root / scout / scoutsim / src / sim_frame.cpp @ 1d1281cc
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1 | c492be62 | Alex Zirbel | /**
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2 | * The code in this package was developed using the structure of Willow
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3 | * Garage's turtlesim package. It was modified by the CMU Robotics Club
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4 | * to be used as a simulator for the Colony Scout robot.
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5 | 266ae7f2 | Alex Zirbel | *
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6 | c492be62 | Alex Zirbel | * All redistribution of this code is limited to the terms of Willow Garage's
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7 | * licensing terms, as well as under permission from the CMU Robotics Club.
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8 | *
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9 | * Copyright (c) 2011 Colony Project
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10 | *
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11 | * Permission is hereby granted, free of charge, to any person
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12 | * obtaining a copy of this software and associated documentation
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13 | * files (the "Software"), to deal in the Software without
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14 | * restriction, including without limitation the rights to use,
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15 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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16 | * copies of the Software, and to permit persons to whom the
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17 | * Software is furnished to do so, subject to the following
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18 | * conditions:
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19 | *
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20 | * The above copyright notice and this permission notice shall be
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21 | * included in all copies or substantial portions of the Software.
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22 | *
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23 | * Copyright (c) 2009, Willow Garage, Inc.
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24 | 266ae7f2 | Alex Zirbel | * All rights reserved.
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25 | c492be62 | Alex Zirbel | *
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26 | * Redistribution and use in source and binary forms, with or without
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27 | * modification, are permitted provided that the following conditions are met:
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28 | *
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29 | * Redistributions of source code must retain the above copyright
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30 | * notice, this list of conditions and the following disclaimer.
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31 | * Redistributions in binary form must reproduce the above copyright
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32 | * notice, this list of conditions and the following disclaimer in the
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33 | * documentation and/or other materials provided with the distribution.
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34 | * Neither the name of the Willow Garage, Inc. nor the names of its
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35 | * contributors may be used to endorse or promote products derived from
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36 | * this software without specific prior written permission.
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37 | *
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38 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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39 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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40 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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41 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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42 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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43 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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44 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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45 | * OTHER DEALINGS IN THE SOFTWARE.
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46 | 266ae7f2 | Alex Zirbel | */
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47 | |||
48 | a8480867 | Alex Zirbel | #include "sim_frame.h" |
49 | 266ae7f2 | Alex Zirbel | |
50 | 2eaafff2 | Alex | #include <stdio.h> |
51 | |||
52 | 266ae7f2 | Alex Zirbel | #include <ros/package.h> |
53 | #include <cstdlib> |
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54 | #include <ctime> |
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55 | |||
56 | 2eaafff2 | Alex | using namespace std; |
57 | 266ae7f2 | Alex Zirbel | |
58 | namespace scoutsim
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59 | { |
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60 | 2eaafff2 | Alex | SimFrame::SimFrame(wxWindow* parent, string map_name)
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61 | 266ae7f2 | Alex Zirbel | : wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
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62 | wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER) |
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63 | 144137a1 | Alex Zirbel | , frame_count(0)
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64 | , id_counter(0)
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65 | 266ae7f2 | Alex Zirbel | { |
66 | 2eaafff2 | Alex | std::cout << "Constructing sim frame." << std::endl;
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67 | |||
68 | 266ae7f2 | Alex Zirbel | srand(time(NULL));
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69 | |||
70 | 144137a1 | Alex Zirbel | update_timer = new wxTimer(this); |
71 | update_timer->Start(16);
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72 | 266ae7f2 | Alex Zirbel | |
73 | 144137a1 | Alex Zirbel | Connect(update_timer->GetId(), wxEVT_TIMER, |
74 | 266ae7f2 | Alex Zirbel | wxTimerEventHandler(SimFrame::onUpdate), NULL, this); |
75 | Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint), |
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76 | NULL, this); |
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77 | |||
78 | std::string scouts[SCOUTSIM_NUM_SCOUTS] =
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79 | { |
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80 | dec96050 | Priya | "scout.png"
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81 | 266ae7f2 | Alex Zirbel | }; |
82 | |||
83 | std::string images_path = ros::package::getPath("scoutsim")+"/images/"; |
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84 | for (size_t i = 0; i < SCOUTSIM_NUM_SCOUTS; ++i) |
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85 | { |
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86 | 144137a1 | Alex Zirbel | scout_images[i].LoadFile( |
87 | 266ae7f2 | Alex Zirbel | wxString::FromAscii((images_path + scouts[i]).c_str())); |
88 | 144137a1 | Alex Zirbel | scout_images[i].SetMask(true);
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89 | scout_images[i].SetMaskColour(255, 255, 255); |
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90 | 266ae7f2 | Alex Zirbel | } |
91 | |||
92 | 2eaafff2 | Alex | /// @todo This should change.
