scoutos / scout / scoutsim / src / sim_frame.cpp @ 4c9fb6ba
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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 | 7f095440 | Priya | update_timer->Start(REAL_TIME_REFRESH_RATE * 1000);
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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 | 594c3bb9 | Alex | images_path = ros::package::getPath("scoutsim") + "/images/"; |
79 | 266ae7f2 | Alex Zirbel | |
80 | ade1b7f9 | Alex | map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
81 | map_name + ".bmp";
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82 | map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
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83 | map_name + "_lines.bmp";
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84 | 7ffad595 | Alex | map_walls_name = ros::package::getPath("scoutsim") + "/maps/" + |
85 | map_name + "_walls.bmp";
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86 | ade1b7f9 | Alex | display_map_name = map_base_name; |
87 | |||
88 | wxBitmap lines_bitmap; |
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89 | e2770306 | Alex | wxBitmap walls_bitmap; |
90 | 4c9fb6ba | viki | ROS_INFO("Loading map: %s", display_map_name.c_str());
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91 | e2770306 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
92 | |||
93 | // Try to load the file; if it fails, make a new blank file
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94 | if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
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95 | { |
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96 | lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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97 | } |
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98 | ade1b7f9 | Alex | lines_image = lines_bitmap.ConvertToImage(); |
99 | |||
100 | e2770306 | Alex | // Try to load the file; if it fails, make a new blank file
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101 | if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
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102 | { |
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103 | walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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104 | } |
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105 | 7ffad595 | Alex | walls_image = walls_bitmap.ConvertToImage(); |
106 | |||
107 | 266ae7f2 | Alex Zirbel | clear(); |
108 | |||
109 | 144137a1 | Alex Zirbel | clear_srv = nh.advertiseService("clear",
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110 | 4612f7e4 | Alex Zirbel | &SimFrame::clearCallback, this);
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111 | 144137a1 | Alex Zirbel | reset_srv = nh.advertiseService("reset",
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112 | 4612f7e4 | Alex Zirbel | &SimFrame::resetCallback, this);
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113 | 144137a1 | Alex Zirbel | spawn_srv = nh.advertiseService("spawn",
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114 | 4612f7e4 | Alex Zirbel | &SimFrame::spawnCallback, this);
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115 | 144137a1 | Alex Zirbel | kill_srv = nh.advertiseService("kill",
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116 | 43811241 | Alex | &SimFrame::killCallback, this);
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117 | set_sonar_viz_srv = nh.advertiseService("set_sonar_viz",
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118 | &SimFrame::setSonarVizCallback, this);
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119 | set_ghost_srv = nh.advertiseService("set_ghost",
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120 | &SimFrame::setGhostCallback, this);
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121 | set_teleop_srv = nh.advertiseService("set_teleop",
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122 | &SimFrame::setTeleopCallback, this);
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123 | 266ae7f2 | Alex Zirbel | |
124 | 82f3f746 | Priya | // Subscribe and publisher wirless from robots
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125 | 7ffad595 | Alex | wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
126 | "/wireless/receive", 1000); |
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127 | wireless_send = nh.subscribe("/wireless/send", 1000, |
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128 | &SimFrame::wirelessCallback, this);
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129 | 82f3f746 | Priya | |
130 | 0e77683c | Alex | // Teleop
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131 | 43811241 | Alex | teleop_type = TELEOP_OFF; |
132 | 0e77683c | Alex | teleop_l_speed = 0;
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133 | teleop_r_speed = 0;
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134 | 60a90290 | Hui Jun Tay | teleop_scoutname = "scout1";
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135 | |||
136 | 0e77683c | Alex | teleop_pub = nh.advertise<motors::set_motors>("/scout1/set_motors", 1000); |
137 | |||
138 | 266ae7f2 | Alex Zirbel | ROS_INFO("Starting scoutsim with node name %s",
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139 | ros::this_node::getName().c_str()) ; |
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140 | |||
