Colony » Colony Scout

/**

 * The code in this package was developed using the structure of Willow

 * Garage's turtlesim package.  It was modified by the CMU Robotics Club

 * to be used as a simulator for the Colony Scout robot.

 *

 * All redistribution of this code is limited to the terms of Willow Garage's

 * licensing terms, as well as under permission from the CMU Robotics Club.

 * 

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * Copyright (c) 2009, Willow Garage, Inc.

 * All rights reserved.

 * 

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions are met:

 * 

 *    Redistributions of source code must retain the above copyright

 *       notice, this list of conditions and the following disclaimer.

 *    Redistributions in binary form must reproduce the above copyright

 *       notice, this list of conditions and the following disclaimer in the

 *       documentation and/or other materials provided with the distribution.

 *    Neither the name of the Willow Garage, Inc. nor the names of its

 *       contributors may be used to endorse or promote products derived from

 *       this software without specific prior written permission.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file sim_frame.cpp

 *

 * @ingroup scoutsim

 * @{

 */

#include "sim_frame.h"

#include <stdio.h>

#include <ros/package.h>

#include <cstdlib>

#include <ctime>

using namespace std;

namespace scoutsim

{

    SimFrame::SimFrame(wxWindow* parent, string map_name)

        : wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,

                  wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER)

          , frame_count(0)

          , id_counter(0)

          , BOM_counter(0)

    {

        std::cout << "Constructing sim frame." << std::endl;

        srand(time(NULL));

        update_timer = new wxTimer(this);

        update_timer->Start(REAL_TIME_REFRESH_RATE * 1000);

        Connect(update_timer->GetId(), wxEVT_TIMER,

                wxTimerEventHandler(SimFrame::onUpdate), NULL, this);

        Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint),

                NULL, this);

        images_path = ros::package::getPath("scoutsim") + "/images/";

        map_base_name =  ros::package::getPath("scoutsim") + "/maps/" +

                           map_name + ".bmp";

        map_lines_name = ros::package::getPath("scoutsim") + "/maps/" +

                           map_name + "_lines.bmp";

        map_walls_name = ros::package::getPath("scoutsim") + "/maps/" +

                           map_name + "_walls.bmp";

        display_map_name = map_base_name;

        wxBitmap lines_bitmap;

        wxBitmap walls_bitmap;

        ROS_INFO("Loading map: %s", display_map_name.c_str());

        path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str()));

        // Try to load the file; if it fails, make a new blank file

        if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))

        {

            lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);

        }

        lines_image = lines_bitmap.ConvertToImage();

        // Try to load the file; if it fails, make a new blank file

        if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))

        {

            walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);

        }

        walls_image = walls_bitmap.ConvertToImage();

        clear();

        clear_srv = nh.advertiseService("clear",

                                        &SimFrame::clearCallback, this);

        reset_srv = nh.advertiseService("reset",

                                        &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",

                                        &SimFrame::setSonarVizCallback, this);

        set_ghost_srv = nh.advertiseService("set_ghost",

                                        &SimFrame::setGhostCallback, this);

        set_teleop_srv = nh.advertiseService("set_teleop",

                                        &SimFrame::setTeleopCallback, this);

        // Subscribe and publisher wirless from robots

        wireless_receive = nh.advertise< ::messages::WirelessPacket>(

            "/wireless/receive", 1000); 

        wireless_send = nh.subscribe("/wireless/send", 1000,

            &SimFrame::wirelessCallback, this);

        // Teleop

        teleop_type = TELEOP_OFF;

        teleop_l_speed = 0;

        teleop_r_speed = 0;

        teleop_scoutname = "scout1";

        //Emitter default values

        em_aperture = PI / 3.0;

        em_distance = 1.0;

        teleop_pub = nh.advertise< ::messages::set_motors>("/scout1/set_motors", 1000);

