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1 c492be62 Alex Zirbel
/**
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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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#include "sim_frame.h"
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#include <stdio.h>
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#include <ros/package.h>
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#include <cstdlib>
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#include <ctime>
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using namespace std;
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namespace scoutsim
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{
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    SimFrame::SimFrame(wxWindow* parent, string map_name)
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        : wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
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                  wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER)
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          , frame_count(0)
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          , 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));
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        update_timer = new wxTimer(this);
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        update_timer->Start(REAL_TIME_REFRESH_RATE * 1000);
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        Connect(update_timer->GetId(), wxEVT_TIMER,
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                wxTimerEventHandler(SimFrame::onUpdate), NULL, this);
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        Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint),
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                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/" +
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                           map_name + ".bmp";
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        map_lines_name = ros::package::getPath("scoutsim") + "/maps/" +
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                           map_name + "_lines.bmp";
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        map_walls_name = ros::package::getPath("scoutsim") + "/maps/" +
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                           map_name + "_walls.bmp";
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        display_map_name = map_base_name;
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        wxBitmap lines_bitmap;
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        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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        // Try to load the file; if it fails, make a new blank file
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        if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
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        {
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            lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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        }
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        lines_image = lines_bitmap.ConvertToImage();
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        // Try to load the file; if it fails, make a new blank file
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        if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
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        {
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            walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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        }
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        walls_image = walls_bitmap.ConvertToImage();
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        clear();
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        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);
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        spawn_srv = nh.advertiseService("spawn",
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                                        &SimFrame::spawnCallback, 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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        // Subscribe and publisher wirless from robots
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        wireless_receive = nh.advertise< ::messages::WirelessPacket>(
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            "/wireless/receive", 1000); 
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        wireless_send = nh.subscribe("/wireless/send", 1000,
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            &SimFrame::wirelessCallback, this);
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        // Teleop
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        teleop_type = TELEOP_OFF;
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        teleop_l_speed = 0;
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        teleop_r_speed = 0;
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        teleop_scoutname = "scout1";
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        teleop_pub = nh.advertise<motors::set_motors>("/scout1/set_motors", 1000);
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        ROS_INFO("Starting scoutsim with node name %s",
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                 ros::this_node::getName().c_str()) ;
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        wxMenu *menuFile = new wxMenu;
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        menuFile->Append(ID_ABOUT, _("&About"));
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        menuFile->AppendSeparator();
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        menuFile->Append(ID_QUIT, _("E&xit"));
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        wxMenu *menuSim = new wxMenu;
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        menuSim->Append(ID_CLEAR, _("&Clear"));
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        wxMenu *menuView = new wxMenu;
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        menuView->Append(ID_MAP, _("&Map"));
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        menuView->Append(ID_LINES, _("&Lines"));
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        menuView->Append(ID_WALLS, _("&Walls"));
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        wxMenu *menuTeleop = new wxMenu;
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        menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
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        menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
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        menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
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        wxMenuBar *menuBar = new wxMenuBar;
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        menuBar->Append(menuFile, _("&File"));
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        menuBar->Append(menuSim, _("&Sim"));
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        menuBar->Append(menuView, _("&View"));
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        menuBar->Append(menuTeleop, _("&Teleop"));
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        SetMenuBar(menuBar);
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        width_in_meters = GetSize().GetWidth() / PIX_PER_METER;
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        height_in_meters = GetSize().GetHeight() / PIX_PER_METER;
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        spawnScout("scout1", 1.4, .78, 0);
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    }
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    SimFrame::~SimFrame()
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    {
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        delete update_timer;
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    }
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    bool SimFrame::spawnCallback(scoutsim::Spawn::Request  &req,
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                                 scoutsim::Spawn::Response &res)
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    {
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        std::string name = spawnScout(req.name, req.x, req.y, req.theta);
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        if (name.empty())
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        {
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            ROS_WARN("A scout named [%s] already exists", req.name.c_str());
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            return false;
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        }
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        res.name = name;
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        return true;
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    }
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    bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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                                scoutsim::Kill::Response&)
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    {
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        M_Scout::iterator it = scouts.find(req.name);
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        if (it == scouts.end())
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        {
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            ROS_WARN("Tried to kill scout [%s], which does not exist",
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                     req.name.c_str());
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            return false;
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        }
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        scouts.erase(it);
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        return true;
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    }
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    bool SimFrame::setSonarVizCallback(SetSonarViz::Request& req,
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                                       SetSonarViz::Response&)
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    {
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        M_Scout::iterator it = scouts.find(req.scout_name);
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        if (it == scouts.end())
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        {