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93 | 144137a1 | Alex Zirbel | meter = scout_images[0].GetHeight();
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94 | 266ae7f2 | Alex Zirbel | |
95 | ade1b7f9 | Alex | map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
96 | map_name + ".bmp";
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97 | map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
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98 | map_name + "_lines.bmp";
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99 | display_map_name = map_base_name; |
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100 | |||
101 | wxBitmap lines_bitmap; |
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102 | lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())); |
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103 | lines_image = lines_bitmap.ConvertToImage(); |
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104 | |||
105 | 266ae7f2 | Alex Zirbel | clear(); |
106 | |||
107 | 144137a1 | Alex Zirbel | clear_srv = nh.advertiseService("clear",
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108 | 4612f7e4 | Alex Zirbel | &SimFrame::clearCallback, this);
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109 | 144137a1 | Alex Zirbel | reset_srv = nh.advertiseService("reset",
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110 | 4612f7e4 | Alex Zirbel | &SimFrame::resetCallback, this);
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111 | 144137a1 | Alex Zirbel | spawn_srv = nh.advertiseService("spawn",
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112 | 4612f7e4 | Alex Zirbel | &SimFrame::spawnCallback, this);
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113 | 144137a1 | Alex Zirbel | kill_srv = nh.advertiseService("kill",
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114 | 4612f7e4 | Alex Zirbel | &SimFrame::killCallback, this);
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115 | 266ae7f2 | Alex Zirbel | |
116 | 82f3f746 | Priya | // Subscribe and publisher wirless from robots
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117 | 1d1281cc | Priya | wireless_receive = nh.advertise< ::messages::WirelessPacket>("/wireless/receive", 1000); |
118 | wireless_send = nh.subscribe("/wireless/send", 1000, &SimFrame::wirelessCallback, this); |
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119 | 82f3f746 | Priya | |
120 | 266ae7f2 | Alex Zirbel | ROS_INFO("Starting scoutsim with node name %s",
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121 | ros::this_node::getName().c_str()) ; |
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122 | |||
123 | 2eaafff2 | Alex | wxMenu *menuFile = new wxMenu;
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124 | menuFile->Append(ID_ABOUT, _("&About"));
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125 | menuFile->AppendSeparator(); |
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126 | menuFile->Append(ID_QUIT, _("E&xit"));
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127 | |||
128 | wxMenu *menuSim = new wxMenu;
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129 | menuSim->Append(ID_CLEAR, _("&Clear"));
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130 | |||
131 | wxMenu *menuView = new wxMenu;
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132 | menuView->Append(ID_MAP, _("&Map"));
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133 | menuView->Append(ID_LINES, _("&Lines"));
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134 | |||
135 | wxMenuBar *menuBar = new wxMenuBar;
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136 | menuBar->Append(menuFile, _("&File"));
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137 | menuBar->Append(menuSim, _("&Sim"));
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138 | menuBar->Append(menuView, _("&View"));
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139 | |||
140 | SetMenuBar(menuBar); |
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141 | |||
142 | 144137a1 | Alex Zirbel | width_in_meters = GetSize().GetWidth() / meter; |
143 | height_in_meters = GetSize().GetHeight() / meter; |
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144 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
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145 | 266ae7f2 | Alex Zirbel | } |
146 | |||
147 | SimFrame::~SimFrame() |
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148 | { |
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149 | 144137a1 | Alex Zirbel | delete update_timer;
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150 | 266ae7f2 | Alex Zirbel | } |
151 | |||
152 | 4612f7e4 | Alex Zirbel | bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
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153 | scoutsim::Spawn::Response &res) |
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154 | 266ae7f2 | Alex Zirbel | { |
155 | std::string name = spawnScout(req.name, req.x, req.y, req.theta);
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156 | if (name.empty())
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157 | { |
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158 | ROS_ERROR("A scout named [%s] already exists", req.name.c_str());
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159 | return false; |
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160 | } |
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161 | |||
162 | res.name = name; |
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163 | |||
164 | return true; |
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165 | } |
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166 | |||
