root / scout / scoutsim / src / sim_frame.cpp @ ade1b7f9
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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 | a8480867 | Alex Zirbel | #include "sim_frame.h" |
49 | 266ae7f2 | Alex Zirbel | |
50 | 2eaafff2 | Alex | #include <stdio.h> |
51 | |||
52 | 266ae7f2 | Alex Zirbel | #include <ros/package.h> |
53 | #include <cstdlib> |
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54 | #include <ctime> |
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55 | |||
56 | 2eaafff2 | Alex | using namespace std; |
57 | 266ae7f2 | Alex Zirbel | |
58 | namespace scoutsim
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59 | { |
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60 | 2eaafff2 | Alex | SimFrame::SimFrame(wxWindow* parent, string map_name)
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61 | 266ae7f2 | Alex Zirbel | : wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
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62 | wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER) |
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63 | 144137a1 | Alex Zirbel | , frame_count(0)
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64 | , id_counter(0)
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65 | 266ae7f2 | Alex Zirbel | { |
66 | 2eaafff2 | Alex | std::cout << "Constructing sim frame." << std::endl;
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67 | |||
68 | 266ae7f2 | Alex Zirbel | srand(time(NULL));
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69 | |||
70 | 144137a1 | Alex Zirbel | update_timer = new wxTimer(this); |
71 | update_timer->Start(16);
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72 | 266ae7f2 | Alex Zirbel | |
73 | 144137a1 | Alex Zirbel | Connect(update_timer->GetId(), wxEVT_TIMER, |
74 | 266ae7f2 | Alex Zirbel | wxTimerEventHandler(SimFrame::onUpdate), NULL, this); |
75 | Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint), |
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76 | NULL, this); |
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77 | |||
78 | std::string scouts[SCOUTSIM_NUM_SCOUTS] =
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79 | { |
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80 | dec96050 | Priya | "scout.png"
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81 | 266ae7f2 | Alex Zirbel | }; |
82 | |||
83 | std::string images_path = ros::package::getPath("scoutsim")+"/images/"; |
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84 | for (size_t i = 0; i < SCOUTSIM_NUM_SCOUTS; ++i) |
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85 | { |
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86 | 144137a1 | Alex Zirbel | scout_images[i].LoadFile( |
87 | 266ae7f2 | Alex Zirbel | wxString::FromAscii((images_path + scouts[i]).c_str())); |
88 | 144137a1 | Alex Zirbel | scout_images[i].SetMask(true);
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89 | scout_images[i].SetMaskColour(255, 255, 255); |
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90 | 266ae7f2 | Alex Zirbel | } |
91 | |||
92 | 2eaafff2 | Alex | /// @todo This should change.
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93 | 144137a1 | Alex Zirbel | meter = scout_images[0].GetHeight();
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94 | 266ae7f2 | Alex Zirbel | |
95 | ade1b7f9 | Alex | map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
96 | map_name + ".bmp";
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97 | map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
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98 | map_name + "_lines.bmp";
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99 | display_map_name = map_base_name; |
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100 | |||
101 | wxBitmap lines_bitmap; |
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102 | lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())); |
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103 | lines_image = lines_bitmap.ConvertToImage(); |
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104 | |||
105 | 266ae7f2 | Alex Zirbel | clear(); |
106 | |||
107 | 144137a1 | Alex Zirbel | clear_srv = nh.advertiseService("clear",
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108 | 4612f7e4 | Alex Zirbel | &SimFrame::clearCallback, this);
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109 | 144137a1 | Alex Zirbel | reset_srv = nh.advertiseService("reset",
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110 | 4612f7e4 | Alex Zirbel | &SimFrame::resetCallback, this);
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111 | 144137a1 | Alex Zirbel | spawn_srv = nh.advertiseService("spawn",
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112 | 4612f7e4 | Alex Zirbel | &SimFrame::spawnCallback, this);
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113 | 144137a1 | Alex Zirbel | kill_srv = nh.advertiseService("kill",
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114 | 4612f7e4 | Alex Zirbel | &SimFrame::killCallback, this);
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115 | 266ae7f2 | Alex Zirbel | |
116 | ROS_INFO("Starting scoutsim with node name %s",
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117 | ros::this_node::getName().c_str()) ; |
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118 | |||
119 | 2eaafff2 | Alex | wxMenu *menuFile = new wxMenu;
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120 | menuFile->Append(ID_ABOUT, _("&About"));
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121 | menuFile->AppendSeparator(); |
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122 | menuFile->Append(ID_QUIT, _("E&xit"));
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123 | |||
124 | wxMenu *menuSim = new wxMenu;
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125 | menuSim->Append(ID_CLEAR, _("&Clear"));
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126 | |||
127 | wxMenu *menuView = new wxMenu;
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128 | menuView->Append(ID_MAP, _("&Map"));
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129 | menuView->Append(ID_LINES, _("&Lines"));
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130 | |||
131 | wxMenuBar *menuBar = new wxMenuBar;
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132 | menuBar->Append(menuFile, _("&File"));
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133 | menuBar->Append(menuSim, _("&Sim"));
