root / scout / scoutsim / src / scout.h @ 794038c2
History | View | Annotate | Download (8.18 KB)
1 | c492be62 | Alex Zirbel | /**
|
---|---|---|---|
2 | * The code in this package was developed using the structure of Willow
|
||
3 | * Garage's turtlesim package. It was modified by the CMU Robotics Club
|
||
4 | * to be used as a simulator for the Colony Scout robot.
|
||
5 | 266ae7f2 | Alex Zirbel | *
|
6 | c492be62 | Alex Zirbel | * All redistribution of this code is limited to the terms of Willow Garage's
|
7 | * licensing terms, as well as under permission from the CMU Robotics Club.
|
||
8 | *
|
||
9 | * Copyright (c) 2011 Colony Project
|
||
10 | *
|
||
11 | * Permission is hereby granted, free of charge, to any person
|
||
12 | * obtaining a copy of this software and associated documentation
|
||
13 | * files (the "Software"), to deal in the Software without
|
||
14 | * restriction, including without limitation the rights to use,
|
||
15 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
16 | * copies of the Software, and to permit persons to whom the
|
||
17 | * Software is furnished to do so, subject to the following
|
||
18 | * conditions:
|
||
19 | *
|
||
20 | * The above copyright notice and this permission notice shall be
|
||
21 | * included in all copies or substantial portions of the Software.
|
||
22 | *
|
||
23 | * Copyright (c) 2009, Willow Garage, Inc.
|
||
24 | 266ae7f2 | Alex Zirbel | * All rights reserved.
|
25 | c492be62 | Alex Zirbel | *
|
26 | * Redistribution and use in source and binary forms, with or without
|
||
27 | * modification, are permitted provided that the following conditions are met:
|
||
28 | *
|
||
29 | * Redistributions of source code must retain the above copyright
|
||
30 | * notice, this list of conditions and the following disclaimer.
|
||
31 | * Redistributions in binary form must reproduce the above copyright
|
||
32 | * notice, this list of conditions and the following disclaimer in the
|
||
33 | * documentation and/or other materials provided with the distribution.
|
||
34 | * Neither the name of the Willow Garage, Inc. nor the names of its
|
||
35 | * contributors may be used to endorse or promote products derived from
|
||
36 | * this software without specific prior written permission.
|
||
37 | *
|
||
38 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
39 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
40 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
41 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
42 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
43 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
44 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
45 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
46 | 266ae7f2 | Alex Zirbel | */
|
47 | |||
48 | 144137a1 | Alex Zirbel | #ifndef _SCOUTSIM_SCOUT_H_
|
49 | #define _SCOUTSIM_SCOUT_H_
|
||
50 | 266ae7f2 | Alex Zirbel | |
51 | #include <ros/ros.h> |
||
52 | af0d9743 | Alex | #include <vector> |
53 | 266ae7f2 | Alex Zirbel | #include <boost/shared_ptr.hpp> |
54 | |||
55 | 6ebee82c | Alex | #include <messages/set_motors.h> |
56 | #include <messages/query_encoders.h> |
||
57 | #include <messages/query_linesensor.h> |
||
58 | 93cebb99 | Yuyang (Misty) Guo | #include <messages/query_boms.h> |
59 | 071926c2 | Alex | #include <messages/sonar_distance.h> |
60 | #include <messages/sonar_toggle.h> |
||
61 | #include <messages/sonar_set_scan.h> |
||
62 | a8480867 | Alex Zirbel | |
63 | 266ae7f2 | Alex Zirbel | #include <scoutsim/Pose.h> |
64 | #include <scoutsim/SetPen.h> |
||
65 | #include <scoutsim/Color.h> |
||
66 | |||
67 | e3f69e61 | Alex | #include <geometry_msgs/Pose2D.h> |
68 | |||
69 | 266ae7f2 | Alex Zirbel | #include <wx/wx.h> |
70 | |||
71 | e3f69e61 | Alex | #include "scoutsim_internal.h" |
72 | a2e6bd4c | Alex | #include "scout_constants.h" |
73 | c492be62 | Alex Zirbel | |
74 | 266ae7f2 | Alex Zirbel | #define PI 3.14159265 |
75 | c492be62 | Alex Zirbel | |
76 | ade1b7f9 | Alex | #define NUM_LINESENSORS 8 |
77 | 93cebb99 | Yuyang (Misty) Guo | #define NUM_BOMS 10 |
78 | ade1b7f9 | Alex | |
79 | // Distance, pixels, from center of robot to the linesensors.
