root / scout / scoutsim / src / sim_frame.cpp @ 68b23184
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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 | 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> |
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54 | #include <ctime> |
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55 | |||
56 | 2eaafff2 | Alex | using namespace std; |
57 | 266ae7f2 | Alex Zirbel | |
58 | namespace scoutsim
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59 | { |
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60 | 2eaafff2 | Alex | SimFrame::SimFrame(wxWindow* parent, string map_name)
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61 | 266ae7f2 | Alex Zirbel | : wxFrame(parent, wxID_ANY, wxT("ScoutSim"), wxDefaultPosition,
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62 | wxSize(500, 500), wxDEFAULT_FRAME_STYLE & ~wxRESIZE_BORDER) |
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63 | 144137a1 | Alex Zirbel | , frame_count(0)
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64 | , id_counter(0)
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65 | 266ae7f2 | Alex Zirbel | { |
66 | 2eaafff2 | Alex | std::cout << "Constructing sim frame." << std::endl;
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67 | |||
68 | 266ae7f2 | Alex Zirbel | srand(time(NULL));
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69 | |||
70 | 144137a1 | Alex Zirbel | update_timer = new wxTimer(this); |
71 | update_timer->Start(16);
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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), |
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76 | NULL, this); |
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77 | |||
78 | std::string scouts[SCOUTSIM_NUM_SCOUTS] =
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79 | { |
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80 | dec96050 | Priya | "scout.png"
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81 | 266ae7f2 | Alex Zirbel | }; |
82 | |||
83 | std::string images_path = ros::package::getPath("scoutsim")+"/images/"; |
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84 | for (size_t i = 0; i < SCOUTSIM_NUM_SCOUTS; ++i) |
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85 | { |
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86 | 144137a1 | Alex Zirbel | scout_images[i].LoadFile( |
87 | 266ae7f2 | Alex Zirbel | wxString::FromAscii((images_path + scouts[i]).c_str())); |
88 | 144137a1 | Alex Zirbel | scout_images[i].SetMask(true);
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89 | scout_images[i].SetMaskColour(255, 255, 255); |
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90 | 266ae7f2 | Alex Zirbel | } |
91 | |||
92 | 2eaafff2 | Alex | /// @todo This should change.
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93 | 144137a1 | Alex Zirbel | meter = scout_images[0].GetHeight();
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94 | 266ae7f2 | Alex Zirbel | |
95 | ade1b7f9 | Alex | map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
96 | map_name + ".bmp";
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97 | map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
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98 | map_name + "_lines.bmp";
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99 | 7ffad595 | Alex | map_walls_name = ros::package::getPath("scoutsim") + "/maps/" + |
100 | map_name + "_walls.bmp";
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101 | ade1b7f9 | Alex | display_map_name = map_base_name; |
102 | |||
103 | wxBitmap lines_bitmap; |
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104 | e2770306 | Alex | wxBitmap walls_bitmap; |
105 | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
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106 | 68b23184 | viki | sonar_on = TRUE; |
107 | e2770306 | Alex | |
108 | // Try to load the file; if it fails, make a new blank file
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109 | if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
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110 | { |
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111 | lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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112 | } |
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113 | ade1b7f9 | Alex | lines_image = lines_bitmap.ConvertToImage(); |
114 | |||
115 | e2770306 | Alex | // Try to load the file; if it fails, make a new blank file
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116 | if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
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117 | { |
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118 | walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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119 | } |
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120 | 7ffad595 | Alex | walls_image = walls_bitmap.ConvertToImage(); |
121 | |||
122 | 266ae7f2 | Alex Zirbel | clear(); |
123 | |||
124 | 144137a1 | Alex Zirbel | clear_srv = nh.advertiseService("clear",
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125 | 4612f7e4 | Alex Zirbel | &SimFrame::clearCallback, this);
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126 | 144137a1 | Alex Zirbel | reset_srv = nh.advertiseService("reset",
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127 | 4612f7e4 | Alex Zirbel | &SimFrame::resetCallback, this);
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128 | 144137a1 | Alex Zirbel | spawn_srv = nh.advertiseService("spawn",
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129 | 4612f7e4 | Alex Zirbel | &SimFrame::spawnCallback, this);
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130 | 144137a1 | Alex Zirbel | kill_srv = nh.advertiseService("kill",
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131 | 4612f7e4 | Alex Zirbel | &SimFrame::killCallback, this);
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132 | 266ae7f2 | Alex Zirbel | |
133 | 82f3f746 | Priya | // Subscribe and publisher wirless from robots
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134 | 7ffad595 | Alex | wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
