Revision 68b23184
ID | 68b23184aa0f17dabaef999c99dd25e009fb3af5 |
Scoutsim: Added Sonar Toggle
Sonar display can now be toggled via Menu->Sim->Sonar
scout/scoutsim/src/scout.cpp | ||
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63 | 63 |
wxBitmap *path_bitmap, |
64 | 64 |
float orient) |
65 | 65 |
: path_bitmap(path_bitmap) |
66 |
, sonar_on(sonar_on) |
|
66 | 67 |
, node (nh) |
67 | 68 |
, scout_image(scout_image) |
68 | 69 |
, pos(pos) |
... | ... | |
193 | 194 |
} |
194 | 195 |
|
195 | 196 |
unsigned int Scout::trace_sonar(const wxImage& walls_image, int x, int y, |
196 |
double robot_theta, int sonar_pos, wxMemoryDC& sonar_dc) |
|
197 |
double robot_theta, int sonar_pos, wxMemoryDC& sonar_dc, bool sonar_on)
|
|
197 | 198 |
{ |
198 | 199 |
double angle = robot_theta + (PI * ((float) sonar_pos) / 24.0) - PI / 2; |
199 | 200 |
unsigned int d = 0; |
... | ... | |
232 | 233 |
/// @todo Consider using different cutoffs for different features |
233 | 234 |
while (reading < 128); /// @todo Get rid of hardcoded stuff like this |
234 | 235 |
|
235 |
// draw a circle at the wall_x, wall_y where reading > 128 |
|
236 |
sonar_dc.SelectObject(*path_bitmap); |
|
237 |
sonar_dc.SetBrush(*wxRED_BRUSH); //old value |
|
238 |
sonar_dc.DrawCircle(wxPoint(old_dx,old_dy), 2); |
|
239 |
|
|
240 |
sonar_dc.SetBrush(*wxGREEN_BRUSH); //newest value |
|
241 |
sonar_dc.DrawCircle( wxPoint(d_x,d_y), 2); |
|
242 |
old_dx = d_x; |
|
243 |
old_dy = d_y; |
|
244 |
|
|
236 |
if(sonar_on == TRUE) |
|
237 |
{ |
|
238 |
// draw a circle at the wall_x, wall_y where reading > 128 |
|
239 |
sonar_dc.SelectObject(*path_bitmap); |
|
240 |
sonar_dc.SetBrush(*wxRED_BRUSH); //old value |
|
241 |
sonar_dc.DrawCircle(wxPoint(old_dx,old_dy), 2); |
|
242 |
|
|
243 |
sonar_dc.SetBrush(*wxGREEN_BRUSH); //newest value |
|
244 |
sonar_dc.DrawCircle( wxPoint(d_x,d_y), 2); |
|
245 |
old_dx = d_x; |
|
246 |
old_dy = d_y; |
|
247 |
} |
|
245 | 248 |
return d; |
246 | 249 |
} |
247 | 250 |
|
248 | 251 |
// x and y is current position of the sonar |
249 | 252 |
void Scout::update_sonar(const wxImage& walls_image, int x, int y, |
250 |
double robot_theta,wxMemoryDC& sonar_dc) |
|
253 |
double robot_theta,wxMemoryDC& sonar_dc, bool sonar_on)
|
|
251 | 254 |
{ |
252 | 255 |
// Only rotate the sonar at the correct rate. |
253 | 256 |
if (ros::Time::now() - last_sonar_time < sonar_tick_time) |
... | ... | |
257 | 260 |
last_sonar_time = ros::Time::now(); |
258 | 261 |
|
259 | 262 |
unsigned int d_front = trace_sonar(walls_image, x, y, robot_theta, |
260 |
sonar_position,sonar_dc); |
|
263 |
sonar_position,sonar_dc, sonar_on);
|
|
261 | 264 |
unsigned int d_back = trace_sonar(walls_image, x, y, robot_theta, |
262 |
sonar_position + 24,sonar_dc); |
|
265 |
sonar_position + 24,sonar_dc, sonar_on);
|
|
263 | 266 |
|
264 | 267 |
// Publish |
265 | 268 |
sonar::sonar_distance msg; |
... | ... | |
310 | 313 |
/// the world state |
311 | 314 |
geometry_msgs::Pose2D Scout::update(double dt, wxMemoryDC& path_dc, |
312 | 315 |
wxMemoryDC& sonar_dc, |
316 |
bool sonar_on, |
|
313 | 317 |
const wxImage& path_image, |
314 | 318 |
const wxImage& lines_image, |
315 | 319 |
const wxImage& walls_image, |
... | ... | |
388 | 392 |
update_sonar(walls_image, |
389 | 393 |
canvas_x + scoutsim::SCOUT_SONAR_X, |
390 | 394 |
canvas_y + scoutsim::SCOUT_SONAR_Y, |
391 |
p.theta,sonar_dc); |
|
395 |
p.theta,sonar_dc,sonar_on);
|
|
392 | 396 |
|
393 | 397 |
// Figure out (and publish) the color underneath the scout |
394 | 398 |
{ |
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