scoutos / scout / scoutsim / src / scout.cpp @ c06735bb
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/**
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* The code in this package was developed using the structure of Willow
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* Garage's turtlesim package. It was modified by the CMU Robotics Club
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* to be used as a simulator for the Colony Scout robot.
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*
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* All redistribution of this code is limited to the terms of Willow Garage's
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* licensing terms, as well as under permission from the CMU Robotics Club.
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*
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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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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using namespace std; |
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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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wxBitmap *path_bitmap, |
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float orient)
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: path_bitmap(path_bitmap) |
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, sonar_visual_on(false)
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, sonar_on(true)
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, ignore_behavior(false)
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, current_teleop_scout("")
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, node (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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, motor_fl_speed(0)
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, motor_fr_speed(0)
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, motor_bl_speed(0)
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, motor_br_speed(0)
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, fl_ticks(0)
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, fr_ticks(0)
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, bl_ticks(0)
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, br_ticks(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 = node.subscribe("set_motors", 1, &Scout::setMotors, this); |
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pose_pub = node.advertise<Pose>("pose", 1); |
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color_pub = node.advertise<Color>("color_sensor", 1); |
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sonar_pub = node.advertise<sonar::sonar_distance>("sonar_distance", 1); |
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set_pen_srv = node.advertiseService("set_pen",
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&Scout::setPenCallback, |
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this);
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toggle_sonar_srv = node.advertiseService("sonar_toggle",
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&Scout::handle_sonar_toggle, |
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this);
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set_sonar_srv = node.advertiseService("sonar_set_scan",
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&Scout::handle_sonar_set_scan, |
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this);
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query_encoders_srv = |
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node.advertiseService("query_encoders",
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&Scout::query_encoders_callback, |
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this);
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query_linesensor_srv = |
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node.advertiseService("query_linesensor",
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&Scout::query_linesensor_callback, |
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this);
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for (unsigned int i = 0; i < NUM_LINESENSORS; i++) |
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{ |
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linesensor_readings.push_back(0);
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} |
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// Initialize sonar
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sonar_position = 0;
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sonar_stop_l = 0;
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sonar_stop_r = 23;
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sonar_direction = 1;
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sonar_tick_time = ros::Duration(scoutsim::SONAR_HALF_SPIN_TIME / 24.0); |
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} |
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float Scout::absolute_to_mps(int absolute_speed) |
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{ |
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return ((float) absolute_speed) * MAX_SPEED_MPS / MAX_ABSOLUTE_SPEED; |
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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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* @todo Use "callback" in all callback function names? Or remove?
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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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//ignore non-teleop commands if commands if teleop is ON
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if (node.getNamespace() != current_teleop_scout || msg->teleop_ON)
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{ |
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if(msg->fl_set)
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{ |
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motor_fl_speed = absolute_to_mps(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 = absolute_to_mps(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 = absolute_to_mps(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 = absolute_to_mps(msg->br_speed); |
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} |
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} |
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} |
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bool Scout::handle_sonar_toggle(sonar::sonar_toggle::Request &req,
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sonar::sonar_toggle::Response &res) |
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{ |
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if (req.set_on && !sonar_on)
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{ |
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ROS_INFO("Turning on the sonar");
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sonar_on = true;
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} |
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else if (!req.set_on && sonar_on) |
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{ |
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ROS_INFO("Turning off the sonar");
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sonar_on = false;
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} |
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else
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{ |
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ROS_INFO("Sonar state remains unchanged");
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} |
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res.ack = true;
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return true; |
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} |
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bool Scout::handle_sonar_set_scan(sonar::sonar_set_scan::Request &req,
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sonar::sonar_set_scan::Response &res) |
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{ |
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// Code to set the sonar to scan from
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// req.stop_l to req.stop_r
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if (req.stop_l>=0 and req.stop_r<=23 and req.stop_l<=req.stop_r) |
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{ |
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ROS_INFO("Setting sonar scan range to [%i, %i]",
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req.stop_l, |
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req.stop_r); |
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sonar_stop_l = req.stop_l; |
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sonar_stop_r = req.stop_r; |
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sonar_position = req.stop_l; |
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sonar_direction = 1;
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res.ack = true;
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} |
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else
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{ |
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ROS_INFO("Bad Input: Input should be integers 0-23, stop_l<stop_r");
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} |
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return true; |
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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::query_encoders_callback(encoders::query_encoders::Request&,
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encoders::query_encoders::Response& res) |
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{ |
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res.fl_distance = fl_ticks; |
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res.fr_distance = fr_ticks; |
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res.bl_distance = bl_ticks; |
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res.br_distance = br_ticks; |
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return true; |
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} |
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bool Scout::query_linesensor_callback(linesensor::query_linesensor::Request&,
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linesensor::query_linesensor::Response& res) |
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{ |
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res.readings = linesensor_readings; |
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return true; |
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} |
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// Scale to linesensor value
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unsigned int Scout::rgb_to_grey(unsigned char r, |
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unsigned char g, |
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unsigned char b) |
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{ |
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// Should be 0 to 255
