root / scout / scoutsim / src / sim_frame.cpp @ 0e143737
History | View | Annotate | Download (22.1 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 | 3a73516c | Alex | /**
|
49 | * @file sim_frame.cpp
|
||
50 | *
|
||
51 | * @ingroup scoutsim
|
||
52 | * @{
|
||
53 | */
|
||
54 | |||
55 | a8480867 | Alex Zirbel | #include "sim_frame.h" |
56 | 266ae7f2 | Alex Zirbel | |
57 | 2eaafff2 | Alex | #include <stdio.h> |
58 | |||
59 | 266ae7f2 | Alex Zirbel | #include <ros/package.h> |
60 | #include <cstdlib> |
||
61 | #include <ctime> |
||
62 | |||
63 | 2eaafff2 | Alex | using namespace std; |
64 | 266ae7f2 | Alex Zirbel | |
65 | namespace scoutsim
|
||
66 | { |
||
67 | 2eaafff2 | Alex | SimFrame::SimFrame(wxWindow* parent, string map_name)
|
68 | 266ae7f2 | Alex Zirbel | : wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
|
69 | wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER) |
||
70 | 144137a1 | Alex Zirbel | , frame_count(0)
|
71 | , id_counter(0)
|
||
72 | 266ae7f2 | Alex Zirbel | { |
73 | 2eaafff2 | Alex | std::cout << "Constructing sim frame." << std::endl;
|
74 | |||
75 | 266ae7f2 | Alex Zirbel | srand(time(NULL));
|
76 | |||
77 | 144137a1 | Alex Zirbel | update_timer = new wxTimer(this); |
78 | 7f095440 | Priya | update_timer->Start(REAL_TIME_REFRESH_RATE * 1000);
|
79 | 266ae7f2 | Alex Zirbel | |
80 | 144137a1 | Alex Zirbel | Connect(update_timer->GetId(), wxEVT_TIMER, |
81 | 266ae7f2 | Alex Zirbel | wxTimerEventHandler(SimFrame::onUpdate), NULL, this); |
82 | Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint), |
||
83 | NULL, this); |
||
84 | |||
85 | 594c3bb9 | Alex | images_path = ros::package::getPath("scoutsim") + "/images/"; |
86 | 266ae7f2 | Alex Zirbel | |
87 | ade1b7f9 | Alex | map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
88 | map_name + ".bmp";
|
||
89 | map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
||
90 | map_name + "_lines.bmp";
|
||
91 | 7ffad595 | Alex | map_walls_name = ros::package::getPath("scoutsim") + "/maps/" + |
92 | map_name + "_walls.bmp";
|
||
93 | ade1b7f9 | Alex | display_map_name = map_base_name; |
94 | |||
95 | wxBitmap lines_bitmap; |
||
96 | e2770306 | Alex | wxBitmap walls_bitmap; |
97 | 4c9fb6ba | viki | ROS_INFO("Loading map: %s", display_map_name.c_str());
|
98 | e2770306 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
99 | |||
100 | // Try to load the file; if it fails, make a new blank file
|
||
101 | if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
|
||
102 | { |
||
103 | lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
|
||
104 | } |
||
105 | ade1b7f9 | Alex | lines_image = lines_bitmap.ConvertToImage(); |
106 | |||
107 | e2770306 | Alex | // Try to load the file; if it fails, make a new blank file
|
108 | if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
|
||
109 | { |
||
110 | walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
|
||
111 | } |
||
112 | 7ffad595 | Alex | walls_image = walls_bitmap.ConvertToImage(); |
113 | |||
114 | 266ae7f2 | Alex Zirbel | clear(); |
115 | |||
116 | 144137a1 | Alex Zirbel | clear_srv = nh.advertiseService("clear",
|
117 | 4612f7e4 | Alex Zirbel | &SimFrame::clearCallback, this);
|
118 | 144137a1 | Alex Zirbel | reset_srv = nh.advertiseService("reset",
|
119 | 4612f7e4 | Alex Zirbel | &SimFrame::resetCallback, this);
|
120 | 144137a1 | Alex Zirbel | spawn_srv = nh.advertiseService("spawn",
|
121 | 4612f7e4 | Alex Zirbel | &SimFrame::spawnCallback, this);
|
122 | 0e143737 | Hui Jun Tay | spawn_em_srv = nh.advertiseService("spawn_em",
