scoutos / scout / scoutsim / src / sim_frame.h @ 6257c97d
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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 | #include <wx/wx.h> |
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49 | #include <wx/event.h> |
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50 | #include <wx/timer.h> |
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51 | 2eaafff2 | Alex | #include <wx/string.h> |
52 | 0e77683c | Alex | #include <wx/utils.h> |
53 | 266ae7f2 | Alex Zirbel | |
54 | 594c3bb9 | Alex | #include <sys/stat.h> |
55 | |||
56 | 266ae7f2 | Alex Zirbel | #include <ros/ros.h> |
57 | |||
58 | #include <std_srvs/Empty.h> |
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59 | #include <scoutsim/Spawn.h> |
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60 | #include <scoutsim/Kill.h> |
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61 | 0e77683c | Alex | #include <motors/set_motors.h> |
62 | 266ae7f2 | Alex Zirbel | #include <map> |
63 | |||
64 | #include "scout.h" |
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65 | e3f69e61 | Alex | #include "scoutsim_internal.h" |
66 | 1d1281cc | Priya | #include "messages/WirelessPacket.h" |
67 | 266ae7f2 | Alex Zirbel | |
68 | a8480867 | Alex Zirbel | #define SCOUTSIM_NUM_SCOUTS 1 |
69 | 2eaafff2 | Alex | #define ID_ABOUT 1 |
70 | #define ID_QUIT 2 |
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71 | #define ID_CLEAR 3 |
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72 | #define ID_MAP 4 |
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73 | #define ID_LINES 5 |
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74 | 7ffad595 | Alex | #define ID_WALLS 6 |
75 | 0e77683c | Alex | #define ID_TELEOP_NONE 7 |
76 | #define ID_TELEOP_PRECISE 8 |
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77 | #define ID_TELEOP_FLUID 9 |
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78 | 68b23184 | viki | #define ID_SONAR 10 |
79 | 0e77683c | Alex | |
80 | 6257c97d | Alex | // Absolute speeds (0 - 255)
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81 | #define TELEOP_PRECISE_SPEED 160 |
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82 | #define TELEOP_FLUID_MAX_SPEED 200 |
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83 | #define TELEOP_FLUID_INC 10 |
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84 | 0e77683c | Alex | |
85 | // Teleop types
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86 | #define TELEOP_OFF 0 |
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87 | #define TELEOP_PRECISE 1 |
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88 | #define TELEOP_FLUID 2 |
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89 | 266ae7f2 | Alex Zirbel | |
90 | namespace scoutsim |
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91 | { |
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92 | class SimFrame : public wxFrame |
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93 | { |
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94 | public:
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95 | 2eaafff2 | Alex | SimFrame(wxWindow* parent, std::string map_name); |
96 | 266ae7f2 | Alex Zirbel | ~SimFrame(); |
97 | |||
98 | std::string spawnScout(const std::string& name,
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99 | float x, float y, float angle); |
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100 | |||
101 | 2eaafff2 | Alex | void onQuit(wxCommandEvent& event);
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102 | void onAbout(wxCommandEvent& event);
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103 | void onClear(wxCommandEvent& event);
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104 | void showMap(wxCommandEvent& event);
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105 | void showLines(wxCommandEvent& event);
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106 | 7ffad595 | Alex | void showWalls(wxCommandEvent& event);
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107 | 0e77683c | Alex | void stopTeleop(wxCommandEvent& event);
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108 | void startTeleopPrecise(wxCommandEvent& event);
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109 | void startTeleopFluid(wxCommandEvent& event);
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110 | 68b23184 | viki | void showSonar(wxCommandEvent& event);
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111 | 2eaafff2 | Alex | |
112 | DECLARE_EVENT_TABLE() |
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113 | |||
114 | 266ae7f2 | Alex Zirbel | private: |
115 | void onUpdate(wxTimerEvent& evt);
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116 | void onPaint(wxPaintEvent& evt);
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117 | |||
118 | 594c3bb9 | Alex | bool fileExists(const std::string& filename); |
119 | |||
120 | 0e77683c | Alex | void teleop_move_precise();
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121 | void teleop_move_fluid();
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122 | void teleop();
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123 | |||
124 | 266ae7f2 | Alex Zirbel | void updateScouts();
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125 | void clear();
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126 | bool hasScout(const std::string& name); |
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127 | |||
128 | bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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129 | bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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130 | 4612f7e4 | Alex Zirbel | bool spawnCallback(Spawn::Request&, Spawn::Response&);
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131 | bool killCallback(Kill::Request&, Kill::Response&);
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132 | 266ae7f2 | Alex Zirbel | |
133 | 1d1281cc | Priya | void wirelessCallback(const messages::WirelessPacket::ConstPtr& msg); |
134 | 82f3f746 | Priya | |
135 | ros::Subscriber wireless_send; |
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136 | ros::Publisher wireless_receive; |
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137 | |||
138 | 0e77683c | Alex | // Teleop
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139 | 6257c97d | Alex | int teleop_l_speed;
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140 | int teleop_r_speed;
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141 | 0e77683c | Alex | ros::Publisher teleop_pub; |
142 | int teleop_type;
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143 | |||
144 | 6257c97d | Alex | int teleop_fluid_speed;
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145 | int teleop_fluid_omega;
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146 | 0e77683c | Alex | |
147 | 144137a1 | Alex Zirbel | ros::NodeHandle nh; |
148 | wxTimer* update_timer; |
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149 | wxBitmap path_bitmap; |
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150 | wxImage path_image; |
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151 | ade1b7f9 | Alex | wxImage lines_image; |
152 | 7ffad595 | Alex | wxImage walls_image; |
153 | 144137a1 | Alex Zirbel | wxMemoryDC path_dc; |
154 | 0e77683c | Alex | wxMemoryDC sonar_dc; |
155 | 266ae7f2 | Alex Zirbel | |
156 | 144137a1 | Alex Zirbel | uint64_t frame_count; |
157 | 266ae7f2 | Alex Zirbel | |
158 | 144137a1 | Alex Zirbel | ros::WallTime last_scout_update; |
159 | 266ae7f2 | Alex Zirbel | |
160 | 144137a1 | Alex Zirbel | ros::ServiceServer clear_srv; |
161 | ros::ServiceServer reset_srv; |
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162 | ros::ServiceServer spawn_srv; |
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163 | ros::ServiceServer kill_srv; |
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164 | 266ae7f2 | Alex Zirbel | |
165 | typedef std::map<std::string, ScoutPtr> M_Scout;
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166 | 144137a1 | Alex Zirbel | M_Scout scouts; |
167 | uint32_t id_counter; |
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168 | 266ae7f2 | Alex Zirbel | |
169 | 594c3bb9 | Alex | std::string images_path; |
170 | 266ae7f2 | Alex Zirbel | |
171 | 144137a1 | Alex Zirbel | float width_in_meters;
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172 | float height_in_meters;
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173 | 2eaafff2 | Alex | |
174 | 68b23184 | viki | bool sonar_on;
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175 | |||
176 | ade1b7f9 | Alex | std::string map_base_name; |
177 | std::string map_lines_name; |
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178 | 7ffad595 | Alex | std::string map_walls_name; |
179 | 2eaafff2 | Alex | std::string display_map_name; |
180 | 266ae7f2 | Alex Zirbel | }; |
181 | |||
182 | } |