135 | "/wireless/receive", 1000); |
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136 | wireless_send = nh.subscribe("/wireless/send", 1000, |
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137 | &SimFrame::wirelessCallback, this);
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138 | 82f3f746 | Priya | |
139 | 0e77683c | Alex | // Teleop
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140 | teleop_type = TELEOP_OFF; |
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141 | teleop_l_speed = 0;
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142 | teleop_r_speed = 0;
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143 | teleop_pub = nh.advertise<motors::set_motors>("/scout1/set_motors", 1000); |
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144 | |||
145 | 266ae7f2 | Alex Zirbel | ROS_INFO("Starting scoutsim with node name %s",
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146 | ros::this_node::getName().c_str()) ; |
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147 | |||
148 | 2eaafff2 | Alex | wxMenu *menuFile = new wxMenu;
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149 | menuFile->Append(ID_ABOUT, _("&About"));
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150 | menuFile->AppendSeparator(); |
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151 | menuFile->Append(ID_QUIT, _("E&xit"));
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152 | |||
153 | wxMenu *menuSim = new wxMenu;
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154 | 68b23184 | viki | menuSim->Append(ID_SONAR, _("S&onar"));
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155 | 2eaafff2 | Alex | menuSim->Append(ID_CLEAR, _("&Clear"));
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156 | |||
157 | wxMenu *menuView = new wxMenu;
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158 | menuView->Append(ID_MAP, _("&Map"));
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159 | menuView->Append(ID_LINES, _("&Lines"));
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160 | 7ffad595 | Alex | menuView->Append(ID_WALLS, _("&Walls"));
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161 | 2eaafff2 | Alex | |
162 | 0e77683c | Alex | wxMenu *menuTeleop = new wxMenu;
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163 | menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
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164 | menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
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165 | menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
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166 | |||
167 | 2eaafff2 | Alex | wxMenuBar *menuBar = new wxMenuBar;
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168 | menuBar->Append(menuFile, _("&File"));
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169 | menuBar->Append(menuSim, _("&Sim"));
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170 | menuBar->Append(menuView, _("&View"));
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171 | 0e77683c | Alex | menuBar->Append(menuTeleop, _("&Teleop"));
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172 | 2eaafff2 | Alex | |
173 | SetMenuBar(menuBar); |
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174 | |||
175 | 144137a1 | Alex Zirbel | width_in_meters = GetSize().GetWidth() / meter; |
176 | height_in_meters = GetSize().GetHeight() / meter; |
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177 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
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178 | 266ae7f2 | Alex Zirbel | } |
179 | |||
180 | SimFrame::~SimFrame() |
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181 | { |
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182 | 144137a1 | Alex Zirbel | delete update_timer;
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183 | 266ae7f2 | Alex Zirbel | } |
184 | |||
185 | 4612f7e4 | Alex Zirbel | bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
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186 | scoutsim::Spawn::Response &res) |
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187 | 266ae7f2 | Alex Zirbel | { |
188 | std::string name = spawnScout(req.name, req.x, req.y, req.theta);
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189 | if (name.empty())
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190 | { |
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191 | ROS_ERROR("A scout named [%s] already exists", req.name.c_str());
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192 | return false; |
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193 | } |
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194 | |||
195 | res.name = name; |
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196 | |||
197 | return true; |
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198 | } |
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199 | |||
200 | bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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201 | scoutsim::Kill::Response&) |
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202 | { |
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203 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.find(req.name); |
204 | if (it == scouts.end())
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205 | 266ae7f2 | Alex Zirbel | { |
206 | ROS_ERROR("Tried to kill scout [%s], which does not exist",
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207 | req.name.c_str()); |
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208 | return false; |
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209 | } |
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210 | |||
211 | 144137a1 | Alex Zirbel | scouts.erase(it); |
212 | 266ae7f2 | Alex Zirbel | |
213 | return true; |
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214 | } |
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215 | |||
216 | bool SimFrame::hasScout(const std::string& name) |
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217 | { |
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218 | 144137a1 | Alex Zirbel | return scouts.find(name) != scouts.end();
