Revision 43811241
Added services to set individual control for visualization tools.
However, there is a bug in the sonar viz for multiple scouts, looking into it now.
scout/scoutsim/src/sim_frame.cpp | ||
---|---|---|
88 | 88 |
wxBitmap lines_bitmap; |
89 | 89 |
wxBitmap walls_bitmap; |
90 | 90 |
path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
91 |
sonar_visual_on = true; |
|
92 | 91 |
|
93 | 92 |
// Try to load the file; if it fails, make a new blank file |
94 | 93 |
if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str()))) |
... | ... | |
113 | 112 |
spawn_srv = nh.advertiseService("spawn", |
114 | 113 |
&SimFrame::spawnCallback, this); |
115 | 114 |
kill_srv = nh.advertiseService("kill", |
116 |
&SimFrame::killCallback, this); |
|
115 |
&SimFrame::killCallback, this); |
|
116 |
set_sonar_viz_srv = nh.advertiseService("set_sonar_viz", |
|
117 |
&SimFrame::setSonarVizCallback, this); |
|
118 |
set_ghost_srv = nh.advertiseService("set_ghost", |
|
119 |
&SimFrame::setGhostCallback, this); |
|
120 |
set_teleop_srv = nh.advertiseService("set_teleop", |
|
121 |
&SimFrame::setTeleopCallback, this); |
|
117 | 122 |
|
118 | 123 |
// Subscribe and publisher wirless from robots |
119 | 124 |
wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
... | ... | |
122 | 127 |
&SimFrame::wirelessCallback, this); |
123 | 128 |
|
124 | 129 |
// Teleop |
125 |
teleop_type = TELEOP_PRECISE;
|
|
130 |
teleop_type = TELEOP_OFF;
|
|
126 | 131 |
teleop_l_speed = 0; |
127 | 132 |
teleop_r_speed = 0; |
128 | 133 |
teleop_pub = nh.advertise<motors::set_motors>("/scout1/set_motors", 1000); |
... | ... | |
136 | 141 |
menuFile->Append(ID_QUIT, _("E&xit")); |
137 | 142 |
|
138 | 143 |
wxMenu *menuSim = new wxMenu; |
139 |
menuSim->Append(ID_SONAR, _("S&onar")); |
|
140 | 144 |
menuSim->Append(ID_CLEAR, _("&Clear")); |
141 | 145 |
|
142 | 146 |
wxMenu *menuView = new wxMenu; |
... | ... | |
149 | 153 |
menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise")); |
150 | 154 |
menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid")); |
151 | 155 |
|
152 |
wxMenu *menuTest = new wxMenu; |
|
153 |
menuTest->Append(ID_TEST, _("&Scouts go here")); |
|
154 |
|
|
155 | 156 |
wxMenuBar *menuBar = new wxMenuBar; |
156 | 157 |
menuBar->Append(menuFile, _("&File")); |
157 | 158 |
menuBar->Append(menuSim, _("&Sim")); |
158 | 159 |
menuBar->Append(menuView, _("&View")); |
159 | 160 |
menuBar->Append(menuTeleop, _("&Teleop")); |
160 |
menuBar->Append(menuTest, _("T&est")); |
|
161 | 161 |
|
162 | 162 |
SetMenuBar(menuBar); |
163 | 163 |
|
... | ... | |
178 | 178 |
std::string name = spawnScout(req.name, req.x, req.y, req.theta); |
179 | 179 |
if (name.empty()) |
180 | 180 |
{ |
181 |
ROS_ERROR("A scout named [%s] already exists", req.name.c_str());
|
|
181 |
ROS_WARN("A scout named [%s] already exists", req.name.c_str());
|
|
182 | 182 |
return false; |
183 | 183 |
} |
184 | 184 |
|
185 | 185 |
res.name = name; |
186 |
|
|
187 | 186 |
return true; |
188 | 187 |
} |
189 | 188 |
|
... | ... | |
193 | 192 |
M_Scout::iterator it = scouts.find(req.name); |
194 | 193 |
if (it == scouts.end()) |
195 | 194 |
{ |
196 |
ROS_ERROR("Tried to kill scout [%s], which does not exist",
|
|
197 |
req.name.c_str());
|
|
195 |
ROS_WARN("Tried to kill scout [%s], which does not exist",
|
|
196 |
req.name.c_str()); |
|
198 | 197 |
return false; |
199 | 198 |
} |
200 | 199 |
|
... | ... | |
203 | 202 |
return true; |
204 | 203 |
} |
205 | 204 |
|
205 |
bool SimFrame::setSonarVizCallback(SetSonarViz::Request& req, |
|
206 |
SetSonarViz::Response&) |
|
207 |
{ |
|
208 |
M_Scout::iterator it = scouts.find(req.scout_name); |
|
209 |
if (it == scouts.end()) |
|
210 |
{ |
|
211 |
ROS_WARN("Tried to set sonar on scout [%s], which does not exist", |
|
212 |