167 | bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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168 | scoutsim::Kill::Response&) |
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169 | { |
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170 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.find(req.name); |
171 | if (it == scouts.end())
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172 | 266ae7f2 | Alex Zirbel | { |
173 | ROS_ERROR("Tried to kill scout [%s], which does not exist",
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174 | req.name.c_str()); |
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175 | return false; |
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176 | } |
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177 | |||
178 | 144137a1 | Alex Zirbel | scouts.erase(it); |
179 | 266ae7f2 | Alex Zirbel | |
180 | return true; |
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181 | } |
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182 | |||
183 | bool SimFrame::hasScout(const std::string& name) |
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184 | { |
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185 | 144137a1 | Alex Zirbel | return scouts.find(name) != scouts.end();
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186 | 266ae7f2 | Alex Zirbel | } |
187 | |||
188 | 9b3564f3 | Alex Zirbel | std::string SimFrame::spawnScout(const std::string& name, |
189 | float x, float y, float angle) |
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190 | 266ae7f2 | Alex Zirbel | { |
191 | std::string real_name = name;
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192 | if (real_name.empty())
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193 | { |
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194 | do
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195 | { |
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196 | std::stringstream ss; |
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197 | 144137a1 | Alex Zirbel | ss << "scout" << ++id_counter;
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198 | 266ae7f2 | Alex Zirbel | real_name = ss.str(); |
199 | } while (hasScout(real_name));
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200 | } |
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201 | else
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202 | { |
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203 | if (hasScout(real_name))
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204 | { |
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205 | return ""; |
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206 | } |
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207 | } |
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208 | |||
209 | ScoutPtr t(new Scout(ros::NodeHandle(real_name),
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210 | 144137a1 | Alex Zirbel | scout_images[rand() % SCOUTSIM_NUM_SCOUTS], |
211 | 266ae7f2 | Alex Zirbel | Vector2(x, y), angle)); |
212 | 144137a1 | Alex Zirbel | scouts[real_name] = t; |
213 | 266ae7f2 | Alex Zirbel | |
214 | ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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215 | real_name.c_str(), x, y, angle); |
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216 | |||
217 | return real_name;
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218 | } |
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219 | |||
220 | 2eaafff2 | Alex | void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
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221 | { |
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222 | Close(true);
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223 | } |
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224 | |||
225 | void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
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226 | { |
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227 | wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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228 | "\nThe Colony Project is a part of the Carnegie Mellon\n"
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229 | "Robotics Club. Our goal is to use cooperative low-cost\n"
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230 | "robots to solve challenging problems."),
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231 | _("About Scoutsim"),
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232 | wxOK | wxICON_INFORMATION, this );
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233 | } |
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234 | |||
235 | void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
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236 | 266ae7f2 | Alex Zirbel | { |
237 | 2eaafff2 | Alex | clear(); |
238 | } |
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239 | 266ae7f2 | Alex Zirbel | |
240 | 2eaafff2 | Alex | void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
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241 | { |
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242 | ade1b7f9 | Alex | display_map_name = map_base_name; |
243 | 2eaafff2 | Alex | clear(); |
244 | } |
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245 | 266ae7f2 | Alex Zirbel | |
246 | 2eaafff2 | Alex | void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
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247 | { |
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248 | ade1b7f9 | Alex | display_map_name = map_lines_name; |
249 | 2eaafff2 | Alex | clear(); |
250 | } |
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251 | |||
