Revision eb9cff77
Fixed sonar bug (corrected y direction)
Added sonar_toggle and set_scan command and callbacks
Cleaned up sonar_visual toggle code
| scout/scoutsim/src/scout.h | ||
|---|---|---|
| 56 | 56 |
#include <encoders/query_encoders.h> |
| 57 | 57 |
#include <linesensor/query_linesensor.h> |
| 58 | 58 |
#include <sonar/sonar_distance.h> |
| 59 |
#include <sonar/sonar_toggle.h> |
|
| 60 |
#include <sonar/sonar_set_scan.h> |
|
| 59 | 61 |
|
| 60 | 62 |
#include <scoutsim/Pose.h> |
| 61 | 63 |
#include <scoutsim/SetPen.h> |
| ... | ... | |
| 114 | 116 |
|
| 115 | 117 |
geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc, |
| 116 | 118 |
wxMemoryDC& sonar_dc, |
| 117 |
bool sonar_on,
|
|
| 119 |
bool sonar_visual,
|
|
| 118 | 120 |
const wxImage& path_image, |
| 119 | 121 |
const wxImage& lines_image, |
| 120 | 122 |
const wxImage& walls_image, |
| ... | ... | |
| 131 | 133 |
encoders::query_encoders::Response&); |
| 132 | 134 |
bool query_linesensor_callback(linesensor::query_linesensor::Request&, |
| 133 | 135 |
linesensor::query_linesensor::Response&); |
| 136 |
bool handle_sonar_toggle(sonar::sonar_toggle::Request &req, |
|
| 137 |
sonar::sonar_toggle::Response &res); |
|
| 138 |
bool handle_sonar_set_scan(sonar::sonar_set_scan::Request &req, |
|
| 139 |
sonar::sonar_set_scan::Response &res); |
|
| 134 | 140 |
unsigned int rgb_to_grey(unsigned char r, |
| 135 | 141 |
unsigned char g, |
| 136 | 142 |
unsigned char b); |
| 137 | 143 |
unsigned int trace_sonar(const wxImage& walls_image, int x, int y, |
| 138 |
double robot_theta, int sonar_pos,wxMemoryDC& sonar_dc, bool sonar_on);
|
|
| 144 |
double robot_theta, int sonar_pos,wxMemoryDC& sonar_dc); |
|
| 139 | 145 |
void update_sonar(const wxImage& walls_image, int x, int y, |
| 140 |
double robot_theta, wxMemoryDC& sonar_dc,bool sonar_on);
|
|
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double robot_theta, wxMemoryDC& sonar_dc); |
|
| 141 | 147 |
void update_linesensor(const wxImage& lines_image, int x, int y, |
| 142 | 148 |
double theta); |
| 143 | 149 |
int old_front_dx; |
| ... | ... | |
| 147 | 153 |
bool isFront; |
| 148 | 154 |
|
| 149 | 155 |
wxBitmap *path_bitmap; |
| 150 |
bool sonar_on; |
|
| 156 |
bool sonar_visual_on; |
|
| 157 |
bool sonar_on; |
|
| 151 | 158 |
|
| 152 | 159 |
ros::NodeHandle node; |
| 153 | 160 |
|
| ... | ... | |
| 195 | 202 |
ros::ServiceServer set_pen_srv; |
| 196 | 203 |
ros::ServiceServer query_encoders_srv; |
| 197 | 204 |
ros::ServiceServer query_linesensor_srv; |
| 205 |
ros::ServiceServer toggle_sonar_srv; |
|
| 206 |
ros::ServiceServer set_sonar_srv; |
|
| 198 | 207 |
|
| 199 | 208 |
ros::WallTime last_command_time; |
| 200 | 209 |
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