | bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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200 | scoutsim::Kill::Response&) |
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201 | { |
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202 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.find(req.name); |
203 | if (it == scouts.end())
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204 | 266ae7f2 | Alex Zirbel | { |
205 | 43811241 | Alex | ROS_WARN("Tried to kill scout [%s], which does not exist",
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206 | req.name.c_str()); |
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207 | 266ae7f2 | Alex Zirbel | return false; |
208 | } |
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209 | |||
210 | 144137a1 | Alex Zirbel | scouts.erase(it); |
211 | 266ae7f2 | Alex Zirbel | |
212 | return true; |
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213 | } |
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214 | |||
215 | 43811241 | Alex | bool SimFrame::setSonarVizCallback(SetSonarViz::Request& req,
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216 | SetSonarViz::Response&) |
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217 | { |
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218 | M_Scout::iterator it = scouts.find(req.scout_name); |
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219 | if (it == scouts.end())
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220 | { |
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221 | ROS_WARN("Tried to set sonar on scout [%s], which does not exist",
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222 | req.scout_name.c_str()); |
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223 | return false; |
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224 | } |
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225 | |||
226 | it->second->set_sonar_visual(req.on); |
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227 | return true; |
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228 | } |
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229 | |||
230 | bool SimFrame::setGhostCallback(SetGhost::Request& req,
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231 | SetGhost::Response&) |
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232 | { |
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233 | for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
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234 | { |
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235 | if (ghost_scouts.at(i)->get_name() == req.scout_name)
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236 | { |
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237 | ghost_scouts.at(i)->set_visible(req.on); |
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238 | return true; |
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239 | } |
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240 | } |
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241 | |||
242 | ROS_WARN("Tried to set ghost on scout [%s], which does not exist",
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243 | req.scout_name.c_str()); |
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244 | return false; |
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245 | } |
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246 | |||
247 | bool SimFrame::setTeleopCallback(SetTeleop::Request& req,
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248 | SetTeleop::Response&) |
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249 | { |
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250 | std::stringstream ss; |
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251 | ss << "/" << req.scout_name << "/set_motors"; |
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252 | 6ebee82c | Alex | teleop_pub = nh.advertise< ::messages::set_motors>(ss.str(), 1000);
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253 | 60a90290 | Hui Jun Tay | teleop_scoutname = req.scout_name.c_str(); |
254 | ROS_INFO("Teleoping %s...",teleop_scoutname.c_str()); //debug statement |
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255 | 43811241 | Alex | |
256 | return true; |
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257 | } |
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258 | |||
259 | 266ae7f2 | Alex Zirbel | bool SimFrame::hasScout(const std::string& name) |
260 | { |
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261 | 144137a1 | Alex Zirbel | return scouts.find(name) != scouts.end();
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262 | 266ae7f2 | Alex Zirbel | } |
263 | |||
264 | 9b3564f3 | Alex Zirbel | std::string SimFrame::spawnScout(const std::string& name, |
265 | float x, float y, float angle) |
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266 | 266ae7f2 | Alex Zirbel | { |
267 | std::string real_name = name;
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268 | if (real_name.empty())
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269 | { |
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270 | 43811241 | Alex | // Generate the name scoutX, where X is an increasing number.
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271 | 266ae7f2 | Alex Zirbel | do
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272 | { |
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273 | std::stringstream ss; |
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274 | 144137a1 | Alex Zirbel | ss << "scout" << ++id_counter;
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275 | 266ae7f2 | Alex Zirbel | real_name = ss.str(); |
276 | 43811241 | Alex | } |
277 | while (hasScout(real_name));
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278 | 266ae7f2 | Alex Zirbel | } |
279 | else
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280 | { |
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281 | if (hasScout(real_name))
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282 | { |
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283 | return ""; |
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284 | } |
