Colony » Colony Scout

/**

 * The code in this package was developed using the structure of Willow

 * Garage's turtlesim package.  It was modified by the CMU Robotics Club

 * to be used as a simulator for the Colony Scout robot.

 *

 * All redistribution of this code is limited to the terms of Willow Garage's

 * licensing terms, as well as under permission from the CMU Robotics Club.

 * 

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * Copyright (c) 2009, Willow Garage, Inc.

 * All rights reserved.

 * 

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions are met:

 * 

 *    Redistributions of source code must retain the above copyright

 *       notice, this list of conditions and the following disclaimer.

 *    Redistributions in binary form must reproduce the above copyright

 *       notice, this list of conditions and the following disclaimer in the

 *       documentation and/or other materials provided with the distribution.

 *    Neither the name of the Willow Garage, Inc. nor the names of its

 *       contributors may be used to endorse or promote products derived from

 *       this software without specific prior written permission.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#include <wx/wx.h>

#include <wx/event.h>

#include <wx/timer.h>

#include <wx/string.h>

#include <wx/utils.h>

#include <sys/stat.h>

#include <ros/ros.h>

#include <std_srvs/Empty.h>

#include <scoutsim/Spawn.h>

#include <scoutsim/Kill.h>

#include <scoutsim/SetSonarViz.h>

#include <scoutsim/SetGhost.h>

#include <scoutsim/SetTeleop.h>

#include <messages/set_motors.h>

#include <map>

#include "scout.h"

#include "emitter.h"

#include "ghost_scout.h"

#include "scoutsim_internal.h"

#include "messages/WirelessPacket.h"

#define SCOUTSIM_NUM_SCOUTS 1

#define ID_ABOUT 1

#define ID_QUIT 2

#define ID_CLEAR 3

#define ID_MAP 4

#define ID_LINES 5

#define ID_WALLS 6

#define ID_TELEOP_NONE 7

#define ID_TELEOP_PRECISE 8

#define ID_TELEOP_FLUID 9

// Absolute speeds (-100 - 100)

/// @todo: Clean this up a little; we should be risking overflowing shorts.

#define TELEOP_PRECISE_SPEED 47

#define TELEOP_PRECISE_TURN_SPEED 98

#define TELEOP_FLUID_MAX_SPEED 79

#define TELEOP_FLUID_INC 6

// Teleop types

#define TELEOP_OFF 0

#define TELEOP_PRECISE 1

#define TELEOP_FLUID 2

//Scout DImensions

#define SCOUT_H 0.25

#define SCOUT_W 0.125

namespace scoutsim

{

    class SimFrame : public wxFrame

    {

        public:

            SimFrame(wxWindow* parent, std::string map_name);

            ~SimFrame();

            std::string spawnScout(const std::string& name,

                    float x, float y, float angle);

            std::string spawnEmitter(const std::string& name,

                    float x, float y, float angle);

            void onQuit(wxCommandEvent& event);

            void onAbout(wxCommandEvent& event);

            void onClear(wxCommandEvent& event);

            void showMap(wxCommandEvent& event);

            void showLines(wxCommandEvent& event);

            void showWalls(wxCommandEvent& event);

            void stopTeleop(wxCommandEvent& event);

            void startTeleopPrecise(wxCommandEvent& event);

            void startTeleopFluid(wxCommandEvent& event);

            DECLARE_EVENT_TABLE()

        private:

            typedef std::map<std::string, ScoutPtr> M_Scout;

            typedef std::map<std::string, EmitterPtr> M_Emitter;

            void onUpdate(wxTimerEvent& evt);

            void onPaint(wxPaintEvent& evt);

            bool fileExists(const std::string& filename);

            void teleop_move_precise();

            void teleop_move_fluid();

            void teleop();

            void updateScouts();

            void clear();

            bool hasScout(const std::string& name);

            bool hasEmitter(const std::string& name);

            bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);

            bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);

            bool spawnCallback(Spawn::Request&, Spawn::Response&);

            bool spawnEmCallback(Spawn::Request&, Spawn::Response&);

            bool killCallback(Kill::Request&, Kill::Response&);

            bool setSonarVizCallback(SetSonarViz::Request&, SetSonarViz::Response&);

            bool setGhostCallback(SetGhost::Request&, SetGhost::Response&);

            bool setTeleopCallback(SetTeleop::Request&, SetTeleop::Response&);

            void wirelessCallback(const messages::WirelessPacket::ConstPtr& msg);

            bool is_inrange(geometry_msgs::Pose2D scout_pos, 

                         geometry_msgs::Pose2D emitter_pos,

                         double aperture, double distance);

            void checkBOM(geometry_msgs::Pose2D scout_pos,

                          M_Scout::iterator it); 

            int getActiveEmitter(geometry_msgs::Pose2D bom_pos);

            ros::Subscriber wireless_send;

            ros::Publisher wireless_receive;

            // Teleop

            short teleop_l_speed;

            short teleop_r_speed;

            ros::Publisher teleop_pub;

            std::string teleop_scoutname;

            int teleop_type;

            int teleop_fluid_speed;

            int teleop_fluid_omega;

            ros::NodeHandle nh;

            wxTimer* update_timer;

            wxBitmap path_bitmap;

            wxImage path_image;

            wxImage lines_image;

            wxImage walls_image;

            wxMemoryDC path_dc;

            wxMemoryDC sonar_dc;

            uint64_t frame_count;

            ros::WallTime last_scout_update;

            ros::ServiceServer clear_srv;

            ros::ServiceServer reset_srv;

            ros::ServiceServer spawn_srv;

            ros::ServiceServer spawn_em_srv;

            ros::ServiceServer kill_srv;

            ros::ServiceServer set_sonar_viz_srv;

            ros::ServiceServer set_ghost_srv;

            ros::ServiceServer set_teleop_srv;

            M_Scout scouts;

            M_Emitter emitters;

            std::vector<GhostScout*> ghost_scouts;

            uint32_t id_counter;

            uint32_t BOM_counter;

            std::string images_path;

            float width_in_meters;

            float height_in_meters;

            //Emitter default values

            double em_aperture;

            double em_distance;

            std::string map_base_name;

            std::string map_lines_name;

            std::string map_walls_name;

            std::string display_map_name;

    };

}