root / scout / scoutsim / src / sim_frame.cpp @ 0076084e
History | View | Annotate | Download (15.9 KB)
1 | c492be62 | Alex Zirbel | /**
|
---|---|---|---|
2 | * The code in this package was developed using the structure of Willow
|
||
3 | * Garage's turtlesim package. It was modified by the CMU Robotics Club
|
||
4 | * to be used as a simulator for the Colony Scout robot.
|
||
5 | 266ae7f2 | Alex Zirbel | *
|
6 | c492be62 | Alex Zirbel | * All redistribution of this code is limited to the terms of Willow Garage's
|
7 | * licensing terms, as well as under permission from the CMU Robotics Club.
|
||
8 | *
|
||
9 | * Copyright (c) 2011 Colony Project
|
||
10 | *
|
||
11 | * Permission is hereby granted, free of charge, to any person
|
||
12 | * obtaining a copy of this software and associated documentation
|
||
13 | * files (the "Software"), to deal in the Software without
|
||
14 | * restriction, including without limitation the rights to use,
|
||
15 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||
16 | * copies of the Software, and to permit persons to whom the
|
||
17 | * Software is furnished to do so, subject to the following
|
||
18 | * conditions:
|
||
19 | *
|
||
20 | * The above copyright notice and this permission notice shall be
|
||
21 | * included in all copies or substantial portions of the Software.
|
||
22 | *
|
||
23 | * Copyright (c) 2009, Willow Garage, Inc.
|
||
24 | 266ae7f2 | Alex Zirbel | * All rights reserved.
|
25 | c492be62 | Alex Zirbel | *
|
26 | * Redistribution and use in source and binary forms, with or without
|
||
27 | * modification, are permitted provided that the following conditions are met:
|
||
28 | *
|
||
29 | * Redistributions of source code must retain the above copyright
|
||
30 | * notice, this list of conditions and the following disclaimer.
|
||
31 | * Redistributions in binary form must reproduce the above copyright
|
||
32 | * notice, this list of conditions and the following disclaimer in the
|
||
33 | * documentation and/or other materials provided with the distribution.
|
||
34 | * Neither the name of the Willow Garage, Inc. nor the names of its
|
||
35 | * contributors may be used to endorse or promote products derived from
|
||
36 | * this software without specific prior written permission.
|
||
37 | *
|
||
38 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||
39 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||
40 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||
41 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||
42 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||
43 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||
44 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||
45 | * OTHER DEALINGS IN THE SOFTWARE.
|
||
46 | 266ae7f2 | Alex Zirbel | */
|
47 | |||
48 | a8480867 | Alex Zirbel | #include "sim_frame.h" |
49 | 266ae7f2 | Alex Zirbel | |
50 | 2eaafff2 | Alex | #include <stdio.h> |
51 | |||
52 | 266ae7f2 | Alex Zirbel | #include <ros/package.h> |
53 | #include <cstdlib> |
||
54 | #include <ctime> |
||
55 | |||
56 | 2eaafff2 | Alex | using namespace std; |
57 | 266ae7f2 | Alex Zirbel | |
58 | namespace scoutsim
|
||
59 | { |
||
60 | 2eaafff2 | Alex | SimFrame::SimFrame(wxWindow* parent, string map_name)
|
61 | 266ae7f2 | Alex Zirbel | : wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
|
62 | wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER) |
||
63 | 144137a1 | Alex Zirbel | , frame_count(0)
|
64 | , id_counter(0)
|
||
65 | 266ae7f2 | Alex Zirbel | { |
66 | 2eaafff2 | Alex | std::cout << "Constructing sim frame." << std::endl;
|
67 | |||
68 | 266ae7f2 | Alex Zirbel | srand(time(NULL));
|
69 | |||
70 | 144137a1 | Alex Zirbel | update_timer = new wxTimer(this); |
71 | update_timer->Start(16);
|
||
72 | 266ae7f2 | Alex Zirbel | |
73 | 144137a1 | Alex Zirbel | Connect(update_timer->GetId(), wxEVT_TIMER, |
74 | 266ae7f2 | Alex Zirbel | wxTimerEventHandler(SimFrame::onUpdate), NULL, this); |
75 | Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint), |
||
76 | NULL, this); |
||
77 | |||
78 | 594c3bb9 | Alex | images_path = ros::package::getPath("scoutsim") + "/images/"; |
79 | 266ae7f2 | Alex Zirbel | |
80 | 594c3bb9 | Alex | // 200 pixels per meter. @todo make this a constant elsewhere.