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219 | 266ae7f2 | Alex Zirbel | } |
220 | |||
221 | 9b3564f3 | Alex Zirbel | std::string SimFrame::spawnScout(const std::string& name, |
222 | float x, float y, float angle) |
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223 | 266ae7f2 | Alex Zirbel | { |
224 | std::string real_name = name;
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225 | if (real_name.empty())
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226 | { |
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227 | do
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228 | { |
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229 | std::stringstream ss; |
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230 | 144137a1 | Alex Zirbel | ss << "scout" << ++id_counter;
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231 | 266ae7f2 | Alex Zirbel | real_name = ss.str(); |
232 | } while (hasScout(real_name));
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233 | } |
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234 | else
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235 | { |
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236 | if (hasScout(real_name))
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237 | { |
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238 | return ""; |
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239 | } |
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240 | } |
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241 | |||
242 | ScoutPtr t(new Scout(ros::NodeHandle(real_name),
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243 | 144137a1 | Alex Zirbel | scout_images[rand() % SCOUTSIM_NUM_SCOUTS], |
244 | 6639ce9c | viki | Vector2(x, y), &path_bitmap,angle)); |
245 | 144137a1 | Alex Zirbel | scouts[real_name] = t; |
246 | 266ae7f2 | Alex Zirbel | |
247 | ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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248 | real_name.c_str(), x, y, angle); |
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249 | |||
250 | return real_name;
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251 | } |
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252 | |||
253 | 2eaafff2 | Alex | void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
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254 | { |
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255 | Close(true);
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256 | } |
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257 | |||
258 | void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
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259 | { |
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260 | wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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261 | "\nThe Colony Project is a part of the Carnegie Mellon\n"
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262 | "Robotics Club. Our goal is to use cooperative low-cost\n"
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263 | "robots to solve challenging problems."),
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264 | _("About Scoutsim"),
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265 | wxOK | wxICON_INFORMATION, this );
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266 | } |
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267 | |||
268 | void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
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269 | 266ae7f2 | Alex Zirbel | { |
270 | 2eaafff2 | Alex | clear(); |
271 | } |
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272 | 266ae7f2 | Alex Zirbel | |
273 | 68b23184 | viki | void SimFrame::showSonar(wxCommandEvent& WXUNUSED(event))
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274 | { |
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275 | sonar_on = not sonar_on;
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276 | clear(); |
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277 | } |
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278 | |||
279 | |||
280 | 2eaafff2 | Alex | void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
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281 | { |
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282 | ade1b7f9 | Alex | display_map_name = map_base_name; |
283 | 2eaafff2 | Alex | clear(); |
284 | } |
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285 | 266ae7f2 | Alex Zirbel | |
286 | 2eaafff2 | Alex | void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
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287 | { |
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288 | ade1b7f9 | Alex | display_map_name = map_lines_name; |
289 | 2eaafff2 | Alex | clear(); |
290 | } |
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291 | 7ffad595 | Alex | |
292 | void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
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293 | { |
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294 | display_map_name = map_walls_name; |
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295 | clear(); |
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296 | } |
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297 | 2eaafff2 | Alex | |
298 | void SimFrame::clear()
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299 | { |
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300 | path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
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301 | 144137a1 | Alex Zirbel | path_dc.Clear(); |
302 | 2eaafff2 | Alex | |
303 | 6639ce9c | viki | sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0))); |
304 | sonar_dc.Clear(); |
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305 | |||
306 | sonar_dc.SelectObject(path_bitmap); |
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307 | |||
308 | 2eaafff2 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
309 | path_dc.SelectObject(path_bitmap); |
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310 | SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
