root / scout / scoutsim / src / sim_frame.cpp @ 7b94db2c
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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 | 3a73516c | Alex | /**
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49 | * @file sim_frame.cpp
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50 | *
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51 | * @ingroup scoutsim
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52 | * @{
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53 | */
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54 | |||
55 | a8480867 | Alex Zirbel | #include "sim_frame.h" |
56 | 266ae7f2 | Alex Zirbel | |
57 | 2eaafff2 | Alex | #include <stdio.h> |
58 | |||
59 | 266ae7f2 | Alex Zirbel | #include <ros/package.h> |
60 | #include <cstdlib> |
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61 | #include <ctime> |
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62 | |||
63 | 2eaafff2 | Alex | using namespace std; |
64 | 266ae7f2 | Alex Zirbel | |
65 | namespace scoutsim
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66 | { |
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67 | 2eaafff2 | Alex | SimFrame::SimFrame(wxWindow* parent, string map_name)
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68 | 266ae7f2 | Alex Zirbel | : wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
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69 | wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER) |
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70 | 144137a1 | Alex Zirbel | , frame_count(0)
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71 | , id_counter(0)
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72 | 46ed9b9b | Yuyang (Misty) Guo | , BOM_counter(0)
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73 | 266ae7f2 | Alex Zirbel | { |
74 | 2eaafff2 | Alex | std::cout << "Constructing sim frame." << std::endl;
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75 | |||
76 | 266ae7f2 | Alex Zirbel | srand(time(NULL));
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77 | |||
78 | 144137a1 | Alex Zirbel | update_timer = new wxTimer(this); |
79 | 7f095440 | Priya | update_timer->Start(REAL_TIME_REFRESH_RATE * 1000);
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80 | 266ae7f2 | Alex Zirbel | |
81 | 144137a1 | Alex Zirbel | Connect(update_timer->GetId(), wxEVT_TIMER, |
82 | 266ae7f2 | Alex Zirbel | wxTimerEventHandler(SimFrame::onUpdate), NULL, this); |
83 | Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint), |
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84 | NULL, this); |
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85 | |||
86 | 594c3bb9 | Alex | images_path = ros::package::getPath("scoutsim") + "/images/"; |
87 | 266ae7f2 | Alex Zirbel | |
88 | ade1b7f9 | Alex | map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
89 | map_name + ".bmp";
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90 | map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
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91 | map_name + "_lines.bmp";
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92 | 7ffad595 | Alex | map_walls_name = ros::package::getPath("scoutsim") + "/maps/" + |
93 | map_name + "_walls.bmp";
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94 | ade1b7f9 | Alex | display_map_name = map_base_name; |
95 | |||
96 | wxBitmap lines_bitmap; |
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97 | e2770306 | Alex | wxBitmap walls_bitmap; |
98 | 4c9fb6ba | viki | ROS_INFO("Loading map: %s", display_map_name.c_str());
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99 | e2770306 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
100 | |||
101 | // Try to load the file; if it fails, make a new blank file
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102 | if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
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103 | { |
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104 | lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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105 | } |
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106 | ade1b7f9 | Alex | lines_image = lines_bitmap.ConvertToImage(); |
107 | |||
108 | e2770306 | Alex | // Try to load the file; if it fails, make a new blank file
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109 | if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
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110 | { |
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111 | walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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112 | } |
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113 | 7ffad595 | Alex | walls_image = walls_bitmap.ConvertToImage(); |
114 | |||
115 | 266ae7f2 | Alex Zirbel | clear(); |
116 | |||
117 | 144137a1 | Alex Zirbel | clear_srv = nh.advertiseService("clear",
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118 | 4612f7e4 | Alex Zirbel | &SimFrame::clearCallback, this);
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119 | 144137a1 | Alex Zirbel | reset_srv = nh.advertiseService("reset",
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120 | 4612f7e4 | Alex Zirbel | &SimFrame::resetCallback, this);
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121 | 144137a1 | Alex Zirbel | spawn_srv = nh.advertiseService("spawn",
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122 | 4612f7e4 | Alex Zirbel | &SimFrame::spawnCallback, this);
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123 | 0e143737 | Hui Jun Tay | spawn_em_srv = nh.advertiseService("spawn_em",
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124 | &SimFrame::spawnEmCallback, this);
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125 | 144137a1 | Alex Zirbel | kill_srv = nh.advertiseService("kill",
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126 | 43811241 | Alex | &SimFrame::killCallback, this);
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127 | set_sonar_viz_srv = nh.advertiseService("set_sonar_viz",
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128 | &SimFrame::setSonarVizCallback, this);
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129 | set_ghost_srv = nh.advertiseService("set_ghost",
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130 | &SimFrame::setGhostCallback, this);
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131 | set_teleop_srv = nh.advertiseService("set_teleop",
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132 | &SimFrame::setTeleopCallback, this);
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133 | 266ae7f2 | Alex Zirbel | |
134 | 82f3f746 | Priya | // Subscribe and publisher wirless from robots
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135 | 7ffad595 | Alex | wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
136 | "/wireless/receive", 1000); |
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137 | wireless_send = nh.subscribe("/wireless/send", 1000, |
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138 | &SimFrame::wirelessCallback, this);
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139 | 82f3f746 | Priya | |
140 | 0e77683c | Alex | // Teleop
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141 | 43811241 | Alex | teleop_type = TELEOP_OFF; |
142 | 0e77683c | Alex | teleop_l_speed = 0;
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143 | teleop_r_speed = 0;
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144 | 60a90290 | Hui Jun Tay | teleop_scoutname = "scout1";
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145 | |||
146 | 11bb78c2 | Hui Jun Tay | //Emitter default values