|
81 | meter = 200;
|
||
82 | 266ae7f2 | Alex Zirbel | |
83 | ade1b7f9 | Alex | map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
84 | map_name + ".bmp";
|
||
85 | map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
||
86 | map_name + "_lines.bmp";
|
||
87 | 7ffad595 | Alex | map_walls_name = ros::package::getPath("scoutsim") + "/maps/" + |
88 | map_name + "_walls.bmp";
|
||
89 | ade1b7f9 | Alex | display_map_name = map_base_name; |
90 | |||
91 | wxBitmap lines_bitmap; |
||
92 | e2770306 | Alex | wxBitmap walls_bitmap; |
93 | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
||
94 | 68b23184 | viki | sonar_on = TRUE; |
95 | e2770306 | Alex | |
96 | // Try to load the file; if it fails, make a new blank file
|
||
97 | if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
|
||
98 | { |
||
99 | lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
|
||
100 | } |
||
101 | ade1b7f9 | Alex | lines_image = lines_bitmap.ConvertToImage(); |
102 | |||
103 | e2770306 | Alex | // Try to load the file; if it fails, make a new blank file
|
104 | if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
|
||
105 | { |
||
106 | walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
|
||
107 | } |
||
108 | 7ffad595 | Alex | walls_image = walls_bitmap.ConvertToImage(); |
109 | |||
110 | 266ae7f2 | Alex Zirbel | clear(); |
111 | |||
112 | 144137a1 | Alex Zirbel | clear_srv = nh.advertiseService("clear",
|
113 | 4612f7e4 | Alex Zirbel | &SimFrame::clearCallback, this);
|
114 | 144137a1 | Alex Zirbel | reset_srv = nh.advertiseService("reset",
|
115 | 4612f7e4 | Alex Zirbel | &SimFrame::resetCallback, this);
|
116 | 144137a1 | Alex Zirbel | spawn_srv = nh.advertiseService("spawn",
|
117 | 4612f7e4 | Alex Zirbel | &SimFrame::spawnCallback, this);
|
118 | 144137a1 | Alex Zirbel | kill_srv = nh.advertiseService("kill",
|
119 | 4612f7e4 | Alex Zirbel | &SimFrame::killCallback, this);
|
120 | 266ae7f2 | Alex Zirbel | |
121 | 82f3f746 | Priya | // Subscribe and publisher wirless from robots
|
122 | 7ffad595 | Alex | wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
123 | "/wireless/receive", 1000); |
||
124 | wireless_send = nh.subscribe("/wireless/send", 1000, |
||
125 | &SimFrame::wirelessCallback, this);
|
||
126 | 82f3f746 | Priya | |
127 | 0e77683c | Alex | // Teleop
|
128 | teleop_type = TELEOP_OFF; |
||
129 | teleop_l_speed = 0;
|
||
130 | teleop_r_speed = 0;
|
||
131 | teleop_pub = nh.advertise<motors::set_motors>("/scout1/set_motors", 1000); |
||
132 | |||
133 | 266ae7f2 | Alex Zirbel | ROS_INFO("Starting scoutsim with node name %s",
|
134 | ros::this_node::getName().c_str()) ; |
||
135 | |||
136 | 2eaafff2 | Alex | wxMenu *menuFile = new wxMenu;
|
137 | menuFile->Append(ID_ABOUT, _("&About"));
|
||
138 | menuFile->AppendSeparator(); |
||
139 | menuFile->Append(ID_QUIT, _("E&xit"));
|
||
140 | |||
141 | wxMenu *menuSim = new wxMenu;
|
||
142 | 68b23184 | viki | menuSim->Append(ID_SONAR, _("S&onar"));
|
143 | 2eaafff2 | Alex | menuSim->Append(ID_CLEAR, _("&Clear"));
|
144 | |||
145 | wxMenu *menuView = new wxMenu;
|
||
146 | menuView->Append(ID_MAP, _("&Map"));
|
||
147 | menuView->Append(ID_LINES, _("&Lines"));
|
||
148 | 7ffad595 | Alex | menuView->Append(ID_WALLS, _("&Walls"));
|