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            ROS_WARN("Tried to set sonar on scout [%s], which does not exist",
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                     req.scout_name.c_str());
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            return false;
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        }
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        it->second->set_sonar_visual(req.on);
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        return true;
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    }
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    bool SimFrame::setGhostCallback(SetGhost::Request& req,
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                                    SetGhost::Response&)
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    {
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        for (unsigned int i=0; i < ghost_scouts.size(); ++i)
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        {
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            if (ghost_scouts.at(i)->get_name() == req.scout_name)
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            {
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                ghost_scouts.at(i)->set_visible(req.on);
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                return true;
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            }
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        }
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        ROS_WARN("Tried to set ghost on scout [%s], which does not exist",
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                 req.scout_name.c_str());
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        return false;
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    }
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    bool SimFrame::setTeleopCallback(SetTeleop::Request& req,
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                                     SetTeleop::Response&)
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    {
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        std::stringstream ss;
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        ss << "/" << req.scout_name << "/set_motors";
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        teleop_pub = nh.advertise<motors::set_motors>(ss.str(), 1000);
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        teleop_scoutname = req.scout_name.c_str();
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        ROS_INFO("Teleoping %s...",teleop_scoutname.c_str()); //debug statement
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        return true;
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    }
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    bool SimFrame::hasScout(const std::string& name)
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    {
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        return scouts.find(name) != scouts.end();
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    }
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    std::string SimFrame::spawnScout(const std::string& name,
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                                     float x, float y, float angle)
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    {
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        std::string real_name = name;
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        if (real_name.empty())
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        {
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            // Generate the name scoutX, where X is an increasing number.
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            do
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            {
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                std::stringstream ss;
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                ss << "scout" << ++id_counter;
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                real_name = ss.str();
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            }
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            while (hasScout(real_name));
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        }
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        else
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        {
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            if (hasScout(real_name))
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            {
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                return "";
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            }
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        }
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        wxImage scout_image;
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        // Try to load a name-specific image; if not, load the default scout
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        string specific_name = images_path + name + ".png";
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        if (fileExists(specific_name))
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        {
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            scout_image.LoadFile(wxString::FromAscii(specific_name.c_str()));
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            scout_image.SetMask(true);
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            scout_image.SetMaskColour(255, 255, 255);
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        }
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        else
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        {
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            scout_image.LoadFile(
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                wxString::FromAscii((images_path + "scout.png").c_str()));
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            scout_image.SetMask(true);
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            scout_image.SetMaskColour(255, 255, 255);
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        }
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        ScoutPtr t(new Scout(ros::NodeHandle(real_name),
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                   scout_image, Vector2(x, y), &path_bitmap, angle));
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        scouts[real_name] = t;
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        ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
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                scout_image, Vector2(x, y), &path_bitmap, angle, name));
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        ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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                 real_name.c_str(), x, y, angle);
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        return real_name;
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    }
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    void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
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    {
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        Close(true);
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    }
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    void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
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    {
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        wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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                       "\nThe Colony Project is a part of the Carnegie Mellon\n"
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                       "Robotics Club. Our goal is to use cooperative low-cost\n"
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                       "robots to solve challenging problems."),
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                     _("About Scoutsim"),
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                     wxOK | wxICON_INFORMATION, this );
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    }
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    void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
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    {
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        clear();
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    }
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    void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
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    {
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        display_map_name = map_base_name;
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        clear();
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    }
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    void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
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    {
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        display_map_name = map_lines_name;
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        clear();
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    }
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    void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
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    {
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        display_map_name = map_walls_name;
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        clear();
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    }
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    void SimFrame::clear()
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    {
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        path_dc.SetBackground(wxBrush(wxColour(100, 100, 100)));
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        path_dc.Clear();
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        sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0)));
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        sonar_dc.Clear();
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        sonar_dc.SelectObject(path_bitmap);
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        path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str()));
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        path_dc.SelectObject(path_bitmap);
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        SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight()));
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    }
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    // Runs every REAL_TIME_REFRESH_RATE.