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147 | em_aperture = PI / 3.0; |
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148 | em_distance = 1.0; |
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149 | |||
150 | |||
151 | 6ebee82c | Alex | teleop_pub = nh.advertise< ::messages::set_motors>("/scout1/set_motors", 1000); |
152 | 0e77683c | Alex | |
153 | 266ae7f2 | Alex Zirbel | ROS_INFO("Starting scoutsim with node name %s",
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154 | ros::this_node::getName().c_str()) ; |
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155 | |||
156 | 2eaafff2 | Alex | wxMenu *menuFile = new wxMenu;
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157 | menuFile->Append(ID_ABOUT, _("&About"));
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158 | menuFile->AppendSeparator(); |
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159 | menuFile->Append(ID_QUIT, _("E&xit"));
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160 | |||
161 | wxMenu *menuSim = new wxMenu;
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162 | menuSim->Append(ID_CLEAR, _("&Clear"));
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163 | |||
164 | wxMenu *menuView = new wxMenu;
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165 | menuView->Append(ID_MAP, _("&Map"));
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166 | menuView->Append(ID_LINES, _("&Lines"));
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167 | 7ffad595 | Alex | menuView->Append(ID_WALLS, _("&Walls"));
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168 | 2eaafff2 | Alex | |
169 | 0e77683c | Alex | wxMenu *menuTeleop = new wxMenu;
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170 | menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
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171 | menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
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172 | menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
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173 | |||
174 | 2eaafff2 | Alex | wxMenuBar *menuBar = new wxMenuBar;
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175 | menuBar->Append(menuFile, _("&File"));
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176 | menuBar->Append(menuSim, _("&Sim"));
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177 | menuBar->Append(menuView, _("&View"));
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178 | 0e77683c | Alex | menuBar->Append(menuTeleop, _("&Teleop"));
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179 | 2eaafff2 | Alex | |
180 | SetMenuBar(menuBar); |
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181 | |||
182 | c63c9752 | Alex | width_in_meters = GetSize().GetWidth() / PIX_PER_METER; |
183 | height_in_meters = GetSize().GetHeight() / PIX_PER_METER; |
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184 | 25694a03 | Priya | |
185 | spawnScout("scout1", 1.4, .78, 0); |
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186 | 266ae7f2 | Alex Zirbel | } |
187 | |||
188 | SimFrame::~SimFrame() |
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189 | { |
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190 | 144137a1 | Alex Zirbel | delete update_timer;
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191 | 266ae7f2 | Alex Zirbel | } |
192 | |||
193 | 4612f7e4 | Alex Zirbel | bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
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194 | scoutsim::Spawn::Response &res) |
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195 | 266ae7f2 | Alex Zirbel | { |
196 | std::string name = spawnScout(req.name, req.x, req.y, req.theta);
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197 | if (name.empty())
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198 | { |
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199 | 43811241 | Alex | ROS_WARN("A scout named [%s] already exists", req.name.c_str());
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200 | 266ae7f2 | Alex Zirbel | return false; |
201 | } |
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202 | |||
203 | res.name = name; |
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204 | return true; |
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205 | } |
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206 | |||
207 | 0e143737 | Hui Jun Tay | |
208 | bool SimFrame::spawnEmCallback(scoutsim::Spawn::Request &req,
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209 | scoutsim::Spawn::Response &res) |
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210 | { |
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211 | std::string name = spawnEmitter(req.name, req.x, req.y, req.theta);
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212 | if (name.empty())
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213 | { |
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214 | ROS_WARN("An emitter named [%s] already exists", req.name.c_str());
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215 | return false; |
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216 | } |
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217 | res.name = name; |
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218 | return true; |
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219 | } |
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220 | |||
221 | 266ae7f2 | Alex Zirbel | bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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222 | scoutsim::Kill::Response&) |
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223 | { |
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224 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.find(req.name); |
225 | 98ed4757 | Hui Jun Tay | M_Emitter::iterator m_it = emitters.find(req.name); |
226 | 144137a1 | Alex Zirbel | if (it == scouts.end())
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227 | 266ae7f2 | Alex Zirbel | { |
228 | 98ed4757 | Hui Jun Tay | if (m_it == emitters.end()) {
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229 | ROS_WARN("Tried to kill scout/emitter [%s], which does not exist",
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230 | req.name.c_str()); |
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231 | return false; |
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232 | } |
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233 | emitters.erase(m_it); |
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234 | return true; |
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235 | 266ae7f2 | Alex Zirbel | } |
236 | |||
237 | 144137a1 | Alex Zirbel | scouts.erase(it); |
238 | 266ae7f2 | Alex Zirbel | |
239 | return true; |
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240 | } |
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241 | |||
242 | 43811241 | Alex | bool SimFrame::setSonarVizCallback(SetSonarViz::Request& req,
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243 | SetSonarViz::Response&) |
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244 | { |
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245 | M_Scout::iterator it = scouts.find(req.scout_name); |
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246 | if (it == scouts.end())
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247 | { |
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248 | ROS_WARN("Tried to set sonar on scout [%s], which does not exist",
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249 | req.scout_name.c_str()); |
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250 | return false; |
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251 | } |
