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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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48
/**
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 * @file sim_frame.cpp
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 *
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 * @ingroup scoutsim
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 * @{
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 */
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55
#include "sim_frame.h"
56

    
57
#include <stdio.h>
58

    
59
#include <ros/package.h>
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#include <cstdlib>
61
#include <ctime>
62

    
63
using namespace std;
64

    
65
namespace scoutsim
66
{
67
    SimFrame::SimFrame(wxWindow* parent, string map_name)
68
        : wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
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                  wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER)
70
          , frame_count(0)
71
          , id_counter(0)
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    {
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        std::cout << "Constructing sim frame." << std::endl;
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        srand(time(NULL));
76

    
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        update_timer = new wxTimer(this);
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        update_timer->Start(REAL_TIME_REFRESH_RATE * 1000);
79

    
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        Connect(update_timer->GetId(), wxEVT_TIMER,
81
                wxTimerEventHandler(SimFrame::onUpdate), NULL, this);
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        Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint),
83
                NULL, this);
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        images_path = ros::package::getPath("scoutsim") + "/images/";
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        map_base_name =  ros::package::getPath("scoutsim") + "/maps/" +
88
                           map_name + ".bmp";
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        map_lines_name = ros::package::getPath("scoutsim") + "/maps/" +
90
                           map_name + "_lines.bmp";
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        map_walls_name = ros::package::getPath("scoutsim") + "/maps/" +
92
                           map_name + "_walls.bmp";
93
        display_map_name = map_base_name;
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95
        wxBitmap lines_bitmap;
96
        wxBitmap walls_bitmap;
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        ROS_INFO("Loading map: %s", display_map_name.c_str());
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        path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str()));
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100
        // Try to load the file; if it fails, make a new blank file
101
        if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
102
        {
103
            lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
104
        }
105
        lines_image = lines_bitmap.ConvertToImage();
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107
        // Try to load the file; if it fails, make a new blank file
108
        if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
109
        {
110
            walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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        }
112
        walls_image = walls_bitmap.ConvertToImage();
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114
        clear();
115

    
116
        clear_srv = nh.advertiseService("clear",
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                                        &SimFrame::clearCallback, this);
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        reset_srv = nh.advertiseService("reset",
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                                        &SimFrame::resetCallback, this);
120
        spawn_srv = nh.advertiseService("spawn",
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                                        &SimFrame::spawnCallback, this);
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        spawn_em_srv = nh.advertiseService("spawn_em",
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                                        &SimFrame::spawnEmCallback, this);
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        kill_srv = nh.advertiseService("kill",
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                                        &SimFrame::killCallback, this);
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        set_sonar_viz_srv = nh.advertiseService("set_sonar_viz",
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                                        &SimFrame::setSonarVizCallback, this);
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        set_ghost_srv = nh.advertiseService("set_ghost",
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                                        &SimFrame::setGhostCallback, this);
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        set_teleop_srv = nh.advertiseService("set_teleop",
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                                        &SimFrame::setTeleopCallback, this);
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133
        // Subscribe and publisher wirless from robots
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        wireless_receive = nh.advertise< ::messages::WirelessPacket>(
135
            "/wireless/receive", 1000); 
136
        wireless_send = nh.subscribe("/wireless/send", 1000,
137
            &SimFrame::wirelessCallback, this);
138

    
139
        //Emitter default values
140
        em_aperture = PI / 6.0;
141
        em_distance = 2;
142

    
143
        // Teleop
144
        teleop_type = TELEOP_OFF;
145
        teleop_l_speed = 0;
146
        teleop_r_speed = 0;
147
        teleop_scoutname = "scout1";
148

    
149
        teleop_pub = nh.advertise< ::messages::set_motors>("/scout1/set_motors", 1000);
150

    
151
        ROS_INFO("Starting scoutsim with node name %s",
152
                 ros::this_node::getName().c_str()) ;
153

    
154
        wxMenu *menuFile = new wxMenu;
155
        menuFile->Append(ID_ABOUT, _("&About"));
156
        menuFile->AppendSeparator();
157
        menuFile->Append(ID_QUIT, _("E&xit"));
158

    
159
        wxMenu *menuSim = new wxMenu;
160
        menuSim->Append(ID_CLEAR, _("&Clear"));
161

    
162
        wxMenu *menuView = new wxMenu;
163
        menuView->Append(ID_MAP, _("&Map"));
164
        menuView->Append(ID_LINES, _("&Lines"));
165
        menuView->Append(ID_WALLS, _("&Walls"));
166