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134 | menuBar->Append(menuView, _("&View"));
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135 | |||
136 | SetMenuBar(menuBar); |
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137 | |||
138 | 144137a1 | Alex Zirbel | width_in_meters = GetSize().GetWidth() / meter; |
139 | height_in_meters = GetSize().GetHeight() / meter; |
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140 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
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141 | 266ae7f2 | Alex Zirbel | } |
142 | |||
143 | SimFrame::~SimFrame() |
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144 | { |
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145 | 144137a1 | Alex Zirbel | delete update_timer;
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146 | 266ae7f2 | Alex Zirbel | } |
147 | |||
148 | 4612f7e4 | Alex Zirbel | bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
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149 | scoutsim::Spawn::Response &res) |
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150 | 266ae7f2 | Alex Zirbel | { |
151 | std::string name = spawnScout(req.name, req.x, req.y, req.theta);
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152 | if (name.empty())
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153 | { |
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154 | ROS_ERROR("A scout named [%s] already exists", req.name.c_str());
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155 | return false; |
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156 | } |
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157 | |||
158 | res.name = name; |
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159 | |||
160 | return true; |
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161 | } |
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162 | |||
163 | bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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164 | scoutsim::Kill::Response&) |
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165 | { |
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166 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.find(req.name); |
167 | if (it == scouts.end())
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168 | 266ae7f2 | Alex Zirbel | { |
169 | ROS_ERROR("Tried to kill scout [%s], which does not exist",
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170 | req.name.c_str()); |
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171 | return false; |
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172 | } |
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173 | |||
174 | 144137a1 | Alex Zirbel | scouts.erase(it); |
175 | 266ae7f2 | Alex Zirbel | |
176 | return true; |
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177 | } |
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178 | |||
179 | bool SimFrame::hasScout(const std::string& name) |
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180 | { |
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181 | 144137a1 | Alex Zirbel | return scouts.find(name) != scouts.end();
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182 | 266ae7f2 | Alex Zirbel | } |
183 | |||
184 | 9b3564f3 | Alex Zirbel | std::string SimFrame::spawnScout(const std::string& name, |
185 | float x, float y, float angle) |
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186 | 266ae7f2 | Alex Zirbel | { |
187 | std::string real_name = name;
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188 | if (real_name.empty())
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189 | { |
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190 | do
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191 | { |
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192 | std::stringstream ss; |
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193 | 144137a1 | Alex Zirbel | ss << "scout" << ++id_counter;
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194 | 266ae7f2 | Alex Zirbel | real_name = ss.str(); |
195 | } while (hasScout(real_name));
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196 | } |
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197 | else
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198 | { |
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199 | if (hasScout(real_name))
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200 | { |
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201 | return ""; |
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202 | } |
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203 | } |
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204 | |||
205 | ScoutPtr t(new Scout(ros::NodeHandle(real_name),
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206 | 144137a1 | Alex Zirbel | scout_images[rand() % SCOUTSIM_NUM_SCOUTS], |
207 | 266ae7f2 | Alex Zirbel | Vector2(x, y), angle)); |
208 | 144137a1 | Alex Zirbel | scouts[real_name] = t; |
209 | 266ae7f2 | Alex Zirbel | |
210 | ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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211 | real_name.c_str(), x, y, angle); |
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212 | |||
213 | return real_name;
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214 | } |
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215 | |||
216 | 2eaafff2 | Alex | void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
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217 | { |
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218 | Close(true);
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219 | } |
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220 | |||
221 | void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
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222 | { |
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223 | wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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224 | "\nThe Colony Project is a part of the Carnegie Mellon\n"
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225 | "Robotics Club. Our goal is to use cooperative low-cost\n"
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226 | "robots to solve challenging problems."),
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227 | _("About Scoutsim"),
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228 | wxOK | wxICON_INFORMATION, this );
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229 | } |