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252 | |||
253 | it->second->set_sonar_visual(req.on); |
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254 | return true; |
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255 | } |
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256 | |||
257 | bool SimFrame::setGhostCallback(SetGhost::Request& req,
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258 | SetGhost::Response&) |
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259 | { |
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260 | for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
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261 | { |
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262 | if (ghost_scouts.at(i)->get_name() == req.scout_name)
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263 | { |
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264 | ghost_scouts.at(i)->set_visible(req.on); |
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265 | return true; |
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266 | } |
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267 | } |
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268 | |||
269 | ROS_WARN("Tried to set ghost on scout [%s], which does not exist",
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270 | req.scout_name.c_str()); |
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271 | return false; |
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272 | } |
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273 | |||
274 | bool SimFrame::setTeleopCallback(SetTeleop::Request& req,
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275 | SetTeleop::Response&) |
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276 | { |
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277 | std::stringstream ss; |
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278 | ss << "/" << req.scout_name << "/set_motors"; |
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279 | 6ebee82c | Alex | teleop_pub = nh.advertise< ::messages::set_motors>(ss.str(), 1000);
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280 | 60a90290 | Hui Jun Tay | teleop_scoutname = req.scout_name.c_str(); |
281 | ROS_INFO("Teleoping %s...",teleop_scoutname.c_str()); //debug statement |
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282 | 43811241 | Alex | |
283 | return true; |
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284 | } |
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285 | |||
286 | 266ae7f2 | Alex Zirbel | bool SimFrame::hasScout(const std::string& name) |
287 | { |
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288 | 144137a1 | Alex Zirbel | return scouts.find(name) != scouts.end();
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289 | 266ae7f2 | Alex Zirbel | } |
290 | |||
291 | 0e143737 | Hui Jun Tay | bool SimFrame::hasEmitter(const std::string& name) |
292 | { |
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293 | return emitters.find(name) != emitters.end();
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294 | } |
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295 | |||
296 | 9b3564f3 | Alex Zirbel | std::string SimFrame::spawnScout(const std::string& name, |
297 | float x, float y, float angle) |
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298 | 266ae7f2 | Alex Zirbel | { |
299 | std::string real_name = name;
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300 | if (real_name.empty())
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301 | { |
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302 | 43811241 | Alex | // Generate the name scoutX, where X is an increasing number.
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303 | 266ae7f2 | Alex Zirbel | do
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304 | { |
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305 | std::stringstream ss; |
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306 | 144137a1 | Alex Zirbel | ss << "scout" << ++id_counter;
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307 | 266ae7f2 | Alex Zirbel | real_name = ss.str(); |
308 | 43811241 | Alex | } |
309 | while (hasScout(real_name));
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310 | 266ae7f2 | Alex Zirbel | } |
311 | else
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312 | { |
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313 | if (hasScout(real_name))
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314 | { |
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315 | return ""; |
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316 | } |
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317 | } |
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318 | |||
319 | 594c3bb9 | Alex | wxImage scout_image; |
320 | |||
321 | // Try to load a name-specific image; if not, load the default scout
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322 | string specific_name = images_path + name + ".png"; |
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323 | if (fileExists(specific_name))
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324 | { |
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325 | scout_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
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326 | scout_image.SetMask(true);
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327 | scout_image.SetMaskColour(255, 255, 255); |
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328 | } |
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329 | else
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330 | { |
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331 | scout_image.LoadFile( |
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332 | wxString::FromAscii((images_path + "scout.png").c_str()));
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333 | scout_image.SetMask(true);
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334 | scout_image.SetMaskColour(255, 255, 255); |
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335 | } |
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336 | |||
337 | 266ae7f2 | Alex Zirbel | ScoutPtr t(new Scout(ros::NodeHandle(real_name),
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338 | 594c3bb9 | Alex | scout_image, Vector2(x, y), &path_bitmap, angle)); |
339 | 144137a1 | Alex Zirbel | scouts[real_name] = t; |
340 | 266ae7f2 | Alex Zirbel | |
341 | 0e0ef125 | Priya | ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
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342 | scout_image, Vector2(x, y), &path_bitmap, angle, name)); |
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343 | |||
344 | 266ae7f2 | Alex Zirbel | ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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345 | real_name.c_str(), x, y, angle); |
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346 | |||
347 | return real_name;
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348 | } |
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349 | |||
350 | 0e143737 | Hui Jun Tay | |
351 | std::string SimFrame::spawnEmitter(const std::string& name, |
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352 | float x, float y, float angle) |
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353 | { |
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354 | std::string real_name = name;
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355 | if (real_name.empty())
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356 | { |
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357 | // Generate the name emitterX, where X is an increasing number.