    
167
        wxMenu *menuTeleop = new wxMenu;
168
        menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
169
        menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
170
        menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
171

    
172
        wxMenuBar *menuBar = new wxMenuBar;
173
        menuBar->Append(menuFile, _("&File"));
174
        menuBar->Append(menuSim, _("&Sim"));
175
        menuBar->Append(menuView, _("&View"));
176
        menuBar->Append(menuTeleop, _("&Teleop"));
177

    
178
        SetMenuBar(menuBar);
179

    
180
        width_in_meters = GetSize().GetWidth() / PIX_PER_METER;
181
        height_in_meters = GetSize().GetHeight() / PIX_PER_METER;
182

    
183
        spawnScout("scout1", 1.4, .78, 0);
184
    }
185

    
186
    SimFrame::~SimFrame()
187
    {
188
        delete update_timer;
189
    }
190

    
191
    bool SimFrame::spawnCallback(scoutsim::Spawn::Request  &req,
192
                                 scoutsim::Spawn::Response &res)
193
    {
194
        std::string name = spawnScout(req.name, req.x, req.y, req.theta);
195
        if (name.empty())
196
        {
197
            ROS_WARN("A scout named [%s] already exists", req.name.c_str());
198
            return false;
199
        }
200

    
201
        res.name = name;
202
        return true;
203
    }
204

    
205

    
206
    bool SimFrame::spawnEmCallback(scoutsim::Spawn::Request  &req,
207
                                 scoutsim::Spawn::Response &res)
208
    {
209
        std::string name = spawnEmitter(req.name, req.x, req.y, req.theta);
210
        if (name.empty())
211
        {
212
            ROS_WARN("An emitter named [%s] already exists", req.name.c_str());
213
            return false;
214
        }
215

    
216
        res.name = name;
217
        return true;
218
    }
219

    
220
    bool SimFrame::killCallback(scoutsim::Kill::Request& req,
221
                                scoutsim::Kill::Response&)
222
    {
223
        M_Scout::iterator it = scouts.find(req.name);
224
        if (it == scouts.end())
225
        {
226
            ROS_WARN("Tried to kill scout [%s], which does not exist",
227
                     req.name.c_str());
228
            return false;
229
        }
230

    
231
        scouts.erase(it);
232

    
233
        return true;
234
    }
235

    
236
    bool SimFrame::setSonarVizCallback(SetSonarViz::Request& req,
237
                                       SetSonarViz::Response&)
238
    {
239
        M_Scout::iterator it = scouts.find(req.scout_name);
240
        if (it == scouts.end())
241
        {
242
            ROS_WARN("Tried to set sonar on scout [%s], which does not exist",
243
                     req.scout_name.c_str());
244
            return false;
245
        }
246

    
247
        it->second->set_sonar_visual(req.on);
248
        return true;
249
    }
250

    
251
    bool SimFrame::setGhostCallback(SetGhost::Request& req,
252
                                    SetGhost::Response&)
253
    {
254
        for (unsigned int i=0; i < ghost_scouts.size(); ++i)
255
        {
256
            if (ghost_scouts.at(i)->get_name() == req.scout_name)
257
            {
258
                ghost_scouts.at(i)->set_visible(req.on);
259
                return true;
260
            }
261
        }
262

    
263
        ROS_WARN("Tried to set ghost on scout [%s], which does not exist",
264
                 req.scout_name.c_str());
265
        return false;
266
    }
267

    
268
    bool SimFrame::setTeleopCallback(SetTeleop::Request& req,
269
                                     SetTeleop::Response&)
270
    {
271
        std::stringstream ss;
272
        ss << "/" << req.scout_name << "/set_motors";
273
        teleop_pub = nh.advertise< ::messages::set_motors>(ss.str(), 1000);
274
        teleop_scoutname = req.scout_name.c_str();
275
        ROS_INFO("Teleoping %s...",teleop_scoutname.c_str()); //debug statement
276

    
277
        return true;
278
    }
279

    
280
    bool SimFrame::hasScout(const std::string& name)
281
    {
282
        return scouts.find(name) != scouts.end();
283
    }
284

    
285
    bool SimFrame::hasEmitter(const std::string& name)
286
    {
287
        return emitters.find(name) != emitters.end();
288
    }
289