|
123 | &SimFrame::spawnEmCallback, this);
|
||
124 | 144137a1 | Alex Zirbel | kill_srv = nh.advertiseService("kill",
|
125 | 43811241 | Alex | &SimFrame::killCallback, this);
|
126 | set_sonar_viz_srv = nh.advertiseService("set_sonar_viz",
|
||
127 | &SimFrame::setSonarVizCallback, this);
|
||
128 | set_ghost_srv = nh.advertiseService("set_ghost",
|
||
129 | &SimFrame::setGhostCallback, this);
|
||
130 | set_teleop_srv = nh.advertiseService("set_teleop",
|
||
131 | &SimFrame::setTeleopCallback, this);
|
||
132 | 266ae7f2 | Alex Zirbel | |
133 | 82f3f746 | Priya | // Subscribe and publisher wirless from robots
|
134 | 7ffad595 | Alex | wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
135 | "/wireless/receive", 1000); |
||
136 | wireless_send = nh.subscribe("/wireless/send", 1000, |
||
137 | &SimFrame::wirelessCallback, this);
|
||
138 | 82f3f746 | Priya | |
139 | 0e143737 | Hui Jun Tay | //Emitter default values
|
140 | em_aperture = PI / 6.0; |
||
141 | em_distance = 2;
|
||
142 | |||
143 | 0e77683c | Alex | // Teleop
|
144 | 43811241 | Alex | teleop_type = TELEOP_OFF; |
145 | 0e77683c | Alex | teleop_l_speed = 0;
|
146 | teleop_r_speed = 0;
|
||
147 | 60a90290 | Hui Jun Tay | teleop_scoutname = "scout1";
|
148 | |||
149 | 6ebee82c | Alex | teleop_pub = nh.advertise< ::messages::set_motors>("/scout1/set_motors", 1000); |
150 | 0e77683c | Alex | |
151 | 266ae7f2 | Alex Zirbel | ROS_INFO("Starting scoutsim with node name %s",
|
152 | ros::this_node::getName().c_str()) ; |
||
153 | |||
154 | 2eaafff2 | Alex | wxMenu *menuFile = new wxMenu;
|
155 | menuFile->Append(ID_ABOUT, _("&About"));
|
||
156 | menuFile->AppendSeparator(); |
||
157 | menuFile->Append(ID_QUIT, _("E&xit"));
|
||
158 | |||
159 | wxMenu *menuSim = new wxMenu;
|
||
160 | menuSim->Append(ID_CLEAR, _("&Clear"));
|
||
161 | |||
162 | wxMenu *menuView = new wxMenu;
|
||
163 | menuView->Append(ID_MAP, _("&Map"));
|
||
164 | menuView->Append(ID_LINES, _("&Lines"));
|
||
165 | 7ffad595 | Alex | menuView->Append(ID_WALLS, _("&Walls"));
|
166 | 2eaafff2 | Alex | |
167 | 0e77683c | Alex | wxMenu *menuTeleop = new wxMenu;
|
168 | menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
|
||
169 | menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
|
||
170 | menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
|
||
171 | |||
172 | 2eaafff2 | Alex | wxMenuBar *menuBar = new wxMenuBar;
|
173 | menuBar->Append(menuFile, _("&File"));
|
||
174 | menuBar->Append(menuSim, _("&Sim"));
|
||
175 | menuBar->Append(menuView, _("&View"));
|
||
176 | 0e77683c | Alex | menuBar->Append(menuTeleop, _("&Teleop"));
|
177 | 2eaafff2 | Alex | |
178 | SetMenuBar(menuBar); |
||
179 | |||
180 | c63c9752 | Alex | width_in_meters = GetSize().GetWidth() / PIX_PER_METER; |
181 | height_in_meters = GetSize().GetHeight() / PIX_PER_METER; |
||
182 | 25694a03 | Priya | |
183 | spawnScout("scout1", 1.4, .78, 0); |
||
184 | 266ae7f2 | Alex Zirbel | } |
185 | |||
186 | SimFrame::~SimFrame() |
||
187 | { |
||
188 | 144137a1 | Alex Zirbel | delete update_timer;
|
189 | 266ae7f2 | Alex Zirbel | } |
190 | |||
191 | 4612f7e4 | Alex Zirbel | bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
|
192 | scoutsim::Spawn::Response &res) |
||
193 | 266ae7f2 | Alex Zirbel | { |
194 | std::string name = spawnScout(req.name, req.x, req.y, req.theta);
|
||
195 | if (name.empty())
|
||
196 | { |
||
197 | 43811241 | Alex | ROS_WARN("A scout named [%s] already exists", req.name.c_str());
|
198 | 266ae7f2 | Alex Zirbel | return false; |