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285 | } |
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286 | |||
287 | 594c3bb9 | Alex | wxImage scout_image; |
288 | |||
289 | // Try to load a name-specific image; if not, load the default scout
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290 | string specific_name = images_path + name + ".png"; |
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291 | if (fileExists(specific_name))
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292 | { |
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293 | scout_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
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294 | scout_image.SetMask(true);
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295 | scout_image.SetMaskColour(255, 255, 255); |
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296 | } |
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297 | else
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298 | { |
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299 | scout_image.LoadFile( |
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300 | wxString::FromAscii((images_path + "scout.png").c_str()));
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301 | scout_image.SetMask(true);
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302 | scout_image.SetMaskColour(255, 255, 255); |
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303 | } |
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304 | |||
305 | 266ae7f2 | Alex Zirbel | ScoutPtr t(new Scout(ros::NodeHandle(real_name),
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306 | 594c3bb9 | Alex | scout_image, Vector2(x, y), &path_bitmap, angle)); |
307 | 144137a1 | Alex Zirbel | scouts[real_name] = t; |
308 | 266ae7f2 | Alex Zirbel | |
309 | 0e0ef125 | Priya | ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
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310 | scout_image, Vector2(x, y), &path_bitmap, angle, name)); |
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311 | |||
312 | 266ae7f2 | Alex Zirbel | ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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313 | real_name.c_str(), x, y, angle); |
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314 | |||
315 | return real_name;
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316 | } |
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317 | |||
318 | 2eaafff2 | Alex | void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
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319 | { |
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320 | Close(true);
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321 | } |
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322 | |||
323 | void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
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324 | { |
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325 | wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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326 | "\nThe Colony Project is a part of the Carnegie Mellon\n"
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327 | "Robotics Club. Our goal is to use cooperative low-cost\n"
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328 | "robots to solve challenging problems."),
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329 | _("About Scoutsim"),
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330 | wxOK | wxICON_INFORMATION, this );
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331 | } |
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332 | |||
333 | void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
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334 | 266ae7f2 | Alex Zirbel | { |
335 | 2eaafff2 | Alex | clear(); |
336 | } |
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337 | 266ae7f2 | Alex Zirbel | |
338 | 2eaafff2 | Alex | void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
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339 | { |
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340 | ade1b7f9 | Alex | display_map_name = map_base_name; |
341 | 2eaafff2 | Alex | clear(); |
342 | } |
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343 | 266ae7f2 | Alex Zirbel | |
344 | 2eaafff2 | Alex | void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
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345 | { |
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346 | ade1b7f9 | Alex | display_map_name = map_lines_name; |
347 | 2eaafff2 | Alex | clear(); |
348 | } |
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349 | 7ffad595 | Alex | |
350 | void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
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351 | { |
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352 | display_map_name = map_walls_name; |
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353 | clear(); |
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354 | } |
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355 | 2eaafff2 | Alex | |
356 | void SimFrame::clear()
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357 | { |
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358 | path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
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359 | 144137a1 | Alex Zirbel | path_dc.Clear(); |
360 | 2eaafff2 | Alex | |
361 | 6639ce9c | viki | sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0))); |
362 | sonar_dc.Clear(); |
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363 | |||
364 | sonar_dc.SelectObject(path_bitmap); |
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365 | |||
366 | 2eaafff2 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
367 | path_dc.SelectObject(path_bitmap); |
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368 | SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
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369 | 266ae7f2 | Alex Zirbel | } |
370 | |||
371 | 7f095440 | Priya | // Runs every REAL_TIME_REFRESH_RATE.
