Colony » Colony Scout » Colony Scout OS

/*

 * This package was developed by the CMU Robotics Club project using code

 * from Willow Garage, Inc.  Please see licensing.txt for details.

 *

 * All rights reserved.

 *

 * @file sim_frame.h

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 */

#include <wx/wx.h>

#include <wx/event.h>

#include <wx/timer.h>

#include <ros/ros.h>

#include <std_srvs/Empty.h>

#include <scoutsim/Spawn.h>

#include <scoutsim/Kill.h>

#include <map>

#include "scout.h"

#define SCOUTSIM_NUM_SCOUTS 1

namespace scoutsim

{

    class SimFrame : public wxFrame

    {

        public:

            SimFrame(wxWindow* parent);

            ~SimFrame();

            std::string spawnScout(const std::string& name,

                    float x, float y, float angle);

        private:

            void onUpdate(wxTimerEvent& evt);

            void onPaint(wxPaintEvent& evt);

            void updateScouts();

            void clear();

            bool hasScout(const std::string& name);

            bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);

            bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);

            bool spawnCallback(scoutsim::Spawn::Request&, scoutsim::Spawn::Response&);

            bool killCallback(scoutsim::Kill::Request&, scoutsim::Kill::Response&);

            ros::NodeHandle nh_;

            wxTimer* update_timer_;

            wxBitmap path_bitmap_;

            wxImage path_image_;

            wxMemoryDC path_dc_;

            uint64_t frame_count_;

            ros::WallTime last_scout_update_;

            ros::ServiceServer clear_srv_;

            ros::ServiceServer reset_srv_;

            ros::ServiceServer spawn_srv_;

            ros::ServiceServer kill_srv_;

            typedef std::map<std::string, ScoutPtr> M_Scout;

            M_Scout scouts_;

            uint32_t id_counter_;

            wxImage scout_images_[SCOUTSIM_NUM_SCOUTS];

            float meter_;

            float width_in_meters_;

            float height_in_meters_;

    };

}