199 | } |
||
200 | |||
201 | res.name = name; |
||
202 | return true; |
||
203 | } |
||
204 | |||
205 | 0e143737 | Hui Jun Tay | |
206 | bool SimFrame::spawnEmCallback(scoutsim::Spawn::Request &req,
|
||
207 | scoutsim::Spawn::Response &res) |
||
208 | { |
||
209 | std::string name = spawnEmitter(req.name, req.x, req.y, req.theta);
|
||
210 | if (name.empty())
|
||
211 | { |
||
212 | ROS_WARN("An emitter named [%s] already exists", req.name.c_str());
|
||
213 | return false; |
||
214 | } |
||
215 | |||
216 | res.name = name; |
||
217 | return true; |
||
218 | } |
||
219 | |||
220 | 266ae7f2 | Alex Zirbel | bool SimFrame::killCallback(scoutsim::Kill::Request& req,
|
221 | scoutsim::Kill::Response&) |
||
222 | { |
||
223 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.find(req.name); |
224 | if (it == scouts.end())
|
||
225 | 266ae7f2 | Alex Zirbel | { |
226 | 43811241 | Alex | ROS_WARN("Tried to kill scout [%s], which does not exist",
|
227 | req.name.c_str()); |
||
228 | 266ae7f2 | Alex Zirbel | return false; |
229 | } |
||
230 | |||
231 | 144137a1 | Alex Zirbel | scouts.erase(it); |
232 | 266ae7f2 | Alex Zirbel | |
233 | return true; |
||
234 | } |
||
235 | |||
236 | 43811241 | Alex | bool SimFrame::setSonarVizCallback(SetSonarViz::Request& req,
|
237 | SetSonarViz::Response&) |
||
238 | { |
||
239 | M_Scout::iterator it = scouts.find(req.scout_name); |
||
240 | if (it == scouts.end())
|
||
241 | { |
||
242 | ROS_WARN("Tried to set sonar on scout [%s], which does not exist",
|
||
243 | req.scout_name.c_str()); |
||
244 | return false; |
||
245 | } |
||
246 | |||
247 | it->second->set_sonar_visual(req.on); |
||
248 | return true; |
||
249 | } |
||
250 | |||
251 | bool SimFrame::setGhostCallback(SetGhost::Request& req,
|
||
252 | SetGhost::Response&) |
||
253 | { |
||
254 | for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
||
255 | { |
||
256 | if (ghost_scouts.at(i)->get_name() == req.scout_name)
|
||
257 | { |
||
258 | ghost_scouts.at(i)->set_visible(req.on); |
||
259 | return true; |
||
260 | } |
||
261 | } |
||
262 | |||
263 | ROS_WARN("Tried to set ghost on scout [%s], which does not exist",
|
||
264 | req.scout_name.c_str()); |
||
265 | return false; |
||
266 | } |
||
267 | |||
268 | bool SimFrame::setTeleopCallback(SetTeleop::Request& req,
|
||
269 | SetTeleop::Response&) |
||
270 | { |
||
271 | std::stringstream ss; |
||
272 | ss << "/" << req.scout_name << "/set_motors"; |
||
273 | 6ebee82c | Alex | teleop_pub = nh.advertise< ::messages::set_motors>(ss.str(), 1000);
|
274 | 60a90290 | Hui Jun Tay | teleop_scoutname = req.scout_name.c_str(); |
275 | ROS_INFO("Teleoping %s...",teleop_scoutname.c_str()); //debug statement |
||
276 | 43811241 | Alex | |
277 | return true; |
||
278 | } |
||
279 | |||
280 | 266ae7f2 | Alex Zirbel | bool SimFrame::hasScout(const std::string& name) |
281 | { |
||
282 | 144137a1 | Alex Zirbel | return scouts.find(name) != scouts.end();
|
283 | 266ae7f2 | Alex Zirbel | } |
284 | |||
285 | 0e143737 | Hui Jun Tay | bool SimFrame::hasEmitter(const std::string& name) |
286 | { |
||
287 | return emitters.find(name) != emitters.end();
|
||
288 | } |
||
289 | |||
290 | 9b3564f3 | Alex Zirbel | std::string SimFrame::spawnScout(const std::string& name, |
291 | float x, float y, float angle) |
||
292 | 266ae7f2 | Alex Zirbel | { |
293 | std::string real_name = name;
|
||
294 | if (real_name.empty())
|
||
295 | { |
||
296 | 43811241 | Alex | // Generate the name scoutX, where X is an increasing number.
