root / scout / scoutsim / src / sim_frame.cpp @ 25694a03
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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 | c63c9752 | Alex | update_timer->Start(SCOUTSIM_REFRESH_RATE * 1000);
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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 | 594c3bb9 | Alex | images_path = ros::package::getPath("scoutsim") + "/images/"; |
79 | 266ae7f2 | Alex Zirbel | |
80 | ade1b7f9 | Alex | map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
81 | map_name + ".bmp";
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82 | map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
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83 | map_name + "_lines.bmp";
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84 | 7ffad595 | Alex | map_walls_name = ros::package::getPath("scoutsim") + "/maps/" + |
85 | map_name + "_walls.bmp";
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86 | ade1b7f9 | Alex | display_map_name = map_base_name; |
87 | |||
88 | wxBitmap lines_bitmap; |
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89 | e2770306 | Alex | wxBitmap walls_bitmap; |
90 | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
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91 | eb9cff77 | Hui Jun Tay | sonar_visual_on = TRUE; |
92 | e2770306 | Alex | |
93 | // Try to load the file; if it fails, make a new blank file
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94 | if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
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95 | { |
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96 | lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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97 | } |
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98 | ade1b7f9 | Alex | lines_image = lines_bitmap.ConvertToImage(); |
99 | |||
100 | e2770306 | Alex | // Try to load the file; if it fails, make a new blank file
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101 | if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
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102 | { |
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103 | walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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104 | } |
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105 | 7ffad595 | Alex | walls_image = walls_bitmap.ConvertToImage(); |
106 | |||
107 | 266ae7f2 | Alex Zirbel | clear(); |
108 | |||
109 | 144137a1 | Alex Zirbel | clear_srv = nh.advertiseService("clear",
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110 | 4612f7e4 | Alex Zirbel | &SimFrame::clearCallback, this);
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111 | 144137a1 | Alex Zirbel | reset_srv = nh.advertiseService("reset",
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112 | 4612f7e4 | Alex Zirbel | &SimFrame::resetCallback, this);
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113 | 144137a1 | Alex Zirbel | spawn_srv = nh.advertiseService("spawn",
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114 | 4612f7e4 | Alex Zirbel | &SimFrame::spawnCallback, this);
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115 | 144137a1 | Alex Zirbel | kill_srv = nh.advertiseService("kill",
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116 | 4612f7e4 | Alex Zirbel | &SimFrame::killCallback, this);
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117 | 266ae7f2 | Alex Zirbel | |
118 | 82f3f746 | Priya | // Subscribe and publisher wirless from robots
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119 | 7ffad595 | Alex | wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
120 | "/wireless/receive", 1000); |
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121 | wireless_send = nh.subscribe("/wireless/send", 1000, |
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122 | &SimFrame::wirelessCallback, this);
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123 | 82f3f746 | Priya | |
124 | 0e77683c | Alex | // Teleop
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125 | ddfeb111 | Priya | teleop_type = TELEOP_PRECISE; |
126 | 0e77683c | Alex | teleop_l_speed = 0;
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127 | teleop_r_speed = 0;
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128 | teleop_pub = nh.advertise<motors::set_motors>("/scout1/set_motors", 1000); |
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129 | |||
130 | 266ae7f2 | Alex Zirbel | ROS_INFO("Starting scoutsim with node name %s",
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131 | ros::this_node::getName().c_str()) ; |
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132 | |||
133 | 2eaafff2 | Alex | wxMenu *menuFile = new wxMenu;
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134 | menuFile->Append(ID_ABOUT, _("&About"));
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135 | menuFile->AppendSeparator(); |
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136 | menuFile->Append(ID_QUIT, _("E&xit"));
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137 | |||
138 | wxMenu *menuSim = new wxMenu;
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139 | 68b23184 | viki | menuSim->Append(ID_SONAR, _("S&onar"));
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140 | 2eaafff2 | Alex | menuSim->Append(ID_CLEAR, _("&Clear"));
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141 | |||
142 | wxMenu *menuView = new wxMenu;
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143 | menuView->Append(ID_MAP, _("&Map"));
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144 | menuView->Append(ID_LINES, _("&Lines"));
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145 | 7ffad595 | Alex | menuView->Append(ID_WALLS, _("&Walls"));
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146 | 2eaafff2 | Alex | |
147 | 0e77683c | Alex | wxMenu *menuTeleop = new wxMenu;
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148 | menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