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    void SimFrame::onUpdate(wxTimerEvent& evt)
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    {
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        ros::spinOnce();
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        teleop();
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        updateScouts();
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        if (!ros::ok())
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        {
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            Close();
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        }
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        frame_count++;
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    }
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    void SimFrame::onPaint(wxPaintEvent& evt)
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    {
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        wxPaintDC dc(this);
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        dc.DrawBitmap(path_bitmap, 0, 0, true);
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        M_Scout::iterator it = scouts.begin();
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        M_Scout::iterator end = scouts.end();
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        for (; it != end; ++it)
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        {
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            it->second->paint(dc);
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        }
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        for (unsigned int i=0; i < ghost_scouts.size(); ++i)
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        {
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            ghost_scouts.at(i)->paint(dc);
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        }
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    }
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    bool SimFrame::fileExists(const std::string& filename)
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    {
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        struct stat buf;
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        if (stat(filename.c_str(), &buf) != -1)
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        {
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            return true;
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        }
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        return false;
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    }
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    void SimFrame::stopTeleop(wxCommandEvent& event)
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    {
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        teleop_type = TELEOP_OFF;
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        teleop_l_speed = 0;
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        teleop_r_speed = 0;
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    }
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    void SimFrame::startTeleopPrecise(wxCommandEvent& event)
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    {
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        teleop_type = TELEOP_PRECISE;
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        teleop_l_speed = 0;
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        teleop_r_speed = 0;
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    }
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    void SimFrame::startTeleopFluid(wxCommandEvent& event)
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    {
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        teleop_type = TELEOP_FLUID;
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        teleop_l_speed = 0;
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        teleop_r_speed = 0;
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        teleop_fluid_speed = 0;
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        teleop_fluid_omega = 0;
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    }
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    void SimFrame::teleop_move_precise()
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    {
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        // Default to stop
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        teleop_l_speed = 0;
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        teleop_r_speed = 0;
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        if (wxGetKeyState(WXK_UP))
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        {
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            teleop_l_speed = TELEOP_PRECISE_SPEED;
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            teleop_r_speed = TELEOP_PRECISE_SPEED;
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        }
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        else if (wxGetKeyState(WXK_DOWN))
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        {
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            teleop_l_speed = -TELEOP_PRECISE_SPEED;
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            teleop_r_speed = -TELEOP_PRECISE_SPEED;
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        }
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        else if (wxGetKeyState(WXK_LEFT))
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        {
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            teleop_l_speed = -TELEOP_PRECISE_TURN_SPEED;
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            teleop_r_speed = TELEOP_PRECISE_TURN_SPEED;
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        }
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        else if (wxGetKeyState(WXK_RIGHT))
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        {
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            teleop_l_speed = TELEOP_PRECISE_TURN_SPEED;
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            teleop_r_speed = -TELEOP_PRECISE_TURN_SPEED;
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        }
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    }
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    void SimFrame::teleop_move_fluid()
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    {
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        if (wxGetKeyState(WXK_UP))
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        {
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            teleop_fluid_speed += TELEOP_FLUID_INC * 2;
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        }
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        else if (wxGetKeyState(WXK_DOWN))
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        {
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            teleop_fluid_speed -= TELEOP_FLUID_INC * 2;