141 | 2eaafff2 | Alex | wxMenu *menuFile = new wxMenu;
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142 | menuFile->Append(ID_ABOUT, _("&About"));
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143 | menuFile->AppendSeparator(); |
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144 | menuFile->Append(ID_QUIT, _("E&xit"));
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145 | |||
146 | wxMenu *menuSim = new wxMenu;
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147 | menuSim->Append(ID_CLEAR, _("&Clear"));
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148 | |||
149 | wxMenu *menuView = new wxMenu;
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150 | menuView->Append(ID_MAP, _("&Map"));
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151 | menuView->Append(ID_LINES, _("&Lines"));
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152 | 7ffad595 | Alex | menuView->Append(ID_WALLS, _("&Walls"));
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153 | 2eaafff2 | Alex | |
154 | 0e77683c | Alex | wxMenu *menuTeleop = new wxMenu;
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155 | menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
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156 | menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
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157 | menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
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158 | |||
159 | 2eaafff2 | Alex | wxMenuBar *menuBar = new wxMenuBar;
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160 | menuBar->Append(menuFile, _("&File"));
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161 | menuBar->Append(menuSim, _("&Sim"));
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162 | menuBar->Append(menuView, _("&View"));
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163 | 0e77683c | Alex | menuBar->Append(menuTeleop, _("&Teleop"));
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164 | 2eaafff2 | Alex | |
165 | SetMenuBar(menuBar); |
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166 | |||
167 | c63c9752 | Alex | width_in_meters = GetSize().GetWidth() / PIX_PER_METER; |
168 | height_in_meters = GetSize().GetHeight() / PIX_PER_METER; |
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169 | 25694a03 | Priya | |
170 | spawnScout("scout1", 1.4, .78, 0); |
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171 | 266ae7f2 | Alex Zirbel | } |
172 | |||
173 | SimFrame::~SimFrame() |
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174 | { |
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175 | 144137a1 | Alex Zirbel | delete update_timer;
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176 | 266ae7f2 | Alex Zirbel | } |
177 | |||
178 | 4612f7e4 | Alex Zirbel | bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
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179 | scoutsim::Spawn::Response &res) |
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180 | 266ae7f2 | Alex Zirbel | { |
181 | std::string name = spawnScout(req.name, req.x, req.y, req.theta);
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182 | if (name.empty())
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183 | { |
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184 | 43811241 | Alex | ROS_WARN("A scout named [%s] already exists", req.name.c_str());
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185 | 266ae7f2 | Alex Zirbel | return false; |
186 | } |
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187 | |||
188 | res.name = name; |
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189 | return true; |
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190 | } |
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191 | |||
192 | bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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193 | scoutsim::Kill::Response&) |
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194 | { |
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195 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.find(req.name); |
196 | if (it == scouts.end())
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197 | 266ae7f2 | Alex Zirbel | { |
198 | 43811241 | Alex | ROS_WARN("Tried to kill scout [%s], which does not exist",
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199 | req.name.c_str()); |
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200 | 266ae7f2 | Alex Zirbel | return false; |
201 | } |
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202 | |||
203 | 144137a1 | Alex Zirbel | scouts.erase(it); |
204 | 266ae7f2 | Alex Zirbel | |
205 | return true; |
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206 | } |
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207 | |||
208 | 43811241 | Alex | bool SimFrame::setSonarVizCallback(SetSonarViz::Request& req,
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209 | SetSonarViz::Response&) |
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210 | { |
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211 | M_Scout::iterator it = scouts.find(req.scout_name); |
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212 | if (it == scouts.end())
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213 | { |
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214 | ROS_WARN("Tried to set sonar on scout [%s], which does not exist",
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215 | req.scout_name.c_str()); |