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311 | 266ae7f2 | Alex Zirbel | } |
312 | |||
313 | void SimFrame::onUpdate(wxTimerEvent& evt)
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314 | { |
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315 | ros::spinOnce(); |
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316 | |||
317 | 0e77683c | Alex | teleop(); |
318 | |||
319 | 266ae7f2 | Alex Zirbel | updateScouts(); |
320 | |||
321 | if (!ros::ok())
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322 | { |
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323 | Close(); |
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324 | } |
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325 | } |
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326 | |||
327 | void SimFrame::onPaint(wxPaintEvent& evt)
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328 | { |
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329 | wxPaintDC dc(this);
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330 | |||
331 | 144137a1 | Alex Zirbel | dc.DrawBitmap(path_bitmap, 0, 0, true); |
332 | 266ae7f2 | Alex Zirbel | |
333 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
334 | M_Scout::iterator end = scouts.end(); |
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335 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
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336 | { |
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337 | it->second->paint(dc); |
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338 | } |
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339 | } |
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340 | |||
341 | 0e77683c | Alex | void SimFrame::stopTeleop(wxCommandEvent& event)
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342 | { |
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343 | teleop_type = TELEOP_OFF; |
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344 | teleop_l_speed = 0;
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345 | teleop_r_speed = 0;
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346 | } |
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347 | |||
348 | void SimFrame::startTeleopPrecise(wxCommandEvent& event)
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349 | { |
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350 | teleop_type = TELEOP_PRECISE; |
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351 | teleop_l_speed = 0;
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352 | teleop_r_speed = 0;
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353 | } |
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354 | |||
355 | void SimFrame::startTeleopFluid(wxCommandEvent& event)
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356 | { |
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357 | teleop_type = TELEOP_FLUID; |
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358 | teleop_l_speed = 0;
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359 | teleop_r_speed = 0;
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360 | teleop_fluid_speed = 0;
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361 | teleop_fluid_omega = 0;
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362 | } |
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363 | |||
364 | void SimFrame::teleop_move_precise()
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365 | { |
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366 | // Default to stop
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367 | teleop_l_speed = 0;
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368 | teleop_r_speed = 0;
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369 | |||
370 | if (wxGetKeyState(WXK_UP))
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371 | { |
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372 | teleop_l_speed = TELEOP_PRECISE_SPEED; |
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373 | teleop_r_speed = TELEOP_PRECISE_SPEED; |
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374 | } |
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375 | else if (wxGetKeyState(WXK_DOWN)) |
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376 | { |
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377 | teleop_l_speed = -TELEOP_PRECISE_SPEED; |
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378 | teleop_r_speed = -TELEOP_PRECISE_SPEED; |
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379 | } |
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380 | else if (wxGetKeyState(WXK_LEFT)) |
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381 | { |
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382 | teleop_l_speed = -TELEOP_PRECISE_SPEED; |
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383 | teleop_r_speed = TELEOP_PRECISE_SPEED; |
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384 | } |
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385 | else if (wxGetKeyState(WXK_RIGHT)) |
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386 | { |
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387 | teleop_l_speed = TELEOP_PRECISE_SPEED; |
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388 | teleop_r_speed = -TELEOP_PRECISE_SPEED; |
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389 | } |
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390 | } |
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391 | |||
392 | void SimFrame::teleop_move_fluid()
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393 | { |
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394 | if (wxGetKeyState(WXK_UP))
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395 | { |
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396 | teleop_fluid_speed += 2;
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397 | } |
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398 | else if (wxGetKeyState(WXK_DOWN)) |
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399 | { |
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400 | teleop_fluid_speed -= 2;
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401 | } |
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402 | else if (teleop_fluid_speed > 0) |
