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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 "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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        path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str()));
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        sonar_visual_on = TRUE;
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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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        // 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_PRECISE;
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        teleop_l_speed = 0;
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        teleop_r_speed = 0;
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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_SONAR, _("S&onar"));
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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_ERROR("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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    }
185

    
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    bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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                                scoutsim::Kill::Response&)
188
    {
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        M_Scout::iterator it = scouts.find(req.name);
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        if (it == scouts.end())
191
        {
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            ROS_ERROR("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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        }
196

    
197
        scouts.erase(it);
198

    
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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)
209
    {
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        std::string real_name = name;
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        if (real_name.empty())
212
        {
213
            do
214
            {
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                std::stringstream ss;
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                ss << "scout" << ++id_counter;
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                real_name = ss.str();
218
            } while (hasScout(real_name));
219
        }
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        else
221
        {
222
            if (hasScout(real_name))
223
            {
224
                return "";
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            }
226
        }
227

    
228
        wxImage scout_image;
229

    
230
        // Try to load a name-specific image; if not, load the default scout
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        string specific_name = images_path + name + ".png";
232
        if (fileExists(specific_name))
233
        {
234
            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);
237
        }
238
        else
239
        {
240
            scout_image.LoadFile(
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                wxString::FromAscii((images_path + "scout.png").c_str()));
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            scout_image.SetMask(true);
243
            scout_image.SetMaskColour(255, 255, 255);
244
        }
245

    
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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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250
        ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
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                scout_image, Vector2(x, y), &path_bitmap, angle, name));
252

    
253
        ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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                 real_name.c_str(), x, y, angle);
255

    
256
        return real_name;
257
    }
258

    
259
    void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
260
    {
261
        Close(true);
262
    }
263

    
264
    void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
265
    {
266
        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"
269
                       "robots to solve challenging problems."),
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                     _("About Scoutsim"),
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                     wxOK | wxICON_INFORMATION, this );
272
    }
273

    
274
    void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
275
    {
276
        clear();
277
    }
278

    
279
    void SimFrame::showSonar(wxCommandEvent& WXUNUSED(event))
280
    {
281
        sonar_visual_on = not sonar_visual_on;
282
        clear();
283
    }
284

    
285

    
286
    void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
287
    {
288
        display_map_name = map_base_name;
289
        clear();
290
    }
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292
    void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
293
    {
294
        display_map_name = map_lines_name;
295
        clear();
296
    }
297
    
298
    void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
299
    {
300
        display_map_name = map_walls_name;
301
        clear();
302
    }
303

    
304
    void SimFrame::clear()
305
    {
306
        path_dc.SetBackground(wxBrush(wxColour(100, 100, 100)));
307
        path_dc.Clear();
308

    
309
        sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0)));
310
        sonar_dc.Clear();
311

    
312
        sonar_dc.SelectObject(path_bitmap);
313

    
314
        path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str()));
315
        path_dc.SelectObject(path_bitmap);
316
        SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight()));
317
    }
318

    
319
    // Runs every REAL_TIME_REFRESH_RATE.
320
    void SimFrame::onUpdate(wxTimerEvent& evt)
321
    {
322
        ros::spinOnce();
323

    
324
        teleop();
325

    
326
        updateScouts();
327

    
328
        if (!ros::ok())
329
        {
330
            Close();
331
        }
332

    
333
        frame_count++;
334
    }
335

    
336
    void SimFrame::onPaint(wxPaintEvent& evt)
337
    {
338
        wxPaintDC dc(this);
339

    
340
        dc.DrawBitmap(path_bitmap, 0, 0, true);
341

    
342
        M_Scout::iterator it = scouts.begin();
343
        M_Scout::iterator end = scouts.end();
344
        for (; it != end; ++it)
345
        {
346
            it->second->paint(dc);
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        }
348
        for (unsigned int i=0; i<ghost_scouts.size(); ++i)
349
        {
350
            ghost_scouts.at(i)->paint(dc);
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        }
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    }
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354
    bool SimFrame::fileExists(const std::string& filename)
355
    {
356
        struct stat buf;
357
        if (stat(filename.c_str(), &buf) != -1)
358
        {
359
            return true;
360
        }
361
        return false;
362
    }
363

    
364
    void SimFrame::stopTeleop(wxCommandEvent& event)
365
    {
366
        teleop_type = TELEOP_OFF;
367
        teleop_l_speed = 0;
368
        teleop_r_speed = 0;
369
    }
370

    
371
    void SimFrame::startTeleopPrecise(wxCommandEvent& event)
372
    {
373
        teleop_type = TELEOP_PRECISE;
374
        teleop_l_speed = 0;
375
        teleop_r_speed = 0;
376
    }
377

    
378
    void SimFrame::startTeleopFluid(wxCommandEvent& event)
379
    {
380
        teleop_type = TELEOP_FLUID;
381
        teleop_l_speed = 0;
382
        teleop_r_speed = 0;
383
        teleop_fluid_speed = 0;
384
        teleop_fluid_omega = 0;
385
    }
386

    
387
    void SimFrame::teleop_move_precise()
388
    {
389
        // Default to stop
390
        teleop_l_speed = 0;
391
        teleop_r_speed = 0;
392