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216 | return false; |
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217 | } |
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218 | |||
219 | it->second->set_sonar_visual(req.on); |
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220 | return true; |
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221 | } |
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222 | |||
223 | bool SimFrame::setGhostCallback(SetGhost::Request& req,
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224 | SetGhost::Response&) |
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225 | { |
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226 | for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
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227 | { |
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228 | if (ghost_scouts.at(i)->get_name() == req.scout_name)
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229 | { |
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230 | ghost_scouts.at(i)->set_visible(req.on); |
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231 | return true; |
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232 | } |
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233 | } |
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234 | |||
235 | ROS_WARN("Tried to set ghost on scout [%s], which does not exist",
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236 | req.scout_name.c_str()); |
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237 | return false; |
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238 | } |
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239 | |||
240 | bool SimFrame::setTeleopCallback(SetTeleop::Request& req,
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241 | SetTeleop::Response&) |
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242 | { |
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243 | std::stringstream ss; |
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244 | ss << "/" << req.scout_name << "/set_motors"; |
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245 | teleop_pub = nh.advertise<motors::set_motors>(ss.str(), 1000);
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246 | 60a90290 | Hui Jun Tay | teleop_scoutname = req.scout_name.c_str(); |
247 | ROS_INFO("Teleoping %s...",teleop_scoutname.c_str()); //debug statement |
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248 | 43811241 | Alex | |
249 | return true; |
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250 | } |
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251 | |||
252 | 266ae7f2 | Alex Zirbel | bool SimFrame::hasScout(const std::string& name) |
253 | { |
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254 | 144137a1 | Alex Zirbel | return scouts.find(name) != scouts.end();
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255 | 266ae7f2 | Alex Zirbel | } |
256 | |||
257 | 9b3564f3 | Alex Zirbel | std::string SimFrame::spawnScout(const std::string& name, |
258 | float x, float y, float angle) |
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259 | 266ae7f2 | Alex Zirbel | { |
260 | std::string real_name = name;
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261 | if (real_name.empty())
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262 | { |
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263 | 43811241 | Alex | // Generate the name scoutX, where X is an increasing number.
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264 | 266ae7f2 | Alex Zirbel | do
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265 | { |
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266 | std::stringstream ss; |
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267 | 144137a1 | Alex Zirbel | ss << "scout" << ++id_counter;
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268 | 266ae7f2 | Alex Zirbel | real_name = ss.str(); |
269 | 43811241 | Alex | } |
270 | while (hasScout(real_name));
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271 | 266ae7f2 | Alex Zirbel | } |
272 | else
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273 | { |
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274 | if (hasScout(real_name))
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275 | { |
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276 | return ""; |
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277 | } |
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278 | } |
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279 | |||
280 | 594c3bb9 | Alex | wxImage scout_image; |
281 | |||
282 | // Try to load a name-specific image; if not, load the default scout
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283 | string specific_name = images_path + name + ".png"; |
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284 | if (fileExists(specific_name))
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285 | { |
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286 | scout_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
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287 | scout_image.SetMask(true);
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288 | scout_image.SetMaskColour(255, 255, 255); |
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289 | } |
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290 | else
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291 | { |