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149 | menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
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150 | menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
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151 | |||
152 | 2eaafff2 | Alex | wxMenuBar *menuBar = new wxMenuBar;
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153 | menuBar->Append(menuFile, _("&File"));
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154 | menuBar->Append(menuSim, _("&Sim"));
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155 | menuBar->Append(menuView, _("&View"));
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156 | 0e77683c | Alex | menuBar->Append(menuTeleop, _("&Teleop"));
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157 | 2eaafff2 | Alex | |
158 | SetMenuBar(menuBar); |
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159 | |||
160 | c63c9752 | Alex | width_in_meters = GetSize().GetWidth() / PIX_PER_METER; |
161 | height_in_meters = GetSize().GetHeight() / PIX_PER_METER; |
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162 | 25694a03 | Priya | |
163 | spawnScout("scout1", 1.4, .78, 0); |
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164 | 266ae7f2 | Alex Zirbel | } |
165 | |||
166 | SimFrame::~SimFrame() |
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167 | { |
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168 | 144137a1 | Alex Zirbel | delete update_timer;
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169 | 266ae7f2 | Alex Zirbel | } |
170 | |||
171 | 4612f7e4 | Alex Zirbel | bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
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172 | scoutsim::Spawn::Response &res) |
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173 | 266ae7f2 | Alex Zirbel | { |
174 | std::string name = spawnScout(req.name, req.x, req.y, req.theta);
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175 | if (name.empty())
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176 | { |
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177 | ROS_ERROR("A scout named [%s] already exists", req.name.c_str());
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178 | return false; |
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179 | } |
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180 | |||
181 | res.name = name; |
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182 | |||
183 | return true; |
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184 | } |
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185 | |||
186 | bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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187 | scoutsim::Kill::Response&) |
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188 | { |
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189 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.find(req.name); |
190 | if (it == scouts.end())
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191 | 266ae7f2 | Alex Zirbel | { |
192 | ROS_ERROR("Tried to kill scout [%s], which does not exist",
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193 | req.name.c_str()); |
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194 | return false; |
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195 | } |
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196 | |||
197 | 144137a1 | Alex Zirbel | scouts.erase(it); |
198 | 266ae7f2 | Alex Zirbel | |
199 | return true; |
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200 | } |
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201 | |||
202 | bool SimFrame::hasScout(const std::string& name) |
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203 | { |
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204 | 144137a1 | Alex Zirbel | return scouts.find(name) != scouts.end();
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205 | 266ae7f2 | Alex Zirbel | } |
206 | |||
207 | 9b3564f3 | Alex Zirbel | std::string SimFrame::spawnScout(const std::string& name, |
208 | float x, float y, float angle) |
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209 | 266ae7f2 | Alex Zirbel | { |
210 | std::string real_name = name;
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211 | if (real_name.empty())
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212 | { |
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213 | do
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214 | { |
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215 | std::stringstream ss; |
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216 | 144137a1 | Alex Zirbel | ss << "scout" << ++id_counter;
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217 | 266ae7f2 | Alex Zirbel | real_name = ss.str(); |
218 | } while (hasScout(real_name));
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219 | } |
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220 | else
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221 | { |
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222 | if (hasScout(real_name))
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223 | { |
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224 | return ""; |
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225 | } |
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226 | } |
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227 | |||
228 | 594c3bb9 | Alex | wxImage scout_image; |
229 | |||
230 | // Try to load a name-specific image; if not, load the default scout
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231 | string specific_name = images_path + name + ".png"; |
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232 | if (fileExists(specific_name))
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233 | { |
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234 | scout_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
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235 | scout_image.SetMask(true);
