RoboBuggy

/*

 * 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.

 *

 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

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

 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

 * POSSIBILITY OF SUCH DAMAGE.

 */

#include <QFrame>

#include <QImage>

#include <QPainter>

#include <QPaintEvent>

#include <QTimer>

#include <QVector>

// This prevents a MOC error with versions of boost >= 1.48

#ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829

# include <ros/ros.h>

# include <std_srvs/Empty.h>

# include <turtlesim_ref/Spawn.h>

# include <turtlesim_ref/Kill.h>

# include <map>

# include "turtle.h"

#endif

namespace turtlesim_ref

{

class TurtleFrame : public QFrame

{

  Q_OBJECT

public:

  TurtleFrame(QWidget* parent = 0, Qt::WindowFlags f = 0);

  ~TurtleFrame();

  std::string spawnTurtle(const std::string& name, float x, float y, float angle);

protected:

  void paintEvent(QPaintEvent* event);

private slots:

  void onUpdate();

private:

  void updateTurtles();

  void clear();

  bool hasTurtle(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(turtlesim_ref::Spawn::Request&, turtlesim_ref::Spawn::Response&);

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

  ros::NodeHandle nh_;

  QTimer* update_timer_;

  QImage path_image_;

  QPainter path_painter_;

  uint64_t frame_count_;

  ros::WallTime last_turtle_update_;

  ros::ServiceServer clear_srv_;

  ros::ServiceServer reset_srv_;

  ros::ServiceServer spawn_srv_;

  ros::ServiceServer kill_srv_;

  typedef std::map<std::string, TurtlePtr> M_Turtle;

  M_Turtle turtles_;

  uint32_t id_counter_;

  QVector<QImage> turtle_images_;

  float meter_;

  float width_in_meters_;

  float height_in_meters_;

};

}