|
||
80 | #define LNSNSR_D 20 |
||
81 | |||
82 | 266ae7f2 | Alex Zirbel | namespace scoutsim |
83 | { |
||
84 | struct Vector2
|
||
85 | { |
||
86 | Vector2() |
||
87 | : x(0.0) |
||
88 | , y(0.0) |
||
89 | {} |
||
90 | |||
91 | 144137a1 | Alex Zirbel | Vector2(float new_x, float new_y) |
92 | : x(new_x) |
||
93 | , y(new_y) |
||
94 | 266ae7f2 | Alex Zirbel | {} |
95 | |||
96 | bool operator==(const Vector2& rhs) |
||
97 | { |
||
98 | return x == rhs.x && y == rhs.y;
|
||
99 | } |
||
100 | |||
101 | bool operator!=(const Vector2& rhs) |
||
102 | { |
||
103 | return x != rhs.x || y != rhs.y;
|
||
104 | } |
||
105 | |||
106 | float x;
|
||
107 | float y;
|
||
108 | }; |
||
109 | |||
110 | class Scout |
||
111 | { |
||
112 | public:
|
||
113 | 6639ce9c | viki | Scout(const ros::NodeHandle& nh,const wxImage& scout_image, |
114 | const Vector2& pos, wxBitmap *path_bitmap, float orient); |
||
115 | 266ae7f2 | Alex Zirbel | |
116 | 9b3564f3 | Alex Zirbel | geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
|
117 | 43811241 | Alex | wxMemoryDC& sonar_dc, |
118 | 9b3564f3 | Alex Zirbel | const wxImage& path_image,
|
119 | ade1b7f9 | Alex | const wxImage& lines_image,
|
120 | a2e6bd4c | Alex | const wxImage& walls_image,
|
121 | 9b3564f3 | Alex Zirbel | wxColour background_color, |
122 | 43811241 | Alex | wxColour sonar_color, |
123 | f09d002e | Hui Jun Tay | world_state state); |
124 | 266ae7f2 | Alex Zirbel | void paint(wxDC& dc);
|
125 | 43811241 | Alex | void set_sonar_visual(bool on); |
126 | 93cebb99 | Yuyang (Misty) Guo | void update_BOM(int bom_index, unsigned int bom_value, |
127 | unsigned int sender); |
||
128 | 266ae7f2 | Alex Zirbel | |
129 | private:
|
||
130 | 6257c97d | Alex | float absolute_to_mps(int absolute_speed); |
131 | 6ebee82c | Alex | void setMotors(const messages::set_motors::ConstPtr& msg); |
132 | 266ae7f2 | Alex Zirbel | bool setPenCallback(scoutsim::SetPen::Request&,
|
133 | scoutsim::SetPen::Response&); |
||
134 | 6ebee82c | Alex | bool query_encoders_callback(messages::query_encoders::Request&,
|
135 | messages::query_encoders::Response&); |
||
136 | bool query_linesensor_callback(messages::query_linesensor::Request&,
|
||
137 | messages::query_linesensor::Response&); |
||
138 | 93cebb99 | Yuyang (Misty) Guo | bool query_BOM_callback(messages::query_boms::Request&,
|
139 | messages::query_boms::Response&); |
||
140 | 071926c2 | Alex | bool handle_sonar_toggle(messages::sonar_toggle::Request &req,
|
141 | messages::sonar_toggle::Response &res); |
||
142 | bool handle_sonar_set_scan(messages::sonar_set_scan::Request &req,
|
||
143 | 6ebee82c | Alex | messages::sonar_set_scan::Response &res); |
144 | a2e6bd4c | Alex | unsigned int rgb_to_grey(unsigned char r, |
145 | unsigned char g, |
||
146 | unsigned char b); |
||
147 | unsigned int trace_sonar(const wxImage& walls_image, int x, int y, |
||
148 | 093a1aea | Alex | double robot_theta, int sonar_pos, |
149 | wxMemoryDC& sonar_dc); |
||
150 | 96ec9388 | Hui Jun Tay | |
151 | a2e6bd4c | Alex | void update_sonar(const wxImage& walls_image, int x, int y, |
152 | eb9cff77 | Hui Jun Tay | double robot_theta, wxMemoryDC& sonar_dc);
|
153 | a2e6bd4c | Alex | void update_linesensor(const wxImage& lines_image, int x, int y, |
154 | double theta);
|
||
155 | 93cebb99 | Yuyang (Misty) Guo | |
156 | c63c9752 | Alex | int old_front_dx;
|
157 | int old_front_dy;
|
||
158 | int old_back_dx;
|
||
159 | int old_back_dy;
|
||
160 | bool isFront;
|
||
161 | f09d002e | Hui Jun Tay | |
162 | int teleop_latch;
|
||
163 | b1fdaaf6 | Hui Jun Tay | |
164 | 96ec9388 | Hui Jun Tay | wxBitmap *path_bitmap; |
165 | bool sonar_visual_on;
|
||
166 | c63c9752 | Alex | bool sonar_on;
|
167 | 60a90290 | Hui Jun Tay | bool ignore_behavior;
|
168 | |||
169 | f09d002e | Hui Jun Tay | //std::string current_teleop_scout;
|
170 | 266ae7f2 | Alex Zirbel | |
171 | 144137a1 | Alex Zirbel | ros::NodeHandle node; |
172 | 266ae7f2 | Alex Zirbel | |
173 | 144137a1 | Alex Zirbel | wxImage scout_image; |
174 | wxBitmap scout; |
||
175 | 266ae7f2 | Alex Zirbel | |
176 | 144137a1 | Alex Zirbel | Vector2 pos; |
177 | float orient;
|
||
178 | 266ae7f2 | Alex Zirbel | |
179 | 9f547ef7 | Alex Zirbel | /// @todo should these be an array or something?