|
297 | 266ae7f2 | Alex Zirbel | do
|
298 | { |
||
299 | std::stringstream ss; |
||
300 | 144137a1 | Alex Zirbel | ss << "scout" << ++id_counter;
|
301 | 266ae7f2 | Alex Zirbel | real_name = ss.str(); |
302 | 43811241 | Alex | } |
303 | while (hasScout(real_name));
|
||
304 | 266ae7f2 | Alex Zirbel | } |
305 | else
|
||
306 | { |
||
307 | if (hasScout(real_name))
|
||
308 | { |
||
309 | return ""; |
||
310 | } |
||
311 | } |
||
312 | |||
313 | 594c3bb9 | Alex | wxImage scout_image; |
314 | |||
315 | // Try to load a name-specific image; if not, load the default scout
|
||
316 | string specific_name = images_path + name + ".png"; |
||
317 | if (fileExists(specific_name))
|
||
318 | { |
||
319 | scout_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
||
320 | scout_image.SetMask(true);
|
||
321 | scout_image.SetMaskColour(255, 255, 255); |
||
322 | } |
||
323 | else
|
||
324 | { |
||
325 | scout_image.LoadFile( |
||
326 | wxString::FromAscii((images_path + "scout.png").c_str()));
|
||
327 | scout_image.SetMask(true);
|
||
328 | scout_image.SetMaskColour(255, 255, 255); |
||
329 | } |
||
330 | |||
331 | 266ae7f2 | Alex Zirbel | ScoutPtr t(new Scout(ros::NodeHandle(real_name),
|
332 | 594c3bb9 | Alex | scout_image, Vector2(x, y), &path_bitmap, angle)); |
333 | 144137a1 | Alex Zirbel | scouts[real_name] = t; |
334 | 266ae7f2 | Alex Zirbel | |
335 | 0e0ef125 | Priya | ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
|
336 | scout_image, Vector2(x, y), &path_bitmap, angle, name)); |
||
337 | |||
338 | 266ae7f2 | Alex Zirbel | ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
|
339 | real_name.c_str(), x, y, angle); |
||
340 | |||
341 | return real_name;
|
||
342 | } |
||
343 | |||
344 | 0e143737 | Hui Jun Tay | |
345 | std::string SimFrame::spawnEmitter(const std::string& name, |
||
346 | float x, float y, float angle) |
||
347 | { |
||
348 | std::string real_name = name;
|
||
349 | if (real_name.empty())
|
||
350 | { |
||
351 | // Generate the name emitterX, where X is an increasing number.