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403 | { |
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404 | teleop_fluid_speed -= 1;
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405 | } |
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406 | else if (teleop_fluid_speed < 0) |
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407 | { |
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408 | teleop_fluid_speed += 1;
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409 | } |
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410 | |||
411 | if (wxGetKeyState(WXK_LEFT))
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412 | { |
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413 | teleop_fluid_omega -= 1;
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414 | } |
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415 | else if (wxGetKeyState(WXK_RIGHT)) |
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416 | { |
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417 | teleop_fluid_omega += 1;
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418 | } |
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419 | else if (teleop_fluid_omega > 0) |
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420 | { |
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421 | teleop_fluid_omega -= 1;
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422 | } |
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423 | else if (teleop_fluid_omega < 0) |
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424 | { |
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425 | teleop_fluid_omega += 1;
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426 | } |
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427 | |||
428 | if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
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429 | { |
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430 | teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED; |
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431 | } |
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432 | if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED / 2) |
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433 | { |
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434 | teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED / 2;
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435 | } |
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436 | |||
437 | teleop_l_speed = teleop_fluid_speed + teleop_fluid_omega; |
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438 | teleop_r_speed = teleop_fluid_speed - teleop_fluid_omega; |
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439 | } |
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440 | |||
441 | void SimFrame::teleop()
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442 | { |
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443 | switch (teleop_type)
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444 | { |
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445 | case TELEOP_OFF:
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446 | return;
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447 | case TELEOP_PRECISE:
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448 | teleop_move_precise(); |
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449 | break;
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450 | case TELEOP_FLUID:
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451 | teleop_move_fluid(); |
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452 | break;
|
||
453 | } |
||
454 | |||
455 | motors::set_motors msg; |
||
456 | msg.fl_set = true;
|
||
457 | msg.fr_set = true;
|
||
458 | msg.bl_set = true;
|
||
459 | msg.br_set = true;
|
||
460 | |||
461 | msg.fl_speed = teleop_l_speed; |
||
462 | msg.fr_speed = teleop_r_speed; |
||
463 | msg.bl_speed = teleop_l_speed; |
||
464 | msg.br_speed = teleop_r_speed; |
||
465 | |||
466 | teleop_pub.publish(msg); |
||
467 | } |
||
468 | |||
469 | 266ae7f2 | Alex Zirbel | void SimFrame::updateScouts()
|
470 | { |
||
471 | 144137a1 | Alex Zirbel | if (last_scout_update.isZero())
|
472 | 266ae7f2 | Alex Zirbel | { |
473 | 144137a1 | Alex Zirbel | last_scout_update = ros::WallTime::now(); |
474 | 266ae7f2 | Alex Zirbel | return;
|
475 | } |
||
476 | |||
477 | 144137a1 | Alex Zirbel | if (frame_count % 3 == 0) |
478 | 266ae7f2 | Alex Zirbel | { |
479 | 144137a1 | Alex Zirbel | path_image = path_bitmap.ConvertToImage(); |
480 | 266ae7f2 | Alex Zirbel | Refresh(); |
481 | } |
||
482 | |||
483 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
484 | M_Scout::iterator end = scouts.end(); |
||
485 | e3f69e61 | Alex | |
486 | world_state state; |
||
487 | state.canvas_width = width_in_meters; |
||
488 | state.canvas_height = height_in_meters; |
||
489 | |||
490 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
|
491 | { |
||
492 | 68b23184 | viki | it->second->update(0.016, path_dc,sonar_dc,sonar_on, |
493 | a2e6bd4c | Alex | path_image, lines_image, walls_image, |
494 | 144137a1 | Alex Zirbel | path_dc.GetBackground().GetColour(), |
495 | 6639ce9c | viki | sonar_dc.GetBackground().GetColour(), |
496 | e3f69e61 | Alex | state); |
497 | 266ae7f2 | Alex Zirbel | } |
498 | |||
499 | c492be62 | Alex Zirbel | frame_count++; |
500 | 266ae7f2 | Alex Zirbel | } |
501 | |||
502 | bool SimFrame::clearCallback(std_srvs::Empty::Request&,
|
||
503 | std_srvs::Empty::Response&) |
||
504 | { |
||
505 | ROS_INFO("Clearing scoutsim.");
|
||
506 | clear(); |
||
507 | return true; |
||
508 | } |
||
509 | |||
510 | bool SimFrame::resetCallback(std_srvs::Empty::Request&,
|
||
511 | std_srvs::Empty::Response&) |
||
512 | { |
||
513 | ROS_INFO("Resetting scoutsim.");
|
||
514 | 144137a1 | Alex Zirbel | scouts.clear(); |
515 | id_counter = 0;
|
||
516 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
||
517 | 266ae7f2 | Alex Zirbel | clear(); |
518 | return true; |
||
519 | } |
||
520 | |||
521 | 1d1281cc | Priya | void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
522 | 82f3f746 | Priya | { |
523 | wireless_receive.publish(msg); |
||
524 | } |
||
525 | 266ae7f2 | Alex Zirbel | } |