root / scout / scoutsim / src / sim_frame.h @ 071926c2
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/**
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* The code in this package was developed using the structure of Willow
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* Garage's turtlesim package. It was modified by the CMU Robotics Club
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* to be used as a simulator for the Colony Scout robot.
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*
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* All redistribution of this code is limited to the terms of Willow Garage's
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* licensing terms, as well as under permission from the CMU Robotics Club.
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*
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* Copyright (c) 2011 Colony Project
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <wx/wx.h> |
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#include <wx/event.h> |
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#include <wx/timer.h> |
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#include <wx/string.h> |
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#include <wx/utils.h> |
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#include <sys/stat.h> |
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#include <ros/ros.h> |
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#include <std_srvs/Empty.h> |
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#include <scoutsim/Spawn.h> |
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#include <scoutsim/Kill.h> |
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#include <scoutsim/SetSonarViz.h> |
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#include <scoutsim/SetGhost.h> |
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#include <scoutsim/SetTeleop.h> |
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#include <motors/set_motors.h> |
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#include <map> |
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#include "scout.h" |
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#include "ghost_scout.h" |
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#include "scoutsim_internal.h" |
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#include "messages/WirelessPacket.h" |
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#define SCOUTSIM_NUM_SCOUTS 1 |
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#define ID_ABOUT 1 |
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#define ID_QUIT 2 |
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#define ID_CLEAR 3 |
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#define ID_MAP 4 |
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#define ID_LINES 5 |
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#define ID_WALLS 6 |
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#define ID_TELEOP_NONE 7 |
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#define ID_TELEOP_PRECISE 8 |
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#define ID_TELEOP_FLUID 9 |
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// Absolute speeds (-100 - 100)
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/// @todo: Clean this up a little; we should be risking overflowing shorts.
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#define TELEOP_PRECISE_SPEED 47 |
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#define TELEOP_PRECISE_TURN_SPEED 98 |
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#define TELEOP_FLUID_MAX_SPEED 79 |
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#define TELEOP_FLUID_INC 6 |
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// Teleop types
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#define TELEOP_OFF 0 |
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#define TELEOP_PRECISE 1 |
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#define TELEOP_FLUID 2 |
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namespace scoutsim |
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{ |
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class SimFrame : public wxFrame |
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{ |
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public:
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SimFrame(wxWindow* parent, std::string map_name); |
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~SimFrame(); |
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std::string spawnScout(const std::string& name,
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float x, float y, float angle); |
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void onQuit(wxCommandEvent& event);
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void onAbout(wxCommandEvent& event);
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void onClear(wxCommandEvent& event);
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void showMap(wxCommandEvent& event);
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void showLines(wxCommandEvent& event);
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void showWalls(wxCommandEvent& event);
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void stopTeleop(wxCommandEvent& event);
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void startTeleopPrecise(wxCommandEvent& event);
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void startTeleopFluid(wxCommandEvent& event);
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DECLARE_EVENT_TABLE() |
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private: |
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void onUpdate(wxTimerEvent& evt);
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void onPaint(wxPaintEvent& evt);
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bool fileExists(const std::string& filename); |
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void teleop_move_precise();
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void teleop_move_fluid();
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void teleop();
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void updateScouts();
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void clear();
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bool hasScout(const std::string& name); |
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bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&);
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bool spawnCallback(Spawn::Request&, Spawn::Response&);
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bool killCallback(Kill::Request&, Kill::Response&);
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bool setSonarVizCallback(SetSonarViz::Request&, SetSonarViz::Response&);
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bool setGhostCallback(SetGhost::Request&, SetGhost::Response&);
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bool setTeleopCallback(SetTeleop::Request&, SetTeleop::Response&);
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void wirelessCallback(const messages::WirelessPacket::ConstPtr& msg); |
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ros::Subscriber wireless_send; |
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ros::Publisher wireless_receive; |
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// Teleop
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short teleop_l_speed;
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short teleop_r_speed;
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ros::Publisher teleop_pub; |
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std::string teleop_scoutname; |
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int teleop_type;
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int teleop_fluid_speed;
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int teleop_fluid_omega;
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ros::NodeHandle nh; |
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wxTimer* update_timer; |
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wxBitmap path_bitmap; |
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wxImage path_image; |
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wxImage lines_image; |
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wxImage walls_image; |
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wxMemoryDC path_dc; |
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wxMemoryDC sonar_dc; |
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uint64_t frame_count; |
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ros::WallTime last_scout_update; |
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ros::ServiceServer clear_srv; |
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ros::ServiceServer reset_srv; |
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ros::ServiceServer spawn_srv; |
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ros::ServiceServer kill_srv; |
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ros::ServiceServer set_sonar_viz_srv; |
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ros::ServiceServer set_ghost_srv; |
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ros::ServiceServer set_teleop_srv; |
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typedef std::map<std::string, ScoutPtr> M_Scout;
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M_Scout scouts; |
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std::vector<GhostScout*> ghost_scouts; |
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uint32_t id_counter; |
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std::string images_path; |
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float width_in_meters;
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float height_in_meters;
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std::string map_base_name; |
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std::string map_lines_name; |
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std::string map_walls_name; |
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std::string display_map_name; |
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}; |
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} |