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Revision 0e77683c

ID0e77683c65f392af332f84aa9b31eb8614290a55
Parent 759ac4fc
Child 812788aa

Added by Alex Zirbel over 11 years ago

Added built-in scoutsim teleop!

View differences:

scout/scoutsim/src/sim_frame.h
49 49 
#include <wx/event.h>
50 50 
#include <wx/timer.h>
51 51 
#include <wx/string.h>
52 
#include <wx/utils.h>
52 53 

  		




  53
  54
  
    
#include <ros/ros.h>


  		




  54
  55
  
    

  		




  55
  56
  
    
#include <std_srvs/Empty.h>


  		




  56
  57
  
    
#include <scoutsim/Spawn.h>


  		




  57
  58
  
    
#include <scoutsim/Kill.h>


  		




  
  59
  
    
#include <motors/set_motors.h>


  		




  58
  60
  
    
#include <map>


  		




  59
  61
  
    

  		




  60
  62
  
    
#include "scout.h"


  		




  ......




  68
  70
  
    
#define ID_MAP 4


  		




  69
  71
  
    
#define ID_LINES 5


  		




  70
  72
  
    
#define ID_WALLS 6


  		




  
  73
  
    
#define ID_TELEOP_NONE 7


  		




  
  74
  
    
#define ID_TELEOP_PRECISE 8


  		




  
  75
  
    
#define ID_TELEOP_FLUID 9


  		




  
  76
  
    

  		




  
  77
  
    
#define TELEOP_PRECISE_SPEED 30


  		




  
  78
  
    
#define TELEOP_FLUID_MAX_SPEED 80


  		




  
  79
  
    

  		




  
  80
  
    
// Teleop types


  		




  
  81
  
    
#define TELEOP_OFF 0


  		




  
  82
  
    
#define TELEOP_PRECISE 1


  		




  
  83
  
    
#define TELEOP_FLUID 2


  		




  71
  84
  
    

  		




  72
  85
  
    
namespace scoutsim


  		




  73
  86
  
    
{


  		




  ......




  86
  99
  
    
            void showMap(wxCommandEvent& event);


  		




  87
  100
  
    
            void showLines(wxCommandEvent& event);


  		




  88
  101
  
    
            void showWalls(wxCommandEvent& event);


  		




  
  102
  
    
            void stopTeleop(wxCommandEvent& event);


  		




  
  103
  
    
            void startTeleopPrecise(wxCommandEvent& event);


  		




  
  104
  
    
            void startTeleopFluid(wxCommandEvent& event);


  		




  89
  105
  
    

  		




  90
  106
  
    
            DECLARE_EVENT_TABLE()


  		




  91
  107
  
    

  		




  ......




  93
  109
  
    
            void onUpdate(wxTimerEvent& evt);


  		




  94
  110
  
    
            void onPaint(wxPaintEvent& evt);


  		




  95
  111
  
    

  		




  
  112
  
    
            void teleop_move_precise();


  		




  
  113
  
    
            void teleop_move_fluid();


  		




  
  114
  
    
            void teleop();


  		




  
  115
  
    

  		




  96
  116
  
    
            void updateScouts();


  		




  97
  117
  
    
            void clear();


  		




  98
  118
  
    
            bool hasScout(const std::string& name);


  		




  ......




  107
  127
  
    
            ros::Subscriber wireless_send;


  		




  108
  128
  
    
            ros::Publisher wireless_receive;


  		




  109
  129
  
    

  		




  
  130
  
    
            // Teleop


  		




  
  131
  
    
            short teleop_l_speed;


  		




  
  132
  
    
            short teleop_r_speed;


  		




  
  133
  
    
            ros::Publisher teleop_pub;


  		




  
  134
  
    
            int teleop_type;


  		




  
  135
  
    

  		




  
  136
  
    
            short teleop_fluid_speed;


  		




  
  137
  
    
            short teleop_fluid_omega;


  		




  
  138
  
    

  		




  110
  139
  
    
            ros::NodeHandle nh;


  		




  111
  140
  
    
            wxTimer* update_timer;


  		




  112
  141
  
    
            wxBitmap path_bitmap;


  		




  ......




  114
  143
  
    
            wxImage lines_image;


  		




  115
  144
  
    
            wxImage walls_image;


  		




  116
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            wxMemoryDC path_dc;


  		




  117
  
  
    
	    wxMemoryDC sonar_dc;


  		




  
  146
  
    
            wxMemoryDC sonar_dc;


  		




  118
  147
  
    

  		




  119
  148
  
    
            uint64_t frame_count;


  		




  120
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