    
290
    std::string SimFrame::spawnScout(const std::string& name,
291
                                     float x, float y, float angle)
292
    {
293
        std::string real_name = name;
294
        if (real_name.empty())
295
        {
296
            // Generate the name scoutX, where X is an increasing number.
297
            do
298
            {
299
                std::stringstream ss;
300
                ss << "scout" << ++id_counter;
301
                real_name = ss.str();
302
            }
303
            while (hasScout(real_name));
304
        }
305
        else
306
        {
307
            if (hasScout(real_name))
308
            {
309
                return "";
310
            }
311
        }
312

    
313
        wxImage scout_image;
314

    
315
        // Try to load a name-specific image; if not, load the default scout
316
        string specific_name = images_path + name + ".png";
317
        if (fileExists(specific_name))
318
        {
319
            scout_image.LoadFile(wxString::FromAscii(specific_name.c_str()));
320
            scout_image.SetMask(true);
321
            scout_image.SetMaskColour(255, 255, 255);
322
        }
323
        else
324
        {
325
            scout_image.LoadFile(
326
                wxString::FromAscii((images_path + "scout.png").c_str()));
327
            scout_image.SetMask(true);
328
            scout_image.SetMaskColour(255, 255, 255);
329
        }
330

    
331
        ScoutPtr t(new Scout(ros::NodeHandle(real_name),
332
                   scout_image, Vector2(x, y), &path_bitmap, angle));
333
        scouts[real_name] = t;
334

    
335
        ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
336
                scout_image, Vector2(x, y), &path_bitmap, angle, name));
337

    
338
        ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
339
                 real_name.c_str(), x, y, angle);
340

    
341
        return real_name;
342
    }
343

    
344

    
345
    std::string SimFrame::spawnEmitter(const std::string& name,
346
                                     float x, float y, float angle)
347
    {
348
        std::string real_name = name;
349
        if (real_name.empty())
350
        {
351
            // Generate the name emitterX, where X is an increasing number.
352
            do
353
            {
354
                std::stringstream ss;
355
                ss << "emitter" << ++id_counter;
356
                real_name = ss.str();
357
            }
358
            while (hasEmitter(real_name));
359
        }
360
        else
361
        {
362
            if (hasEmitter(real_name))
363
            {
364
                return "";
365
            }
366
        }
367

    
368
        wxImage emitter_image;
369

    
370
        // Try to load a name-specific image; if not, load the default emitter
371
        string specific_name = images_path + name + ".png";
372
        if (fileExists(specific_name))
373
        {
374
            emitter_image.LoadFile(wxString::FromAscii(specific_name.c_str()));
375
            emitter_image.SetMask(true);
376
            emitter_image.SetMaskColour(255, 255, 255);
377
        }
378
        else
379
        {
380
            ROS_INFO("LOADED EMITTER IMAGE");
381
            emitter_image.LoadFile(
382
                wxString::FromAscii((images_path + "emitter.png").c_str()));
383
            emitter_image.SetMask(true);
384
            emitter_image.SetMaskColour(255, 255, 255);
385
        }
386

    
387
        EmitterPtr t(new Emitter(ros::NodeHandle(real_name),
388
                   emitter_image, Vector2(x, y), &path_bitmap, 
389
                   angle, em_aperture, em_distance));
390
        emitters[real_name] = t;
391

    
392
        ROS_INFO("Spawning emitter [%s] at x=[%f], y=[%f], theta=[%f]",
393
                 real_name.c_str(), x, y, angle);
394

    
395
        return real_name;
396
    }
397

    
398

    
399
    void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
400
    {
401
        Close(true);
402
    }
403

    
404
    void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
405
    {
406
        wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
407
                       "\nThe Colony Project is a part of the Carnegie Mellon\n"
408
                       "Robotics Club. Our goal is to use cooperative low-cost\n"
409
                       "robots to solve challenging problems."),
410
                     _("About Scoutsim"),
411
                     wxOK | wxICON_INFORMATION, this );
412
    }
413

    
414
    void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
415
    {
416
        clear();
417
    }
418

    
419
    void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
420
    {
421
        display_map_name = map_base_name;
422
        clear();
423
    }
424

    
425
    void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
426
    {
427
        display_map_name = map_lines_name;
428
        clear();
429
    }
430
    
431
    void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
432
    {
433
        display_map_name = map_walls_name;
434
        clear();
435
    }
436

    
437
    void SimFrame::clear()
438
    {
439
        path_dc.SetBackground(wxBrush(wxColour(100, 100, 100)));
440
        path_dc.Clear();
441

    
442
        sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0)));
443
        sonar_dc.Clear();
444

    
445
        sonar_dc.SelectObject(path_bitmap);
446

    
447
        path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str()));
448
        path_dc.SelectObject(path_bitmap);
449
        SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight()));
450
    }
451

