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]",