252 | void SimFrame::clear()
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253 | { |
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254 | path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
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255 | 144137a1 | Alex Zirbel | path_dc.Clear(); |
256 | 2eaafff2 | Alex | |
257 | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
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258 | path_dc.SelectObject(path_bitmap); |
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259 | SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
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260 | 266ae7f2 | Alex Zirbel | } |
261 | |||
262 | void SimFrame::onUpdate(wxTimerEvent& evt)
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263 | { |
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264 | ros::spinOnce(); |
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265 | |||
266 | updateScouts(); |
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267 | |||
268 | if (!ros::ok())
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269 | { |
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270 | Close(); |
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271 | } |
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272 | } |
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273 | |||
274 | void SimFrame::onPaint(wxPaintEvent& evt)
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275 | { |
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276 | wxPaintDC dc(this);
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277 | |||
278 | 144137a1 | Alex Zirbel | dc.DrawBitmap(path_bitmap, 0, 0, true); |
279 | 266ae7f2 | Alex Zirbel | |
280 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
281 | M_Scout::iterator end = scouts.end(); |
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282 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
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283 | { |
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284 | it->second->paint(dc); |
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285 | } |
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286 | } |
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287 | |||
288 | void SimFrame::updateScouts()
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289 | { |
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290 | 144137a1 | Alex Zirbel | if (last_scout_update.isZero())
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291 | 266ae7f2 | Alex Zirbel | { |
292 | 144137a1 | Alex Zirbel | last_scout_update = ros::WallTime::now(); |
293 | 266ae7f2 | Alex Zirbel | return;
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294 | } |
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295 | |||
296 | 144137a1 | Alex Zirbel | if (frame_count % 3 == 0) |
297 | 266ae7f2 | Alex Zirbel | { |
298 | 144137a1 | Alex Zirbel | path_image = path_bitmap.ConvertToImage(); |
299 | 266ae7f2 | Alex Zirbel | Refresh(); |
300 | } |
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301 | |||
302 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
303 | M_Scout::iterator end = scouts.end(); |
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304 | e3f69e61 | Alex | |
305 | world_state state; |
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306 | state.canvas_width = width_in_meters; |
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307 | state.canvas_height = height_in_meters; |
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308 | |||
309 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
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310 | { |
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311 | ade1b7f9 | Alex | it->second->update(0.016, path_dc, path_image, lines_image, |
312 | 144137a1 | Alex Zirbel | path_dc.GetBackground().GetColour(), |
313 | e3f69e61 | Alex | state); |
314 | 266ae7f2 | Alex Zirbel | } |
315 | |||
316 | c492be62 | Alex Zirbel | frame_count++; |
317 | 266ae7f2 | Alex Zirbel | } |
318 | |||
319 | bool SimFrame::clearCallback(std_srvs::Empty::Request&,
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320 | std_srvs::Empty::Response&) |
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321 | { |
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322 | ROS_INFO("Clearing scoutsim.");
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323 | clear(); |
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324 | return true; |
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325 | } |
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326 | |||
327 | bool SimFrame::resetCallback(std_srvs::Empty::Request&,
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328 | std_srvs::Empty::Response&) |
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329 | { |
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330 | ROS_INFO("Resetting scoutsim.");
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331 | 144137a1 | Alex Zirbel | scouts.clear(); |
332 | id_counter = 0;
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333 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
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334 | 266ae7f2 | Alex Zirbel | clear(); |
335 | return true; |
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336 | } |
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337 | |||
338 | 1d1281cc | Priya | void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
339 | 82f3f746 | Priya | { |
340 | wireless_receive.publish(msg); |
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341 | } |
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342 | 266ae7f2 | Alex Zirbel | } |