    
393
        if (wxGetKeyState(WXK_UP))
394
        {
395
            teleop_l_speed = TELEOP_PRECISE_SPEED;
396
            teleop_r_speed = TELEOP_PRECISE_SPEED;
397
        }
398
        else if (wxGetKeyState(WXK_DOWN))
399
        {
400
            teleop_l_speed = -TELEOP_PRECISE_SPEED;
401
            teleop_r_speed = -TELEOP_PRECISE_SPEED;
402
        }
403
        else if (wxGetKeyState(WXK_LEFT))
404
        {
405
            teleop_l_speed = -TELEOP_PRECISE_SPEED * 4;
406
            teleop_r_speed = TELEOP_PRECISE_SPEED * 4;
407
        }
408
        else if (wxGetKeyState(WXK_RIGHT))
409
        {
410
            teleop_l_speed = TELEOP_PRECISE_SPEED * 4;
411
            teleop_r_speed = -TELEOP_PRECISE_SPEED * 4;
412
        }
413
    }
414

    
415
    void SimFrame::teleop_move_fluid()
416
    {
417
        if (wxGetKeyState(WXK_UP))
418
        {
419
            teleop_fluid_speed += TELEOP_FLUID_INC * 2;
420
        }
421
        else if (wxGetKeyState(WXK_DOWN))
422
        {
423
            teleop_fluid_speed -= TELEOP_FLUID_INC * 2;
424
        }
425
        else if (teleop_fluid_speed > TELEOP_FLUID_INC)
426
        {
427
            teleop_fluid_speed -= TELEOP_FLUID_INC;
428
        }
429
        else if (teleop_fluid_speed < -TELEOP_FLUID_INC)
430
        {
431
            teleop_fluid_speed += TELEOP_FLUID_INC;
432
        }
433
        else
434
        {
435
            teleop_fluid_speed = 0;
436
        }
437

    
438
        if (wxGetKeyState(WXK_LEFT))
439
        {
440
            teleop_fluid_omega -= TELEOP_FLUID_INC * 2;
441
        }
442
        else if (wxGetKeyState(WXK_RIGHT))
443
        {
444
            teleop_fluid_omega += TELEOP_FLUID_INC * 2;
445
        }
446
        else
447
        {
448
            teleop_fluid_omega = 0;
449
        }
450

    
451
        if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
452
        {
453
            teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED;
454
        }
455
        else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED)
456
        {
457
            teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED;
458
        }
459
        if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED)
460
        {
461
            teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED;
462
        }
463
        else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED)
464
        {
465
            teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED;
466
        }
467

    
468
        int l_speed = teleop_fluid_speed + teleop_fluid_omega;
469
        int r_speed = teleop_fluid_speed - teleop_fluid_omega;
470

    
471
        teleop_l_speed = max(MIN_ABSOLUTE_SPEED,
472
                             min(MAX_ABSOLUTE_SPEED, l_speed));
473
        teleop_r_speed = max(MIN_ABSOLUTE_SPEED,
474
                             min(MAX_ABSOLUTE_SPEED, r_speed));
475
    }
476

    
477
    void SimFrame::teleop()
478
    {
479
        switch (teleop_type)
480
        {
481
            case TELEOP_OFF:
482
                return;
483
            case TELEOP_PRECISE:
484
                teleop_move_precise();
485
                break;
486
            case TELEOP_FLUID:
487
                teleop_move_fluid();
488
                break;
489
        }
490

    
491
        motors::set_motors msg;
492
        msg.fl_set = true;
493
        msg.fr_set = true;
494
        msg.bl_set = true;
495
        msg.br_set = true;
496

    
497
        msg.fl_speed = teleop_l_speed;
498
        msg.fr_speed = teleop_r_speed;
499
        msg.bl_speed = teleop_l_speed;
500
        msg.br_speed = teleop_r_speed;
501

    
502
        teleop_pub.publish(msg);
503
    }
504

    
505
    void SimFrame::updateScouts()
506
    {
507
        if (last_scout_update.isZero())
508
        {
509
            last_scout_update = ros::WallTime::now();
510
            return;
511
        }
512

    
513
        path_image = path_bitmap.ConvertToImage();
514
        Refresh();
515

    
516
        M_Scout::iterator it = scouts.begin();
517
        M_Scout::iterator end = scouts.end();
518

    
519
        world_state state;
520
        state.canvas_width = width_in_meters;
521
        state.canvas_height = height_in_meters;
522

    
523
        for (; it != end; ++it)
524
        {
525
            it->second->update(SIM_TIME_REFRESH_RATE,
526
                               path_dc,sonar_dc,sonar_visual_on,
527
                               path_image, lines_image, walls_image,
528
                               path_dc.GetBackground().GetColour(),
529
                               sonar_dc.GetBackground().GetColour(),
530
                               state);
531
        }
532

    
533
        for (unsigned int i=0; i<ghost_scouts.size(); ++i)
534
        {
535
            ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc,
536
                path_dc.GetBackground().GetColour(), state);
537
        }
538

    
539
        frame_count++;
540
    }
541

    
542
    bool SimFrame::clearCallback(std_srvs::Empty::Request&,
543
                                 std_srvs::Empty::Response&)
544
    {
545
        ROS_INFO("Clearing scoutsim.");
546
        clear();
547
        return true;
548
    }
549

    
550
    bool SimFrame::resetCallback(std_srvs::Empty::Request&,
551
                                 std_srvs::Empty::Response&)
552
    {
553
        ROS_INFO("Resetting scoutsim.");
554
        scouts.clear();
555
        id_counter = 0;
556
        spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0);
557
        clear();
558
        return true;
559
    }
560

    
561
    void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg)
562
    {
563
        wireless_receive.publish(msg);
564
    }
565
}