        ROS_INFO("Starting scoutsim with node name %s",

                 ros::this_node::getName().c_str()) ;

        wxMenu *menuFile = new wxMenu;

        menuFile->Append(ID_ABOUT, _("&About"));

        menuFile->AppendSeparator();

        menuFile->Append(ID_QUIT, _("E&xit"));

        wxMenu *menuSim = new wxMenu;

        menuSim->Append(ID_CLEAR, _("&Clear"));

        wxMenu *menuView = new wxMenu;

        menuView->Append(ID_MAP, _("&Map"));

        menuView->Append(ID_LINES, _("&Lines"));

        menuView->Append(ID_WALLS, _("&Walls"));

        wxMenu *menuTeleop = new wxMenu;

        menuTeleop->Append(ID_TELEOP_NONE, _("&None"));

        menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));

        menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));

        wxMenuBar *menuBar = new wxMenuBar;

        menuBar->Append(menuFile, _("&File"));

        menuBar->Append(menuSim, _("&Sim"));

        menuBar->Append(menuView, _("&View"));

        menuBar->Append(menuTeleop, _("&Teleop"));

        SetMenuBar(menuBar);

        width_in_meters = GetSize().GetWidth() / PIX_PER_METER;

        height_in_meters = GetSize().GetHeight() / PIX_PER_METER;

        spawnScout("scout1", 1.4, .78, 0);

    }

    SimFrame::~SimFrame()

    {

        delete update_timer;

    }

    bool SimFrame::spawnCallback(scoutsim::Spawn::Request  &req,

                                 scoutsim::Spawn::Response &res)

    {

        std::string name = spawnScout(req.name, req.x, req.y, req.theta);

        if (name.empty())

        {

            ROS_WARN("A scout named [%s] already exists", req.name.c_str());

            return false;

        }

        res.name = name;

        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&)

    {

        M_Scout::iterator it = scouts.find(req.name);

        M_Emitter::iterator m_it = emitters.find(req.name);

        if (it == scouts.end())

        {

            if (m_it == emitters.end()) {

                ROS_WARN("Tried to kill scout/emitter [%s], which does not exist",

                req.name.c_str());

                return false;

            }

            emitters.erase(m_it);

            return true;

        }

        scouts.erase(it);

        return true;

    }

    bool SimFrame::setSonarVizCallback(SetSonarViz::Request& req,

                                       SetSonarViz::Response&)

    {

        M_Scout::iterator it = scouts.find(req.scout_name);

        if (it == scouts.end())

        {

            ROS_WARN("Tried to set sonar on scout [%s], which does not exist",

                     req.scout_name.c_str());

            return false;

        }

        it->second->set_sonar_visual(req.on);

        return true;

    }

    bool SimFrame::setGhostCallback(SetGhost::Request& req,

                                    SetGhost::Response&)

    {

        for (unsigned int i=0; i < ghost_scouts.size(); ++i)

        {

            if (ghost_scouts.at(i)->get_name() == req.scout_name)

            {

                ghost_scouts.at(i)->set_visible(req.on);

                return true;

            }

        }

        ROS_WARN("Tried to set ghost on scout [%s], which does not exist",

                 req.scout_name.c_str());

        return false;

    }

    bool SimFrame::setTeleopCallback(SetTeleop::Request& req,

                                     SetTeleop::Response&)

    {

        std::stringstream ss;

        ss << "/" << req.scout_name << "/set_motors";

        teleop_pub = nh.advertise< ::messages::set_motors>(ss.str(), 1000);

        teleop_scoutname = req.scout_name.c_str();

        ROS_INFO("Teleoping %s...",teleop_scoutname.c_str()); //debug statement

        return true;

    }

    bool SimFrame::hasScout(const std::string& name)

    {

        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)

    {

        std::string real_name = name;

        if (real_name.empty())

        {

            // Generate the name scoutX, where X is an increasing number.

            do

            {

                std::stringstream ss;

                ss << "scout" << ++id_counter;

                real_name = ss.str();

            }

            while (hasScout(real_name));

        }

        else

        {

            if (hasScout(real_name))

            {

                return "";

            }

        }

        wxImage scout_image;

        // Try to load a name-specific image; if not, load the default scout

        string specific_name = images_path + name + ".png";

        if (fileExists(specific_name))

        {

            scout_image.LoadFile(wxString::FromAscii(specific_name.c_str()));

            scout_image.SetMask(true);

            scout_image.SetMaskColour(255, 255, 255);

        }

        else

        {

            scout_image.LoadFile(

                wxString::FromAscii((images_path + "scout.png").c_str()));

            scout_image.SetMask(true);

            scout_image.SetMaskColour(255, 255, 255);

        }

        ScoutPtr t(new Scout(ros::NodeHandle(real_name),

                   scout_image, Vector2(x, y), &path_bitmap, angle));

        scouts[real_name] = t;

        ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),

                scout_image, Vector2(x, y), &path_bitmap, angle, name));

        ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",

                 real_name.c_str(), x, y, 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_" << ++BOM_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);

    }

    void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))

    {

        wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"

                       "\nThe Colony Project is a part of the Carnegie Mellon\n"

                       "Robotics Club. Our goal is to use cooperative low-cost\n"

                       "robots to solve challenging problems."),

                     _("About Scoutsim"),

                     wxOK | wxICON_INFORMATION, this );

    }

    void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))

    {

        clear();

    }

    void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))

    {

        display_map_name = map_base_name;

        clear();

    }

    void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))

    {

        display_map_name = map_lines_name;

        clear();

    }

    void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))

    {

        display_map_name = map_walls_name;

        clear();

    }

    void SimFrame::clear()

    {

        path_dc.SetBackground(wxBrush(wxColour(100, 100, 100)));

        path_dc.Clear();

        sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0)));

        sonar_dc.Clear();

        sonar_dc.SelectObject(path_bitmap);

        path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str()));

        path_dc.SelectObject(path_bitmap);

        SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight()));

    }

    // Runs every REAL_TIME_REFRESH_RATE.

    void SimFrame::onUpdate(wxTimerEvent& evt)

    {

        ros::spinOnce();

        teleop();

        updateScouts();

        if (!ros::ok())

        {

            Close();

        }

        frame_count++;

    }

    void SimFrame::onPaint(wxPaintEvent& evt)

    {

        wxPaintDC dc(this);

        dc.DrawBitmap(path_bitmap, 0, 0, true);

        M_Scout::iterator it = scouts.begin();

        M_Scout::iterator end = scouts.end();

        for (; it != end; ++it)

        {

            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);

        }

    }

    bool SimFrame::fileExists(const std::string& filename)

    {

        struct stat buf;

        if (stat(filename.c_str(), &buf) != -1)

        {

            return true;

        }

        return false;

    }

    void SimFrame::stopTeleop(wxCommandEvent& event)

    {

        teleop_type = TELEOP_OFF;

        teleop_l_speed = 0;

        teleop_r_speed = 0;

    }

    void SimFrame::startTeleopPrecise(wxCommandEvent& event)

    {

        teleop_type = TELEOP_PRECISE;

        teleop_l_speed = 0;

        teleop_r_speed = 0;

    }

    void SimFrame::startTeleopFluid(wxCommandEvent& event)

    {

        teleop_type = TELEOP_FLUID;

        teleop_l_speed = 0;

        teleop_r_speed = 0;

        teleop_fluid_speed = 0;

        teleop_fluid_omega = 0;

    }

    void SimFrame::teleop_move_precise()

    {

        // Default to stop

        teleop_l_speed = 0;

        teleop_r_speed = 0;

        if (wxGetKeyState(WXK_UP))

        {

            teleop_l_speed = TELEOP_PRECISE_SPEED;

            teleop_r_speed = TELEOP_PRECISE_SPEED;

        }

        else if (wxGetKeyState(WXK_DOWN))

        {

            teleop_l_speed = -TELEOP_PRECISE_SPEED;

            teleop_r_speed = -TELEOP_PRECISE_SPEED;

        }

        else if (wxGetKeyState(WXK_LEFT))

        {

            teleop_l_speed = -TELEOP_PRECISE_TURN_SPEED;

            teleop_r_speed = TELEOP_PRECISE_TURN_SPEED;

        }

        else if (wxGetKeyState(WXK_RIGHT))

        {

            teleop_l_speed = TELEOP_PRECISE_TURN_SPEED;

            teleop_r_speed = -TELEOP_PRECISE_TURN_SPEED;

        }

    }

    void SimFrame::teleop_move_fluid()

    {

        if (wxGetKeyState(WXK_UP))

        {

            teleop_fluid_speed += TELEOP_FLUID_INC * 2;

        }

        else if (wxGetKeyState(WXK_DOWN))

        {

            teleop_fluid_speed -= TELEOP_FLUID_INC * 2;

        }

        else if (teleop_fluid_speed > TELEOP_FLUID_INC)

        {

            teleop_fluid_speed -= TELEOP_FLUID_INC;

        }

        else if (teleop_fluid_speed < -TELEOP_FLUID_INC)