149 | 2eaafff2 | Alex | |
150 | 0e77683c | Alex | wxMenu *menuTeleop = new wxMenu;
|
151 | menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
|
||
152 | menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
|
||
153 | menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
|
||
154 | |||
155 | 2eaafff2 | Alex | wxMenuBar *menuBar = new wxMenuBar;
|
156 | menuBar->Append(menuFile, _("&File"));
|
||
157 | menuBar->Append(menuSim, _("&Sim"));
|
||
158 | menuBar->Append(menuView, _("&View"));
|
||
159 | 0e77683c | Alex | menuBar->Append(menuTeleop, _("&Teleop"));
|
160 | 2eaafff2 | Alex | |
161 | SetMenuBar(menuBar); |
||
162 | |||
163 | 144137a1 | Alex Zirbel | width_in_meters = GetSize().GetWidth() / meter; |
164 | height_in_meters = GetSize().GetHeight() / meter; |
||
165 | 266ae7f2 | Alex Zirbel | } |
166 | |||
167 | SimFrame::~SimFrame() |
||
168 | { |
||
169 | 144137a1 | Alex Zirbel | delete update_timer;
|
170 | 266ae7f2 | Alex Zirbel | } |
171 | |||
172 | 4612f7e4 | Alex Zirbel | bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
|
173 | scoutsim::Spawn::Response &res) |
||
174 | 266ae7f2 | Alex Zirbel | { |
175 | std::string name = spawnScout(req.name, req.x, req.y, req.theta);
|
||
176 | if (name.empty())
|
||
177 | { |
||
178 | ROS_ERROR("A scout named [%s] already exists", req.name.c_str());
|
||
179 | return false; |
||
180 | } |
||
181 | |||
182 | res.name = name; |
||
183 | |||
184 | return true; |
||
185 | } |
||
186 | |||
187 | bool SimFrame::killCallback(scoutsim::Kill::Request& req,
|
||
188 | scoutsim::Kill::Response&) |
||
189 | { |
||
190 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.find(req.name); |
191 | if (it == scouts.end())
|
||
192 | 266ae7f2 | Alex Zirbel | { |
193 | ROS_ERROR("Tried to kill scout [%s], which does not exist",
|
||
194 | req.name.c_str()); |
||
195 | return false; |
||
196 | } |
||
197 | |||
198 | 144137a1 | Alex Zirbel | scouts.erase(it); |
199 | 266ae7f2 | Alex Zirbel | |
200 | return true; |
||
201 | } |
||
202 | |||
203 | bool SimFrame::hasScout(const std::string& name) |
||
204 | { |
||
205 | 144137a1 | Alex Zirbel | return scouts.find(name) != scouts.end();
|
206 | 266ae7f2 | Alex Zirbel | } |
207 | |||
208 | 9b3564f3 | Alex Zirbel | std::string SimFrame::spawnScout(const std::string& name, |
209 | float x, float y, float angle) |
||
210 | 266ae7f2 | Alex Zirbel | { |
211 | std::string real_name = name;
|
||
212 | if (real_name.empty())
|
||
213 | { |
||
214 | do
|
||
215 | { |
||
216 | std::stringstream ss; |
||
217 | 144137a1 | Alex Zirbel | ss << "scout" << ++id_counter;
|
218 | 266ae7f2 | Alex Zirbel | real_name = ss.str(); |
219 | } while (hasScout(real_name));
|
||
220 | } |
||
221 | else
|
||
222 | { |
||
223 | if (hasScout(real_name))
|
||
224 | { |
||
225 | return ""; |
||
226 | } |
||
227 | } |
||
228 | |||
229 | 594c3bb9 | Alex | wxImage scout_image; |
230 | |||
231 | // Try to load a name-specific image; if not, load the default scout
|
||
232 | string specific_name = images_path + name + ".png"; |
||
233 | if (fileExists(specific_name))
|
||
234 | { |
||
235 | scout_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
||
236 | scout_image.SetMask(true);
|
||
237 | scout_image.SetMaskColour(255, 255, 255); |