|
||
352 | do
|
||
353 | { |
||
354 | std::stringstream ss; |
||
355 | ss << "emitter" << ++id_counter;
|
||
356 | real_name = ss.str(); |
||
357 | } |
||
358 | while (hasEmitter(real_name));
|
||
359 | } |
||
360 | else
|
||
361 | { |
||
362 | if (hasEmitter(real_name))
|
||
363 | { |
||
364 | return ""; |
||
365 | } |
||
366 | } |
||
367 | |||
368 | wxImage emitter_image; |
||
369 | |||
370 | // Try to load a name-specific image; if not, load the default emitter
|
||
371 | string specific_name = images_path + name + ".png"; |
||
372 | if (fileExists(specific_name))
|
||
373 | { |
||
374 | emitter_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
||
375 | emitter_image.SetMask(true);
|
||
376 | emitter_image.SetMaskColour(255, 255, 255); |
||
377 | } |
||
378 | else
|
||
379 | { |
||
380 | ROS_INFO("LOADED EMITTER IMAGE");
|
||
381 | emitter_image.LoadFile( |
||
382 | wxString::FromAscii((images_path + "emitter.png").c_str()));
|
||
383 | emitter_image.SetMask(true);
|
||
384 | emitter_image.SetMaskColour(255, 255, 255); |
||
385 | } |
||
386 | |||
387 | EmitterPtr t(new Emitter(ros::NodeHandle(real_name),
|
||
388 | emitter_image, Vector2(x, y), &path_bitmap, |
||
389 | angle, em_aperture, em_distance)); |
||
390 | emitters[real_name] = t; |
||
391 | |||
392 | ROS_INFO("Spawning emitter [%s] at x=[%f], y=[%f], theta=[%f]",
|
||
393 | real_name.c_str(), x, y, angle); |
||
394 | |||
395 | return real_name;
|
||
396 | } |
||
397 | |||
398 | |||
399 | 2eaafff2 | Alex | void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
|
400 | { |
||
401 | Close(true);
|
||
402 | } |
||
403 | |||
404 | void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
|
||
405 | { |
||
406 | wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
|
||
407 | "\nThe Colony Project is a part of the Carnegie Mellon\n"
|
||
408 | "Robotics Club. Our goal is to use cooperative low-cost\n"
|
||
409 | "robots to solve challenging problems."),
|
||
410 | _("About Scoutsim"),
|
||
411 | wxOK | wxICON_INFORMATION, this );
|
||
412 | } |
||
413 | |||
414 | void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
|
||
415 | 266ae7f2 | Alex Zirbel | { |
416 | 2eaafff2 | Alex | clear(); |
417 | } |
||
418 | 266ae7f2 | Alex Zirbel | |
419 | 2eaafff2 | Alex | void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
|
420 | { |
||
421 | ade1b7f9 | Alex | display_map_name = map_base_name; |
422 | 2eaafff2 | Alex | clear(); |
423 | } |
||
424 | 266ae7f2 | Alex Zirbel | |
425 | 2eaafff2 | Alex | void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
|
426 | { |
||
427 | ade1b7f9 | Alex | display_map_name = map_lines_name; |
428 | 2eaafff2 | Alex | clear(); |
429 | } |
||
430 | 7ffad595 | Alex | |
431 | void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
|
||
432 | { |
||
433 | display_map_name = map_walls_name; |
||
434 | clear(); |
||
435 | } |
||
436 | 2eaafff2 | Alex | |
437 | void SimFrame::clear()
|
||
438 | { |
||
439 | path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
||
440 | 144137a1 | Alex Zirbel | path_dc.Clear(); |
441 | 2eaafff2 | Alex | |
442 | 6639ce9c | viki | sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0))); |
443 | sonar_dc.Clear(); |
||
444 | |||
445 | sonar_dc.SelectObject(path_bitmap); |
||
446 | |||
447 | 2eaafff2 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
448 | path_dc.SelectObject(path_bitmap); |
||
449 | SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
||
450 | 266ae7f2 | Alex Zirbel | } |
451 | |||
452 | 7f095440 | Priya | // Runs every REAL_TIME_REFRESH_RATE.
