scoutos / scout / scoutsim / src / scout.cpp @ a8480867
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/*
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* This package was developed by the CMU Robotics Club project using code
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* from Willow Garage, Inc. Please see licensing.txt for details.
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*
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* All rights reserved.
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*
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* @brief Keeps track of a single scout robot.
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* @file scout.cpp
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* @author Colony Project, CMU Robotics Club
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* @author Alex Zirbel
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*/
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#include "scout.h" |
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#include <wx/wx.h> |
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#define DEFAULT_PEN_R 0xb3 |
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#define DEFAULT_PEN_G 0xb8 |
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#define DEFAULT_PEN_B 0xff |
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namespace scoutsim
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{ |
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Scout::Scout(const ros::NodeHandle& nh,
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const wxImage& scout_image,
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const Vector2& pos,
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float orient)
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: n_(nh) |
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, scout_image_(scout_image) |
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, pos_(pos) |
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, orient_(orient) |
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, lin_vel_(0.0) |
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, ang_vel_(0.0) |
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, pen_on_(true)
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, pen_(wxColour(DEFAULT_PEN_R, DEFAULT_PEN_G, DEFAULT_PEN_B)) |
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{ |
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pen_.SetWidth(3);
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scout_ = wxBitmap(scout_image_); |
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motors_sub_ = n_.subscribe("set_motors", 1, &Scout::setMotors, this); |
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/// @TODO take this out!
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velocity_sub_ = |
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n_.subscribe("command_velocity",
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1,
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&Scout::velocityCallback, this);
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pose_pub_ = n_.advertise<Pose>("pose", 1); |
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color_pub_ = n_.advertise<Color>("color_sensor", 1); |
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set_pen_srv_ = n_.advertiseService("set_pen",
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&Scout::setPenCallback, |
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this);
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teleport_relative_srv_ = |
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n_.advertiseService("teleport_relative",
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&Scout::teleportRelativeCallback, |
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this);
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teleport_absolute_srv_ = |
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n_.advertiseService("teleport_absolute",
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&Scout::teleportAbsoluteCallback, |
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this);
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meter_ = scout_.GetHeight(); |
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} |
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/**
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* A callback function that sets velocity based on a set_motors
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* request.
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*/
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void Scout::setMotors(const motors::set_motors::ConstPtr& msg) |
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{ |
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last_command_time_ = ros::WallTime::now(); |
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if(msg->fl_set)
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{ |
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motor_fl_speed_ = msg->fl_speed; |
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} |
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if(msg->fr_set)
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{ |
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motor_fr_speed_ = msg->fr_speed; |
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} |
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if(msg->bl_set)
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{ |
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motor_bl_speed_ = msg->bl_speed; |
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} |
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if(msg->br_set)
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{ |
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motor_br_speed_ = msg->br_speed; |
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} |
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float l_speed = (float (motor_fl_speed_ + motor_bl_speed_)) / 2; |
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float r_speed = (float (motor_fr_speed_ + motor_br_speed_)) / 2; |
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/// @TODO Change this!
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lin_vel_ = (l_speed + r_speed) / 2;
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ang_vel_ = r_speed - l_speed; |
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} |
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void Scout::velocityCallback(const VelocityConstPtr& vel) |
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{ |
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last_command_time_ = ros::WallTime::now(); |
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lin_vel_ = vel->linear; |
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ang_vel_ = vel->angular; |
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} |
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bool Scout::setPenCallback(scoutsim::SetPen::Request& req,
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scoutsim::SetPen::Response&) |
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{ |
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pen_on_ = !req.off; |
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if (req.off)
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{ |
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return true; |
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} |
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wxPen pen(wxColour(req.r, req.g, req.b)); |
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if (req.width != 0) |
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{ |
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pen.SetWidth(req.width); |
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} |
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pen_ = pen; |
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return true; |
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} |
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bool Scout::teleportRelativeCallback(scoutsim::TeleportRelative::Request& req,
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scoutsim::TeleportRelative::Response&) |
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{ |
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teleport_requests_.push_back(TeleportRequest(0,
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0,
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req.angular, |
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req.linear, |
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true));
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return true; |
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} |
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bool Scout::teleportAbsoluteCallback(scoutsim::TeleportAbsolute::Request& req,