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292 | scout_image.LoadFile( |
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293 | wxString::FromAscii((images_path + "scout.png").c_str()));
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294 | scout_image.SetMask(true);
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295 | scout_image.SetMaskColour(255, 255, 255); |
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296 | } |
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297 | |||
298 | 266ae7f2 | Alex Zirbel | ScoutPtr t(new Scout(ros::NodeHandle(real_name),
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299 | 594c3bb9 | Alex | scout_image, Vector2(x, y), &path_bitmap, angle)); |
300 | 144137a1 | Alex Zirbel | scouts[real_name] = t; |
301 | 266ae7f2 | Alex Zirbel | |
302 | 0e0ef125 | Priya | ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
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303 | scout_image, Vector2(x, y), &path_bitmap, angle, name)); |
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304 | |||
305 | 266ae7f2 | Alex Zirbel | ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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306 | real_name.c_str(), x, y, angle); |
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307 | |||
308 | return real_name;
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309 | } |
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310 | |||
311 | 2eaafff2 | Alex | void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
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312 | { |
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313 | Close(true);
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314 | } |
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315 | |||
316 | void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
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317 | { |
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318 | wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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319 | "\nThe Colony Project is a part of the Carnegie Mellon\n"
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320 | "Robotics Club. Our goal is to use cooperative low-cost\n"
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321 | "robots to solve challenging problems."),
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322 | _("About Scoutsim"),
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323 | wxOK | wxICON_INFORMATION, this );
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324 | } |
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325 | |||
326 | void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
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327 | 266ae7f2 | Alex Zirbel | { |
328 | 2eaafff2 | Alex | clear(); |
329 | } |
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330 | 266ae7f2 | Alex Zirbel | |
331 | 2eaafff2 | Alex | void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
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332 | { |
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333 | ade1b7f9 | Alex | display_map_name = map_base_name; |
334 | 2eaafff2 | Alex | clear(); |
335 | } |
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336 | 266ae7f2 | Alex Zirbel | |
337 | 2eaafff2 | Alex | void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
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338 | { |
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339 | ade1b7f9 | Alex | display_map_name = map_lines_name; |
340 | 2eaafff2 | Alex | clear(); |
341 | } |
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342 | 7ffad595 | Alex | |
343 | void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
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344 | { |
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345 | display_map_name = map_walls_name; |
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346 | clear(); |
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347 | } |
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348 | 2eaafff2 | Alex | |
349 | void SimFrame::clear()
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350 | { |
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351 | path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
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352 | 144137a1 | Alex Zirbel | path_dc.Clear(); |
353 | 2eaafff2 | Alex | |
354 | 6639ce9c | viki | sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0))); |
355 | sonar_dc.Clear(); |
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356 | |||
357 | sonar_dc.SelectObject(path_bitmap); |
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358 | |||
359 | 2eaafff2 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
360 | path_dc.SelectObject(path_bitmap); |
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361 | SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
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362 | 266ae7f2 | Alex Zirbel | } |
363 | |||
364 | 7f095440 | Priya | // Runs every REAL_TIME_REFRESH_RATE.
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365 | 266ae7f2 | Alex Zirbel | void SimFrame::onUpdate(wxTimerEvent& evt)
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366 | { |
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367 | ros::spinOnce(); |
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368 | |||
