root / scout / scoutsim / src / scout.h @ 2237e1f0
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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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#ifndef _SCOUTSIM_SCOUT_H_
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#define _SCOUTSIM_SCOUT_H_
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#include <ros/ros.h> |
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#include <vector> |
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#include <boost/shared_ptr.hpp> |
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#include <motors/set_motors.h> |
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#include <encoders/query_encoders.h> |
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#include <linesensor/query_linesensor.h> |
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#include <sonar/sonar_distance.h> |
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#include <sonar/sonar_toggle.h> |
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#include <sonar/sonar_set_scan.h> |
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#include <scoutsim/Pose.h> |
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#include <scoutsim/SetPen.h> |
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#include <scoutsim/Color.h> |
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#include <geometry_msgs/Pose2D.h> |
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#include <wx/wx.h> |
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#include "scoutsim_internal.h" |
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#include "scout_constants.h" |
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#define PI 3.14159265 |
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#define NUM_LINESENSORS 8 |
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// Distance, pixels, from center of robot to the linesensors.
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#define LNSNSR_D 20 |
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namespace scoutsim |
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{ |
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struct Vector2
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{ |
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Vector2() |
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: x(0.0) |
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, y(0.0) |
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{} |
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Vector2(float new_x, float new_y) |
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: x(new_x) |
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, y(new_y) |
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{} |
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bool operator==(const Vector2& rhs) |
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{ |
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return x == rhs.x && y == rhs.y;
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} |
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bool operator!=(const Vector2& rhs) |
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{ |
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return x != rhs.x || y != rhs.y;
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} |
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float x;
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float y;
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}; |
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class Scout |
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{ |
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public:
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Scout(const ros::NodeHandle& nh,const wxImage& scout_image, |
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const Vector2& pos, wxBitmap *path_bitmap, float orient); |
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geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
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wxMemoryDC& sonar_dc, |
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const wxImage& path_image,
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const wxImage& lines_image,
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const wxImage& walls_image,
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wxColour background_color, |
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wxColour sonar_color, |
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world_state state,std::string teleop_scoutname); |
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void paint(wxDC& dc);
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void set_sonar_visual(bool on); |
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private:
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float absolute_to_mps(int absolute_speed); |
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void setMotors(const motors::set_motors::ConstPtr& msg); |
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bool setPenCallback(scoutsim::SetPen::Request&,
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scoutsim::SetPen::Response&); |
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bool query_encoders_callback(encoders::query_encoders::Request&,
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encoders::query_encoders::Response&); |
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bool query_linesensor_callback(linesensor::query_linesensor::Request&,
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linesensor::query_linesensor::Response&); |
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bool handle_sonar_toggle(sonar::sonar_toggle::Request &req,
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sonar::sonar_toggle::Response &res); |
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bool handle_sonar_set_scan(sonar::sonar_set_scan::Request &req,
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sonar::sonar_set_scan::Response &res); |
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unsigned int rgb_to_grey(unsigned char r, |
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unsigned char g, |
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unsigned char b); |
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unsigned int trace_sonar(const wxImage& walls_image, int x, int y, |
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double robot_theta, int sonar_pos, |
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wxMemoryDC& sonar_dc); |
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void update_sonar(const wxImage& walls_image, int x, int y, |
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double robot_theta, wxMemoryDC& sonar_dc);
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void update_linesensor(const wxImage& lines_image, int x, int y, |
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double theta);
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int old_front_dx;
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int old_front_dy;
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int old_back_dx;
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int old_back_dy;
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bool isFront;
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wxBitmap *path_bitmap; |
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bool sonar_visual_on;
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bool sonar_on;
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bool ignore_behavior;
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std::string current_teleop_scout; |
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ros::NodeHandle node; |
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wxImage scout_image; |
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wxBitmap scout; |
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Vector2 pos; |
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float orient;
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/// @todo should these be an array or something?
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// Keep track of the last commanded speeds sent to the sim,
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// converted to m/s
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float motor_fl_speed;
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float motor_fr_speed;
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float motor_bl_speed;
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float motor_br_speed;
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// Keep track of encoder ticks for each motor
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unsigned int fl_ticks; |
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unsigned int fr_ticks; |
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unsigned int bl_ticks; |
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unsigned int br_ticks; |
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int sonar_position;
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int sonar_stop_l;
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int sonar_stop_r;
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int sonar_direction;
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// The last time the sonar changed its position.
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ros::Time last_sonar_time; |
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ros::Duration sonar_tick_time; |
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// A vector of the 8 linesensor readings
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std::vector<unsigned int> linesensor_readings; |
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// Each scout has a unique id number, which is also displayed on its image.
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int scout_id;
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bool pen_on;
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wxPen pen; |
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ros::Subscriber motors_sub; |
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ros::Publisher pose_pub; |
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ros::Publisher color_pub; |
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ros::Publisher sonar_pub; |
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ros::ServiceServer set_pen_srv; |
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ros::ServiceServer query_encoders_srv; |
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ros::ServiceServer query_linesensor_srv; |
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ros::ServiceServer toggle_sonar_srv; |
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ros::ServiceServer set_sonar_srv; |
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ros::WallTime last_command_time; |
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}; |
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typedef boost::shared_ptr<Scout> ScoutPtr;
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} |
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#endif
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