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358 | do
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359 | { |
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360 | std::stringstream ss; |
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361 | 46ed9b9b | Yuyang (Misty) Guo | ss << "emitter_" << ++BOM_counter;
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362 | 0e143737 | Hui Jun Tay | real_name = ss.str(); |
363 | } |
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364 | while (hasEmitter(real_name));
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365 | } |
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366 | else
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367 | { |
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368 | if (hasEmitter(real_name))
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369 | { |
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370 | return ""; |
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371 | } |
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372 | } |
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373 | |||
374 | wxImage emitter_image; |
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375 | |||
376 | // Try to load a name-specific image; if not, load the default emitter
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377 | string specific_name = images_path + name + ".png"; |
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378 | if (fileExists(specific_name))
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379 | { |
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380 | emitter_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
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381 | emitter_image.SetMask(true);
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382 | emitter_image.SetMaskColour(255, 255, 255); |
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383 | } |
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384 | else
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385 | { |
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386 | ROS_INFO("LOADED EMITTER IMAGE");
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387 | emitter_image.LoadFile( |
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388 | wxString::FromAscii((images_path + "emitter.png").c_str()));
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389 | emitter_image.SetMask(true);
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390 | emitter_image.SetMaskColour(255, 255, 255); |
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391 | } |
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392 | |||
393 | EmitterPtr t(new Emitter(ros::NodeHandle(real_name),
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394 | emitter_image, Vector2(x, y), &path_bitmap, |
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395 | angle, em_aperture, em_distance)); |
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396 | emitters[real_name] = t; |
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397 | |||
398 | ROS_INFO("Spawning emitter [%s] at x=[%f], y=[%f], theta=[%f]",
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399 | real_name.c_str(), x, y, angle); |
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400 | |||
401 | return real_name;
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402 | } |
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403 | |||
404 | |||
405 | 2eaafff2 | Alex | void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
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406 | { |
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407 | Close(true);
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408 | } |
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409 | |||
410 | void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
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411 | { |
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412 | wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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413 | "\nThe Colony Project is a part of the Carnegie Mellon\n"
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414 | "Robotics Club. Our goal is to use cooperative low-cost\n"
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415 | "robots to solve challenging problems."),
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416 | _("About Scoutsim"),
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417 | wxOK | wxICON_INFORMATION, this );
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418 | } |
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419 | |||
420 | void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
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421 | 266ae7f2 | Alex Zirbel | { |
422 | 2eaafff2 | Alex | clear(); |
423 | } |
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424 | 266ae7f2 | Alex Zirbel | |
425 | 2eaafff2 | Alex | void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
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426 | { |
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427 | ade1b7f9 | Alex | display_map_name = map_base_name; |
428 | 2eaafff2 | Alex | clear(); |
429 | } |
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430 | 266ae7f2 | Alex Zirbel | |
431 | 2eaafff2 | Alex | void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
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432 | { |
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433 | ade1b7f9 | Alex | display_map_name = map_lines_name; |
434 | 2eaafff2 | Alex | clear(); |
435 | } |
||
436 | 7ffad595 | Alex | |
437 | void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
|
||
438 | { |
||
439 | display_map_name = map_walls_name; |
||
440 | clear(); |
||
441 | } |
||
442 | 2eaafff2 | Alex | |
443 | void SimFrame::clear()
|
||
444 | { |
||
445 | path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
||
446 | 144137a1 | Alex Zirbel | path_dc.Clear(); |
447 | 2eaafff2 | Alex | |
448 | 6639ce9c | viki | sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0))); |
449 | sonar_dc.Clear(); |
||
450 | |||
451 | sonar_dc.SelectObject(path_bitmap); |
||
452 | |||
453 | 2eaafff2 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
454 | path_dc.SelectObject(path_bitmap); |
||
455 | SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
||
456 | 266ae7f2 | Alex Zirbel | } |
457 | |||
458 | 7f095440 | Priya | // Runs every REAL_TIME_REFRESH_RATE.