369 | 0e77683c | Alex | teleop(); |
370 | |||
371 | 266ae7f2 | Alex Zirbel | updateScouts(); |
372 | |||
373 | if (!ros::ok())
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374 | { |
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375 | Close(); |
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376 | } |
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377 | 04114d13 | Alex | |
378 | frame_count++; |
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379 | 266ae7f2 | Alex Zirbel | } |
380 | |||
381 | void SimFrame::onPaint(wxPaintEvent& evt)
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382 | { |
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383 | wxPaintDC dc(this);
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384 | |||
385 | 144137a1 | Alex Zirbel | dc.DrawBitmap(path_bitmap, 0, 0, true); |
386 | 266ae7f2 | Alex Zirbel | |
387 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
388 | M_Scout::iterator end = scouts.end(); |
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389 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
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390 | { |
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391 | it->second->paint(dc); |
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392 | } |
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393 | 43811241 | Alex | for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
394 | 0e0ef125 | Priya | { |
395 | ghost_scouts.at(i)->paint(dc); |
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396 | } |
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397 | 266ae7f2 | Alex Zirbel | } |
398 | |||
399 | 594c3bb9 | Alex | bool SimFrame::fileExists(const std::string& filename) |
400 | { |
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401 | struct stat buf;
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402 | if (stat(filename.c_str(), &buf) != -1) |
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403 | { |
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404 | return true; |
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405 | } |
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406 | return false; |
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407 | } |
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408 | |||
409 | 0e77683c | Alex | void SimFrame::stopTeleop(wxCommandEvent& event)
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410 | { |
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411 | teleop_type = TELEOP_OFF; |
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412 | teleop_l_speed = 0;
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413 | teleop_r_speed = 0;
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414 | } |
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415 | |||
416 | void SimFrame::startTeleopPrecise(wxCommandEvent& event)
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417 | { |
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418 | teleop_type = TELEOP_PRECISE; |
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419 | teleop_l_speed = 0;
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420 | teleop_r_speed = 0;
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421 | } |
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422 | |||
423 | void SimFrame::startTeleopFluid(wxCommandEvent& event)
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424 | { |
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425 | teleop_type = TELEOP_FLUID; |
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426 | teleop_l_speed = 0;
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427 | teleop_r_speed = 0;
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428 | teleop_fluid_speed = 0;
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429 | teleop_fluid_omega = 0;
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430 | } |
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431 | |||
432 | void SimFrame::teleop_move_precise()
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433 | { |
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434 | // Default to stop
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435 | teleop_l_speed = 0;
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436 | teleop_r_speed = 0;
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437 | |||
438 | if (wxGetKeyState(WXK_UP))
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439 | { |
||
440 | teleop_l_speed = TELEOP_PRECISE_SPEED; |
||
441 | teleop_r_speed = TELEOP_PRECISE_SPEED; |
||
442 | } |
||
443 | else if (wxGetKeyState(WXK_DOWN)) |
||
444 | { |
||
445 | teleop_l_speed = -TELEOP_PRECISE_SPEED; |
||
446 | teleop_r_speed = -TELEOP_PRECISE_SPEED; |
||
447 | } |
||
448 | else if (wxGetKeyState(WXK_LEFT)) |
||
449 | { |
||
450 | 43811241 | Alex | teleop_l_speed = -TELEOP_PRECISE_TURN_SPEED; |
451 | teleop_r_speed = TELEOP_PRECISE_TURN_SPEED; |
||
452 | 0e77683c | Alex | } |
453 | else if (wxGetKeyState(WXK_RIGHT)) |
||
454 | { |
||
455 | 43811241 | Alex | teleop_l_speed = TELEOP_PRECISE_TURN_SPEED; |
456 | teleop_r_speed = -TELEOP_PRECISE_TURN_SPEED; |
||
457 | 0e77683c | Alex | } |
458 | } |
||
459 | |||
460 | void SimFrame::teleop_move_fluid()
|
||
461 | { |
||
462 | if (wxGetKeyState(WXK_UP))
|
||
463 | { |
||
464 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC * 2;
|
465 | 0e77683c | Alex | } |
466 | else if (wxGetKeyState(WXK_DOWN)) |
||