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372 | 266ae7f2 | Alex Zirbel | void SimFrame::onUpdate(wxTimerEvent& evt)
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373 | { |
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374 | ros::spinOnce(); |
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375 | |||
376 | 0e77683c | Alex | teleop(); |
377 | |||
378 | 266ae7f2 | Alex Zirbel | updateScouts(); |
379 | |||
380 | if (!ros::ok())
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381 | { |
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382 | Close(); |
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383 | } |
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384 | 04114d13 | Alex | |
385 | frame_count++; |
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386 | 266ae7f2 | Alex Zirbel | } |
387 | |||
388 | void SimFrame::onPaint(wxPaintEvent& evt)
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389 | { |
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390 | wxPaintDC dc(this);
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391 | |||
392 | 144137a1 | Alex Zirbel | dc.DrawBitmap(path_bitmap, 0, 0, true); |
393 | 266ae7f2 | Alex Zirbel | |
394 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
395 | M_Scout::iterator end = scouts.end(); |
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396 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
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397 | { |
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398 | it->second->paint(dc); |
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399 | } |
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400 | 43811241 | Alex | for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
401 | 0e0ef125 | Priya | { |
402 | ghost_scouts.at(i)->paint(dc); |
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403 | } |
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404 | 266ae7f2 | Alex Zirbel | } |
405 | |||
406 | 594c3bb9 | Alex | bool SimFrame::fileExists(const std::string& filename) |
407 | { |
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408 | struct stat buf;
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409 | if (stat(filename.c_str(), &buf) != -1) |
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410 | { |
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411 | return true; |
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412 | } |
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413 | return false; |
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414 | } |
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415 | |||
416 | 0e77683c | Alex | void SimFrame::stopTeleop(wxCommandEvent& event)
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417 | { |
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418 | teleop_type = TELEOP_OFF; |
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419 | teleop_l_speed = 0;
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420 | teleop_r_speed = 0;
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421 | } |
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422 | |||
423 | void SimFrame::startTeleopPrecise(wxCommandEvent& event)
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424 | { |
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425 | teleop_type = TELEOP_PRECISE; |
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426 | teleop_l_speed = 0;
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427 | teleop_r_speed = 0;
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428 | } |
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429 | |||
430 | void SimFrame::startTeleopFluid(wxCommandEvent& event)
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431 | { |
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432 | teleop_type = TELEOP_FLUID; |
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433 | teleop_l_speed = 0;
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434 | teleop_r_speed = 0;
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435 | teleop_fluid_speed = 0;
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436 | teleop_fluid_omega = 0;
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437 | } |
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438 | |||
439 | void SimFrame::teleop_move_precise()
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440 | { |
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441 | // Default to stop
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442 | teleop_l_speed = 0;
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443 | teleop_r_speed = 0;
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444 | |||
445 | if (wxGetKeyState(WXK_UP))
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446 | { |
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447 | teleop_l_speed = TELEOP_PRECISE_SPEED; |
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448 | teleop_r_speed = TELEOP_PRECISE_SPEED; |
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449 | } |
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450 | else if (wxGetKeyState(WXK_DOWN)) |
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451 | { |
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452 | teleop_l_speed = -TELEOP_PRECISE_SPEED; |
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453 | teleop_r_speed = -TELEOP_PRECISE_SPEED; |
||
454 | } |
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455 | else if (wxGetKeyState(WXK_LEFT)) |
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456 | { |
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457 | 43811241 | Alex | teleop_l_speed = -TELEOP_PRECISE_TURN_SPEED; |
458 | teleop_r_speed = TELEOP_PRECISE_TURN_SPEED; |
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459 | 0e77683c | Alex | } |
460 | else if (wxGetKeyState(WXK_RIGHT)) |
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461 | { |
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462 | 43811241 | Alex | teleop_l_speed = TELEOP_PRECISE_TURN_SPEED; |
463 | teleop_r_speed = -TELEOP_PRECISE_TURN_SPEED; |
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464 | 0e77683c | Alex | } |