|
453 | 266ae7f2 | Alex Zirbel | void SimFrame::onUpdate(wxTimerEvent& evt)
|
454 | { |
||
455 | ros::spinOnce(); |
||
456 | |||
457 | 0e77683c | Alex | teleop(); |
458 | |||
459 | 266ae7f2 | Alex Zirbel | updateScouts(); |
460 | |||
461 | if (!ros::ok())
|
||
462 | { |
||
463 | Close(); |
||
464 | } |
||
465 | 04114d13 | Alex | |
466 | frame_count++; |
||
467 | 266ae7f2 | Alex Zirbel | } |
468 | |||
469 | void SimFrame::onPaint(wxPaintEvent& evt)
|
||
470 | { |
||
471 | wxPaintDC dc(this);
|
||
472 | |||
473 | 144137a1 | Alex Zirbel | dc.DrawBitmap(path_bitmap, 0, 0, true); |
474 | 266ae7f2 | Alex Zirbel | |
475 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
476 | M_Scout::iterator end = scouts.end(); |
||
477 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
|
478 | { |
||
479 | it->second->paint(dc); |
||
480 | } |
||
481 | 0e143737 | Hui Jun Tay | |
482 | |||
483 | M_Emitter::iterator m_it = emitters.begin(); |
||
484 | M_Emitter::iterator m_end = emitters.end(); |
||
485 | for (; m_it != m_end; ++m_it)
|
||
486 | { |
||
487 | m_it->second->paint(dc); |
||
488 | } |
||
489 | |||
490 | 43811241 | Alex | for (unsigned int i=0; i < ghost_scouts.size(); ++i) |
491 | 0e0ef125 | Priya | { |
492 | ghost_scouts.at(i)->paint(dc); |
||
493 | } |
||
494 | 266ae7f2 | Alex Zirbel | } |
495 | |||
496 | 594c3bb9 | Alex | bool SimFrame::fileExists(const std::string& filename) |
497 | { |
||
498 | struct stat buf;
|
||
499 | if (stat(filename.c_str(), &buf) != -1) |
||
500 | { |
||
501 | return true; |
||
502 | } |
||
503 | return false; |
||
504 | } |
||
505 | |||
506 | 0e77683c | Alex | void SimFrame::stopTeleop(wxCommandEvent& event)
|
507 | { |
||
508 | teleop_type = TELEOP_OFF; |
||
509 | teleop_l_speed = 0;
|
||
510 | teleop_r_speed = 0;
|
||
511 | } |
||
512 | |||
513 | void SimFrame::startTeleopPrecise(wxCommandEvent& event)
|
||
514 | { |
||
515 | teleop_type = TELEOP_PRECISE; |
||
516 | teleop_l_speed = 0;
|
||
517 | teleop_r_speed = 0;
|
||
518 | } |
||
519 | |||
520 | void SimFrame::startTeleopFluid(wxCommandEvent& event)
|
||
521 | { |
||
522 | teleop_type = TELEOP_FLUID; |
||
523 | teleop_l_speed = 0;
|
||
524 | teleop_r_speed = 0;
|
||
525 | teleop_fluid_speed = 0;
|
||
526 | teleop_fluid_omega = 0;
|
||
527 | } |
||
528 | |||
529 | void SimFrame::teleop_move_precise()
|
||
530 | { |
||
531 | // Default to stop
|
||
532 | teleop_l_speed = 0;
|
||
533 | teleop_r_speed = 0;
|
||
534 | |||
535 | if (wxGetKeyState(WXK_UP))
|
||
536 | { |
||
537 | teleop_l_speed = TELEOP_PRECISE_SPEED; |
||
538 | teleop_r_speed = TELEOP_PRECISE_SPEED; |
||
539 | } |
||
540 | else if (wxGetKeyState(WXK_DOWN)) |
||
541 | { |
||
542 | teleop_l_speed = -TELEOP_PRECISE_SPEED; |
||
543 | teleop_r_speed = -TELEOP_PRECISE_SPEED; |
||
544 | } |
||
545 | else if (wxGetKeyState(WXK_LEFT)) |
||
546 | { |
||
547 | 43811241 | Alex | teleop_l_speed = -TELEOP_PRECISE_TURN_SPEED; |
548 | teleop_r_speed = TELEOP_PRECISE_TURN_SPEED; |
||
549 | 0e77683c | Alex | } |
550 | else if (wxGetKeyState(WXK_RIGHT)) |
||
551 | { |
||
552 | 43811241 | Alex | teleop_l_speed = TELEOP_PRECISE_TURN_SPEED; |
553 | teleop_r_speed = -TELEOP_PRECISE_TURN_SPEED; |
||
554 | 0e77683c | Alex | } |
555 | } |
||
556 | |||
557 | void SimFrame::teleop_move_fluid()
