scoutos / scout / scoutsim / src / sim_frame.h @ 4612f7e4
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/**
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* The code in this package was developed using the structure of Willow
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* Garage's turtlesim package. It was modified by the CMU Robotics Club
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* to be used as a simulator for the Colony Scout robot.
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*
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* All redistribution of this code is limited to the terms of Willow Garage's
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* licensing terms, as well as under permission from the CMU Robotics Club.
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*
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <wx/wx.h> |
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#include <wx/event.h> |
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#include <wx/timer.h> |
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#include <ros/ros.h> |
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#include <std_srvs/Empty.h> |
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#include <scoutsim/Spawn.h> |
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#include <scoutsim/Kill.h> |
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#include <map> |
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#include "scout.h" |
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#define SCOUTSIM_NUM_SCOUTS 1 |
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namespace scoutsim |
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{ |
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class SimFrame : public wxFrame |
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{ |
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public:
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SimFrame(wxWindow* parent); |
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~SimFrame(); |
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std::string spawnScout(const std::string& name,
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float x, float y, float angle); |
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private:
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void onUpdate(wxTimerEvent& evt);
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void onPaint(wxPaintEvent& evt);
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void updateScouts();
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void clear();
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bool hasScout(const std::string& name); |
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bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool spawnCallback(Spawn::Request&, Spawn::Response&);
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bool killCallback(Kill::Request&, Kill::Response&);
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ros::NodeHandle nh; |
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wxTimer* update_timer; |
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wxBitmap path_bitmap; |
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wxImage path_image; |
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wxMemoryDC path_dc; |
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uint64_t frame_count; |
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ros::WallTime last_scout_update; |
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ros::ServiceServer clear_srv; |
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ros::ServiceServer reset_srv; |
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ros::ServiceServer spawn_srv; |
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ros::ServiceServer kill_srv; |
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typedef std::map<std::string, ScoutPtr> M_Scout;
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M_Scout scouts; |
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uint32_t id_counter; |
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wxImage scout_images[SCOUTSIM_NUM_SCOUTS]; |
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float meter;
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float width_in_meters;
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float height_in_meters;
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}; |
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} |