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scoutos / scout / scoutsim / src / scoutsim.cpp @ bf68fc90

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/**
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 * The code in this package was developed using the structure of Willow
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 * Garage's turtlesim package.  It was modified by the CMU Robotics Club
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 * to be used as a simulator for the Colony Scout robot.
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 *
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 * All redistribution of this code is limited to the terms of Willow Garage's
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 * licensing terms, as well as under permission from the CMU Robotics Club.
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 * 
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * Copyright (c) 2009, Willow Garage, Inc.
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 * All rights reserved.
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 * 
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 * Redistribution and use in source and binary forms, with or without
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 * modification, are permitted provided that the following conditions are met:
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 * 
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 *    Redistributions of source code must retain the above copyright
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 *       notice, this list of conditions and the following disclaimer.
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 *    Redistributions in binary form must reproduce the above copyright
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 *       notice, this list of conditions and the following disclaimer in the
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 *       documentation and/or other materials provided with the distribution.
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 *    Neither the name of the Willow Garage, Inc. nor the names of its
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 *       contributors may be used to endorse or promote products derived from
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 *       this software without specific prior written permission.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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#include <wx/app.h>
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#include <wx/timer.h>
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#include <ros/ros.h>
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#include <boost/thread.hpp>
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#include <stdio.h>
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#include "sim_frame.h"
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#ifdef __WXMAC__
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#include <ApplicationServices/ApplicationServices.h>
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#endif
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using namespace std;
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class ScoutApp : public wxApp
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{
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    public:
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        char** local_argv;
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        ScoutApp()
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        {
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        }
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        bool OnInit()
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        {
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            std::cout << "Starting scout app." << std::endl;
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#ifdef __WXMAC__
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            ProcessSerialNumber PSN;
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            GetCurrentProcess(&PSN);
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            TransformProcessType(&PSN,kProcessTransformToForegroundApplication);
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            SetFrontProcess(&PSN);
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#endif
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            // Create our own copy of argv, with regular char*s.
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            local_argv = new char*[ argc ];
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            for ( int i = 0; i < argc; ++i )
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            {
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                local_argv[ i ] = strdup( wxString( argv[ i ] ).mb_str() );
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            }
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            // Check for incorrect usage
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            if (argc < 2)
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            {
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                cout << endl << "Error." << endl << endl;
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                cout << "Usage: " << local_argv[0] << " <map name>" << endl;
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                cout << "To use maps/example.bmp, use 'example'." << endl;
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                exit(0);
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            }
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            std::cout << "About to init node" << std::endl;
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            ros::init(argc, local_argv, "scoutsim");
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            std::cout << "About to reset." << std::endl;
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            std::cout << "About to init image handlers." << std::endl;
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            wxInitAllImageHandlers();
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            std::cout << "About to make a sim frame." << std::endl;
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            scoutsim::SimFrame* frame = new scoutsim::SimFrame(NULL, string(local_argv[1]));
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            SetTopWindow(frame);
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            frame->Show();
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            std::cout << "Constructor done!" << std::endl;
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            return true;
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        }
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        int OnExit()
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        {
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            for ( int i = 0; i < argc; ++i )
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            {
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                free( local_argv[ i ] );
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            }
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            delete [] local_argv;
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            return 0;
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        }
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};
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BEGIN_EVENT_TABLE(scoutsim::SimFrame, wxFrame)
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    EVT_MENU(ID_QUIT,  scoutsim::SimFrame::onQuit)
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    EVT_MENU(ID_ABOUT, scoutsim::SimFrame::onAbout)
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    EVT_MENU(ID_CLEAR, scoutsim::SimFrame::onClear)
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    EVT_MENU(ID_MAP, scoutsim::SimFrame::showMap)
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    EVT_MENU(ID_LINES, scoutsim::SimFrame::showLines)
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    EVT_MENU(ID_WALLS, scoutsim::SimFrame::showWalls)
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    EVT_MENU(ID_TELEOP_NONE, scoutsim::SimFrame::stopTeleop)
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    EVT_MENU(ID_TELEOP_PRECISE, scoutsim::SimFrame::startTeleopPrecise)
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    EVT_MENU(ID_TELEOP_FLUID, scoutsim::SimFrame::startTeleopFluid)
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END_EVENT_TABLE()
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DECLARE_APP(ScoutApp);
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IMPLEMENT_APP(ScoutApp);