|
||
558 | { |
||
559 | if (wxGetKeyState(WXK_UP))
|
||
560 | { |
||
561 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC * 2;
|
562 | 0e77683c | Alex | } |
563 | else if (wxGetKeyState(WXK_DOWN)) |
||
564 | { |
||
565 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC * 2;
|
566 | 0e77683c | Alex | } |
567 | 04114d13 | Alex | else if (teleop_fluid_speed > TELEOP_FLUID_INC) |
568 | 0e77683c | Alex | { |
569 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC; |
570 | 0e77683c | Alex | } |
571 | 04114d13 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_INC) |
572 | 0e77683c | Alex | { |
573 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC; |
574 | 0e77683c | Alex | } |
575 | 04114d13 | Alex | else
|
576 | { |
||
577 | teleop_fluid_speed = 0;
|
||
578 | } |
||
579 | 0e77683c | Alex | |
580 | if (wxGetKeyState(WXK_LEFT))
|
||
581 | { |
||
582 | 7f095440 | Priya | teleop_fluid_omega -= TELEOP_FLUID_INC * 2;
|
583 | 0e77683c | Alex | } |
584 | else if (wxGetKeyState(WXK_RIGHT)) |
||
585 | { |
||
586 | 7f095440 | Priya | teleop_fluid_omega += TELEOP_FLUID_INC * 2;
|
587 | 0e77683c | Alex | } |
588 | 0076084e | Alex | else
|
589 | 0e77683c | Alex | { |
590 | 0076084e | Alex | teleop_fluid_omega = 0;
|
591 | 0e77683c | Alex | } |
592 | |||
593 | if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
|
||
594 | { |
||
595 | teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED; |
||
596 | } |
||
597 | c63c9752 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED) |
598 | { |
||
599 | teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED; |
||
600 | } |
||
601 | 04114d13 | Alex | if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED)
|
602 | 0e77683c | Alex | { |
603 | 04114d13 | Alex | teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED; |
604 | 0e77683c | Alex | } |
605 | 04114d13 | Alex | else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED) |
606 | c63c9752 | Alex | { |
607 | 04114d13 | Alex | teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED; |
608 | c63c9752 | Alex | } |
609 | 0e77683c | Alex | |
610 | 04114d13 | Alex | int l_speed = teleop_fluid_speed + teleop_fluid_omega;
|
611 | int r_speed = teleop_fluid_speed - teleop_fluid_omega;
|
||
612 | |||
613 | teleop_l_speed = max(MIN_ABSOLUTE_SPEED, |
||
614 | min(MAX_ABSOLUTE_SPEED, l_speed)); |
||
615 | teleop_r_speed = max(MIN_ABSOLUTE_SPEED, |
||
616 | min(MAX_ABSOLUTE_SPEED, r_speed)); |
||
617 | 0e77683c | Alex | } |
618 | |||
619 | void SimFrame::teleop()
|
||
620 | { |
||
621 | switch (teleop_type)
|
||
622 | { |
||
623 | case TELEOP_OFF:
|
||
624 | return;
|
||
625 | case TELEOP_PRECISE:
|
||
626 | teleop_move_precise(); |
||
627 | break;
|
||
628 | case TELEOP_FLUID:
|
||
629 | teleop_move_fluid(); |
||
630 | break;
|
||
631 | } |
||
632 | |||
633 | 6ebee82c | Alex | ::messages::set_motors msg; |
634 | 0e77683c | Alex | msg.fl_set = true;
|
635 | msg.fr_set = true;
|
||
636 | msg.bl_set = true;
|
||
637 | msg.br_set = true;
|
||
638 | 60a90290 | Hui Jun Tay | msg.teleop_ON = true;
|
639 | 0e77683c | Alex | |
640 | msg.fl_speed = teleop_l_speed; |
||
641 | msg.fr_speed = teleop_r_speed; |
||
642 | msg.bl_speed = teleop_l_speed; |
||
643 | msg.br_speed = teleop_r_speed; |
||
