Colony » Colony Scout

/*

 * This package was developed by the CMU Robotics Club project using code

 * from Willow Garage, Inc.  Please see licensing.txt for details.

 *

 * All rights reserved.

 *

 * @brief Runs the simulator, keeping track of all the scout robots.

 * @file scoutsim.cpp

 * @author Colony Project, CMU Robotics Club

 * @author Alex Zirbel

 */

#include <wx/app.h>

#include <wx/timer.h>

#include <ros/ros.h>

#include <boost/thread.hpp>

#include "sim_frame.h"

#ifdef __WXMAC__

#include <ApplicationServices/ApplicationServices.h>

#endif

class ScoutApp : public wxApp

{

public:

  char** local_argv_;

  ros::NodeHandlePtr nh_;

  ScoutApp()

  {

  }

  bool OnInit()

  {

#ifdef __WXMAC__

    ProcessSerialNumber PSN;

    GetCurrentProcess(&PSN);

    TransformProcessType(&PSN,kProcessTransformToForegroundApplication);

    SetFrontProcess(&PSN);

#endif

    // create our own copy of argv, with regular char*s.

    local_argv_ =  new char*[ argc ];

    for ( int i = 0; i < argc; ++i )

    {

      local_argv_[ i ] = strdup( wxString( argv[ i ] ).mb_str() );

    }

    ros::init(argc, local_argv_, "scoutsim");

    nh_.reset(new ros::NodeHandle);

    wxInitAllImageHandlers();

    scoutsim::SimFrame* frame = new scoutsim::SimFrame(NULL);

    SetTopWindow(frame);

    frame->Show();

    return true;

  }

  int OnExit()

  {

    for ( int i = 0; i < argc; ++i )

    {

      free( local_argv_[ i ] );

    }

    delete [] local_argv_;

    return 0;

  }

};

DECLARE_APP(ScoutApp);

IMPLEMENT_APP(ScoutApp);