scoutos / scout / scoutsim / src / scout.h @ a2e6bd4c
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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 | 144137a1 | Alex Zirbel | #ifndef _SCOUTSIM_SCOUT_H_
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49 | #define _SCOUTSIM_SCOUT_H_
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50 | 266ae7f2 | Alex Zirbel | |
51 | #include <ros/ros.h> |
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52 | af0d9743 | Alex | #include <vector> |
53 | 266ae7f2 | Alex Zirbel | #include <boost/shared_ptr.hpp> |
54 | |||
55 | a8480867 | Alex Zirbel | #include <motors/set_motors.h> |
56 | 9f547ef7 | Alex Zirbel | #include <encoders/query_encoders.h> |
57 | af0d9743 | Alex | #include <linesensor/query_linesensor.h> |
58 | a2e6bd4c | Alex | #include <sonar/sonar_distance.h> |
59 | a8480867 | Alex Zirbel | |
60 | 266ae7f2 | Alex Zirbel | #include <scoutsim/Pose.h> |
61 | #include <scoutsim/SetPen.h> |
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62 | #include <scoutsim/Color.h> |
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63 | |||
64 | e3f69e61 | Alex | #include <geometry_msgs/Pose2D.h> |
65 | |||
66 | 266ae7f2 | Alex Zirbel | #include <wx/wx.h> |
67 | |||
68 | e3f69e61 | Alex | #include "scoutsim_internal.h" |
69 | a2e6bd4c | Alex | #include "scout_constants.h" |
70 | c492be62 | Alex Zirbel | |
71 | 266ae7f2 | Alex Zirbel | #define PI 3.14159265 |
72 | c492be62 | Alex Zirbel | |
73 | 144137a1 | Alex Zirbel | /// The scale factor so the speed of scout robots is reasonable for the sim
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74 | #define SPEED_SCALE_FACTOR 0.05 |
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75 | 266ae7f2 | Alex Zirbel | |
76 | ade1b7f9 | Alex | #define NUM_LINESENSORS 8 |
77 | |||
78 | // Distance, pixels, from center of robot to the linesensors.
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79 | #define LNSNSR_D 20 |
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80 | |||
81 | 266ae7f2 | Alex Zirbel | namespace scoutsim |
82 | { |
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83 | struct Vector2
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84 | { |
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85 | Vector2() |
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86 | : x(0.0) |
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87 | , y(0.0) |
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88 | {} |
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89 | |||
90 | 144137a1 | Alex Zirbel | Vector2(float new_x, float new_y) |
91 | : x(new_x) |
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92 | , y(new_y) |
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93 | 266ae7f2 | Alex Zirbel | {} |
94 | |||
95 | bool operator==(const Vector2& rhs) |
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96 | { |
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97 | return x == rhs.x && y == rhs.y;
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98 | } |
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99 | |||
100 | bool operator!=(const Vector2& rhs) |
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101 | { |
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102 | return x != rhs.x || y != rhs.y;
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103 | } |
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104 | |||
105 | float x;
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106 | float y;
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107 | }; |
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108 | |||
109 | class Scout |
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110 | { |
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111 | public:
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112 | Scout(const ros::NodeHandle& nh, const wxImage& scout_image, |
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113 | const Vector2& pos, float orient); |
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114 | |||
115 | 9b3564f3 | Alex Zirbel | geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
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116 | const wxImage& path_image,
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117 | ade1b7f9 | Alex | const wxImage& lines_image,
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118 | a2e6bd4c | Alex | const wxImage& walls_image,
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119 | 9b3564f3 | Alex Zirbel | wxColour background_color, |
120 | world_state state); |
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121 | 266ae7f2 | Alex Zirbel | void paint(wxDC& dc);
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122 | |||
123 | private:
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124 | a8480867 | Alex Zirbel | void setMotors(const motors::set_motors::ConstPtr& msg); |
125 | c492be62 | Alex Zirbel | float getSonar(float angle); |
126 | 266ae7f2 | Alex Zirbel | bool setPenCallback(scoutsim::SetPen::Request&,
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127 | scoutsim::SetPen::Response&); |