644 | |||
645 | teleop_pub.publish(msg); |
||
646 | } |
||
647 | |||
648 | 266ae7f2 | Alex Zirbel | void SimFrame::updateScouts()
|
649 | { |
||
650 | 60a90290 | Hui Jun Tay | |
651 | 144137a1 | Alex Zirbel | if (last_scout_update.isZero())
|
652 | 266ae7f2 | Alex Zirbel | { |
653 | 144137a1 | Alex Zirbel | last_scout_update = ros::WallTime::now(); |
654 | 266ae7f2 | Alex Zirbel | return;
|
655 | } |
||
656 | |||
657 | 04114d13 | Alex | path_image = path_bitmap.ConvertToImage(); |
658 | Refresh(); |
||
659 | 266ae7f2 | Alex Zirbel | |
660 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
661 | M_Scout::iterator end = scouts.end(); |
||
662 | e3f69e61 | Alex | |
663 | 0e143737 | Hui Jun Tay | M_Emitter::iterator m_it = emitters.begin(); |
664 | M_Emitter::iterator m_end = emitters.end(); |
||
665 | |||
666 | e3f69e61 | Alex | world_state state; |
667 | state.canvas_width = width_in_meters; |
||
668 | state.canvas_height = height_in_meters; |
||
669 | |||
670 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
|
671 | { |
||
672 | 60a90290 | Hui Jun Tay | |
673 | 7f095440 | Priya | it->second->update(SIM_TIME_REFRESH_RATE, |
674 | 43811241 | Alex | path_dc, sonar_dc, |
675 | a2e6bd4c | Alex | path_image, lines_image, walls_image, |
676 | 144137a1 | Alex Zirbel | path_dc.GetBackground().GetColour(), |
677 | 04114d13 | Alex | sonar_dc.GetBackground().GetColour(), |
678 | f09d002e | Hui Jun Tay | state); |
679 | 266ae7f2 | Alex Zirbel | } |
680 | |||
681 | 0e143737 | Hui Jun Tay | |
682 | for (; m_it != m_end; ++m_it)
|
||
683 | { |
||
684 | |||
685 | m_it->second->update(SIM_TIME_REFRESH_RATE, |
||
686 | path_dc, |
||
687 | path_image, lines_image, walls_image, |
||
688 | path_dc.GetBackground().GetColour(), |
||
689 | state); |
||
690 | } |
||
691 | |||
692 | 43811241 | Alex | for (unsigned int i = 0; i < ghost_scouts.size(); ++i) |
693 | 0e0ef125 | Priya | { |
694 | 7f095440 | Priya | ghost_scouts.at(i)->update(SIM_TIME_REFRESH_RATE, path_dc, sonar_dc, |
695 | 0e0ef125 | Priya | path_dc.GetBackground().GetColour(), state); |
696 | } |
||
697 | |||
698 | 0e143737 | Hui Jun Tay | |
699 | c492be62 | Alex Zirbel | frame_count++; |
700 | 266ae7f2 | Alex Zirbel | } |
701 | |||
702 | 0e143737 | Hui Jun Tay | |
703 | 266ae7f2 | Alex Zirbel | bool SimFrame::clearCallback(std_srvs::Empty::Request&,
|
704 | std_srvs::Empty::Response&) |
||
705 | { |
||
706 | ROS_INFO("Clearing scoutsim.");
|
||
707 | clear(); |
||
708 | return true; |
||
709 | } |
||
710 | |||
711 | bool SimFrame::resetCallback(std_srvs::Empty::Request&,
|
||
712 | std_srvs::Empty::Response&) |
||
713 | { |
||
714 | ROS_INFO("Resetting scoutsim.");
|
||
715 | 144137a1 | Alex Zirbel | scouts.clear(); |
716 | id_counter = 0;
|
||
717 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
||
718 | 266ae7f2 | Alex Zirbel | clear(); |
719 | return true; |
||
720 | } |
||
721 | |||
722 | 1d1281cc | Priya | void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
723 | 82f3f746 | Priya | { |
724 | wireless_receive.publish(msg); |
||
725 | } |
||
726 | 0e143737 | Hui Jun Tay | |
727 | |||
728 | void SimFrame::readBOM()
|
||
729 | { |
||
730 | |||
731 | } |
||
732 | |||
733 | 266ae7f2 | Alex Zirbel | } |
734 | 3a73516c | Alex | |
735 | /** @} */ |