        {

            teleop_fluid_speed += TELEOP_FLUID_INC;

        }

        else

        {

            teleop_fluid_speed = 0;

        }

        if (wxGetKeyState(WXK_LEFT))

        {

            teleop_fluid_omega -= TELEOP_FLUID_INC * 2;

        }

        else if (wxGetKeyState(WXK_RIGHT))

        {

            teleop_fluid_omega += TELEOP_FLUID_INC * 2;

        }

        else

        {

            teleop_fluid_omega = 0;

        }

        if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)

        {

            teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED;

        }

        else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED)

        {

            teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED;

        }

        if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED)

        {

            teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED;

        }

        else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED)

        {

            teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED;

        }

        int l_speed = teleop_fluid_speed + teleop_fluid_omega;

        int r_speed = teleop_fluid_speed - teleop_fluid_omega;

        teleop_l_speed = max(MIN_ABSOLUTE_SPEED,

                             min(MAX_ABSOLUTE_SPEED, l_speed));

        teleop_r_speed = max(MIN_ABSOLUTE_SPEED,

                             min(MAX_ABSOLUTE_SPEED, r_speed));

    }

    void SimFrame::teleop()

    {

        switch (teleop_type)

        {

            case TELEOP_OFF:

                return;

            case TELEOP_PRECISE:

                teleop_move_precise();

                break;

            case TELEOP_FLUID:

                teleop_move_fluid();

                break;

        }

        ::messages::set_motors msg;

        msg.fl_set = true;

        msg.fr_set = true;

        msg.bl_set = true;

        msg.br_set = true;

        msg.teleop_ON = true;

        msg.fl_speed = teleop_l_speed;

        msg.fr_speed = teleop_r_speed;

        msg.bl_speed = teleop_l_speed;

        msg.br_speed = teleop_r_speed;

        teleop_pub.publish(msg);

    }

    void SimFrame::updateScouts()

    {

        if (last_scout_update.isZero())

        {

            last_scout_update = ros::WallTime::now();

            return;

        }

        path_image = path_bitmap.ConvertToImage();

        Refresh();

        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;

        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 (; it != end; ++it)

        {

            //ROS_INFO(it->second);

            geometry_msgs::Pose2D scout_pos;

            scout_pos = it->second->update(SIM_TIME_REFRESH_RATE,

                               path_dc, sonar_dc,

                               path_image, lines_image, walls_image,

                               path_dc.GetBackground().GetColour(),

                               sonar_dc.GetBackground().GetColour(),

                               state);

            checkBOM(scout_pos, it);            

        }

        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++;

    }

    void SimFrame::checkBOM(geometry_msgs::Pose2D scout_pos, 

                            M_Scout::iterator it)

    {

        geometry_msgs::Pose2D bom_pos;       

        double x_offset;

        double y_offset;    

        double offset_angle;

        double diag_dis = pow((pow((SCOUT_W/2.0),2) + 

                          pow((SCOUT_H/2.0),2)),(0.5));

        int emitter_id;

        for (int i = 0; i < 10; i++) {

            emitter_id = -1;

            diag_dis = pow((pow((SCOUT_W/2.0),2) + 

                              pow((SCOUT_H/2.0),2)),(0.5));

            if (i == 2) { //middle left

                offset_angle = PI/2.0;

                bom_pos.theta = scout_pos.theta + PI/2.0;

            }

            else if (i == 7) { //middle right

                offset_angle = 3*PI/2.0;

                bom_pos.theta = scout_pos.theta + 3.0*PI/2.0;

            }

            else if (i < 2) { //top left

                offset_angle =  atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0)));

                bom_pos.theta = scout_pos.theta + PI/2.0 * i;

            }

            else if (i >= 2 && i <5) { //bottom left

                offset_angle =  PI - atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0)));

                bom_pos.theta = scout_pos.theta + PI/2.0 + PI/2.0 * (i/4);

            }

            else if (i >= 5 && i < 8) { //bottom right

                offset_angle =  PI + atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0)));

                bom_pos.theta = scout_pos.theta + PI + PI/2.0 * (i/6);

            }

            else { //top right

                offset_angle =  2*PI - atan(abs((SCOUT_W/2.0)/(SCOUT_H/2.0)));

                bom_pos.theta = scout_pos.theta + 3*PI/2.0 + PI/2.0 * (i/9);

