Colony » Colony Scout

#ifndef _SCOUTSIM_EMITTER_H_

#define _SCOUTSIM_EMITTER_H_

#include <ros/ros.h>

#include <vector>

#include <boost/shared_ptr.hpp>

#include <scoutsim/Pose.h>

#include <scoutsim/SetPen.h>

#include <scoutsim/Color.h>

#include <geometry_msgs/Pose2D.h>

#include <wx/wx.h>

#include "scout.h"

#include "scoutsim_internal.h"

#include "scout_constants.h"

#define PI 3.14159265

#define NUM_LINESENSORS 8

// Distance, pixels, from center of robot to the linesensors.

#define LNSNSR_D 20

#define BOM_EM_APERTURE (PI * 0.05) // 9 degrees

#define BOM_EM_DISTANCE 5.0

#define BOM_REC_APERTURE (PI / 6) // 30 degrees

#define BOM_REC_DISTANCE 5.0

namespace scoutsim

{

    class Emitter

    {

        public:

            Emitter(const ros::NodeHandle& nh,const wxImage& emitter_image,

                  const Vector2& pos, wxBitmap *path_bitmap, float orient,

                  float aperture, int distance);

            geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,

                                         const wxImage& path_image,

                                         const wxImage& lines_image,

                                         const wxImage& walls_image,

                                         wxColour background_color,

                                         world_state state);

            geometry_msgs::Pose2D get_pos();

            void paint(wxDC& dc);

            void set_emitter_visual(bool on);

        private:

            float absolute_to_mps(int absolute_speed);

            bool setPenCallback(scoutsim::SetPen::Request&,

                                scoutsim::SetPen::Response&);

            void setMotors(const messages::set_motors::ConstPtr& msg);

            unsigned int rgb_to_grey(unsigned char r,

                                     unsigned char g,

                                     unsigned char b);

            bool isFront;

            int teleop_latch;

                wxBitmap *path_bitmap;

                bool ignore_behavior;

            //std::string current_teleop_scout;

            ros::NodeHandle node;

            wxImage emitter_image;

            wxBitmap emitter;

            Vector2 pos;

            float orient;

            // Each emitter has a unique id number, which is also displayed on its image.

            int emitter_id;

            float aperture;

            int distance;

            bool pen_on;

            bool emitter_visual_on;

            wxPen pen;

            ros::Publisher color_pub;

            ros::ServiceServer set_pen_srv;

            ros::WallTime last_command_time;

    };

    typedef boost::shared_ptr<Emitter> EmitterPtr;

}

#endif