    
452
    // Runs every REAL_TIME_REFRESH_RATE.
453
    void SimFrame::onUpdate(wxTimerEvent& evt)
454
    {
455
        ros::spinOnce();
456

    
457
        teleop();
458

    
459
        updateScouts();
460

    
461
        if (!ros::ok())
462
        {
463
            Close();
464
        }
465

    
466
        frame_count++;
467
    }
468

    
469
    void SimFrame::onPaint(wxPaintEvent& evt)
470
    {
471
        wxPaintDC dc(this);
472

    
473
        dc.DrawBitmap(path_bitmap, 0, 0, true);
474

    
475
        M_Scout::iterator it = scouts.begin();
476
        M_Scout::iterator end = scouts.end();
477
        for (; it != end; ++it)
478
        {
479
            it->second->paint(dc);
480
        }
481

    
482

    
483
        M_Emitter::iterator m_it = emitters.begin();
484
        M_Emitter::iterator m_end = emitters.end();
485
        for (; m_it != m_end; ++m_it)
486
        {
487
            m_it->second->paint(dc);
488
        }
489

    
490
        for (unsigned int i=0; i < ghost_scouts.size(); ++i)
491
        {
492
            ghost_scouts.at(i)->paint(dc);
493
        }
494
    }
495

    
496
    bool SimFrame::fileExists(const std::string& filename)
497
    {
498
        struct stat buf;
499
        if (stat(filename.c_str(), &buf) != -1)
500
        {
501
            return true;
502
        }
503
        return false;
504
    }
505

    
506
    void SimFrame::stopTeleop(wxCommandEvent& event)
507
    {
508
        teleop_type = TELEOP_OFF;
509
        teleop_l_speed = 0;
510
        teleop_r_speed = 0;
511
    }
512

    
513
    void SimFrame::startTeleopPrecise(wxCommandEvent& event)
514
    {
515
        teleop_type = TELEOP_PRECISE;
516
        teleop_l_speed = 0;
517
        teleop_r_speed = 0;
518
    }
519

    
520
    void SimFrame::startTeleopFluid(wxCommandEvent& event)
521
    {
522
        teleop_type = TELEOP_FLUID;
523
        teleop_l_speed = 0;
524
        teleop_r_speed = 0;
525
        teleop_fluid_speed = 0;
526
        teleop_fluid_omega = 0;
527
    }
528

    
529
    void SimFrame::teleop_move_precise()
530
    {
531
        // Default to stop
532
        teleop_l_speed = 0;
533
        teleop_r_speed = 0;
534

    
535
        if (wxGetKeyState(WXK_UP))
536
        {
537
            teleop_l_speed = TELEOP_PRECISE_SPEED;
538
            teleop_r_speed = TELEOP_PRECISE_SPEED;
539
        }
540
        else if (wxGetKeyState(WXK_DOWN))
541
        {
542
            teleop_l_speed = -TELEOP_PRECISE_SPEED;
543
            teleop_r_speed = -TELEOP_PRECISE_SPEED;
544
        }
545
        else if (wxGetKeyState(WXK_LEFT))
546
        {
547
            teleop_l_speed = -TELEOP_PRECISE_TURN_SPEED;
548
            teleop_r_speed = TELEOP_PRECISE_TURN_SPEED;
549
        }
550
        else if (wxGetKeyState(WXK_RIGHT))
551
        {
552
            teleop_l_speed = TELEOP_PRECISE_TURN_SPEED;
553
            teleop_r_speed = -TELEOP_PRECISE_TURN_SPEED;
554
        }
555
    }
556

    
557
    void SimFrame::teleop_move_fluid()
558
    {
559
        if (wxGetKeyState(WXK_UP))
560
        {
561
            teleop_fluid_speed += TELEOP_FLUID_INC * 2;
562
        }
563
        else if (wxGetKeyState(WXK_DOWN))
564
        {
565
            teleop_fluid_speed -= TELEOP_FLUID_INC * 2;
566
        }
567
        else if (teleop_fluid_speed > TELEOP_FLUID_INC)
568
        {
569
            teleop_fluid_speed -= TELEOP_FLUID_INC;
570
        }
571
        else if (teleop_fluid_speed < -TELEOP_FLUID_INC)
572
        {
573
            teleop_fluid_speed += TELEOP_FLUID_INC;
574
        }
575
        else
576
        {
577
            teleop_fluid_speed = 0;
578
        }
579