            }

            offset_angle += scout_pos.theta;

            if (i == 2 || i == 7) {

                x_offset = (SCOUT_W/2.0)*cos(offset_angle);

                y_offset = (SCOUT_W/2.0)*sin(offset_angle);

            }

            else {

                x_offset = diag_dis*cos(offset_angle);

                y_offset = diag_dis*sin(offset_angle);

            }

            bom_pos.x = scout_pos.x + x_offset;

            bom_pos.y = scout_pos.y - y_offset;  

            if (bom_pos.theta > 2*PI) {

                bom_pos.theta -= 2*PI;

            }  

            else if (bom_pos.theta < 0) {

                bom_pos.theta += 2*PI;

            }

            emitter_id = getActiveEmitter(bom_pos);

            if (emitter_id >= 0) {                

                it->second->update_BOM(i, 1, emitter_id);

            }

            else {

                it->second->update_BOM(i, 0, -1);

            }

        }

    }

    int SimFrame::getActiveEmitter(geometry_msgs::Pose2D bom_pos) {

        M_Emitter::iterator m_it = emitters.begin();

        M_Emitter::iterator m_end = emitters.end();

        int emitter_id = -1;

        for (; m_it != m_end; ++m_it) {

            geometry_msgs::Pose2D emitter_pos;

            emitter_pos = m_it->second->get_pos();

            if(is_inrange(bom_pos, emitter_pos, em_aperture, em_distance) &&

               is_inrange(emitter_pos, bom_pos, BOM_APERTURE, BOM_DISTANCE)) {

                string em_id_str = m_it->first.substr(m_it->first.find("_")+1);

                emitter_id = atoi(em_id_str.c_str());

                return emitter_id;

            }

        }

        return -1;

    }

    bool SimFrame::clearCallback(std_srvs::Empty::Request&,

                                 std_srvs::Empty::Response&)

    {

        ROS_INFO("Clearing scoutsim.");

        clear();

        return true;

    }

    bool SimFrame::resetCallback(std_srvs::Empty::Request&,

                                 std_srvs::Empty::Response&)

    {

        ROS_INFO("Resetting scoutsim.");

        scouts.clear();

        id_counter = 0;

        BOM_counter = 0;

        spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0);

        clear();

        return true;

    }

    void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg)

    {

        wireless_receive.publish(msg);

    }

    bool SimFrame::is_inrange(geometry_msgs::Pose2D scout_pos,

                           geometry_msgs::Pose2D emitter_pos,

                           double aperture, double distance)

    {

        //ROS_INFO("SCOUT: %f %f %f ", scout_pos.x, scout_pos.x, scout_pos.theta);

        //ROS_INFO("EMITTER: %f %f %f ", emitter_pos.x, emitter_pos.x, emitter_pos.theta);

        double se_distance = pow((pow((scout_pos.x - emitter_pos.x),2) + 

                              pow((scout_pos.y - emitter_pos.y),2)),(0.5));

        double se_angle = atan((scout_pos.x - emitter_pos.x)/(scout_pos.y - emitter_pos.y));

        if (scout_pos.y < emitter_pos.y)

        {

            se_angle = se_angle + PI/2;

        }        

        else 

        {

            se_angle = se_angle + PI*3/2;

        }

        double emitter_orient = emitter_pos.theta;

        //ROS_INFO("distance: %f, angle: %f, orient: %f", se_distance, se_angle, emitter_orient);

        if ((se_distance <= distance)) { //distance check

            double upper_limit = (emitter_orient + aperture/2);

            double lower_limit = (emitter_orient - aperture/2);

            //ROS_INFO("upper: %f, lower: %f", upper_limit, lower_limit+2*PI);

            if (upper_limit > 2*PI) {

               if (((se_angle < 2*PI) && (se_angle > (lower_limit))) ||

                   ((se_angle < upper_limit-2*PI) && (se_angle >= 0))) {

                return true;

                }

            }

            else if (lower_limit < 0) {

                if (((se_angle < 2*PI) && (se_angle > (lower_limit+2*PI))) ||

                   ((se_angle < upper_limit) && (se_angle >= 0))) {

                return true;

                }

            }

            else {

                if ((se_angle < upper_limit) && //angle check 

                    (se_angle > lower_limit)) {

                return true;

                }   

            }

        }

        return false;

    }

}

/** @} */