|
459 | 266ae7f2 | Alex Zirbel | void SimFrame::onUpdate(wxTimerEvent& evt)
|
460 | { |
||
461 | ros::spinOnce(); |
||
462 | |||
463 | 0e77683c | Alex | teleop(); |
464 | |||
465 | 266ae7f2 | Alex Zirbel | updateScouts(); |
466 | |||
467 | if (!ros::ok())
|
||
468 | { |
||
469 | Close(); |
||
470 | } |
||
471 | 04114d13 | Alex | |
472 | frame_count++; |
||
473 | 266ae7f2 | Alex Zirbel | } |
474 | |||
475 | void SimFrame::onPaint(wxPaintEvent& evt)
|
||
476 | { |
||
477 | wxPaintDC dc(this);
|
||
478 | |||
479 | 144137a1 | Alex Zirbel | dc.DrawBitmap(path_bitmap, 0, 0, true); |
480 | 266ae7f2 | Alex Zirbel | |
481 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
482 | M_Scout::iterator end = scouts.end(); |
||
483 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
|
484 | { |
||
485 | it->second->paint(dc); |
||
486 | } |
||
487 | 0e143737 | Hui Jun Tay | |
488 | |||
489 | M_Emitter::iterator m_it = emitters.begin(); |
||
490 | M_Emitter::iterator m_end = emitters.end(); |
||
491 | for (; m_it != m_end; ++m_it)
|
||
492 | { |
||
493 | m_it->second->paint(dc); |
||
494 | } |
||
495 | |||
496 | 43811241 | Alex | for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
497 | 0e0ef125 | Priya | { |
498 | ghost_scouts.at(i)->paint(dc); |
||
499 | } |
||
500 | 266ae7f2 | Alex Zirbel | } |
501 | |||
502 | 594c3bb9 | Alex | bool SimFrame::fileExists(const std::string& filename) |
503 | { |
||
504 | struct stat buf;
|
||
505 | if (stat(filename.c_str(), &buf) != -1) |
||
506 | { |
||
507 | return true; |
||
508 | } |
||
509 | return false; |
||
510 | } |
||
511 | |||
512 | 0e77683c | Alex | void SimFrame::stopTeleop(wxCommandEvent& event)
|
513 | { |
||
514 | teleop_type = TELEOP_OFF; |
||
515 | teleop_l_speed = 0;
|
||
516 | teleop_r_speed = 0;
|
||
517 | } |
||
518 | |||
519 | void SimFrame::startTeleopPrecise(wxCommandEvent& event)
|
||
520 | { |
||
521 | teleop_type = TELEOP_PRECISE; |
||
522 | teleop_l_speed = 0;
|
||
523 | teleop_r_speed = 0;
|
||
524 | } |
||
525 | |||
526 | void SimFrame::startTeleopFluid(wxCommandEvent& event)
|
||
527 | { |
||
528 | teleop_type = TELEOP_FLUID; |
||
529 | teleop_l_speed = 0;
|
||
530 | teleop_r_speed = 0;
|
||
531 | teleop_fluid_speed = 0;
|
||
532 | teleop_fluid_omega = 0;
|
||
533 | } |
||
534 | |||
535 | void SimFrame::teleop_move_precise()
|
||
536 | { |
||
537 | // Default to stop
|
||
538 | teleop_l_speed = 0;
|
||
539 | teleop_r_speed = 0;
|
||
540 | |||
541 | if (wxGetKeyState(WXK_UP))
|
||
542 | { |
||
543 | teleop_l_speed = TELEOP_PRECISE_SPEED; |
||
544 | teleop_r_speed = TELEOP_PRECISE_SPEED; |
||
545 | } |
||
546 | else if (wxGetKeyState(WXK_DOWN)) |
||
547 | { |
||
548 | teleop_l_speed = -TELEOP_PRECISE_SPEED; |
||
549 | teleop_r_speed = -TELEOP_PRECISE_SPEED; |
||
550 | } |
||
551 | else if (wxGetKeyState(WXK_LEFT)) |
||
552 | { |
||
553 | 43811241 | Alex | teleop_l_speed = -TELEOP_PRECISE_TURN_SPEED; |
554 | teleop_r_speed = TELEOP_PRECISE_TURN_SPEED; |
||
555 | 0e77683c | Alex | } |
556 | else if (wxGetKeyState(WXK_RIGHT)) |
||
557 | { |
||
558 | 43811241 | Alex | teleop_l_speed = TELEOP_PRECISE_TURN_SPEED; |
559 | teleop_r_speed = -TELEOP_PRECISE_TURN_SPEED; |
||
560 | 0e77683c | Alex | } |
561 | } |
||
562 | |||
563 | void SimFrame::teleop_move_fluid()
|
||
564 | { |
||
565 | if (wxGetKeyState(WXK_UP))
|
||
566 | { |
||
567 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC * 2;
|
568 | 0e77683c | Alex | } |
569 | else if (wxGetKeyState(WXK_DOWN)) |
||
570 | { |
||
571 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC * 2;
|
572 | 0e77683c | Alex | } |
573 | 04114d13 | Alex | else if (teleop_fluid_speed > TELEOP_FLUID_INC) |
574 | 0e77683c | Alex | { |
575 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC; |
576 | 0e77683c | Alex | } |
577 | 04114d13 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_INC) |
578 | 0e77683c | Alex | { |
579 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC; |
580 | 0e77683c | Alex | } |
581 | 04114d13 | Alex | else
|
582 | { |
||
583 | teleop_fluid_speed = 0;
