root / scout / scoutsim / src / scoutsim.cpp @ 594c3bb9
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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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#include <wx/app.h> |
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#include <wx/timer.h> |
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#include <ros/ros.h> |
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#include <boost/thread.hpp> |
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#include <stdio.h> |
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#include "sim_frame.h" |
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#ifdef __WXMAC__
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#include <ApplicationServices/ApplicationServices.h> |
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#endif
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using namespace std; |
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class ScoutApp : public wxApp |
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{ |
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public:
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char** local_argv;
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ros::NodeHandlePtr nh; |
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ScoutApp() |
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{ |
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} |
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bool OnInit()
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{ |
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std::cout << "Starting scout app." << std::endl;
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#ifdef __WXMAC__
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ProcessSerialNumber PSN; |
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GetCurrentProcess(&PSN); |
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TransformProcessType(&PSN,kProcessTransformToForegroundApplication); |
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SetFrontProcess(&PSN); |
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#endif
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// Create our own copy of argv, with regular char*s.
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local_argv = new char*[ argc ]; |
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for ( int i = 0; i < argc; ++i ) |
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{ |
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local_argv[ i ] = strdup( wxString( argv[ i ] ).mb_str() ); |
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} |
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// Check for incorrect usage
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if (argc < 2) |
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{ |
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cout << endl << "Error." << endl << endl;
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cout << "Usage: " << local_argv[0] << " <map name>" << endl; |
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cout << "To use maps/example.bmp, use 'example'." << endl;
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exit(0);
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} |
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std::cout << "About to init node" << std::endl;
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ros::init(argc, local_argv, "scoutsim");
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std::cout << "About to reset." << std::endl;
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nh.reset(new ros::NodeHandle);
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std::cout << "About to init image handlers." << std::endl;
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wxInitAllImageHandlers(); |
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std::cout << "About to make a sim frame." << std::endl;
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scoutsim::SimFrame* frame = new scoutsim::SimFrame(NULL, string(local_argv[1])); |
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SetTopWindow(frame); |
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frame->Show(); |
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std::cout << "Constructor done!" << std::endl;
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return true; |
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} |
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int OnExit()
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{ |
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for ( int i = 0; i < argc; ++i ) |
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{ |
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free( local_argv[ i ] ); |
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} |
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delete [] local_argv;
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return 0; |
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} |
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}; |
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BEGIN_EVENT_TABLE(scoutsim::SimFrame, wxFrame) |
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EVT_MENU(ID_QUIT, scoutsim::SimFrame::onQuit) |
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EVT_MENU(ID_ABOUT, scoutsim::SimFrame::onAbout) |
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EVT_MENU(ID_CLEAR, scoutsim::SimFrame::onClear) |
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EVT_MENU(ID_MAP, scoutsim::SimFrame::showMap) |
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EVT_MENU(ID_LINES, scoutsim::SimFrame::showLines) |
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EVT_MENU(ID_WALLS, scoutsim::SimFrame::showWalls) |
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EVT_MENU(ID_TELEOP_NONE, scoutsim::SimFrame::stopTeleop) |
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EVT_MENU(ID_TELEOP_PRECISE, scoutsim::SimFrame::startTeleopPrecise) |
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EVT_MENU(ID_TELEOP_FLUID, scoutsim::SimFrame::startTeleopFluid) |
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EVT_MENU(ID_SONAR, scoutsim::SimFrame::showSonar) |
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END_EVENT_TABLE() |
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DECLARE_APP(ScoutApp); |
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IMPLEMENT_APP(ScoutApp); |