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unsigned int grey = ((unsigned int) r + (unsigned int) g + (unsigned int) b) / 3; |
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/// @todo Convert to the proper range
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return 255 - grey; |
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} |
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unsigned int Scout::trace_sonar(const wxImage& walls_image, int x, int y, |
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double robot_theta, int sonar_pos, |
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wxMemoryDC& sonar_dc) |
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{ |
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double angle = robot_theta + (PI * ((float) sonar_pos) / 24.0) - PI / 2; |
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unsigned int d = 0; |
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unsigned int reading = 0; |
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int d_x = 0; |
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int d_y = 0; |
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do
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{ |
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d_x = x + (int) floor(d * cos(angle));
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d_y = y - (int) floor(d * sin(angle));
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// Out of image boundary
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if (d_x < 0 || d_x >= walls_image.GetWidth() || |
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d_y < 0 || d_y >= walls_image.GetHeight())
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{ |
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break;
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} |
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// Max range
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if (d > scoutsim::SONAR_MAX_RANGE_PIX)
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{ |
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break;
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} |
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// Get the sonar reading at the current position of the sonar
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unsigned char r = walls_image.GetRed(d_x, d_y); |
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unsigned char g = walls_image.GetGreen(d_x, d_y); |
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unsigned char b = walls_image.GetBlue(d_x, d_y); |
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reading = rgb_to_grey(r, g, b); |
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d++; |
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} |
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/// @todo Consider using different cutoffs for different features
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while (reading < 128); /// @todo Get rid of hardcoded stuff like this |
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if (sonar_visual_on)
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{ |
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if (isFront)
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{ |
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// draw a circle at the wall_x, wall_y where reading > 128
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sonar_dc.SelectObject(*path_bitmap); |
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sonar_dc.SetBrush(*wxRED_BRUSH); //old value
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sonar_dc.DrawCircle(wxPoint(old_front_dx, old_front_dy), 2);
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old_front_dx = d_x; |
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old_front_dy = d_y; |
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} |
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else
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{ |
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// draw a circle at the wall_x, wall_y where reading > 128
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sonar_dc.SelectObject(*path_bitmap); |
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sonar_dc.SetBrush(*wxRED_BRUSH); //old value
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sonar_dc.DrawCircle(wxPoint(old_back_dx,old_back_dy), 2);
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old_back_dx = d_x; |
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old_back_dy = d_y; |
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} |
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sonar_dc.SetBrush(*wxGREEN_BRUSH); //newest value
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sonar_dc.DrawCircle(wxPoint(d_x,d_y), 2);
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if (isFront) // @todo for some reason isFront = (!isFront) is not working |
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{ |
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isFront = FALSE; |
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} |
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else
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{ |
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isFront = TRUE; |
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} |
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} |
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// Convert from pixels to mm and return
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return (unsigned int) ((1000 / PIX_PER_METER) * d); |
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} |
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// x and y is current position of the sonar
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void Scout::update_sonar(const wxImage& walls_image, int x, int y, |
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double robot_theta,wxMemoryDC& sonar_dc)
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{ |
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// Only rotate the sonar at the correct rate.
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if (ros::Time::now() - last_sonar_time < sonar_tick_time)
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{ |
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return;
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} |
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last_sonar_time = ros::Time::now(); |
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unsigned int d_front = trace_sonar(walls_image, x, y, robot_theta, |
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sonar_position, sonar_dc); |
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unsigned int d_back = trace_sonar(walls_image, x, y, robot_theta, |
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sonar_position + 24, sonar_dc);
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// Publish
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sonar::sonar_distance msg; |
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msg.pos = sonar_position; |
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msg.distance0 = d_front; |
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msg.distance1 = d_back; |
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msg.stamp = ros::Time::now(); |
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sonar_pub.publish(msg); |
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// Update the sonar rotation
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if (sonar_position + sonar_direction <= sonar_stop_r &&
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sonar_position + sonar_direction >= sonar_stop_l) |
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{ |
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sonar_position = sonar_position + sonar_direction; |
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} |
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else
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{ |
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sonar_direction = -sonar_direction; |
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} |
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} |
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void Scout::update_linesensor(const wxImage& lines_image, int x, int y, |
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double robot_theta)
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{ |
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linesensor_readings.clear(); |
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double spacing = scout_image.GetWidth() / (NUM_LINESENSORS - 1); |
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for (int s = 0; s < NUM_LINESENSORS; s++) |
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{ |
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double offset = -(scout_image.GetWidth() / 2) + s * spacing; |
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int sensor_x = (int) (x - LNSNSR_D * cos(robot_theta) - |
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offset * sin(robot_theta)); |
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int sensor_y = (int) (y + LNSNSR_D * sin(robot_theta) - |
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offset * cos(robot_theta)); |
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unsigned char r = lines_image.GetRed(sensor_x, sensor_y); |
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unsigned char g = lines_image.GetGreen(sensor_x, sensor_y); |
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unsigned char b = lines_image.GetBlue(sensor_x, sensor_y); |
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unsigned int reading = rgb_to_grey(r, g, b); |
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linesensor_readings.push_back(reading); |
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} |
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} |
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/// Sends back the position of this scout so scoutsim can save
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/// the world state
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/// TODO remove dt param
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geometry_msgs::Pose2D Scout::update(double dt, wxMemoryDC& path_dc,
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wxMemoryDC& sonar_dc, |
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const wxImage& path_image,
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const wxImage& lines_image,
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const wxImage& walls_image,
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wxColour background_color, |
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wxColour sonar_color, |
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world_state state, |
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string teleop_scoutname)
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{ |
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// Assume that the two motors on the same side will be set to
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// roughly the same speed. Does not account for slip conditions
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// when they are set to different speeds.