||
238 | } |
||
239 | else
|
||
240 | { |
||
241 | scout_image.LoadFile( |
||
242 | wxString::FromAscii((images_path + "scout.png").c_str()));
|
||
243 | scout_image.SetMask(true);
|
||
244 | scout_image.SetMaskColour(255, 255, 255); |
||
245 | } |
||
246 | |||
247 | 266ae7f2 | Alex Zirbel | ScoutPtr t(new Scout(ros::NodeHandle(real_name),
|
248 | 594c3bb9 | Alex | scout_image, Vector2(x, y), &path_bitmap, angle)); |
249 | 144137a1 | Alex Zirbel | scouts[real_name] = t; |
250 | 266ae7f2 | Alex Zirbel | |
251 | ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
|
||
252 | real_name.c_str(), x, y, angle); |
||
253 | |||
254 | return real_name;
|
||
255 | } |
||
256 | |||
257 | 2eaafff2 | Alex | void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
|
258 | { |
||
259 | Close(true);
|
||
260 | } |
||
261 | |||
262 | void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
|
||
263 | { |
||
264 | wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
|
||
265 | "\nThe Colony Project is a part of the Carnegie Mellon\n"
|
||
266 | "Robotics Club. Our goal is to use cooperative low-cost\n"
|
||
267 | "robots to solve challenging problems."),
|
||
268 | _("About Scoutsim"),
|
||
269 | wxOK | wxICON_INFORMATION, this );
|
||
270 | } |
||
271 | |||
272 | void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
|
||
273 | 266ae7f2 | Alex Zirbel | { |
274 | 2eaafff2 | Alex | clear(); |
275 | } |
||
276 | 266ae7f2 | Alex Zirbel | |
277 | 68b23184 | viki | void SimFrame::showSonar(wxCommandEvent& WXUNUSED(event))
|
278 | { |
||
279 | sonar_on = not sonar_on;
|
||
280 | clear(); |
||
281 | } |
||
282 | |||
283 | |||
284 | 2eaafff2 | Alex | void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
|
285 | { |
||
286 | ade1b7f9 | Alex | display_map_name = map_base_name; |
287 | 2eaafff2 | Alex | clear(); |
288 | } |
||
289 | 266ae7f2 | Alex Zirbel | |
290 | 2eaafff2 | Alex | void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
|
291 | { |
||
292 | ade1b7f9 | Alex | display_map_name = map_lines_name; |
293 | 2eaafff2 | Alex | clear(); |
294 | } |
||
295 | 7ffad595 | Alex | |
296 | void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
|
||
297 | { |
||
298 | display_map_name = map_walls_name; |
||
299 | clear(); |
||
300 | } |
||
301 | 2eaafff2 | Alex | |
302 | void SimFrame::clear()
|
||
303 | { |
||
304 | path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
||
305 | 144137a1 | Alex Zirbel | path_dc.Clear(); |
306 | 2eaafff2 | Alex | |
307 | 6639ce9c | viki | sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0))); |
308 | sonar_dc.Clear(); |
||
309 | |||
310 | sonar_dc.SelectObject(path_bitmap); |
||
311 | |||
312 | 2eaafff2 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
313 | path_dc.SelectObject(path_bitmap); |
||
314 | SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
||
315 | 266ae7f2 | Alex Zirbel | } |
316 | |||
317 | void SimFrame::onUpdate(wxTimerEvent& evt)
|
||
318 | { |
||
319 | ros::spinOnce(); |
||
320 | |||
321 | 0e77683c | Alex | teleop(); |
322 | |||
323 | 266ae7f2 | Alex Zirbel | updateScouts(); |
324 | |||
325 | if (!ros::ok())
|
||
326 | { |
||
327 | Close(); |
||
328 | } |
||
329 | } |
||
330 | |||
331 | void SimFrame::onPaint(wxPaintEvent& evt)