req.scout_name.c_str()); |
|
213 |
return false; |
|
214 |
} |
|
215 |
|
|
216 |
it->second->set_sonar_visual(req.on); |
|
217 |
return true; |
|
218 |
} |
|
219 |
|
|
220 |
bool SimFrame::setGhostCallback(SetGhost::Request& req, |
|
221 |
SetGhost::Response&) |
|
222 |
{ |
|
223 |
for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
|
224 |
{ |
|
225 |
if (ghost_scouts.at(i)->get_name() == req.scout_name) |
|
226 |
{ |
|
227 |
ghost_scouts.at(i)->set_visible(req.on); |
|
228 |
return true; |
|
229 |
} |
|
230 |
} |
|
231 |
|
|
232 |
ROS_WARN("Tried to set ghost on scout [%s], which does not exist", |
|
233 |
req.scout_name.c_str()); |
|
234 |
return false; |
|
235 |
} |
|
236 |
|
|
237 |
bool SimFrame::setTeleopCallback(SetTeleop::Request& req, |
|
238 |
SetTeleop::Response&) |
|
239 |
{ |
|
240 |
std::stringstream ss; |
|
241 |
ss << "/" << req.scout_name << "/set_motors"; |
|
242 |
teleop_pub = nh.advertise<motors::set_motors>(ss.str(), 1000); |
|
243 |
|
|
244 |
return true; |
|
245 |
} |
|
246 |
|
|
206 | 247 |
bool SimFrame::hasScout(const std::string& name) |
207 | 248 |
{ |
208 | 249 |
return scouts.find(name) != scouts.end(); |
... | ... | |
214 | 255 |
std::string real_name = name; |
215 | 256 |
if (real_name.empty()) |
216 | 257 |
{ |
258 |
// Generate the name scoutX, where X is an increasing number. |
|
217 | 259 |
do |
218 | 260 |
{ |
219 | 261 |
std::stringstream ss; |
220 | 262 |
ss << "scout" << ++id_counter; |
221 | 263 |
real_name = ss.str(); |
222 |
} while (hasScout(real_name)); |
|
264 |
} |
|
265 |
while (hasScout(real_name)); |
|
223 | 266 |
} |
224 | 267 |
else |
225 | 268 |
{ |
... | ... | |
280 | 323 |
clear(); |
281 | 324 |
} |
282 | 325 |
|
283 |
void SimFrame::showSonar(wxCommandEvent& WXUNUSED(event)) |
|
284 |
{ |
|
285 |
sonar_visual_on = not sonar_visual_on; |
|
286 |
clear(); |
|
287 |
} |
|
288 |
|
|
289 |
void SimFrame::doTest(wxCommandEvent& WXUNUSED(event)) |
|
290 |
{ |
|
291 |
clear(); |
|
292 |
} |
|
293 |
|
|
294 | 326 |
void SimFrame::showMap(wxCommandEvent& WXUNUSED(event)) |
295 | 327 |
{ |
296 | 328 |
display_map_name = map_base_name; |
... | ... | |
353 | 385 |
{ |
354 | 386 |
it->second->paint(dc); |
355 | 387 |
} |
356 |
for (unsigned int i=0; i<ghost_scouts.size(); ++i)
|
|
388 |
for (unsigned int i=0; i < ghost_scouts.size(); ++i)
|
|
357 | 389 |
{ |
358 | 390 |
ghost_scouts.at(i)->paint(dc); |
359 | 391 |
} |
... | ... | |
410 | 442 |
} |
411 | 443 |
else if (wxGetKeyState(WXK_LEFT)) |
412 | 444 |
{ |
413 |
teleop_l_speed = -TELEOP_PRECISE_SPEED * 4;
|
|
414 |
teleop_r_speed = TELEOP_PRECISE_SPEED * 4;
|
|
445 |
teleop_l_speed = -TELEOP_PRECISE_TURN_SPEED;
|
|
446 |
teleop_r_speed = TELEOP_PRECISE_TURN_SPEED;
|
|
415 | 447 |
} |
416 | 448 |
else if (wxGetKeyState(WXK_RIGHT)) |
417 | 449 |
{ |
418 |
teleop_l_speed = TELEOP_PRECISE_SPEED * 4;
|
|
419 |
teleop_r_speed = -TELEOP_PRECISE_SPEED * 4;
|
|
450 |
teleop_l_speed = TELEOP_PRECISE_TURN_SPEED;
|
|
451 |
teleop_r_speed = -TELEOP_PRECISE_TURN_SPEED;
|
|
420 | 452 |
} |
421 | 453 |
} |
422 | 454 |
|
... | ... | |
531 | 563 |
for (; it != end; ++it) |
532 | 564 |
{ |
533 | 565 |
it->second->update(SIM_TIME_REFRESH_RATE, |
534 |
path_dc,sonar_dc,sonar_visual_on,
|
|
566 |
path_dc, sonar_dc,
|
|
535 | 567 |
path_image, lines_image, walls_image, |
536 | 568 |
path_dc.GetBackground().GetColour(), |
537 | 569 |
sonar_dc.GetBackground().GetColour(), |
538 | 570 |
state); |
539 | 571 |
} |
540 | 572 |
|
541 |
for (unsigned int i=0; i<ghost_scouts.size(); ++i)
|
|
573 |
for (unsigned int i = 0; i < ghost_scouts.size(); ++i)
|
|
542 | 574 |
{ |
543 | 575 |
ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc, |
544 | 576 |
path_dc.GetBackground().GetColour(), state); |
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