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236 | scout_image.SetMaskColour(255, 255, 255); |
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237 | } |
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238 | else
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239 | { |
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240 | scout_image.LoadFile( |
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241 | wxString::FromAscii((images_path + "scout.png").c_str()));
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242 | scout_image.SetMask(true);
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243 | scout_image.SetMaskColour(255, 255, 255); |
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244 | } |
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245 | |||
246 | 266ae7f2 | Alex Zirbel | ScoutPtr t(new Scout(ros::NodeHandle(real_name),
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247 | 594c3bb9 | Alex | scout_image, Vector2(x, y), &path_bitmap, angle)); |
248 | 144137a1 | Alex Zirbel | scouts[real_name] = t; |
249 | 266ae7f2 | Alex Zirbel | |
250 | 0e0ef125 | Priya | ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
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251 | scout_image, Vector2(x, y), &path_bitmap, angle, name)); |
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252 | |||
253 | 266ae7f2 | Alex Zirbel | ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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254 | real_name.c_str(), x, y, angle); |
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255 | |||
256 | return real_name;
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257 | } |
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258 | |||
259 | 2eaafff2 | Alex | void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
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260 | { |
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261 | Close(true);
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262 | } |
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263 | |||
264 | void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
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265 | { |
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266 | wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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267 | "\nThe Colony Project is a part of the Carnegie Mellon\n"
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268 | "Robotics Club. Our goal is to use cooperative low-cost\n"
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269 | "robots to solve challenging problems."),
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270 | _("About Scoutsim"),
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271 | wxOK | wxICON_INFORMATION, this );
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272 | } |
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273 | |||
274 | void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
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275 | 266ae7f2 | Alex Zirbel | { |
276 | 2eaafff2 | Alex | clear(); |
277 | } |
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278 | 266ae7f2 | Alex Zirbel | |
279 | 68b23184 | viki | void SimFrame::showSonar(wxCommandEvent& WXUNUSED(event))
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280 | { |
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281 | eb9cff77 | Hui Jun Tay | sonar_visual_on = not sonar_visual_on;
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282 | 68b23184 | viki | clear(); |
283 | } |
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284 | |||
285 | |||
286 | 2eaafff2 | Alex | void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
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287 | { |
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288 | ade1b7f9 | Alex | display_map_name = map_base_name; |
289 | 2eaafff2 | Alex | clear(); |
290 | } |
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291 | 266ae7f2 | Alex Zirbel | |
292 | 2eaafff2 | Alex | void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
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293 | { |
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294 | ade1b7f9 | Alex | display_map_name = map_lines_name; |
295 | 2eaafff2 | Alex | clear(); |
296 | } |
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297 | 7ffad595 | Alex | |
298 | void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
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299 | { |
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300 | display_map_name = map_walls_name; |
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301 | clear(); |
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302 | } |
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303 | 2eaafff2 | Alex | |
304 | void SimFrame::clear()
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305 | { |
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306 | path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
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307 | 144137a1 | Alex Zirbel | path_dc.Clear(); |
308 | 2eaafff2 | Alex | |
309 | 6639ce9c | viki | sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0))); |
310 | sonar_dc.Clear(); |
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311 | |||
312 | sonar_dc.SelectObject(path_bitmap); |
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313 | |||
314 | 2eaafff2 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
315 | path_dc.SelectObject(path_bitmap); |
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316 | SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
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317 | 266ae7f2 | Alex Zirbel | } |
318 | |||
319 | c63c9752 | Alex | // Runs every SCOUTSIM_REFRESH_RATE.
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320 | 266ae7f2 | Alex Zirbel | void SimFrame::onUpdate(wxTimerEvent& evt)
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321 | { |
