Revision 2eaafff2
Added maps and menus in scoutsim.
Menu options for about, quit, clear, and viewing different maps.
| scout/scoutsim/src/sim_frame.cpp | ||
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#include "sim_frame.h" |
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#include <stdio.h> |
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#include <ros/package.h> |
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#include <cstdlib> |
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#include <ctime> |
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#define DEFAULT_BG_R 0x45 |
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#define DEFAULT_BG_G 0x56 |
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#define DEFAULT_BG_B 0xff |
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using namespace std; |
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namespace scoutsim |
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{
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SimFrame::SimFrame(wxWindow* parent) |
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SimFrame::SimFrame(wxWindow* parent, string map_name) |
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: wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
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wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER) |
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, frame_count(0) |
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, id_counter(0) |
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{
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std::cout << "Constructing sim frame." << std::endl; |
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srand(time(NULL)); |
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update_timer = new wxTimer(this); |
| ... | ... | |
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Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint), |
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NULL, this); |
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nh.setParam("background_r", DEFAULT_BG_R);
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nh.setParam("background_g", DEFAULT_BG_G);
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nh.setParam("background_b", DEFAULT_BG_B);
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std::string scouts[SCOUTSIM_NUM_SCOUTS] = |
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{
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"scout.png" |
| ... | ... | |
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scout_images[i].SetMaskColour(255, 255, 255); |
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} |
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/// @todo This should change. |
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meter = scout_images[0].GetHeight(); |
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path_bitmap = wxBitmap(GetSize().GetWidth(), GetSize().GetHeight());
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path_dc.SelectObject(path_bitmap);
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base_map_name = map_name;
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display_map_name = ros::package::getPath("scoutsim") + "/maps/" + map_name + ".bmp";
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clear(); |
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clear_srv = nh.advertiseService("clear",
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| ... | ... | |
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ROS_INFO("Starting scoutsim with node name %s",
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ros::this_node::getName().c_str()) ; |
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wxMenu *menuFile = new wxMenu; |
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menuFile->Append(ID_ABOUT, _("&About"));
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menuFile->AppendSeparator(); |
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menuFile->Append(ID_QUIT, _("E&xit"));
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wxMenu *menuSim = new wxMenu; |
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menuSim->Append(ID_CLEAR, _("&Clear"));
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wxMenu *menuView = new wxMenu; |
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menuView->Append(ID_MAP, _("&Map"));
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menuView->Append(ID_LINES, _("&Lines"));
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wxMenuBar *menuBar = new wxMenuBar; |
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menuBar->Append(menuFile, _("&File"));
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menuBar->Append(menuSim, _("&Sim"));
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menuBar->Append(menuView, _("&View"));
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SetMenuBar(menuBar); |
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width_in_meters = GetSize().GetWidth() / meter; |
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height_in_meters = GetSize().GetHeight() / meter; |
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spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0);
|
| ... | ... | |
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return real_name; |
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} |
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void SimFrame::clear() |
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void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event)) |
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{
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Close(true); |
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} |
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void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event)) |
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{
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wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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"\nThe Colony Project is a part of the Carnegie Mellon\n" |
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"Robotics Club. Our goal is to use cooperative low-cost\n" |
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"robots to solve challenging problems."), |
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_("About Scoutsim"),
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wxOK | wxICON_INFORMATION, this ); |
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} |
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void SimFrame::onClear(wxCommandEvent& WXUNUSED(event)) |
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{
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int r = DEFAULT_BG_R; |
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int g = DEFAULT_BG_G; |
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int b = DEFAULT_BG_B; |
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clear(); |
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} |
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nh.param("background_r", r, r);
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nh.param("background_g", g, g);
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nh.param("background_b", b, b);
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void SimFrame::showMap(wxCommandEvent& WXUNUSED(event)) |
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{
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display_map_name = ros::package::getPath("scoutsim") + "/maps/" +
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base_map_name + ".bmp"; |
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clear(); |
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} |
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path_dc.SetBackground(wxBrush(wxColour(r, g, b))); |
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void SimFrame::showLines(wxCommandEvent& WXUNUSED(event)) |
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{
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display_map_name = ros::package::getPath("scoutsim") + "/maps/" +
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base_map_name + "_lines.bmp"; |
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clear(); |
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} |
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void SimFrame::clear() |
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{
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path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
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path_dc.Clear(); |
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path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
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path_dc.SelectObject(path_bitmap); |
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SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
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} |
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void SimFrame::onUpdate(wxTimerEvent& evt) |
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