root / scout / scoutsim / src / scoutsim.cpp @ 0076084e
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1 | c492be62 | Alex Zirbel | /**
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2 | * The code in this package was developed using the structure of Willow
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3 | * Garage's turtlesim package. It was modified by the CMU Robotics Club
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4 | * to be used as a simulator for the Colony Scout robot.
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5 | 266ae7f2 | Alex Zirbel | *
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6 | c492be62 | Alex Zirbel | * All redistribution of this code is limited to the terms of Willow Garage's
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7 | * licensing terms, as well as under permission from the CMU Robotics Club.
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8 | *
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9 | * Copyright (c) 2011 Colony Project
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10 | *
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11 | * Permission is hereby granted, free of charge, to any person
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12 | * obtaining a copy of this software and associated documentation
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13 | * files (the "Software"), to deal in the Software without
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14 | * restriction, including without limitation the rights to use,
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15 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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16 | * copies of the Software, and to permit persons to whom the
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17 | * Software is furnished to do so, subject to the following
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18 | * conditions:
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19 | *
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20 | * The above copyright notice and this permission notice shall be
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21 | * included in all copies or substantial portions of the Software.
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22 | *
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23 | * Copyright (c) 2009, Willow Garage, Inc.
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24 | 266ae7f2 | Alex Zirbel | * All rights reserved.
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25 | c492be62 | Alex Zirbel | *
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26 | * Redistribution and use in source and binary forms, with or without
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27 | * modification, are permitted provided that the following conditions are met:
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28 | *
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29 | * Redistributions of source code must retain the above copyright
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30 | * notice, this list of conditions and the following disclaimer.
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31 | * Redistributions in binary form must reproduce the above copyright
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32 | * notice, this list of conditions and the following disclaimer in the
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33 | * documentation and/or other materials provided with the distribution.
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34 | * Neither the name of the Willow Garage, Inc. nor the names of its
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35 | * contributors may be used to endorse or promote products derived from
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36 | * this software without specific prior written permission.
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37 | *
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38 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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39 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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40 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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41 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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42 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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43 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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44 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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45 | * OTHER DEALINGS IN THE SOFTWARE.
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46 | 266ae7f2 | Alex Zirbel | */
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47 | |||
48 | #include <wx/app.h> |
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49 | #include <wx/timer.h> |
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50 | |||
51 | #include <ros/ros.h> |
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52 | |||
53 | #include <boost/thread.hpp> |
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54 | |||
55 | 2eaafff2 | Alex | #include <stdio.h> |
56 | |||
57 | a8480867 | Alex Zirbel | #include "sim_frame.h" |
58 | 266ae7f2 | Alex Zirbel | |
59 | #ifdef __WXMAC__
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60 | #include <ApplicationServices/ApplicationServices.h> |
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61 | #endif
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62 | |||
63 | 2eaafff2 | Alex | using namespace std; |
64 | |||
65 | 266ae7f2 | Alex Zirbel | class ScoutApp : public wxApp |
66 | { |
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67 | c492be62 | Alex Zirbel | public:
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68 | char** local_argv;
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69 | ros::NodeHandlePtr nh; |
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70 | 266ae7f2 | Alex Zirbel | |
71 | c492be62 | Alex Zirbel | ScoutApp() |
72 | { |
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73 | } |
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74 | 266ae7f2 | Alex Zirbel | |
75 | c492be62 | Alex Zirbel | bool OnInit()
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76 | { |
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77 | 2eaafff2 | Alex | std::cout << "Starting scout app." << std::endl;
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78 | 266ae7f2 | Alex Zirbel | #ifdef __WXMAC__
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79 | c492be62 | Alex Zirbel | ProcessSerialNumber PSN; |
80 | GetCurrentProcess(&PSN); |
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81 | TransformProcessType(&PSN,kProcessTransformToForegroundApplication); |
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82 | SetFrontProcess(&PSN); |
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83 | 266ae7f2 | Alex Zirbel | #endif
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84 | c492be62 | Alex Zirbel | // Create our own copy of argv, with regular char*s.