|
||
332 | { |
||
333 | wxPaintDC dc(this);
|
||
334 | |||
335 | 144137a1 | Alex Zirbel | dc.DrawBitmap(path_bitmap, 0, 0, true); |
336 | 266ae7f2 | Alex Zirbel | |
337 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
338 | M_Scout::iterator end = scouts.end(); |
||
339 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
|
340 | { |
||
341 | it->second->paint(dc); |
||
342 | } |
||
343 | } |
||
344 | |||
345 | 594c3bb9 | Alex | bool SimFrame::fileExists(const std::string& filename) |
346 | { |
||
347 | struct stat buf;
|
||
348 | if (stat(filename.c_str(), &buf) != -1) |
||
349 | { |
||
350 | return true; |
||
351 | } |
||
352 | return false; |
||
353 | } |
||
354 | |||
355 | 0e77683c | Alex | void SimFrame::stopTeleop(wxCommandEvent& event)
|
356 | { |
||
357 | teleop_type = TELEOP_OFF; |
||
358 | teleop_l_speed = 0;
|
||
359 | teleop_r_speed = 0;
|
||
360 | } |
||
361 | |||
362 | void SimFrame::startTeleopPrecise(wxCommandEvent& event)
|
||
363 | { |
||
364 | teleop_type = TELEOP_PRECISE; |
||
365 | teleop_l_speed = 0;
|
||
366 | teleop_r_speed = 0;
|
||
367 | } |
||
368 | |||
369 | void SimFrame::startTeleopFluid(wxCommandEvent& event)
|
||
370 | { |
||
371 | teleop_type = TELEOP_FLUID; |
||
372 | teleop_l_speed = 0;
|
||
373 | teleop_r_speed = 0;
|
||
374 | teleop_fluid_speed = 0;
|
||
375 | teleop_fluid_omega = 0;
|
||
376 | } |
||
377 | |||
378 | void SimFrame::teleop_move_precise()
|
||
379 | { |
||
380 | // Default to stop
|
||
381 | teleop_l_speed = 0;
|
||
382 | teleop_r_speed = 0;
|
||
383 | |||
384 | if (wxGetKeyState(WXK_UP))
|
||
385 | { |
||
386 | teleop_l_speed = TELEOP_PRECISE_SPEED; |
||
387 | teleop_r_speed = TELEOP_PRECISE_SPEED; |
||
388 | } |
||
389 | else if (wxGetKeyState(WXK_DOWN)) |
||
390 | { |
||
391 | teleop_l_speed = -TELEOP_PRECISE_SPEED; |
||
392 | teleop_r_speed = -TELEOP_PRECISE_SPEED; |
||
393 | } |
||
394 | else if (wxGetKeyState(WXK_LEFT)) |
||
395 | { |
||
396 | teleop_l_speed = -TELEOP_PRECISE_SPEED; |
||
397 | teleop_r_speed = TELEOP_PRECISE_SPEED; |
||
398 | } |
||
399 | else if (wxGetKeyState(WXK_RIGHT)) |
||
400 | { |
||
401 | teleop_l_speed = TELEOP_PRECISE_SPEED; |
||
402 | teleop_r_speed = -TELEOP_PRECISE_SPEED; |
||
403 | } |
||
404 | } |
||
405 | |||
406 | void SimFrame::teleop_move_fluid()
|
||
407 | { |
||
408 | if (wxGetKeyState(WXK_UP))
|
||
409 | { |
||
410 | teleop_fluid_speed += 2;
|
||
411 | } |
||
412 | else if (wxGetKeyState(WXK_DOWN)) |
||
413 | { |
||
414 | teleop_fluid_speed -= 2;
|
||
415 | } |
||
416 | else if (teleop_fluid_speed > 0) |
||
417 | { |
||
418 | teleop_fluid_speed -= 1;
|
||
419 | } |
||
420 | else if (teleop_fluid_speed < 0) |
||
421 | { |
||
422 | teleop_fluid_speed += 1;
|
||
423 | } |
||
424 | |||
425 | if (wxGetKeyState(WXK_LEFT))
|
||
426 | { |
||
427 | teleop_fluid_omega -= 1;
|
||
428 | } |
||
429 | else if (wxGetKeyState(WXK_RIGHT)) |
||
430 | { |
||
431 | teleop_fluid_omega += 1;
|
||
432 | } |
||
433 | 0076084e | Alex | else
|
434 | 0e77683c | Alex | { |
435 | 0076084e | Alex | teleop_fluid_omega = 0;
|
436 | 0e77683c | Alex | } |
437 | |||
438 | if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
|
||
439 | { |
||
440 | teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED; |
||
441 | } |