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128 | 9f547ef7 | Alex Zirbel | bool query_encoders_callback(encoders::query_encoders::Request&,
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129 | encoders::query_encoders::Response&); |
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130 | af0d9743 | Alex | bool query_linesensor_callback(linesensor::query_linesensor::Request&,
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131 | linesensor::query_linesensor::Response&); |
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132 | a2e6bd4c | Alex | unsigned int rgb_to_grey(unsigned char r, |
133 | unsigned char g, |
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134 | unsigned char b); |
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135 | unsigned int trace_sonar(const wxImage& walls_image, int x, int y, |
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136 | double robot_theta, int sonar_pos); |
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137 | void update_sonar(const wxImage& walls_image, int x, int y, |
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138 | double robot_theta);
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139 | void update_linesensor(const wxImage& lines_image, int x, int y, |
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140 | double theta);
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141 | 266ae7f2 | Alex Zirbel | |
142 | 144137a1 | Alex Zirbel | ros::NodeHandle node; |
143 | 266ae7f2 | Alex Zirbel | |
144 | 144137a1 | Alex Zirbel | wxImage scout_image; |
145 | wxBitmap scout; |
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146 | 266ae7f2 | Alex Zirbel | |
147 | 144137a1 | Alex Zirbel | Vector2 pos; |
148 | float orient;
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149 | 266ae7f2 | Alex Zirbel | |
150 | 9f547ef7 | Alex Zirbel | /// @todo should these be an array or something?
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151 | |||
152 | a8480867 | Alex Zirbel | // Keep track of the last commanded speeds sent to the sim
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153 | 144137a1 | Alex Zirbel | int motor_fl_speed;
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154 | int motor_fr_speed;
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155 | int motor_bl_speed;
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156 | int motor_br_speed;
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157 | a8480867 | Alex Zirbel | |
158 | 9f547ef7 | Alex Zirbel | // Keep track of encoder ticks for each motor
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159 | unsigned int fl_ticks; |
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160 | unsigned int fr_ticks; |
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161 | unsigned int bl_ticks; |
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162 | unsigned int br_ticks; |
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163 | |||
164 | a2e6bd4c | Alex | int sonar_position;
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165 | int sonar_stop_l;
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166 | int sonar_stop_r;
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167 | int sonar_direction;
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168 | // The last time the sonar changed its position.
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169 | ros::Time last_sonar_time; |
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170 | ros::Duration sonar_tick_time; |
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171 | |||
172 | ade1b7f9 | Alex | // A vector of the 8 linesensor readings
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173 | std::vector<unsigned int> linesensor_readings; |
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174 | |||
175 | c492be62 | Alex Zirbel | // Each scout has a unique id number, which is also displayed on its image.
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176 | int scout_id;
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177 | |||
178 | 144137a1 | Alex Zirbel | bool pen_on;
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179 | wxPen pen; |
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180 | 266ae7f2 | Alex Zirbel | |
181 | 144137a1 | Alex Zirbel | ros::Subscriber motors_sub; |
182 | ros::Publisher pose_pub; |
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183 | ros::Publisher color_pub; |
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184 | a2e6bd4c | Alex | ros::Publisher sonar_pub; |
185 | 144137a1 | Alex Zirbel | ros::ServiceServer set_pen_srv; |
186 | 9f547ef7 | Alex Zirbel | ros::ServiceServer query_encoders_srv; |
187 | af0d9743 | Alex | ros::ServiceServer query_linesensor_srv; |
188 | 266ae7f2 | Alex Zirbel | |
189 | 144137a1 | Alex Zirbel | ros::WallTime last_command_time; |
190 | 266ae7f2 | Alex Zirbel | |
191 | 144137a1 | Alex Zirbel | float meter;
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192 | 266ae7f2 | Alex Zirbel | |
193 | }; |
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194 | typedef boost::shared_ptr<Scout> ScoutPtr;
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195 | |||
196 | 4612f7e4 | Alex Zirbel | } |
197 | 266ae7f2 | Alex Zirbel | |
198 | #endif |