|
||
584 | } |
||
585 | 0e77683c | Alex | |
586 | if (wxGetKeyState(WXK_LEFT))
|
||
587 | { |
||
588 | 7f095440 | Priya | teleop_fluid_omega -= TELEOP_FLUID_INC * 2;
|
589 | 0e77683c | Alex | } |
590 | else if (wxGetKeyState(WXK_RIGHT)) |
||
591 | { |
||
592 | 7f095440 | Priya | teleop_fluid_omega += TELEOP_FLUID_INC * 2;
|
593 | 0e77683c | Alex | } |
594 | 0076084e | Alex | else
|
595 | 0e77683c | Alex | { |
596 | 0076084e | Alex | teleop_fluid_omega = 0;
|
597 | 0e77683c | Alex | } |
598 | |||
599 | if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
|
||
600 | { |
||
601 | teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED; |
||
602 | } |
||
603 | c63c9752 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED) |
604 | { |
||
605 | teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED; |
||
606 | } |
||
607 | 04114d13 | Alex | if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED)
|
608 | 0e77683c | Alex | { |
609 | 04114d13 | Alex | teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED; |
610 | 0e77683c | Alex | } |
611 | 04114d13 | Alex | else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED) |
612 | c63c9752 | Alex | { |
613 | 04114d13 | Alex | teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED; |
614 | c63c9752 | Alex | } |
615 | 0e77683c | Alex | |
616 | 04114d13 | Alex | int l_speed = teleop_fluid_speed + teleop_fluid_omega;
|
617 | int r_speed = teleop_fluid_speed - teleop_fluid_omega;
|
||
618 | |||
619 | teleop_l_speed = max(MIN_ABSOLUTE_SPEED, |
||
620 | min(MAX_ABSOLUTE_SPEED, l_speed)); |
||
621 | teleop_r_speed = max(MIN_ABSOLUTE_SPEED, |
||
622 | min(MAX_ABSOLUTE_SPEED, r_speed)); |
||
623 | 0e77683c | Alex | } |
624 | |||
625 | void SimFrame::teleop()
|
||
626 | { |
||
627 | switch (teleop_type)
|
||
628 | { |
||
629 | case TELEOP_OFF:
|
||
630 | return;
|
||
631 | case TELEOP_PRECISE:
|
||
632 | teleop_move_precise(); |
||
633 | break;
|
||
634 | case TELEOP_FLUID:
|
||
635 | teleop_move_fluid(); |
||
636 | break;
|
||
637 | } |
||
638 | |||
639 | 6ebee82c | Alex | ::messages::set_motors msg; |
640 | 0e77683c | Alex | msg.fl_set = true;
|
641 | msg.fr_set = true;
|
||
642 | msg.bl_set = true;
|
||
643 | msg.br_set = true;
|
||
644 | 60a90290 | Hui Jun Tay | msg.teleop_ON = true;
|
645 | 0e77683c | Alex | |
646 | msg.fl_speed = teleop_l_speed; |
||
647 | msg.fr_speed = teleop_r_speed; |
||
648 | msg.bl_speed = teleop_l_speed; |
||
649 | msg.br_speed = teleop_r_speed; |
||
650 | |||
651 | teleop_pub.publish(msg); |
||
652 | } |
||
653 | |||
654 | 266ae7f2 | Alex Zirbel | void SimFrame::updateScouts()
|
655 | { |
||
656 | 60a90290 | Hui Jun Tay | |
657 | 144137a1 | Alex Zirbel | if (last_scout_update.isZero())
|
658 | 266ae7f2 | Alex Zirbel | { |
659 | 144137a1 | Alex Zirbel | last_scout_update = ros::WallTime::now(); |
660 | 266ae7f2 | Alex Zirbel | return;
|
661 | } |
||
662 | |||
663 | 04114d13 | Alex | path_image = path_bitmap.ConvertToImage(); |
664 | Refresh(); |
||
665 | 266ae7f2 | Alex Zirbel | |
666 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
667 | M_Scout::iterator end = scouts.end(); |
||
668 | e3f69e61 | Alex | |
669 | 0e143737 | Hui Jun Tay | M_Emitter::iterator m_it = emitters.begin(); |
670 | M_Emitter::iterator m_end = emitters.end(); |
||
671 | |||
672 | e3f69e61 | Alex | world_state state; |
673 | state.canvas_width = width_in_meters; |
||
674 | state.canvas_height = height_in_meters; |
||
675 | |||
676 | 71ae6e3f | Hui Jun Tay | |
677 | 98ed4757 | Hui Jun Tay | for (; m_it != m_end; ++m_it)
|
678 | 266ae7f2 | Alex Zirbel | { |
679 | 60a90290 | Hui Jun Tay | |
680 | 98ed4757 | Hui Jun Tay | m_it->second->update(SIM_TIME_REFRESH_RATE, |
681 | path_dc, |
||
682 | a2e6bd4c | Alex | path_image, lines_image, walls_image, |
683 | 144137a1 | Alex Zirbel | path_dc.GetBackground().GetColour(), |
684 | f09d002e | Hui Jun Tay | state); |
685 | 266ae7f2 | Alex Zirbel | } |
686 | |||
687 | 0e143737 | Hui Jun Tay | |
688 | 98ed4757 | Hui Jun Tay | for (; it != end; ++it)
|
689 | 0e143737 | Hui Jun Tay | { |
