Revision 2eaafff2
ID | 2eaafff20f1014a2a7998573e21437aedd65eb45 |
Added maps and menus in scoutsim.
Menu options for about, quit, clear, and viewing different maps.
scout/scoutsim/src/sim_frame.cpp | ||
---|---|---|
47 | 47 |
|
48 | 48 |
#include "sim_frame.h" |
49 | 49 |
|
50 |
#include <stdio.h> |
|
51 |
|
|
50 | 52 |
#include <ros/package.h> |
51 | 53 |
#include <cstdlib> |
52 | 54 |
#include <ctime> |
53 | 55 |
|
54 |
#define DEFAULT_BG_R 0x45 |
|
55 |
#define DEFAULT_BG_G 0x56 |
|
56 |
#define DEFAULT_BG_B 0xff |
|
56 |
using namespace std; |
|
57 | 57 |
|
58 | 58 |
namespace scoutsim |
59 | 59 |
{ |
60 |
|
|
61 |
SimFrame::SimFrame(wxWindow* parent) |
|
60 |
SimFrame::SimFrame(wxWindow* parent, string map_name) |
|
62 | 61 |
: wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition, |
63 | 62 |
wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER) |
64 | 63 |
, frame_count(0) |
65 | 64 |
, id_counter(0) |
66 | 65 |
{ |
66 |
std::cout << "Constructing sim frame." << std::endl; |
|
67 |
|
|
67 | 68 |
srand(time(NULL)); |
68 | 69 |
|
69 | 70 |
update_timer = new wxTimer(this); |
... | ... | |
74 | 75 |
Connect(wxEVT_PAINT, wxPaintEventHandler(SimFrame::onPaint), |
75 | 76 |
NULL, this); |
76 | 77 |
|
77 |
nh.setParam("background_r", DEFAULT_BG_R); |
|
78 |
nh.setParam("background_g", DEFAULT_BG_G); |
|
79 |
nh.setParam("background_b", DEFAULT_BG_B); |
|
80 |
|
|
81 | 78 |
std::string scouts[SCOUTSIM_NUM_SCOUTS] = |
82 | 79 |
{ |
83 | 80 |
"scout.png" |
... | ... | |
92 | 89 |
scout_images[i].SetMaskColour(255, 255, 255); |
93 | 90 |
} |
94 | 91 |
|
92 |
/// @todo This should change. |
|
95 | 93 |
meter = scout_images[0].GetHeight(); |
96 | 94 |
|
97 |
path_bitmap = wxBitmap(GetSize().GetWidth(), GetSize().GetHeight());
|
|
98 |
path_dc.SelectObject(path_bitmap);
|
|
95 |
base_map_name = map_name;
|
|
96 |
display_map_name = ros::package::getPath("scoutsim") + "/maps/" + map_name + ".bmp";
|
|
99 | 97 |
clear(); |
100 | 98 |
|
101 | 99 |
clear_srv = nh.advertiseService("clear", |
... | ... | |
110 | 108 |
ROS_INFO("Starting scoutsim with node name %s", |
111 | 109 |
ros::this_node::getName().c_str()) ; |
112 | 110 |
|
111 |
wxMenu *menuFile = new wxMenu; |
|
112 |
menuFile->Append(ID_ABOUT, _("&About")); |
|
113 |
menuFile->AppendSeparator(); |
|
114 |
menuFile->Append(ID_QUIT, _("E&xit")); |
|
115 |
|
|
116 |
wxMenu *menuSim = new wxMenu; |
|
117 |
menuSim->Append(ID_CLEAR, _("&Clear")); |
|
118 |
|
|
119 |
wxMenu *menuView = new wxMenu; |
|
120 |
menuView->Append(ID_MAP, _("&Map")); |
|
121 |
menuView->Append(ID_LINES, _("&Lines")); |
|
122 |
|
|
123 |
wxMenuBar *menuBar = new wxMenuBar; |
|
124 |
menuBar->Append(menuFile, _("&File")); |
|
125 |
menuBar->Append(menuSim, _("&Sim")); |
|
126 |
menuBar->Append(menuView, _("&View")); |
|
127 |
|
|
128 |
SetMenuBar(menuBar); |
|
129 |
|
|
113 | 130 |
width_in_meters = GetSize().GetWidth() / meter; |
114 | 131 |
height_in_meters = GetSize().GetHeight() / meter; |
115 | 132 |
spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
... | ... | |
188 | 205 |
return real_name; |
189 | 206 |
} |
190 | 207 |
|
191 |
void SimFrame::clear() |
|
208 |
void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event)) |
|
209 |
{ |
|
210 |
Close(true); |
|
211 |
} |
|
212 |
|
|
213 |
void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event)) |
|
214 |
{ |
|
215 |
wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n" |
|
216 |
"\nThe Colony Project is a part of the Carnegie Mellon\n" |
|
217 |
"Robotics Club. Our goal is to use cooperative low-cost\n" |
|
218 |
"robots to solve challenging problems."), |
|
219 |
_("About Scoutsim"), |
|
220 |
wxOK | wxICON_INFORMATION, this ); |
|
221 |
} |
|
222 |
|
|
223 |
void SimFrame::onClear(wxCommandEvent& WXUNUSED(event)) |
|
192 | 224 |
{ |
193 |
int r = DEFAULT_BG_R; |
|
194 |
int g = DEFAULT_BG_G; |
|
195 |
int b = DEFAULT_BG_B; |
|
225 |
clear(); |
|
226 |
} |
|
196 | 227 |
|
197 |
nh.param("background_r", r, r); |
|
198 |
nh.param("background_g", g, g); |
|
199 |
nh.param("background_b", b, b); |
|
228 |
void SimFrame::showMap(wxCommandEvent& WXUNUSED(event)) |
|
229 |
{ |
|
230 |
display_map_name = ros::package::getPath("scoutsim") + "/maps/" + |
|
231 |
base_map_name + ".bmp"; |
|
232 |
clear(); |
|
233 |
} |
|
200 | 234 |
|
201 |
path_dc.SetBackground(wxBrush(wxColour(r, g, b))); |
|
235 |
void SimFrame::showLines(wxCommandEvent& WXUNUSED(event)) |
|
236 |
{ |
|
237 |
display_map_name = ros::package::getPath("scoutsim") + "/maps/" + |
|
238 |
base_map_name + "_lines.bmp"; |
|
239 |
clear(); |
|
240 |
} |
|
241 |
|
|
242 |
void SimFrame::clear() |
|
243 |
{ |
|
244 |
path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
|
202 | 245 |
path_dc.Clear(); |
246 |
|
|
247 |
path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
|
248 |
path_dc.SelectObject(path_bitmap); |
|
249 |
SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
|
203 | 250 |
} |
204 | 251 |
|
205 | 252 |
void SimFrame::onUpdate(wxTimerEvent& evt) |
Also available in: Unified diff