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85 | local_argv = new char*[ argc ]; |
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86 | for ( int i = 0; i < argc; ++i ) |
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87 | { |
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88 | local_argv[ i ] = strdup( wxString( argv[ i ] ).mb_str() ); |
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89 | } |
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90 | 266ae7f2 | Alex Zirbel | |
91 | 2eaafff2 | Alex | // Check for incorrect usage
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92 | da08d580 | Alex Zirbel | if (argc < 2) |
93 | 2eaafff2 | Alex | { |
94 | cout << endl << "Error." << endl << endl;
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95 | cout << "Usage: " << local_argv[0] << " <map name>" << endl; |
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96 | cout << "To use maps/example.bmp, use 'example'." << endl;
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97 | exit(0);
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98 | } |
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99 | |||
100 | std::cout << "About to init node" << std::endl;
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101 | c492be62 | Alex Zirbel | ros::init(argc, local_argv, "scoutsim");
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102 | 2eaafff2 | Alex | std::cout << "About to reset." << std::endl;
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103 | c492be62 | Alex Zirbel | nh.reset(new ros::NodeHandle);
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104 | 266ae7f2 | Alex Zirbel | |
105 | 2eaafff2 | Alex | std::cout << "About to init image handlers." << std::endl;
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106 | c492be62 | Alex Zirbel | wxInitAllImageHandlers(); |
107 | 266ae7f2 | Alex Zirbel | |
108 | 2eaafff2 | Alex | std::cout << "About to make a sim frame." << std::endl;
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109 | scoutsim::SimFrame* frame = new scoutsim::SimFrame(NULL, string(local_argv[1])); |
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110 | 266ae7f2 | Alex Zirbel | |
111 | c492be62 | Alex Zirbel | SetTopWindow(frame); |
112 | frame->Show(); |
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113 | 266ae7f2 | Alex Zirbel | |
114 | 2eaafff2 | Alex | std::cout << "Constructor done!" << std::endl;
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115 | c492be62 | Alex Zirbel | return true; |
116 | } |
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117 | 266ae7f2 | Alex Zirbel | |
118 | c492be62 | Alex Zirbel | int OnExit()
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119 | { |
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120 | for ( int i = 0; i < argc; ++i ) |
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121 | { |
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122 | free( local_argv[ i ] ); |
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123 | } |
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124 | delete [] local_argv;
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125 | 266ae7f2 | Alex Zirbel | |
126 | c492be62 | Alex Zirbel | return 0; |
127 | } |
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128 | 266ae7f2 | Alex Zirbel | }; |
129 | |||
130 | 2eaafff2 | Alex | BEGIN_EVENT_TABLE(scoutsim::SimFrame, wxFrame) |
131 | EVT_MENU(ID_QUIT, scoutsim::SimFrame::onQuit) |
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132 | EVT_MENU(ID_ABOUT, scoutsim::SimFrame::onAbout) |
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133 | EVT_MENU(ID_CLEAR, scoutsim::SimFrame::onClear) |
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134 | EVT_MENU(ID_MAP, scoutsim::SimFrame::showMap) |
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135 | EVT_MENU(ID_LINES, scoutsim::SimFrame::showLines) |
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136 | 7ffad595 | Alex | EVT_MENU(ID_WALLS, scoutsim::SimFrame::showWalls) |
137 | 0e77683c | Alex | EVT_MENU(ID_TELEOP_NONE, scoutsim::SimFrame::stopTeleop) |
138 | EVT_MENU(ID_TELEOP_PRECISE, scoutsim::SimFrame::startTeleopPrecise) |
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139 | EVT_MENU(ID_TELEOP_FLUID, scoutsim::SimFrame::startTeleopFluid) |
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140 | 68b23184 | viki | EVT_MENU(ID_SONAR, scoutsim::SimFrame::showSonar) |
141 | 2eaafff2 | Alex | END_EVENT_TABLE() |
142 | |||
143 | 266ae7f2 | Alex Zirbel | DECLARE_APP(ScoutApp); |
144 | IMPLEMENT_APP(ScoutApp); |