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322 | ros::spinOnce(); |
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323 | |||
324 | 0e77683c | Alex | teleop(); |
325 | |||
326 | 266ae7f2 | Alex Zirbel | updateScouts(); |
327 | |||
328 | if (!ros::ok())
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329 | { |
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330 | Close(); |
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331 | } |
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332 | } |
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333 | |||
334 | void SimFrame::onPaint(wxPaintEvent& evt)
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335 | { |
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336 | wxPaintDC dc(this);
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337 | |||
338 | 144137a1 | Alex Zirbel | dc.DrawBitmap(path_bitmap, 0, 0, true); |
339 | 266ae7f2 | Alex Zirbel | |
340 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
341 | M_Scout::iterator end = scouts.end(); |
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342 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
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343 | { |
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344 | it->second->paint(dc); |
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345 | } |
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346 | 0e0ef125 | Priya | for (unsigned int i=0; i<ghost_scouts.size(); ++i) |
347 | { |
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348 | ghost_scouts.at(i)->paint(dc); |
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349 | } |
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350 | 266ae7f2 | Alex Zirbel | } |
351 | |||
352 | 594c3bb9 | Alex | bool SimFrame::fileExists(const std::string& filename) |
353 | { |
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354 | struct stat buf;
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355 | if (stat(filename.c_str(), &buf) != -1) |
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356 | { |
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357 | return true; |
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358 | } |
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359 | return false; |
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360 | } |
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361 | |||
362 | 0e77683c | Alex | void SimFrame::stopTeleop(wxCommandEvent& event)
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363 | { |
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364 | teleop_type = TELEOP_OFF; |
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365 | teleop_l_speed = 0;
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366 | teleop_r_speed = 0;
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367 | } |
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368 | |||
369 | void SimFrame::startTeleopPrecise(wxCommandEvent& event)
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370 | { |
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371 | teleop_type = TELEOP_PRECISE; |
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372 | teleop_l_speed = 0;
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373 | teleop_r_speed = 0;
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374 | } |
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375 | |||
376 | void SimFrame::startTeleopFluid(wxCommandEvent& event)
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377 | { |
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378 | teleop_type = TELEOP_FLUID; |
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379 | teleop_l_speed = 0;
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380 | teleop_r_speed = 0;
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381 | teleop_fluid_speed = 0;
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382 | teleop_fluid_omega = 0;
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383 | } |
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384 | |||
385 | void SimFrame::teleop_move_precise()
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386 | { |
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387 | // Default to stop
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388 | teleop_l_speed = 0;
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389 | teleop_r_speed = 0;
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390 | |||
391 | if (wxGetKeyState(WXK_UP))
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392 | { |
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393 | teleop_l_speed = TELEOP_PRECISE_SPEED; |
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394 | teleop_r_speed = TELEOP_PRECISE_SPEED; |
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395 | } |
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396 | else if (wxGetKeyState(WXK_DOWN)) |
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397 | { |
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398 | teleop_l_speed = -TELEOP_PRECISE_SPEED; |
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399 | teleop_r_speed = -TELEOP_PRECISE_SPEED; |
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400 | } |
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401 | else if (wxGetKeyState(WXK_LEFT)) |
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402 | { |
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403 | c63c9752 | Alex | teleop_l_speed = -TELEOP_PRECISE_SPEED * 2;
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404 | teleop_r_speed = TELEOP_PRECISE_SPEED * 2;
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405 | 0e77683c | Alex | } |
406 | else if (wxGetKeyState(WXK_RIGHT)) |
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407 | { |
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408 | c63c9752 | Alex | teleop_l_speed = TELEOP_PRECISE_SPEED * 2;
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409 | teleop_r_speed = -TELEOP_PRECISE_SPEED * 2;