690 | 98ed4757 | Hui Jun Tay | //ROS_INFO(it->second);
|
691 | geometry_msgs::Pose2D scout_pos; |
||
692 | scout_pos = it->second->update(SIM_TIME_REFRESH_RATE, |
||
693 | path_dc, sonar_dc, |
||
694 | 0e143737 | Hui Jun Tay | path_image, lines_image, walls_image, |
695 | path_dc.GetBackground().GetColour(), |
||
696 | 98ed4757 | Hui Jun Tay | sonar_dc.GetBackground().GetColour(), |
697 | 0e143737 | Hui Jun Tay | state); |
698 | 98ed4757 | Hui Jun Tay | |
699 | 71ae6e3f | Hui Jun Tay | checkBOM(scout_pos, it); |
700 | 0e143737 | Hui Jun Tay | } |
701 | |||
702 | 98ed4757 | Hui Jun Tay | |
703 | 43811241 | Alex | for (unsigned int i = 0; i < ghost_scouts.size(); ++i) |
704 | 0e0ef125 | Priya | { |
705 | 7f095440 | Priya | ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc, |
706 | 0e0ef125 | Priya | path_dc.GetBackground().GetColour(), state); |
707 | } |
||
708 | |||
709 | 0e143737 | Hui Jun Tay | |
710 | c492be62 | Alex Zirbel | frame_count++; |
711 | 266ae7f2 | Alex Zirbel | } |
712 | |||
713 | 0e143737 | Hui Jun Tay | |
714 | 71ae6e3f | Hui Jun Tay | void SimFrame::checkBOM(geometry_msgs::Pose2D scout_pos,
|
715 | M_Scout::iterator it) |
||
716 | 7b94db2c | Hui Jun Tay | { |
717 | |||
718 | geometry_msgs::Pose2D bom_pos; |
||
719 | double x_offset;
|
||
720 | double y_offset;
|
||
721 | double offset_angle;
|
||
722 | double diag_dis = pow((pow((SCOUT_W/2.0),2) + |
||
723 | pow((SCOUT_H/2.0),2)),(0.5)); |
||
724 | int emitter_id;
|
||
725 | |||
726 | for (int i = 0; i < 10; i++) { |
||
727 | emitter_id = -1;
|
||
728 | |||
729 | diag_dis = pow((pow((SCOUT_W/2.0),2) + |
||
730 | pow((SCOUT_H/2.0),2)),(0.5)); |
||
731 | |||
732 | if (i == 2) { //middle left |
||
733 | offset_angle = PI/2.0; |
||
734 | bom_pos.theta = scout_pos.theta + PI/2.0; |
||
735 | } |
||
736 | else if (i == 7) { //middle right |
||
737 | offset_angle = 3*PI/2.0; |
||
738 | bom_pos.theta = scout_pos.theta + 3.0*PI/2.0; |
||
739 | } |
||
740 | else if (i < 2) { //top left |
||
741 | offset_angle = atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0))); |
||
742 | bom_pos.theta = scout_pos.theta + PI/2.0 * i; |
||
743 | } |
||
744 | else if (i >= 2 && i <5) { //bottom left |
||
745 | offset_angle = PI - atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0))); |
||
746 | bom_pos.theta = scout_pos.theta + PI/2.0 + PI/2.0 * (i/4); |
||
747 | } |
||
748 | else if (i >= 5 && i < 8) { //bottom right |
||
749 | offset_angle = PI + atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0))); |
||
750 | bom_pos.theta = scout_pos.theta + PI + PI/2.0 * (i/6); |
||
751 | } |
||
752 | else { //top right |
||
753 | offset_angle = 2*PI - atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0))); |
||
754 | bom_pos.theta = scout_pos.theta + 3*PI/2.0 + PI/2.0 * (i/9); |
||
755 | } |
||
756 | offset_angle += scout_pos.theta; |
||
757 | |||
758 | if (i == 2 || i == 7) { |
||
759 | x_offset = (SCOUT_W/2.0)*cos(offset_angle); |
||
760 | y_offset = (SCOUT_W/2.0)*sin(offset_angle); |
||
761 | } |
||
762 | else {
|
||
763 | x_offset = diag_dis*cos(offset_angle); |
||
764 | y_offset = diag_dis*sin(offset_angle); |
||
765 | } |
||
766 | |||
767 | bom_pos.x = scout_pos.x + x_offset; |
||
768 | bom_pos.y = scout_pos.y - y_offset; |
||
769 | |||
770 | if (bom_pos.theta > 2*PI) { |
||
771 | bom_pos.theta -= 2*PI;
|
||
772 | } |
||
773 | else if (bom_pos.theta < 0) { |
||
774 | bom_pos.theta += 2*PI;
|
||
775 | } |
||
776 | |||
777 | emitter_id = getActiveEmitter(bom_pos); |
||
778 | |||
779 | if (emitter_id >= 0) { |
||
780 | it->second->update_BOM(i, 1, emitter_id);
|
||
781 | } |
||
782 | else {
|
||
783 | it->second->update_BOM(i, 0, -1); |
||
784 | } |
||
785 | |||
786 | } |
||
787 | |||
788 | |||
789 | } |
||
790 | |||
791 | int SimFrame::getActiveEmitter(geometry_msgs::Pose2D bom_pos) {
|
||
792 | 71ae6e3f | Hui Jun Tay | |
793 | M_Emitter::iterator m_it = emitters.begin(); |
||
794 | M_Emitter::iterator m_end = emitters.end(); |
||
795 | 7b94db2c | Hui Jun Tay | int emitter_id = -1; |