|
180 | |||
181 | 6257c97d | Alex | // Keep track of the last commanded speeds sent to the sim,
|
182 | // converted to m/s
|
||
183 | float motor_fl_speed;
|
||
184 | float motor_fr_speed;
|
||
185 | float motor_bl_speed;
|
||
186 | float motor_br_speed;
|
||
187 | a8480867 | Alex Zirbel | |
188 | 9f547ef7 | Alex Zirbel | // Keep track of encoder ticks for each motor
|
189 | unsigned int fl_ticks; |
||
190 | unsigned int fr_ticks; |
||
191 | unsigned int bl_ticks; |
||
192 | unsigned int br_ticks; |
||
193 | |||
194 | a2e6bd4c | Alex | int sonar_position;
|
195 | int sonar_stop_l;
|
||
196 | int sonar_stop_r;
|
||
197 | int sonar_direction;
|
||
198 | c63c9752 | Alex | |
199 | a2e6bd4c | Alex | // The last time the sonar changed its position.
|
200 | ros::Time last_sonar_time; |
||
201 | ros::Duration sonar_tick_time; |
||
202 | |||
203 | ade1b7f9 | Alex | // A vector of the 8 linesensor readings
|
204 | std::vector<unsigned int> linesensor_readings; |
||
205 | 93cebb99 | Yuyang (Misty) Guo | std::vector<unsigned int> BOM_readings; |
206 | std::vector<unsigned int> BOM_senders; |
||
207 | ade1b7f9 | Alex | |
208 | c492be62 | Alex Zirbel | // Each scout has a unique id number, which is also displayed on its image.
|
209 | int scout_id;
|
||
210 | |||
211 | 144137a1 | Alex Zirbel | bool pen_on;
|
212 | wxPen pen; |
||
213 | 266ae7f2 | Alex Zirbel | |
214 | 144137a1 | Alex Zirbel | ros::Subscriber motors_sub; |
215 | ros::Publisher pose_pub; |
||
216 | ros::Publisher color_pub; |
||
217 | a2e6bd4c | Alex | ros::Publisher sonar_pub; |
218 | 98ed4757 | Hui Jun Tay | ros::Publisher bom_pub; |
219 | 144137a1 | Alex Zirbel | ros::ServiceServer set_pen_srv; |
220 | 9f547ef7 | Alex Zirbel | ros::ServiceServer query_encoders_srv; |
221 | af0d9743 | Alex | ros::ServiceServer query_linesensor_srv; |
222 | 93cebb99 | Yuyang (Misty) Guo | ros::ServiceServer query_BOM_srv; |
223 | eb9cff77 | Hui Jun Tay | ros::ServiceServer toggle_sonar_srv; |
224 | ros::ServiceServer set_sonar_srv; |
||
225 | 266ae7f2 | Alex Zirbel | |
226 | 144137a1 | Alex Zirbel | ros::WallTime last_command_time; |
227 | 266ae7f2 | Alex Zirbel | }; |
228 | typedef boost::shared_ptr<Scout> ScoutPtr;
|
||
229 | 4612f7e4 | Alex Zirbel | } |
230 | 266ae7f2 | Alex Zirbel | |
231 | #endif |