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410 | 0e77683c | Alex | } |
411 | } |
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412 | |||
413 | void SimFrame::teleop_move_fluid()
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414 | { |
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415 | if (wxGetKeyState(WXK_UP))
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416 | { |
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417 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC * 2;
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418 | 0e77683c | Alex | } |
419 | else if (wxGetKeyState(WXK_DOWN)) |
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420 | { |
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421 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC * 2;
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422 | 0e77683c | Alex | } |
423 | else if (teleop_fluid_speed > 0) |
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424 | { |
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425 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC; |
426 | 0e77683c | Alex | } |
427 | else if (teleop_fluid_speed < 0) |
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428 | { |
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429 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC; |
430 | 0e77683c | Alex | } |
431 | |||
432 | if (wxGetKeyState(WXK_LEFT))
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433 | { |
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434 | c63c9752 | Alex | teleop_fluid_omega -= TELEOP_FLUID_INC; |
435 | 0e77683c | Alex | } |
436 | else if (wxGetKeyState(WXK_RIGHT)) |
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437 | { |
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438 | c63c9752 | Alex | teleop_fluid_omega += TELEOP_FLUID_INC; |
439 | 0e77683c | Alex | } |
440 | 0076084e | Alex | else
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441 | 0e77683c | Alex | { |
442 | 0076084e | Alex | teleop_fluid_omega = 0;
|
443 | 0e77683c | Alex | } |
444 | |||
445 | if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
|
||
446 | { |
||
447 | teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED; |
||
448 | } |
||
449 | c63c9752 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED) |
450 | { |
||
451 | teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED; |
||
452 | } |
||
453 | 0e77683c | Alex | if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED / 2) |
454 | { |
||
455 | teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED / 2;
|
||
456 | } |
||
457 | c63c9752 | Alex | else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED / 2) |
458 | { |
||
459 | teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED / 2;
|
||
460 | } |
||
461 | 0e77683c | Alex | |
462 | teleop_l_speed = teleop_fluid_speed + teleop_fluid_omega; |
||
463 | teleop_r_speed = teleop_fluid_speed - teleop_fluid_omega; |
||
464 | } |
||
465 | |||
466 | void SimFrame::teleop()
|
||
467 | { |
||
468 | switch (teleop_type)
|
||
469 | { |
||
470 | case TELEOP_OFF:
|
||
471 | return;
|
||
472 | case TELEOP_PRECISE:
|
||
473 | teleop_move_precise(); |
||
474 | break;
|
||
475 | case TELEOP_FLUID:
|
||
476 | teleop_move_fluid(); |
||
477 | break;
|
||
478 | } |
||
479 | |||
480 | motors::set_motors msg; |
||
481 | msg.fl_set = true;
|
||
482 | msg.fr_set = true;
|
||
483 | msg.bl_set = true;
|
||
484 | msg.br_set = true;
|
||
485 | |||
486 | msg.fl_speed = teleop_l_speed; |
||
487 | msg.fr_speed = teleop_r_speed; |
||
488 | msg.bl_speed = teleop_l_speed; |
||
489 | msg.br_speed = teleop_r_speed; |
||
490 | |||
491 | teleop_pub.publish(msg); |
||
492 | } |
||
493 | |||
494 | 266ae7f2 | Alex Zirbel | void SimFrame::updateScouts()
|
495 | { |
||
496 | 144137a1 | Alex Zirbel | if (last_scout_update.isZero())
|
497 | 266ae7f2 | Alex Zirbel | { |
498 | 144137a1 | Alex Zirbel | last_scout_update = ros::WallTime::now(); |
499 | 266ae7f2 | Alex Zirbel | return;
|
500 | } |
||
501 | |||
502 | 144137a1 | Alex Zirbel | if (frame_count % 3 == 0) |
503 | 266ae7f2 | Alex Zirbel | { |
504 | 144137a1 | Alex Zirbel | path_image = path_bitmap.ConvertToImage(); |
505 | 266ae7f2 | Alex Zirbel | Refresh(); |
506 | } |
||
507 | |||
508 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
509 | M_Scout::iterator end = scouts.end(); |
||
510 | e3f69e61 | Alex | |
511 | world_state state; |
||
512 | state.canvas_width = width_in_meters; |
||
513 | state.canvas_height = height_in_meters; |
||
514 | |||
515 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
|
516 | { |
||
517 | eb9cff77 | Hui Jun Tay | it->second->update(0.016, path_dc,sonar_dc,sonar_visual_on, |
518 | a2e6bd4c | Alex | path_image, lines_image, walls_image, |
519 | 144137a1 | Alex Zirbel | path_dc.GetBackground().GetColour(), |
520 | 6639ce9c | viki | sonar_dc.GetBackground().GetColour(), |
521 | e3f69e61 | Alex | state); |
522 | 266ae7f2 | Alex Zirbel | } |
523 | |||
524 | 0e0ef125 | Priya | for (unsigned int i=0; i<ghost_scouts.size(); ++i) |
525 | { |
||
526 | ghost_scouts.at(i)->update(0.016, path_dc, sonar_dc, |
||
527 | path_dc.GetBackground().GetColour(), state); |
||
528 | } |
||
529 | |||
530 | c492be62 | Alex Zirbel | frame_count++; |
531 | 266ae7f2 | Alex Zirbel | } |
532 | |||
533 | bool SimFrame::clearCallback(std_srvs::Empty::Request&,
|
||
534 | std_srvs::Empty::Response&) |
||
535 | { |
||
536 | ROS_INFO("Clearing scoutsim.");
|
||
537 | clear(); |
||
538 | return true; |
||
539 | } |
||
540 | |||
541 | bool SimFrame::resetCallback(std_srvs::Empty::Request&,
|
||
542 | std_srvs::Empty::Response&) |
||
543 | { |
||
544 | ROS_INFO("Resetting scoutsim.");
|
||
545 | 144137a1 | Alex Zirbel | scouts.clear(); |
546 | id_counter = 0;
|
||
547 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
||
548 | 266ae7f2 | Alex Zirbel | clear(); |
549 | return true; |
||
550 | } |
||
551 | |||
552 | 1d1281cc | Priya | void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
553 | 82f3f746 | Priya | { |
554 | wireless_receive.publish(msg); |
||
555 | } |
||
556 | 266ae7f2 | Alex Zirbel | } |