/scout/scoutsim/src/sim_frame.cpp - Diff - Colony Scout - Robotics Club

Revision 0e143737

ID	0e1437375725a603024b971caa12b204c102b80a
Parent	4dcab71d
Child	4849a34a

Added by Hui Jun Tay over 10 years ago

Created Emitter class based on Scout class
Added command 'spawn_em' to spawn emitters

                                             &SimFrame::resetCallback, this);
             spawn_srv = nh.advertiseService("spawn",
                                             &SimFrame::spawnCallback, this);
             spawn_em_srv = nh.advertiseService("spawn_em",
                                             &SimFrame::spawnEmCallback, this);
             kill_srv = nh.advertiseService("kill",
                                             &SimFrame::killCallback, this);
             set_sonar_viz_srv = nh.advertiseService("set_sonar_viz",
-...
             wireless_send = nh.subscribe("/wireless/send", 1000,
                 &SimFrame::wirelessCallback, this);
             //Emitter default values
             em_aperture = PI / 6.0;
             em_distance = 2;
             // Teleop
             teleop_type = TELEOP_OFF;
             teleop_l_speed = 0;
-...
             return true;
+        }
         bool SimFrame::spawnEmCallback(scoutsim::Spawn::Request  &req,
                                      scoutsim::Spawn::Response &res)
+        {
             std::string name = spawnEmitter(req.name, req.x, req.y, req.theta);
             if (name.empty())
+            {
                 ROS_WARN("An emitter named [%s] already exists", req.name.c_str());
                 return false;
+            }
             res.name = name;
             return true;
+        }
         bool SimFrame::killCallback(scoutsim::Kill::Request& req,
                                     scoutsim::Kill::Response&)
+        {
-...
             return scouts.find(name) != scouts.end();
+        }
         bool SimFrame::hasEmitter(const std::string& name)
+        {
             return emitters.find(name) != emitters.end();
+        }
         std::string SimFrame::spawnScout(const std::string& name,
                                          float x, float y, float angle)
+        {
-...
             return real_name;
+        }
         std::string SimFrame::spawnEmitter(const std::string& name,
                                          float x, float y, float angle)
+        {
             std::string real_name = name;
             if (real_name.empty())
+            {
                 // Generate the name emitterX, where X is an increasing number.
                 do
+                {
                     std::stringstream ss;
                     ss << "emitter" << ++id_counter;
                     real_name = ss.str();
+                }
                 while (hasEmitter(real_name));
+            }
             else
+            {
                 if (hasEmitter(real_name))
+                {
                     return "";
+                }
+            }
             wxImage emitter_image;
             // Try to load a name-specific image; if not, load the default emitter
             string specific_name = images_path + name + ".png";
             if (fileExists(specific_name))
+            {
                 emitter_image.LoadFile(wxString::FromAscii(specific_name.c_str()));
                 emitter_image.SetMask(true);
                 emitter_image.SetMaskColour(255, 255, 255);
+            }
             else
+            {
                 ROS_INFO("LOADED EMITTER IMAGE");
                 emitter_image.LoadFile(
                     wxString::FromAscii((images_path + "emitter.png").c_str()));
                 emitter_image.SetMask(true);
                 emitter_image.SetMaskColour(255, 255, 255);
+            }
             EmitterPtr t(new Emitter(ros::NodeHandle(real_name),
                        emitter_image, Vector2(x, y), &path_bitmap,
                        angle, em_aperture, em_distance));
             emitters[real_name] = t;
             ROS_INFO("Spawning emitter [%s] at x=[%f], y=[%f], theta=[%f]",
                      real_name.c_str(), x, y, angle);
             return real_name;
+        }
         void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
+        {
             Close(true);
-...
+            {
                 it->second->paint(dc);
+            }
             M_Emitter::iterator m_it = emitters.begin();
             M_Emitter::iterator m_end = emitters.end();
             for (; m_it != m_end; ++m_it)
+            {
                 m_it->second->paint(dc);
+            }
             for (unsigned int i=0; i < ghost_scouts.size(); ++i)
+            {
                 ghost_scouts.at(i)->paint(dc);
-...
             M_Scout::iterator it = scouts.begin();
             M_Scout::iterator end = scouts.end();
             M_Emitter::iterator m_it = emitters.begin();
             M_Emitter::iterator m_end = emitters.end();
             world_state state;
             state.canvas_width = width_in_meters;
             state.canvas_height = height_in_meters;
-...
                                    state);
+            }
             for (; m_it != m_end; ++m_it)
+            {
                 m_it->second->update(SIM_TIME_REFRESH_RATE,
                                    path_dc,
                                    path_image, lines_image, walls_image,
                                    path_dc.GetBackground().GetColour(),
                                    state);
+            }
             for (unsigned int i = 0; i < ghost_scouts.size(); ++i)
+            {
                 ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc,
                     path_dc.GetBackground().GetColour(), state);
+            }
             frame_count++;
+        }
         bool SimFrame::clearCallback(std_srvs::Empty::Request&,
                                      std_srvs::Empty::Response&)
+        {
-...
+        {
             wireless_receive.publish(msg);
+        }
         void SimFrame::readBOM()
+        {
+        }
+    }
     /** @} */

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Revision 0e143737