Revision 93cebb99 scout/scoutsim/src/scout.h

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scout/scoutsim/src/scout.h
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#include <messages/set_motors.h>
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#include <messages/query_encoders.h>
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#include <messages/query_linesensor.h>
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#include <messages/query_boms.h>
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#include <messages/sonar_distance.h>
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#include <messages/sonar_toggle.h>
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#include <messages/sonar_set_scan.h>
......
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#define PI 3.14159265
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#define NUM_LINESENSORS 8
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#define NUM_BOMS 10
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// Distance, pixels, from center of robot to the linesensors.
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#define LNSNSR_D 20
......
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                                         world_state state);
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            void paint(wxDC& dc);
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            void set_sonar_visual(bool on);
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            void update_BOM(int bom_index,bool bom_value);
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            void update_BOM(int bom_index, unsigned int bom_value,
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                            unsigned int sender);
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        private:
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            float absolute_to_mps(int absolute_speed);
......
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                                     messages::query_encoders::Response&);
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            bool query_linesensor_callback(messages::query_linesensor::Request&,
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                                     messages::query_linesensor::Response&);
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            bool query_BOM_callback(messages::query_boms::Request&,
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                                     messages::query_boms::Response&);
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            bool handle_sonar_toggle(messages::sonar_toggle::Request  &req,
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                                     messages::sonar_toggle::Response &res);
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            bool handle_sonar_set_scan(messages::sonar_set_scan::Request  &req,
......
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                              double robot_theta, wxMemoryDC& sonar_dc);
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            void update_linesensor(const wxImage& lines_image, int x, int y,
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                                   double theta);
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            int old_front_dx;
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            int old_front_dy;
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            int old_back_dx;
......
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            // A vector of the 8 linesensor readings
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            std::vector<unsigned int> linesensor_readings;
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            std::vector<unsigned int> BOM_readings;
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            std::vector<unsigned int> BOM_senders;
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            // Each scout has a unique id number, which is also displayed on its image.
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            int scout_id;
......
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            ros::ServiceServer set_pen_srv;
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            ros::ServiceServer query_encoders_srv;
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            ros::ServiceServer query_linesensor_srv;
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            ros::ServiceServer query_BOM_srv;
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            ros::ServiceServer toggle_sonar_srv;
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            ros::ServiceServer set_sonar_srv;
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