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        }
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        else if (teleop_fluid_speed > TELEOP_FLUID_INC)
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        {
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            teleop_fluid_speed -= TELEOP_FLUID_INC;
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        }
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        else if (teleop_fluid_speed < -TELEOP_FLUID_INC)
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        {
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            teleop_fluid_speed += TELEOP_FLUID_INC;
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        }
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        else
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        {
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            teleop_fluid_speed = 0;
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        }
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        if (wxGetKeyState(WXK_LEFT))
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        {
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            teleop_fluid_omega -= TELEOP_FLUID_INC * 2;
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        }
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        else if (wxGetKeyState(WXK_RIGHT))
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        {
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            teleop_fluid_omega += TELEOP_FLUID_INC * 2;
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        }
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        else
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        {
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            teleop_fluid_omega = 0;
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        }
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        if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
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        {
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            teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED;
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        }
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        else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED)
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        {
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            teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED;
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        }
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        if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED)
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        {
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            teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED;
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        }
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        else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED)
509 c63c9752 Alex
        {
510 04114d13 Alex
            teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED;
511 c63c9752 Alex
        }
512 0e77683c Alex
513 04114d13 Alex
        int l_speed = teleop_fluid_speed + teleop_fluid_omega;
514
        int r_speed = teleop_fluid_speed - teleop_fluid_omega;
515
516
        teleop_l_speed = max(MIN_ABSOLUTE_SPEED,
517
                             min(MAX_ABSOLUTE_SPEED, l_speed));
518
        teleop_r_speed = max(MIN_ABSOLUTE_SPEED,
519
                             min(MAX_ABSOLUTE_SPEED, r_speed));
520 0e77683c Alex
    }
521
522
    void SimFrame::teleop()
523
    {
524
        switch (teleop_type)
525
        {
526
            case TELEOP_OFF:
527
                return;
528
            case TELEOP_PRECISE:
529
                teleop_move_precise();
530
                break;
531
            case TELEOP_FLUID:
532
                teleop_move_fluid();
533
                break;
534
        }
535
536
        motors::set_motors msg;
537
        msg.fl_set = true;
538
        msg.fr_set = true;
539
        msg.bl_set = true;
540
        msg.br_set = true;
541 60a90290 Hui Jun Tay
        msg.teleop_ON = true;
542 0e77683c Alex
543
        msg.fl_speed = teleop_l_speed;
544
        msg.fr_speed = teleop_r_speed;
545
        msg.bl_speed = teleop_l_speed;
546
        msg.br_speed = teleop_r_speed;
547
548
        teleop_pub.publish(msg);
549
    }
550
551 266ae7f2 Alex Zirbel
    void SimFrame::updateScouts()
552
    {
553 60a90290 Hui Jun Tay
554 144137a1 Alex Zirbel
        if (last_scout_update.isZero())
555 266ae7f2 Alex Zirbel
        {
556 144137a1 Alex Zirbel
            last_scout_update = ros::WallTime::now();
557 266ae7f2 Alex Zirbel
            return;
558
        }
559
560 04114d13 Alex
        path_image = path_bitmap.ConvertToImage();
561
        Refresh();
562 266ae7f2 Alex Zirbel
563 144137a1 Alex Zirbel
        M_Scout::iterator it = scouts.begin();
564
        M_Scout::iterator end = scouts.end();
565 e3f69e61 Alex
566
        world_state state;
567
        state.canvas_width = width_in_meters;
568
        state.canvas_height = height_in_meters;
569
570 266ae7f2 Alex Zirbel
        for (; it != end; ++it)
571
        {
572 60a90290 Hui Jun Tay
573 7f095440 Priya
            it->second->update(SIM_TIME_REFRESH_RATE,
574 43811241 Alex
                               path_dc, sonar_dc,
575 a2e6bd4c Alex
                               path_image, lines_image, walls_image,
576 144137a1 Alex Zirbel
                               path_dc.GetBackground().GetColour(),
577 04114d13 Alex
                               sonar_dc.GetBackground().GetColour(),
578 f09d002e Hui Jun Tay
                               state);
579 266ae7f2 Alex Zirbel
        }
580
581 43811241 Alex
        for (unsigned int i = 0; i < ghost_scouts.size(); ++i)
582 0e0ef125 Priya
        {
583 7f095440 Priya
            ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc,
584 0e0ef125 Priya
                path_dc.GetBackground().GetColour(), state);
585
        }
586
587 c492be62 Alex Zirbel
        frame_count++;
588 266ae7f2 Alex Zirbel
    }
589
590
    bool SimFrame::clearCallback(std_srvs::Empty::Request&,
591
                                 std_srvs::Empty::Response&)
592
    {
593
        ROS_INFO("Clearing scoutsim.");
594
        clear();
595
        return true;
596
    }
597
598
    bool SimFrame::resetCallback(std_srvs::Empty::Request&,
599
                                 std_srvs::Empty::Response&)
600
    {
601
        ROS_INFO("Resetting scoutsim.");
602 144137a1 Alex Zirbel
        scouts.clear();
603
        id_counter = 0;
604
        spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0);
605 266ae7f2 Alex Zirbel
        clear();
606
        return true;
607
    }
608
609 1d1281cc Priya
    void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg)
610 82f3f746 Priya
    {
611
        wireless_receive.publish(msg);
612
    }
613 266ae7f2 Alex Zirbel
}