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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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// Find linear and angular movement in m
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float lin_dist = SIM_TIME_REFRESH_RATE * (l_speed + r_speed) / 2; |
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float ang_dist = SIM_TIME_REFRESH_RATE * (r_speed - l_speed) / SCOUT_WIDTH;
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//store currently teleop'd scoutname
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std::stringstream ss; |
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ss << "/" << teleop_scoutname;
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current_teleop_scout = ss.str(); |
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Vector2 old_pos = pos; |
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// Update encoders
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fl_ticks += (unsigned int) (motor_fl_speed * SIM_TIME_REFRESH_RATE * |
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ENCODER_TICKS_PER_METER); |
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fr_ticks += (unsigned int) (motor_fr_speed * SIM_TIME_REFRESH_RATE * |
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ENCODER_TICKS_PER_METER); |
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bl_ticks += (unsigned int) (motor_bl_speed * SIM_TIME_REFRESH_RATE * |
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ENCODER_TICKS_PER_METER); |
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br_ticks += (unsigned int) (motor_br_speed * SIM_TIME_REFRESH_RATE * |
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ENCODER_TICKS_PER_METER); |
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orient = fmod((float) (orient + ang_dist), (float) (2.0 * PI)); |
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pos.x += cos(orient) * lin_dist; |
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pos.y -= sin(orient) * lin_dist; //Subtract because of the way the simulator handles y directions.
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// Clamp to screen size
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if (pos.x < 0 || pos.x >= state.canvas_width |
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|| pos.y < 0 || pos.y >= state.canvas_height)
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{ |
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ROS_WARN("I hit the wall! (Clamping from [x=%f, y=%f])", pos.x, pos.y);
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} |
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pos.x = min(max(pos.x, 0.0f), state.canvas_width); |
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pos.y = min(max(pos.y, 0.0f), state.canvas_height); |
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int canvas_x = pos.x * PIX_PER_METER;
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int canvas_y = pos.y * PIX_PER_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 = pos.y; |
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p.theta = orient; |
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p.linear_velocity = l_speed; |
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p.angular_velocity = r_speed; |
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pose_pub.publish(p); |
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update_linesensor(lines_image, canvas_x, canvas_y, p.theta); |
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if (sonar_on)
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{ |
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update_sonar(walls_image, |
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canvas_x + scoutsim::SCOUT_SONAR_X, |
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canvas_y + scoutsim::SCOUT_SONAR_Y, |
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p.theta,sonar_dc); |
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|
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} |
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|
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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); |
504 |
color.b = path_image.GetBlue(canvas_x, canvas_y); |
505 |
color_pub.publish(color); |
506 |
} |
507 |
|
508 |
ROS_DEBUG("[%s]: pos_x: %f pos_y: %f theta: %f",
|
509 |
node.getNamespace().c_str(), pos.x, pos.y, orient); |
510 |
|
511 |
if (pen_on)
|
512 |
{ |
513 |
if (pos != old_pos)
|
514 |
{ |
515 |
path_dc.SelectObject(*path_bitmap); |
516 |
path_dc.SetPen(pen); |
517 |
path_dc.DrawLine(pos.x * PIX_PER_METER, pos.y * PIX_PER_METER, |
518 |
old_pos.x * PIX_PER_METER, old_pos.y * PIX_PER_METER); |
519 |
} |
520 |
} |
521 |
|
522 |
geometry_msgs::Pose2D my_pose; |
523 |
my_pose.x = pos.x; |
524 |
my_pose.y = pos.y; |
525 |
my_pose.theta = orient; |
526 |
|
527 |
return my_pose;
|
528 |
} |
529 |
|
530 |
void Scout::paint(wxDC& dc)
|
531 |
{ |
532 |
wxSize scout_size = wxSize(scout.GetWidth(), scout.GetHeight()); |
533 |
dc.DrawBitmap(scout, pos.x * PIX_PER_METER - (scout_size.GetWidth() / 2),
|
534 |
pos.y * PIX_PER_METER - (scout_size.GetHeight() / 2), true); |
535 |
} |
536 |
|
537 |
void Scout::set_sonar_visual(bool on) |
538 |
{ |
539 |
sonar_visual_on = on; |
540 |
} |
541 |
} |