robobuggy / buggysim / include / buggysim / sim_frame.h @ 08be08ec
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1 | f016dee6 | Tahm | /*
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2 | * Copyright (c) 2009, Willow Garage, Inc.
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3 | * All rights reserved.
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4 | *
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5 | * Redistribution and use in source and binary forms, with or without
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6 | * modification, are permitted provided that the following conditions are met:
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7 | *
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8 | * * Redistributions of source code must retain the above copyright
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9 | * notice, this list of conditions and the following disclaimer.
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10 | * * Redistributions in binary form must reproduce the above copyright
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11 | * notice, this list of conditions and the following disclaimer in the
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12 | * documentation and/or other materials provided with the distribution.
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13 | * * Neither the name of the Willow Garage, Inc. nor the names of its
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14 | * contributors may be used to endorse or promote products derived from
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15 | * this software without specific prior written permission.
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16 | *
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17 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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18 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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19 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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20 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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21 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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22 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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23 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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24 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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25 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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26 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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27 | * POSSIBILITY OF SUCH DAMAGE.
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28 | */
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29 | |||
30 | #include <QFrame> |
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31 | #include <QImage> |
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32 | #include <QPainter> |
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33 | #include <QPaintEvent> |
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34 | #include <QTimer> |
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35 | #include <QVector> |
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36 | |||
37 | // This prevents a MOC error with versions of boost >= 1.48
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38 | #ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829 |
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39 | # include <ros/ros.h> |
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40 | |||
41 | # include <std_srvs/Empty.h> |
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42 | 73279b33 | Tahm | # include <buggysim/Spawn.h> |
43 | # include <buggysim/Kill.h> |
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44 | f016dee6 | Tahm | # include <map> |
45 | |||
46 | 489a82b1 | Tahm | # include "buggy.h" |
47 | f016dee6 | Tahm | #endif
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48 | |||
49 | 73279b33 | Tahm | namespace buggysim |
50 | f016dee6 | Tahm | { |
51 | |||
52 | 08be08ec | Tahm | class TurtleFrame : public QFrame |
53 | { |
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54 | Q_OBJECT |
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55 | public: |
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56 | TurtleFrame(QWidget* parent = 0, Qt::WindowFlags f = 0); |
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57 | ~TurtleFrame(); |
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58 | f016dee6 | Tahm | |
59 | 08be08ec | Tahm | std::string spawnTurtle(const std::string& name, float x, float y, float angle); |
60 | f016dee6 | Tahm | |
61 | 08be08ec | Tahm | protected:
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62 | void paintEvent(QPaintEvent* event);
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63 | f016dee6 | Tahm | |
64 | 08be08ec | Tahm | private slots: |
65 | void onUpdate();
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66 | f016dee6 | Tahm | |
67 | 08be08ec | Tahm | private:
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68 | void updateTurtles();
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69 | void clear();
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70 | bool hasTurtle(const std::string& name); |
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71 | f016dee6 | Tahm | |
72 | 08be08ec | Tahm | bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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73 | bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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74 | bool spawnCallback(buggysim::Spawn::Request&, buggysim::Spawn::Response&);
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75 | bool killCallback(buggysim::Kill::Request&, buggysim::Kill::Response&);
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76 | f016dee6 | Tahm | |
77 | 08be08ec | Tahm | ros::NodeHandle nh_; |
78 | QTimer* update_timer_; |
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79 | QImage path_image_; |
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80 | QPainter path_painter_; |
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81 | f016dee6 | Tahm | |
82 | 08be08ec | Tahm | uint64_t frame_count_; |
83 | f016dee6 | Tahm | |
84 | 08be08ec | Tahm | ros::WallTime last_turtle_update_; |
85 | f016dee6 | Tahm | |
86 | 08be08ec | Tahm | ros::ServiceServer clear_srv_; |
87 | ros::ServiceServer reset_srv_; |
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88 | ros::ServiceServer spawn_srv_; |
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89 | ros::ServiceServer kill_srv_; |
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90 | f016dee6 | Tahm | |
91 | 08be08ec | Tahm | typedef std::map<std::string, TurtlePtr> M_Turtle;
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92 | M_Turtle turtles_; |
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93 | uint32_t id_counter_; |
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94 | f016dee6 | Tahm | |
95 | 08be08ec | Tahm | QVector<QImage> turtle_images_; |
96 | f016dee6 | Tahm | |
97 | 08be08ec | Tahm | float meter_;
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98 | float width_in_meters_;
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99 | float height_in_meters_;
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100 | }; |
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101 | f016dee6 | Tahm | |
102 | } |