Colony » Colony Scout » Colony Scout OS

/**

 * The code in this package was developed using the structure of Willow

 * Garage's turtlesim package.  It was modified by the CMU Robotics Club

 * to be used as a simulator for the Colony Scout robot.

 *

 * All redistribution of this code is limited to the terms of Willow Garage's

 * licensing terms, as well as under permission from the CMU Robotics Club.

 * 

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * 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.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

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

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#include <wx/app.h>

#include <wx/timer.h>

#include <ros/ros.h>

#include <boost/thread.hpp>

#include <stdio.h>

#include "sim_frame.h"

#ifdef __WXMAC__

#include <ApplicationServices/ApplicationServices.h>

#endif

using namespace std;

class ScoutApp : public wxApp

{

    public:

        char** local_argv;

        ros::NodeHandlePtr nh;

        ScoutApp()

        {

        }

        bool OnInit()

        {

            std::cout << "Starting scout app." << std::endl;

#ifdef __WXMAC__

            ProcessSerialNumber PSN;

            GetCurrentProcess(&PSN);

            TransformProcessType(&PSN,kProcessTransformToForegroundApplication);

            SetFrontProcess(&PSN);

#endif

            // Create our own copy of argv, with regular char*s.

            local_argv = new char*[ argc ];

            for ( int i = 0; i < argc; ++i )

            {

                local_argv[ i ] = strdup( wxString( argv[ i ] ).mb_str() );

            }

            // Check for incorrect usage

            if (argc < 2)

            {

                cout << endl << "Error." << endl << endl;

                cout << "Usage: " << local_argv[0] << " <map name>" << endl;

                cout << "To use maps/example.bmp, use 'example'." << endl;

                exit(0);

            }

            std::cout << "About to init node" << std::endl;

            ros::init(argc, local_argv, "scoutsim");

            std::cout << "About to reset." << std::endl;

            nh.reset(new ros::NodeHandle);

            std::cout << "About to init image handlers." << std::endl;

            wxInitAllImageHandlers();

            std::cout << "About to make a sim frame." << std::endl;

            scoutsim::SimFrame* frame = new scoutsim::SimFrame(NULL, string(local_argv[1]));

            SetTopWindow(frame);

            frame->Show();

            std::cout << "Constructor done!" << std::endl;

            return true;

        }

        int OnExit()

        {

            for ( int i = 0; i < argc; ++i )

            {

                free( local_argv[ i ] );

            }

            delete [] local_argv;

            return 0;

        }

};

BEGIN_EVENT_TABLE(scoutsim::SimFrame, wxFrame)

    EVT_MENU(ID_QUIT,  scoutsim::SimFrame::onQuit)

    EVT_MENU(ID_ABOUT, scoutsim::SimFrame::onAbout)

    EVT_MENU(ID_CLEAR, scoutsim::SimFrame::onClear)

    EVT_MENU(ID_MAP, scoutsim::SimFrame::showMap)

    EVT_MENU(ID_LINES, scoutsim::SimFrame::showLines)

    EVT_MENU(ID_WALLS, scoutsim::SimFrame::showWalls)

    EVT_MENU(ID_TELEOP_NONE, scoutsim::SimFrame::stopTeleop)

    EVT_MENU(ID_TELEOP_PRECISE, scoutsim::SimFrame::startTeleopPrecise)

    EVT_MENU(ID_TELEOP_FLUID, scoutsim::SimFrame::startTeleopFluid)

    EVT_MENU(ID_SONAR, scoutsim::SimFrame::showSonar)

END_EVENT_TABLE()

DECLARE_APP(ScoutApp);

IMPLEMENT_APP(ScoutApp);