    
580
        if (wxGetKeyState(WXK_LEFT))
581
        {
582
            teleop_fluid_omega -= TELEOP_FLUID_INC * 2;
583
        }
584
        else if (wxGetKeyState(WXK_RIGHT))
585
        {
586
            teleop_fluid_omega += TELEOP_FLUID_INC * 2;
587
        }
588
        else
589
        {
590
            teleop_fluid_omega = 0;
591
        }
592

    
593
        if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
594
        {
595
            teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED;
596
        }
597
        else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED)
598
        {
599
            teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED;
600
        }
601
        if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED)
602
        {
603
            teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED;
604
        }
605
        else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED)
606
        {
607
            teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED;
608
        }
609

    
610
        int l_speed = teleop_fluid_speed + teleop_fluid_omega;
611
        int r_speed = teleop_fluid_speed - teleop_fluid_omega;
612

    
613
        teleop_l_speed = max(MIN_ABSOLUTE_SPEED,
614
                             min(MAX_ABSOLUTE_SPEED, l_speed));
615
        teleop_r_speed = max(MIN_ABSOLUTE_SPEED,
616
                             min(MAX_ABSOLUTE_SPEED, r_speed));
617
    }
618

    
619
    void SimFrame::teleop()
620
    {
621
        switch (teleop_type)
622
        {
623
            case TELEOP_OFF:
624
                return;
625
            case TELEOP_PRECISE:
626
                teleop_move_precise();
627
                break;
628
            case TELEOP_FLUID:
629
                teleop_move_fluid();
630
                break;
631
        }
632

    
633
        ::messages::set_motors msg;
634
        msg.fl_set = true;
635
        msg.fr_set = true;
636
        msg.bl_set = true;
637
        msg.br_set = true;
638
        msg.teleop_ON = true;
639

    
640
        msg.fl_speed = teleop_l_speed;
641
        msg.fr_speed = teleop_r_speed;
642
        msg.bl_speed = teleop_l_speed;
643
        msg.br_speed = teleop_r_speed;
644

    
645
        teleop_pub.publish(msg);
646
    }
647

    
648
    void SimFrame::updateScouts()
649
    {
650

    
651
        if (last_scout_update.isZero())
652
        {
653
            last_scout_update = ros::WallTime::now();
654
            return;
655
        }
656

    
657
        path_image = path_bitmap.ConvertToImage();
658
        Refresh();
659

    
660
        M_Scout::iterator it = scouts.begin();
661
        M_Scout::iterator end = scouts.end();
662

    
663
        M_Emitter::iterator m_it = emitters.begin();
664
        M_Emitter::iterator m_end = emitters.end();
665

    
666
        world_state state;
667
        state.canvas_width = width_in_meters;
668
        state.canvas_height = height_in_meters;
669

    
670
        for (; it != end; ++it)
671
        {
672

    
673
            it->second->update(SIM_TIME_REFRESH_RATE,
674
                               path_dc, sonar_dc,
675
                               path_image, lines_image, walls_image,
676
                               path_dc.GetBackground().GetColour(),
677
                               sonar_dc.GetBackground().GetColour(),
678
                               state);
679
        }
680

    
681

    
682
        for (; m_it != m_end; ++m_it)
683
        {
684

    
685
            m_it->second->update(SIM_TIME_REFRESH_RATE,
686
                               path_dc,
687
                               path_image, lines_image, walls_image,
688
                               path_dc.GetBackground().GetColour(),
689
                               state);
690
        }
691

    
692
        for (unsigned int i = 0; i < ghost_scouts.size(); ++i)
693
        {
694
            ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc,
695
                path_dc.GetBackground().GetColour(), state);
696
        }
697

    
698

    
699
        frame_count++;
700
    }
701

    
702

    
703
    bool SimFrame::clearCallback(std_srvs::Empty::Request&,
704
                                 std_srvs::Empty::Response&)
705
    {
706
        ROS_INFO("Clearing scoutsim.");
707
        clear();
708
        return true;
709
    }
710

    
711
    bool SimFrame::resetCallback(std_srvs::Empty::Request&,
712
                                 std_srvs::Empty::Response&)
713
    {
714
        ROS_INFO("Resetting scoutsim.");
715
        scouts.clear();
716
        id_counter = 0;
717
        spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0);
718
        clear();
719
        return true;
720
    }
721

    
722
    void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg)
723
    {
724
        wireless_receive.publish(msg);
725
    }
726

    
727

    
728
    void SimFrame::readBOM()
729
    {
730

    
731
    }
732

    
733
}
734

    
735
/** @} */