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scoutsim::TeleportAbsolute::Response&) |
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{ |
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teleport_requests_.push_back(TeleportRequest(req.x, |
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req.y, |
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req.theta, |
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0,
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false));
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return true; |
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} |
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void Scout::update(double dt, wxMemoryDC& path_dc, |
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const wxImage& path_image, wxColour background_color,
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float canvas_width, float canvas_height) |
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{ |
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// first process any teleportation requests, in order
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V_TeleportRequest::iterator it = teleport_requests_.begin(); |
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V_TeleportRequest::iterator end = teleport_requests_.end(); |
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for (; it != end; ++it)
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{ |
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const TeleportRequest& req = *it;
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Vector2 old_pos = pos_; |
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if (req.relative)
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{ |
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orient_ += req.theta; |
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pos_.x += sin(orient_ + PI/2.0) * req.linear; |
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pos_.y += cos(orient_ + PI/2.0) * req.linear; |
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} |
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else
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{ |
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pos_.x = req.pos.x; |
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pos_.y = std::max(0.0f, canvas_height - req.pos.y); |
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orient_ = req.theta; |
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} |
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path_dc.SetPen(pen_); |
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path_dc.DrawLine(pos_.x * meter_, pos_.y * meter_, |
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old_pos.x * meter_, old_pos.y * meter_); |
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} |
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teleport_requests_.clear(); |
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if (ros::WallTime::now() - last_command_time_ > ros::WallDuration(1.0)) |
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{ |
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lin_vel_ = 0.0f; |
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ang_vel_ = 0.0f; |
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} |
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Vector2 old_pos = pos_; |
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orient_ = fmod(orient_ + ang_vel_ * dt, 2*PI);
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pos_.x += sin(orient_ + PI/2.0) * lin_vel_ * dt; |
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pos_.y += cos(orient_ + PI/2.0) * lin_vel_ * dt; |
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// Clamp to screen size
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if (pos_.x < 0 || pos_.x >= canvas_width |
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|| pos_.y < 0 || pos_.y >= canvas_height)
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{ |
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ROS_WARN("Oh no! I hit the wall! (Clamping from [x=%f, y=%f])", pos_.x, pos_.y);
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} |
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pos_.x = std::min(std::max(pos_.x, 0.0f), canvas_width); |
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pos_.y = std::min(std::max(pos_.y, 0.0f), canvas_height); |
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int canvas_x = pos_.x * meter_;
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int canvas_y = pos_.y * meter_;
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{ |
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wxImage rotated_image = |
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scout_image_.Rotate(orient_ - PI/2.0, |
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wxPoint(scout_image_.GetWidth() / 2,
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scout_image_.GetHeight() / 2),
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false);
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for (int y = 0; y < rotated_image.GetHeight(); ++y) |
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{ |
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for (int x = 0; x < rotated_image.GetWidth(); ++x) |
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{ |
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if (rotated_image.GetRed(x, y) == 255 |
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&& rotated_image.GetBlue(x, y) == 255
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&& rotated_image.GetGreen(x, y) == 255)
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{ |
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rotated_image.SetAlpha(x, y, 0);
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} |
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} |
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} |
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scout_ = wxBitmap(rotated_image); |
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} |
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Pose p; |
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p.x = pos_.x; |
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p.y = canvas_height - pos_.y; |
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p.theta = orient_; |
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p.linear_velocity = lin_vel_; |
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p.angular_velocity = ang_vel_; |
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pose_pub_.publish(p); |
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// Figure out (and publish) the color underneath the scout
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{ |
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wxSize scout_size = wxSize(scout_.GetWidth(), scout_.GetHeight()); |
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Color color; |
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color.r = path_image.GetRed(canvas_x, canvas_y); |
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color.g = path_image.GetGreen(canvas_x, canvas_y); |
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color.b = path_image.GetBlue(canvas_x, canvas_y); |
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color_pub_.publish(color); |
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} |
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ROS_DEBUG("[%s]: pos_x: %f pos_y: %f theta: %f",
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n_.getNamespace().c_str(), pos_.x, pos_.y, orient_); |
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if (pen_on_)
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{ |
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if (pos_ != old_pos)
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{ |
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path_dc.SetPen(pen_); |
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path_dc.DrawLine(pos_.x * meter_, pos_.y * meter_, |
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old_pos.x * meter_, old_pos.y * meter_); |
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} |
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} |
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} |
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void Scout::paint(wxDC& dc)
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{ |
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wxSize scout_size = wxSize(scout_.GetWidth(), scout_.GetHeight()); |
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dc.DrawBitmap(scout_, pos_.x * meter_ - (scout_size.GetWidth() / 2),
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pos_.y * meter_ - (scout_size.GetHeight() / 2), true); |
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} |
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} |