Colony » Colony Scout » Colony Scout OS

#include <map>

#include "scout.h"

#include "ghost_scout.h"

#include "scoutsim_internal.h"

#include "messages/WirelessPacket.h"

            std::string spawnScout(const std::string& name,

                    float x, float y, float angle);

            void onQuit(wxCommandEvent& event);

            void onAbout(wxCommandEvent& event);

        private:

            void onUpdate(wxTimerEvent& evt);

            void onPaint(wxPaintEvent& evt);

            void updateScouts();

            void clear();

            bool hasScout(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(Spawn::Request&, Spawn::Response&);

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

            bool setSonarVizCallback(SetSonarViz::Request&, SetSonarViz::Response&);

            bool setTeleopCallback(SetTeleop::Request&, SetTeleop::Response&);

            void wirelessCallback(const messages::WirelessPacket::ConstPtr& msg);

            ros::Subscriber wireless_send;

            ros::Publisher wireless_receive;

            // Teleop

            short teleop_l_speed;

            short teleop_r_speed;

            ros::ServiceServer clear_srv;

            ros::ServiceServer reset_srv;

            ros::ServiceServer spawn_srv;

            ros::ServiceServer kill_srv;

            ros::ServiceServer set_sonar_viz_srv;

            ros::ServiceServer set_ghost_srv;

            ros::ServiceServer set_teleop_srv;

            M_Scout scouts;

            std::vector<GhostScout*> ghost_scouts;

            uint32_t id_counter;