465 | } |
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466 | |||
467 | void SimFrame::teleop_move_fluid()
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468 | { |
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469 | if (wxGetKeyState(WXK_UP))
|
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470 | { |
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471 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC * 2;
|
472 | 0e77683c | Alex | } |
473 | else if (wxGetKeyState(WXK_DOWN)) |
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474 | { |
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475 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC * 2;
|
476 | 0e77683c | Alex | } |
477 | 04114d13 | Alex | else if (teleop_fluid_speed > TELEOP_FLUID_INC) |
478 | 0e77683c | Alex | { |
479 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC; |
480 | 0e77683c | Alex | } |
481 | 04114d13 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_INC) |
482 | 0e77683c | Alex | { |
483 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC; |
484 | 0e77683c | Alex | } |
485 | 04114d13 | Alex | else
|
486 | { |
||
487 | teleop_fluid_speed = 0;
|
||
488 | } |
||
489 | 0e77683c | Alex | |
490 | if (wxGetKeyState(WXK_LEFT))
|
||
491 | { |
||
492 | 7f095440 | Priya | teleop_fluid_omega -= TELEOP_FLUID_INC * 2;
|
493 | 0e77683c | Alex | } |
494 | else if (wxGetKeyState(WXK_RIGHT)) |
||
495 | { |
||
496 | 7f095440 | Priya | teleop_fluid_omega += TELEOP_FLUID_INC * 2;
|
497 | 0e77683c | Alex | } |
498 | 0076084e | Alex | else
|
499 | 0e77683c | Alex | { |
500 | 0076084e | Alex | teleop_fluid_omega = 0;
|
501 | 0e77683c | Alex | } |
502 | |||
503 | if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
|
||
504 | { |
||
505 | teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED; |
||
506 | } |
||
507 | c63c9752 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED) |
508 | { |
||
509 | teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED; |
||
510 | } |
||
511 | 04114d13 | Alex | if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED)
|
512 | 0e77683c | Alex | { |
513 | 04114d13 | Alex | teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED; |
514 | 0e77683c | Alex | } |
515 | 04114d13 | Alex | else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED) |
516 | c63c9752 | Alex | { |
517 | 04114d13 | Alex | teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED; |
518 | c63c9752 | Alex | } |
519 | 0e77683c | Alex | |
520 | 04114d13 | Alex | int l_speed = teleop_fluid_speed + teleop_fluid_omega;
|
521 | int r_speed = teleop_fluid_speed - teleop_fluid_omega;
|
||
522 | |||
523 | teleop_l_speed = max(MIN_ABSOLUTE_SPEED, |
||
524 | min(MAX_ABSOLUTE_SPEED, l_speed)); |
||
525 | teleop_r_speed = max(MIN_ABSOLUTE_SPEED, |
||
526 | min(MAX_ABSOLUTE_SPEED, r_speed)); |
||
527 | 0e77683c | Alex | } |
528 | |||
529 | void SimFrame::teleop()
|
||
530 | { |
||
531 | switch (teleop_type)
|
||
532 | { |
||
533 | case TELEOP_OFF:
|
||
534 | return;
|
||
535 | case TELEOP_PRECISE:
|
||
536 | teleop_move_precise(); |
||
537 | break;
|
||
538 | case TELEOP_FLUID:
|
||
539 | teleop_move_fluid(); |
||
540 | break;
|
||
541 | } |
||
542 | |||
543 | 6ebee82c | Alex | ::messages::set_motors msg; |
544 | 0e77683c | Alex | msg.fl_set = true;
|
545 | msg.fr_set = true;
|
||
546 | msg.bl_set = true;
|
||
547 | msg.br_set = true;
|
||
548 | 60a90290 | Hui Jun Tay | msg.teleop_ON = true;
|
549 | 0e77683c | Alex | |
550 | msg.fl_speed = teleop_l_speed; |
||
551 | msg.fr_speed = teleop_r_speed; |
||
552 | msg.bl_speed = teleop_l_speed; |
||
553 | msg.br_speed = teleop_r_speed; |
||
554 | |||
555 | teleop_pub.publish(msg); |
||
556 | } |
||
557 | |||
558 | 266ae7f2 | Alex Zirbel | void SimFrame::updateScouts()
|
559 | { |
||
560 | 60a90290 | Hui Jun Tay | |
561 | 144137a1 | Alex Zirbel | if (last_scout_update.isZero())
|
562 | 266ae7f2 | Alex Zirbel | { |
563 | 144137a1 | Alex Zirbel | last_scout_update = ros::WallTime::now(); |
564 | 266ae7f2 | Alex Zirbel | return;
|
565 | } |
||
566 | |||
567 | 04114d13 | Alex | path_image = path_bitmap.ConvertToImage(); |
568 | Refresh(); |
||
569 | 266ae7f2 | Alex Zirbel | |
570 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
571 | M_Scout::iterator end = scouts.end(); |
||
572 | e3f69e61 | Alex | |
573 | world_state state; |
||
574 | state.canvas_width = width_in_meters; |
||
575 | state.canvas_height = height_in_meters; |
||
576 | |||
577 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
|
578 | { |
||
579 | 60a90290 | Hui Jun Tay | |
580 | 7f095440 | Priya | it->second->update(SIM_TIME_REFRESH_RATE, |
581 | 43811241 | Alex | path_dc, sonar_dc, |
582 | a2e6bd4c | Alex | path_image, lines_image, walls_image, |
583 | 144137a1 | Alex Zirbel | path_dc.GetBackground().GetColour(), |
584 | 04114d13 | Alex | sonar_dc.GetBackground().GetColour(), |
585 | f09d002e | Hui Jun Tay | state); |
586 | 266ae7f2 | Alex Zirbel | } |
587 | |||
588 | 43811241 | Alex | for (unsigned int i = 0; i < ghost_scouts.size(); ++i) |
589 | 0e0ef125 | Priya | { |
590 | 7f095440 | Priya | ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc, |
591 | 0e0ef125 | Priya | path_dc.GetBackground().GetColour(), state); |
592 | } |
||
593 | |||
594 | c492be62 | Alex Zirbel | frame_count++; |
595 | 266ae7f2 | Alex Zirbel | } |
596 | |||
597 | bool SimFrame::clearCallback(std_srvs::Empty::Request&,
|
||
598 | std_srvs::Empty::Response&) |
||
599 | { |
||
600 | ROS_INFO("Clearing scoutsim.");
|
||
601 | clear(); |
||
602 | return true; |
||
603 | } |
||
604 | |||
605 | bool SimFrame::resetCallback(std_srvs::Empty::Request&,
|
||
606 | std_srvs::Empty::Response&) |
||
607 | { |
||
608 | ROS_INFO("Resetting scoutsim.");
|
||
609 | 144137a1 | Alex Zirbel | scouts.clear(); |
610 | id_counter = 0;
|
||
611 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
||
612 | 266ae7f2 | Alex Zirbel | clear(); |
613 | return true; |
||
614 | } |
||
615 | |||
616 | 1d1281cc | Priya | void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
617 | 82f3f746 | Priya | { |
618 | wireless_receive.publish(msg); |
||
619 | } |
||
620 | 266ae7f2 | Alex Zirbel | } |
621 | 3a73516c | Alex | |
622 | /** @} */ |