RoboBuggy

/*

 * Copyright (c) 2009, Willow Garage, Inc.

 * All rights reserved.

 *

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions are met:

 *

 *     * Redistributions of source code must retain the above copyright

 *       notice, this list of conditions and the following disclaimer.

 *     * Redistributions in binary form must reproduce the above copyright

 *       notice, this list of conditions and the following disclaimer in the

 *       documentation and/or other materials provided with the distribution.

 *     * Neither the name of the Willow Garage, Inc. nor the names of its

 *       contributors may be used to endorse or promote products derived from

 *       this software without specific prior written permission.

 *

 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN

 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

 * POSSIBILITY OF SUCH DAMAGE.

 */

#include "buggyvis/buggy.h"

#include <QColor>

#include <QRgb>

#define DEFAULT_PEN_R 0xb3

#define DEFAULT_PEN_G 0xb8

#define DEFAULT_PEN_B 0xff

namespace buggysim

{

  Turtle::Turtle(const ros::NodeHandle& nh,

                 const QImage& wall_image,

                 const QImage& turtle_image,

                 const QPointF& pos,

                 float orient)

    : nh_(nh)

    , turtle_image_(turtle_image)

    , wall_image_(wall_image)

    , pos_(pos)

    , orient_(orient)

      //, lin_vel_(2.0)

      //, ang_vel_(0.0)

      //, turnAngle_(0.0)

    , pen_on_(true)

    , pen_(QColor(DEFAULT_PEN_R, DEFAULT_PEN_G, DEFAULT_PEN_B))

  {

    pen_.setWidth(3);

    pose_sub_ = nh_.subscribe

      ("pose", 1, &Turtle::poseCallback, this);

    //Services

    set_pen_srv_ = nh_.advertiseService

      ("set_pen", &Turtle::setPenCallback, this);

    teleport_relative_srv_ = nh_.advertiseService

      ("teleport_relative", &Turtle::teleportRelativeCallback, this);

    teleport_absolute_srv_ = nh_.advertiseService

      ("teleport_absolute", &Turtle::teleportAbsoluteCallback, this);

    meter_ = turtle_image_.height();

    rotateImage();

  }

  void Turtle::poseCallback(const buggymsgs::PoseConstPtr& pcp)

  {

    last_command_time_ = ros::WallTime::now();

    pose_ = pcp->pose;

  }

  bool Turtle::setPenCallback(buggysim::SetPen::Request& req, 

                              buggysim::SetPen::Response&)

  {

    pen_on_ = !req.off;

    if (req.off)

      {

        return true;

      }

    QPen pen(QColor(req.r, req.g, req.b));

    if (req.width != 0)

      {

        pen.setWidth(req.width);

      }

    pen_ = pen;

    return true;

  }

  void Turtle::rotateImage()

  {

    QTransform transform;

    transform.rotate(-orient_ * 180.0 / PI + 90.0);

    turtle_rotated_image_ = turtle_image_.transformed(transform);

  }

  /**

   * TODO: convert this to take just an angle. And include drag. 

   *       and include acceleration/joule dump

   */

  bool Turtle::update(double dt, 

                      QPainter& path_painter, 

                      const QImage& path_image, 

                      qreal canvas_width, 

                      qreal canvas_height)

  {

    bool modified = false;

    qreal old_orient = orient_;

    // first process any teleportation requests, in order

    V_TeleportRequest::iterator it = teleport_requests_.begin();

    V_TeleportRequest::iterator end = teleport_requests_.end();

    for (; it != end; ++it)

      {

        const TeleportRequest& req = *it;

        QPointF old_pos = pos_;

        if (req.relative)

          {

            orient_ += req.theta;

            pos_.rx() += std::sin(orient_ + PI/2.0) * req.linear;

            pos_.ry() += std::cos(orient_ + PI/2.0) * req.linear;

          }

        else

          {

            pos_.setX(req.pos.x());

            pos_.setY(std::max(0.0, static_cast<double>(canvas_height - req.pos.y())));

            orient_ = req.theta;

          }

        path_painter.setPen(pen_);

        path_painter.drawLine(pos_ * meter_, old_pos * meter_);

        modified = true;

      }

    teleport_requests_.clear();

    // Stop moving after 1 second since-last command.

    // Update my position

    QPointF old_pos = pos_;

    // TODO: what direction does orientation start at 0?

    // TODO: orient might have to become negative

    orient_ = std::fmod(orient_ - (turnAngle_ * dt), 2*PI);

    if (orient_ < 0.0) {

      orient_ += 2*PI;

    }

    // TODO: why add pi/2? is this just because they got the 

    //       sin/cos mixed up?

    pos_.rx() += std::cos(orient_) * lin_vel_ * dt;

    pos_.ry() -= std::sin(orient_) * lin_vel_ * dt;

    // Clamp to screen size

    // TODO: change to use another image, to detect walls. 

    if (pos_.x() < 0 || pos_.x() > canvas_width ||

        pos_.y() < 0 || pos_.y() > canvas_height)

      {

        ROS_WARN("Oh no! I hit the wall! (Clamping from [x=%f, y=%f])", pos_.x(), pos_.y());

      }

    pos_.setX(std::min(std::max(static_cast<double>(pos_.x()), 0.0), 

                       static_cast<double>(canvas_width)));

    pos_.setY(std::min(std::max(static_cast<double>(pos_.y()), 0.0), 

                       static_cast<double>(canvas_height)));

    /** END POSITION UPDATE */

    buggymsgs::Pose p;

    p.x = pos_.x();

    p.y = canvas_height - pos_.y();

    p.angle = orient_;

    p.linear_velocity = lin_vel_;

    pose_pub_.publish(p);

    ROS_DEBUG("[%s]: pos_x: %f pos_y: %f theta: %f", 

              nh_.getNamespace().c_str(), 

              pos_.x(), pos_.y(), orient_);

    if (orient_ != old_orient)

      {

        rotateImage();

        modified = true;

      }

    if (pos_ != old_pos)

      {

        if (pen_on_)

          {

            path_painter.setPen(pen_);

            path_painter.drawLine(pos_ * meter_, old_pos * meter_);

          }

        modified = true;

      }

    return modified;

  }

  void Turtle::paint(QPainter& painter)

  {

    QPointF p = pos_ * meter_;

    p.rx() -= 0.5 * turtle_rotated_image_.width();

    p.ry() -= 0.5 * turtle_rotated_image_.height();

    painter.drawImage(p, turtle_rotated_image_);

  }

}