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230 | |||
231 | void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
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232 | 266ae7f2 | Alex Zirbel | { |
233 | 2eaafff2 | Alex | clear(); |
234 | } |
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235 | 266ae7f2 | Alex Zirbel | |
236 | 2eaafff2 | Alex | void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
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237 | { |
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238 | ade1b7f9 | Alex | display_map_name = map_base_name; |
239 | 2eaafff2 | Alex | clear(); |
240 | } |
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241 | 266ae7f2 | Alex Zirbel | |
242 | 2eaafff2 | Alex | void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
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243 | { |
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244 | ade1b7f9 | Alex | display_map_name = map_lines_name; |
245 | 2eaafff2 | Alex | clear(); |
246 | } |
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247 | |||
248 | void SimFrame::clear()
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249 | { |
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250 | path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
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251 | 144137a1 | Alex Zirbel | path_dc.Clear(); |
252 | 2eaafff2 | Alex | |
253 | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
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254 | path_dc.SelectObject(path_bitmap); |
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255 | SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
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256 | 266ae7f2 | Alex Zirbel | } |
257 | |||
258 | void SimFrame::onUpdate(wxTimerEvent& evt)
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259 | { |
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260 | ros::spinOnce(); |
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261 | |||
262 | updateScouts(); |
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263 | |||
264 | if (!ros::ok())
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265 | { |
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266 | Close(); |
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267 | } |
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268 | } |
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269 | |||
270 | void SimFrame::onPaint(wxPaintEvent& evt)
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271 | { |
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272 | wxPaintDC dc(this);
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273 | |||
274 | 144137a1 | Alex Zirbel | dc.DrawBitmap(path_bitmap, 0, 0, true); |
275 | 266ae7f2 | Alex Zirbel | |
276 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
277 | M_Scout::iterator end = scouts.end(); |
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278 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
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279 | { |
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280 | it->second->paint(dc); |
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281 | } |
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282 | } |
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283 | |||
284 | void SimFrame::updateScouts()
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285 | { |
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286 | 144137a1 | Alex Zirbel | if (last_scout_update.isZero())
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287 | 266ae7f2 | Alex Zirbel | { |
288 | 144137a1 | Alex Zirbel | last_scout_update = ros::WallTime::now(); |
289 | 266ae7f2 | Alex Zirbel | return;
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290 | } |
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291 | |||
292 | 144137a1 | Alex Zirbel | if (frame_count % 3 == 0) |
293 | 266ae7f2 | Alex Zirbel | { |
294 | 144137a1 | Alex Zirbel | path_image = path_bitmap.ConvertToImage(); |
295 | 266ae7f2 | Alex Zirbel | Refresh(); |
296 | } |
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297 | |||
298 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
299 | M_Scout::iterator end = scouts.end(); |
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300 | e3f69e61 | Alex | |
301 | world_state state; |
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302 | state.canvas_width = width_in_meters; |
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303 | state.canvas_height = height_in_meters; |
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304 | |||
305 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
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306 | { |
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307 | ade1b7f9 | Alex | it->second->update(0.016, path_dc, path_image, lines_image, |
308 | 144137a1 | Alex Zirbel | path_dc.GetBackground().GetColour(), |
309 | e3f69e61 | Alex | state); |
310 | 266ae7f2 | Alex Zirbel | } |
311 | |||
312 | c492be62 | Alex Zirbel | frame_count++; |
313 | 266ae7f2 | Alex Zirbel | } |
314 | |||
315 | bool SimFrame::clearCallback(std_srvs::Empty::Request&,
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316 | std_srvs::Empty::Response&) |
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317 | { |
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318 | ROS_INFO("Clearing scoutsim.");
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319 | clear(); |
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320 | return true; |
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321 | } |
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322 | |||
323 | bool SimFrame::resetCallback(std_srvs::Empty::Request&,
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324 | std_srvs::Empty::Response&) |
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325 | { |
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326 | ROS_INFO("Resetting scoutsim.");
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327 | 144137a1 | Alex Zirbel | scouts.clear(); |
328 | id_counter = 0;
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329 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
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330 | 266ae7f2 | Alex Zirbel | clear(); |
331 | return true; |
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332 | } |
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333 | |||
334 | } |