Revision 9cb9623b
ID | 9cb9623b850dbc100d1c4c25d5a9b853ceeabe22 |
Working on turning sonar on and off for robots individually.
scout/scoutsim/src/scout.cpp | ||
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297 | 297 |
// draw a circle at the wall_x, wall_y where reading > 128 |
298 | 298 |
sonar_dc.SelectObject(*path_bitmap); |
299 | 299 |
sonar_dc.SetBrush(*wxRED_BRUSH); //old value |
300 |
sonar_dc.DrawCircle(wxPoint(old_front_dx,old_front_dy), 2); |
|
300 |
sonar_dc.DrawCircle(wxPoint(old_front_dx, old_front_dy), 2);
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|
301 | 301 |
old_front_dx = d_x; |
302 | 302 |
old_front_dy = d_y; |
303 | 303 |
} |
scout/scoutsim/src/scoutsim.cpp | ||
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138 | 138 |
EVT_MENU(ID_TELEOP_PRECISE, scoutsim::SimFrame::startTeleopPrecise) |
139 | 139 |
EVT_MENU(ID_TELEOP_FLUID, scoutsim::SimFrame::startTeleopFluid) |
140 | 140 |
EVT_MENU(ID_SONAR, scoutsim::SimFrame::showSonar) |
141 |
EVT_MENU(ID_TEST, scoutsim::SimFrame::doTest) |
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141 | 142 |
END_EVENT_TABLE() |
142 | 143 |
|
143 | 144 |
DECLARE_APP(ScoutApp); |
scout/scoutsim/src/sim_frame.cpp | ||
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88 | 88 |
wxBitmap lines_bitmap; |
89 | 89 |
wxBitmap walls_bitmap; |
90 | 90 |
path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
91 |
sonar_visual_on = TRUE;
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|
91 |
sonar_visual_on = true;
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92 | 92 |
|
93 | 93 |
// Try to load the file; if it fails, make a new blank file |
94 | 94 |
if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str()))) |
... | ... | |
149 | 149 |
menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise")); |
150 | 150 |
menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid")); |
151 | 151 |
|
152 |
wxMenu *menuTest = new wxMenu; |
|
153 |
menuTest->Append(ID_TEST, _("&Scouts go here")); |
|
154 |
|
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152 | 155 |
wxMenuBar *menuBar = new wxMenuBar; |
153 | 156 |
menuBar->Append(menuFile, _("&File")); |
154 | 157 |
menuBar->Append(menuSim, _("&Sim")); |
155 | 158 |
menuBar->Append(menuView, _("&View")); |
156 | 159 |
menuBar->Append(menuTeleop, _("&Teleop")); |
160 |
menuBar->Append(menuTest, _("T&est")); |
|
157 | 161 |
|
158 | 162 |
SetMenuBar(menuBar); |
159 | 163 |
|
... | ... | |
279 | 283 |
void SimFrame::showSonar(wxCommandEvent& WXUNUSED(event)) |
280 | 284 |
{ |
281 | 285 |
sonar_visual_on = not sonar_visual_on; |
282 |
clear();
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|
286 |
clear();
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|
283 | 287 |
} |
284 | 288 |
|
289 |
void SimFrame::doTest(wxCommandEvent& WXUNUSED(event)) |
|
290 |
{ |
|
291 |
clear(); |
|
292 |
} |
|
285 | 293 |
|
286 | 294 |
void SimFrame::showMap(wxCommandEvent& WXUNUSED(event)) |
287 | 295 |
{ |
... | ... | |
523 | 531 |
for (; it != end; ++it) |
524 | 532 |
{ |
525 | 533 |
it->second->update(SCOUTSIM_REFRESH_RATE, |
526 |
path_dc,sonar_dc,sonar_visual_on, |
|
534 |
path_dc,sonar_dc, sonar_visual_on,
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|
527 | 535 |
path_image, lines_image, walls_image, |
528 | 536 |
path_dc.GetBackground().GetColour(), |
529 | 537 |
sonar_dc.GetBackground().GetColour(), |
scout/scoutsim/src/sim_frame.h | ||
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77 | 77 |
#define ID_TELEOP_PRECISE 8 |
78 | 78 |
#define ID_TELEOP_FLUID 9 |
79 | 79 |
#define ID_SONAR 10 |
80 |
#define ID_TEST 11 |
|
80 | 81 |
|
81 | 82 |
// Absolute speeds (-128 - 127) |
82 | 83 |
#define TELEOP_PRECISE_SPEED 62 |
... | ... | |
108 | 109 |
void stopTeleop(wxCommandEvent& event); |
109 | 110 |
void startTeleopPrecise(wxCommandEvent& event); |
110 | 111 |
void startTeleopFluid(wxCommandEvent& event); |
111 |
void showSonar(wxCommandEvent& event); |
|
112 |
void showSonar(wxCommandEvent& event); |
|
113 |
void doTest(wxCommandEvent& event); |
|
112 | 114 |
|
113 | 115 |
DECLARE_EVENT_TABLE() |
114 | 116 |
|
... | ... | |
174 | 176 |
float width_in_meters; |
175 | 177 |
float height_in_meters; |
176 | 178 |
|
177 |
bool sonar_visual_on;
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|
179 |
bool sonar_visual_on;
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178 | 180 |
|
179 | 181 |
std::string map_base_name; |
180 | 182 |
std::string map_lines_name; |
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