796 | for (; m_it != m_end; ++m_it) {
|
||
797 | 71ae6e3f | Hui Jun Tay | geometry_msgs::Pose2D emitter_pos; |
798 | emitter_pos = m_it->second->get_pos(); |
||
799 | 46ed9b9b | Yuyang (Misty) Guo | |
800 | 7b94db2c | Hui Jun Tay | if(is_inrange(bom_pos, emitter_pos, em_aperture, em_distance) &&
|
801 | is_inrange(emitter_pos, bom_pos, BOM_APERTURE, BOM_DISTANCE)) { |
||
802 | string em_id_str = m_it->first.substr(m_it->first.find("_")+1); |
||
803 | emitter_id = atoi(em_id_str.c_str()); |
||
804 | return emitter_id;
|
||
805 | 71ae6e3f | Hui Jun Tay | } |
806 | } |
||
807 | 7b94db2c | Hui Jun Tay | return -1; |
808 | 71ae6e3f | Hui Jun Tay | } |
809 | |||
810 | |||
811 | 266ae7f2 | Alex Zirbel | bool SimFrame::clearCallback(std_srvs::Empty::Request&,
|
812 | std_srvs::Empty::Response&) |
||
813 | { |
||
814 | ROS_INFO("Clearing scoutsim.");
|
||
815 | clear(); |
||
816 | return true; |
||
817 | } |
||
818 | |||
819 | bool SimFrame::resetCallback(std_srvs::Empty::Request&,
|
||
820 | std_srvs::Empty::Response&) |
||
821 | { |
||
822 | ROS_INFO("Resetting scoutsim.");
|
||
823 | 144137a1 | Alex Zirbel | scouts.clear(); |
824 | id_counter = 0;
|
||
825 | 46ed9b9b | Yuyang (Misty) Guo | BOM_counter = 0;
|
826 | |||
827 | 144137a1 | Alex Zirbel | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
828 | 266ae7f2 | Alex Zirbel | clear(); |
829 | return true; |
||
830 | } |
||
831 | |||
832 | 1d1281cc | Priya | void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
833 | 82f3f746 | Priya | { |
834 | wireless_receive.publish(msg); |
||
835 | } |
||
836 | 0e143737 | Hui Jun Tay | |
837 | |||
838 | 71ae6e3f | Hui Jun Tay | bool SimFrame::is_inrange(geometry_msgs::Pose2D scout_pos,
|
839 | 11bb78c2 | Hui Jun Tay | geometry_msgs::Pose2D emitter_pos, |
840 | double aperture, double distance) |
||
841 | 71ae6e3f | Hui Jun Tay | |
842 | 0e143737 | Hui Jun Tay | { |
843 | 98ed4757 | Hui Jun Tay | //ROS_INFO("SCOUT: %f %f %f ", scout_pos.x, scout_pos.x, scout_pos.theta);
|
844 | //ROS_INFO("EMITTER: %f %f %f ", emitter_pos.x, emitter_pos.x, emitter_pos.theta);
|
||
845 | double se_distance = pow((pow((scout_pos.x - emitter_pos.x),2) + |
||
846 | pow((scout_pos.y - emitter_pos.y),2)),(0.5)); |
||
847 | double se_angle = atan((scout_pos.x - emitter_pos.x)/(scout_pos.y - emitter_pos.y));
|
||
848 | if (scout_pos.y < emitter_pos.y)
|
||
849 | { |
||
850 | se_angle = se_angle + PI/2;
|
||
851 | } |
||
852 | else
|
||
853 | { |
||
854 | se_angle = se_angle + PI*3/2; |
||
855 | } |
||
856 | double emitter_orient = emitter_pos.theta;
|
||
857 | |||
858 | //ROS_INFO("distance: %f, angle: %f, orient: %f", se_distance, se_angle, emitter_orient);
|
||
859 | |||
860 | 11bb78c2 | Hui Jun Tay | if ((se_distance <= distance)) { //distance check |
861 | 0e143737 | Hui Jun Tay | |
862 | 11bb78c2 | Hui Jun Tay | double upper_limit = (emitter_orient + aperture/2); |
863 | double lower_limit = (emitter_orient - aperture/2); |
||
864 | 98ed4757 | Hui Jun Tay | |
865 | //ROS_INFO("upper: %f, lower: %f", upper_limit, lower_limit+2*PI);
|
||
866 | |||
867 | if (upper_limit > 2*PI) { |
||
868 | if (((se_angle < 2*PI) && (se_angle > (lower_limit))) || |
||
869 | ((se_angle < upper_limit-2*PI) && (se_angle >= 0))) { |
||
870 | 71ae6e3f | Hui Jun Tay | return true; |
871 | 98ed4757 | Hui Jun Tay | } |
872 | |||
873 | } |
||
874 | else if (lower_limit < 0) { |
||
875 | if (((se_angle < 2*PI) && (se_angle > (lower_limit+2*PI))) || |
||
876 | ((se_angle < upper_limit) && (se_angle >= 0))) {
|
||
877 | 71ae6e3f | Hui Jun Tay | return true; |
878 | 98ed4757 | Hui Jun Tay | } |
879 | |||
880 | |||
881 | } |
||
882 | else {
|
||
883 | if ((se_angle < upper_limit) && //angle check |
||
884 | (se_angle > lower_limit)) { |
||
885 | 71ae6e3f | Hui Jun Tay | return true; |
886 | 98ed4757 | Hui Jun Tay | } |
887 | } |
||
888 | } |
||
889 | 71ae6e3f | Hui Jun Tay | return false; |
890 | 98ed4757 | Hui Jun Tay | |
891 | 0e143737 | Hui Jun Tay | } |
892 | |||
893 | 266ae7f2 | Alex Zirbel | } |
894 | 3a73516c | Alex | |
895 | /** @} */ |