||
442 | if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED / 2) |
||
443 | { |
||
444 | teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED / 2;
|
||
445 | } |
||
446 | |||
447 | teleop_l_speed = teleop_fluid_speed + teleop_fluid_omega; |
||
448 | teleop_r_speed = teleop_fluid_speed - teleop_fluid_omega; |
||
449 | } |
||
450 | |||
451 | void SimFrame::teleop()
|
||
452 | { |
||
453 | switch (teleop_type)
|
||
454 | { |
||
455 | case TELEOP_OFF:
|
||
456 | return;
|
||
457 | case TELEOP_PRECISE:
|
||
458 | teleop_move_precise(); |
||
459 | break;
|
||
460 | case TELEOP_FLUID:
|
||
461 | teleop_move_fluid(); |
||
462 | break;
|
||
463 | } |
||
464 | |||
465 | motors::set_motors msg; |
||
466 | msg.fl_set = true;
|
||
467 | msg.fr_set = true;
|
||
468 | msg.bl_set = true;
|
||
469 | msg.br_set = true;
|
||
470 | |||
471 | msg.fl_speed = teleop_l_speed; |
||
472 | msg.fr_speed = teleop_r_speed; |
||
473 | msg.bl_speed = teleop_l_speed; |
||
474 | msg.br_speed = teleop_r_speed; |
||
475 | |||
476 | teleop_pub.publish(msg); |
||
477 | } |
||
478 | |||
479 | 266ae7f2 | Alex Zirbel | void SimFrame::updateScouts()
|
480 | { |
||
481 | 144137a1 | Alex Zirbel | if (last_scout_update.isZero())
|
482 | 266ae7f2 | Alex Zirbel | { |
483 | 144137a1 | Alex Zirbel | last_scout_update = ros::WallTime::now(); |
484 | 266ae7f2 | Alex Zirbel | return;
|
485 | } |
||
486 | |||
487 | 144137a1 | Alex Zirbel | if (frame_count % 3 == 0) |
488 | 266ae7f2 | Alex Zirbel | { |
489 | 144137a1 | Alex Zirbel | path_image = path_bitmap.ConvertToImage(); |
490 | 266ae7f2 | Alex Zirbel | Refresh(); |
491 | } |
||
492 | |||
493 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
494 | M_Scout::iterator end = scouts.end(); |
||
495 | e3f69e61 | Alex | |
496 | world_state state; |
||
497 | state.canvas_width = width_in_meters; |
||
498 | state.canvas_height = height_in_meters; |
||
499 | |||
500 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
|
501 | { |
||
502 | 68b23184 | viki | it->second->update(0.016, path_dc,sonar_dc,sonar_on, |
503 | a2e6bd4c | Alex | path_image, lines_image, walls_image, |
504 | 144137a1 | Alex Zirbel | path_dc.GetBackground().GetColour(), |
505 | 6639ce9c | viki | sonar_dc.GetBackground().GetColour(), |
506 | e3f69e61 | Alex | state); |
507 | 266ae7f2 | Alex Zirbel | } |
508 | |||
509 | c492be62 | Alex Zirbel | frame_count++; |
510 | 266ae7f2 | Alex Zirbel | } |
511 | |||
512 | bool SimFrame::clearCallback(std_srvs::Empty::Request&,
|
||
513 | std_srvs::Empty::Response&) |
||
514 | { |
||
515 | ROS_INFO("Clearing scoutsim.");
|
||
516 | clear(); |
||
517 | return true; |
||
518 | } |
||
519 | |||
520 | bool SimFrame::resetCallback(std_srvs::Empty::Request&,
|
||
521 | std_srvs::Empty::Response&) |
||
522 | { |
||
523 | ROS_INFO("Resetting scoutsim.");
|
||
524 | 144137a1 | Alex Zirbel | scouts.clear(); |
525 | id_counter = 0;
|
||
526 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
||
527 | 266ae7f2 | Alex Zirbel | clear(); |
528 | return true; |
||
529 | } |
||
530 | |||
531 | 1d1281cc | Priya | void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
532 | 82f3f746 | Priya | { |
533 | wireless_receive.publish(msg); |
||
534 | } |
||
535 | 266ae7f2 | Alex Zirbel | } |