Revision 7ffad595
Added walls to the scoutsim visualizer.
| scout/scoutsim/src/scoutsim.cpp | ||
|---|---|---|
| 133 | 133 |
EVT_MENU(ID_CLEAR, scoutsim::SimFrame::onClear) |
| 134 | 134 |
EVT_MENU(ID_MAP, scoutsim::SimFrame::showMap) |
| 135 | 135 |
EVT_MENU(ID_LINES, scoutsim::SimFrame::showLines) |
| 136 |
EVT_MENU(ID_WALLS, scoutsim::SimFrame::showWalls) |
|
| 136 | 137 |
END_EVENT_TABLE() |
| 137 | 138 |
|
| 138 | 139 |
DECLARE_APP(ScoutApp); |
| scout/scoutsim/src/sim_frame.cpp | ||
|---|---|---|
| 96 | 96 |
map_name + ".bmp"; |
| 97 | 97 |
map_lines_name = ros::package::getPath("scoutsim") + "/maps/" +
|
| 98 | 98 |
map_name + "_lines.bmp"; |
| 99 |
map_walls_name = ros::package::getPath("scoutsim") + "/maps/" +
|
|
| 100 |
map_name + "_walls.bmp"; |
|
| 99 | 101 |
display_map_name = map_base_name; |
| 100 | 102 |
|
| 101 | 103 |
wxBitmap lines_bitmap; |
| 102 | 104 |
lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())); |
| 103 | 105 |
lines_image = lines_bitmap.ConvertToImage(); |
| 104 | 106 |
|
| 107 |
wxBitmap walls_bitmap; |
|
| 108 |
walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())); |
|
| 109 |
walls_image = walls_bitmap.ConvertToImage(); |
|
| 110 |
|
|
| 105 | 111 |
clear(); |
| 106 | 112 |
|
| 107 | 113 |
clear_srv = nh.advertiseService("clear",
|
| ... | ... | |
| 114 | 120 |
&SimFrame::killCallback, this); |
| 115 | 121 |
|
| 116 | 122 |
// Subscribe and publisher wirless from robots |
| 117 |
wireless_receive = nh.advertise< ::messages::WirelessPacket>("/wireless/receive", 1000);
|
|
| 118 |
wireless_send = nh.subscribe("/wireless/send", 1000, &SimFrame::wirelessCallback, this);
|
|
| 123 |
wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
|
| 124 |
"/wireless/receive", 1000); |
|
| 125 |
wireless_send = nh.subscribe("/wireless/send", 1000,
|
|
| 126 |
&SimFrame::wirelessCallback, this); |
|
| 119 | 127 |
|
| 120 | 128 |
ROS_INFO("Starting scoutsim with node name %s",
|
| 121 | 129 |
ros::this_node::getName().c_str()) ; |
| ... | ... | |
| 131 | 139 |
wxMenu *menuView = new wxMenu; |
| 132 | 140 |
menuView->Append(ID_MAP, _("&Map"));
|
| 133 | 141 |
menuView->Append(ID_LINES, _("&Lines"));
|
| 142 |
menuView->Append(ID_WALLS, _("&Walls"));
|
|
| 134 | 143 |
|
| 135 | 144 |
wxMenuBar *menuBar = new wxMenuBar; |
| 136 | 145 |
menuBar->Append(menuFile, _("&File"));
|
| ... | ... | |
| 248 | 257 |
display_map_name = map_lines_name; |
| 249 | 258 |
clear(); |
| 250 | 259 |
} |
| 260 |
|
|
| 261 |
void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event)) |
|
| 262 |
{
|
|
| 263 |
display_map_name = map_walls_name; |
|
| 264 |
clear(); |
|
| 265 |
} |
|
| 251 | 266 |
|
| 252 | 267 |
void SimFrame::clear() |
| 253 | 268 |
{
|
| scout/scoutsim/src/sim_frame.h | ||
|---|---|---|
| 67 | 67 |
#define ID_CLEAR 3 |
| 68 | 68 |
#define ID_MAP 4 |
| 69 | 69 |
#define ID_LINES 5 |
| 70 |
#define ID_WALLS 6 |
|
| 70 | 71 |
|
| 71 | 72 |
namespace scoutsim |
| 72 | 73 |
{
|
| ... | ... | |
| 84 | 85 |
void onClear(wxCommandEvent& event); |
| 85 | 86 |
void showMap(wxCommandEvent& event); |
| 86 | 87 |
void showLines(wxCommandEvent& event); |
| 88 |
void showWalls(wxCommandEvent& event); |
|
| 87 | 89 |
|
| 88 | 90 |
DECLARE_EVENT_TABLE() |
| 89 | 91 |
|
| ... | ... | |
| 110 | 112 |
wxBitmap path_bitmap; |
| 111 | 113 |
wxImage path_image; |
| 112 | 114 |
wxImage lines_image; |
| 115 |
wxImage walls_image; |
|
| 113 | 116 |
wxMemoryDC path_dc; |
| 114 | 117 |
|
| 115 | 118 |
uint64_t frame_count; |
| ... | ... | |
| 133 | 136 |
|
| 134 | 137 |
std::string map_base_name; |
| 135 | 138 |
std::string map_lines_name; |
| 139 |
std::string map_walls_name; |
|
| 136 | 140 |
std::string display_map_name; |
| 137 | 141 |
}; |
| 138 | 142 |
|
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