467 | { |
||
468 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC * 2;
|
469 | 0e77683c | Alex | } |
470 | 04114d13 | Alex | else if (teleop_fluid_speed > TELEOP_FLUID_INC) |
471 | 0e77683c | Alex | { |
472 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC; |
473 | 0e77683c | Alex | } |
474 | 04114d13 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_INC) |
475 | 0e77683c | Alex | { |
476 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC; |
477 | 0e77683c | Alex | } |
478 | 04114d13 | Alex | else
|
479 | { |
||
480 | teleop_fluid_speed = 0;
|
||
481 | } |
||
482 | 0e77683c | Alex | |
483 | if (wxGetKeyState(WXK_LEFT))
|
||
484 | { |
||
485 | 7f095440 | Priya | teleop_fluid_omega -= TELEOP_FLUID_INC * 2;
|
486 | 0e77683c | Alex | } |
487 | else if (wxGetKeyState(WXK_RIGHT)) |
||
488 | { |
||
489 | 7f095440 | Priya | teleop_fluid_omega += TELEOP_FLUID_INC * 2;
|
490 | 0e77683c | Alex | } |
491 | 0076084e | Alex | else
|
492 | 0e77683c | Alex | { |
493 | 0076084e | Alex | teleop_fluid_omega = 0;
|
494 | 0e77683c | Alex | } |
495 | |||
496 | if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
|
||
497 | { |
||
498 | teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED; |
||
499 | } |
||
500 | c63c9752 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED) |
501 | { |
||
502 | teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED; |
||
503 | } |
||
504 | 04114d13 | Alex | if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED)
|
505 | 0e77683c | Alex | { |
506 | 04114d13 | Alex | teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED; |
507 | 0e77683c | Alex | } |
508 | 04114d13 | Alex | else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED) |
509 | c63c9752 | Alex | { |
510 | 04114d13 | Alex | teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED; |
511 | c63c9752 | Alex | } |
512 | 0e77683c | Alex | |
513 | 04114d13 | Alex | int l_speed = teleop_fluid_speed + teleop_fluid_omega;
|
514 | int r_speed = teleop_fluid_speed - teleop_fluid_omega;
|
||
515 | |||
516 | teleop_l_speed = max(MIN_ABSOLUTE_SPEED, |
||
517 | min(MAX_ABSOLUTE_SPEED, l_speed)); |
||
518 | teleop_r_speed = max(MIN_ABSOLUTE_SPEED, |
||
519 | min(MAX_ABSOLUTE_SPEED, r_speed)); |
||
520 | 0e77683c | Alex | } |
521 | |||
522 | void SimFrame::teleop()
|
||
523 | { |
||
524 | switch (teleop_type)
|
||
525 | { |
||
526 | case TELEOP_OFF:
|
||
527 | return;
|
||
528 | case TELEOP_PRECISE:
|
||
529 | teleop_move_precise(); |
||
530 | break;
|
||
531 | case TELEOP_FLUID:
|
||
532 | teleop_move_fluid(); |
||
533 | break;
|
||
534 | } |
||
535 | |||
536 | motors::set_motors msg; |
||
537 | msg.fl_set = true;
|
||
538 | msg.fr_set = true;
|
||
539 | msg.bl_set = true;
|
||
540 | msg.br_set = true;
|
||
541 | 60a90290 | Hui Jun Tay | msg.teleop_ON = true;
|
542 | 0e77683c | Alex | |
543 | msg.fl_speed = teleop_l_speed; |
||
544 | msg.fr_speed = teleop_r_speed; |
||
545 | msg.bl_speed = teleop_l_speed; |
||
546 | msg.br_speed = teleop_r_speed; |
||
547 | |||
548 | teleop_pub.publish(msg); |
||
549 | } |
||
550 | |||
551 | 266ae7f2 | Alex Zirbel | void SimFrame::updateScouts()
|
552 | { |
||
553 | 60a90290 | Hui Jun Tay | |
554 | 144137a1 | Alex Zirbel | if (last_scout_update.isZero())
|
555 | 266ae7f2 | Alex Zirbel | { |
556 | 144137a1 | Alex Zirbel | last_scout_update = ros::WallTime::now(); |
557 | 266ae7f2 | Alex Zirbel | return;
|
558 | } |
||
559 | |||
560 | 04114d13 | Alex | path_image = path_bitmap.ConvertToImage(); |
561 | Refresh(); |
||
562 | 266ae7f2 | Alex Zirbel | |
563 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
564 | M_Scout::iterator end = scouts.end(); |
||
565 | e3f69e61 | Alex | |
566 | world_state state; |
||
567 | state.canvas_width = width_in_meters; |
||
568 | state.canvas_height = height_in_meters; |
||
569 | |||
570 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
|
571 | { |
||
572 | 60a90290 | Hui Jun Tay | |
573 | 7f095440 | Priya | it->second->update(SIM_TIME_REFRESH_RATE, |
574 | 43811241 | Alex | path_dc, sonar_dc, |
575 | a2e6bd4c | Alex | path_image, lines_image, walls_image, |
576 | 144137a1 | Alex Zirbel | path_dc.GetBackground().GetColour(), |
577 | 04114d13 | Alex | sonar_dc.GetBackground().GetColour(), |
578 | f09d002e | Hui Jun Tay | state); |
579 | 266ae7f2 | Alex Zirbel | } |
580 | |||
581 | 43811241 | Alex | for (unsigned int i = 0; i < ghost_scouts.size(); ++i) |
582 | 0e0ef125 | Priya | { |
583 | 7f095440 | Priya | ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc, |
584 | 0e0ef125 | Priya | path_dc.GetBackground().GetColour(), state); |
585 | } |
||
586 | |||
587 | c492be62 | Alex Zirbel | frame_count++; |
588 | 266ae7f2 | Alex Zirbel | } |
589 | |||
590 | bool SimFrame::clearCallback(std_srvs::Empty::Request&,
|
||
591 | std_srvs::Empty::Response&) |
||
592 | { |
||
593 | ROS_INFO("Clearing scoutsim.");
|
||
594 | clear(); |
||
595 | return true; |
||
596 | } |
||
597 | |||
598 | bool SimFrame::resetCallback(std_srvs::Empty::Request&,
|
||
599 | std_srvs::Empty::Response&) |
||
600 | { |
||
601 | ROS_INFO("Resetting scoutsim.");
|
||
602 | 144137a1 | Alex Zirbel | scouts.clear(); |
603 | id_counter = 0;
|
||
604 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
||
605 | 266ae7f2 | Alex Zirbel | clear(); |
606 | return true; |
||
607 | } |
||
608 | |||
609 | 1d1281cc | Priya | void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
610 | 82f3f746 | Priya | { |
611 | wireless_receive.publish(msg); |
||
612 | } |
||
613 | 266ae7f2 | Alex Zirbel | } |