root / scout / scoutsim / src / scout.h @ 7a2222fc
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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 | 144137a1 | Alex Zirbel | #ifndef _SCOUTSIM_SCOUT_H_
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49 | #define _SCOUTSIM_SCOUT_H_
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50 | 266ae7f2 | Alex Zirbel | |
51 | #include <ros/ros.h> |
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52 | af0d9743 | Alex | #include <vector> |
53 | 266ae7f2 | Alex Zirbel | #include <boost/shared_ptr.hpp> |
54 | |||
55 | a8480867 | Alex Zirbel | #include <motors/set_motors.h> |
56 | 9f547ef7 | Alex Zirbel | #include <encoders/query_encoders.h> |
57 | af0d9743 | Alex | #include <linesensor/query_linesensor.h> |
58 | a2e6bd4c | Alex | #include <sonar/sonar_distance.h> |
59 | eb9cff77 | Hui Jun Tay | #include <sonar/sonar_toggle.h> |
60 | #include <sonar/sonar_set_scan.h> |
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61 | a8480867 | Alex Zirbel | |
62 | 266ae7f2 | Alex Zirbel | #include <scoutsim/Pose.h> |
63 | #include <scoutsim/SetPen.h> |
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64 | #include <scoutsim/Color.h> |
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65 | |||
66 | e3f69e61 | Alex | #include <geometry_msgs/Pose2D.h> |
67 | |||
68 | 266ae7f2 | Alex Zirbel | #include <wx/wx.h> |
69 | |||
70 | e3f69e61 | Alex | #include "scoutsim_internal.h" |
71 | a2e6bd4c | Alex | #include "scout_constants.h" |
72 | c492be62 | Alex Zirbel | |
73 | 266ae7f2 | Alex Zirbel | #define PI 3.14159265 |
74 | c492be62 | Alex Zirbel | |
75 | ade1b7f9 | Alex | #define NUM_LINESENSORS 8 |
76 | |||
77 | // Distance, pixels, from center of robot to the linesensors.
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78 | #define LNSNSR_D 20 |
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79 | |||
80 | 266ae7f2 | Alex Zirbel | namespace scoutsim |
81 | { |
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82 | struct Vector2
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83 | { |
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84 | Vector2() |
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85 | : x(0.0) |
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86 | , y(0.0) |
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87 | {} |
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88 | |||
89 | 144137a1 | Alex Zirbel | Vector2(float new_x, float new_y) |
90 | : x(new_x) |
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91 | , y(new_y) |
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92 | 266ae7f2 | Alex Zirbel | {} |
93 | |||
94 | bool operator==(const Vector2& rhs) |
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95 | { |
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96 | return x == rhs.x && y == rhs.y;
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97 | } |
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98 | |||
99 | bool operator!=(const Vector2& rhs) |
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100 | { |
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101 | return x != rhs.x || y != rhs.y;
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102 | } |
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103 | |||
104 | float x;
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105 | float y;
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106 | }; |
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107 | |||
108 | class Scout |
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109 | { |
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110 | public:
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111 | 6639ce9c | viki | Scout(const ros::NodeHandle& nh,const wxImage& scout_image, |
112 | const Vector2& pos, wxBitmap *path_bitmap, float orient); |
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113 | 266ae7f2 | Alex Zirbel | |
114 | 9b3564f3 | Alex Zirbel | geometry_msgs::Pose2D update(double dt, wxMemoryDC& path_dc,
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115 | 43811241 | Alex | wxMemoryDC& sonar_dc, |
116 | 9b3564f3 | Alex Zirbel | const wxImage& path_image,
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117 | ade1b7f9 | Alex | const wxImage& lines_image,
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118 | a2e6bd4c | Alex | const wxImage& walls_image,
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119 | 9b3564f3 | Alex Zirbel | wxColour background_color, |
120 | 43811241 | Alex | wxColour sonar_color, |
121 | 9b3564f3 | Alex Zirbel | world_state state); |
122 | 266ae7f2 | Alex Zirbel | void paint(wxDC& dc);
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123 | 43811241 | Alex | void set_sonar_visual(bool on); |
124 | 266ae7f2 | Alex Zirbel | |
125 | private:
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126 | 6257c97d | Alex | float absolute_to_mps(int absolute_speed); |
127 | a8480867 | Alex Zirbel | void setMotors(const motors::set_motors::ConstPtr& msg); |
128 | 266ae7f2 | Alex Zirbel | bool setPenCallback(scoutsim::SetPen::Request&,
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129 | scoutsim::SetPen::Response&); |
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130 | 9f547ef7 | Alex Zirbel | bool query_encoders_callback(encoders::query_encoders::Request&,
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131 | encoders::query_encoders::Response&); |
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132 | af0d9743 | Alex | bool query_linesensor_callback(linesensor::query_linesensor::Request&,
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133 | linesensor::query_linesensor::Response&); |
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134 | eb9cff77 | Hui Jun Tay | bool handle_sonar_toggle(sonar::sonar_toggle::Request &req,
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135 | sonar::sonar_toggle::Response &res); |
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136 | bool handle_sonar_set_scan(sonar::sonar_set_scan::Request &req,
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137 | sonar::sonar_set_scan::Response &res); |
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138 | a2e6bd4c | Alex | unsigned int rgb_to_grey(unsigned char r, |
139 | unsigned char g, |
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140 | unsigned char b); |
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141 | unsigned int trace_sonar(const wxImage& walls_image, int x, int y, |
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142 | 093a1aea | Alex | double robot_theta, int sonar_pos, |
143 | wxMemoryDC& sonar_dc); |
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144 | 96ec9388 | Hui Jun Tay | |
145 | a2e6bd4c | Alex | void update_sonar(const wxImage& walls_image, int x, int y, |
146 | eb9cff77 | Hui Jun Tay | double robot_theta, wxMemoryDC& sonar_dc);
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147 | a2e6bd4c | Alex | void update_linesensor(const wxImage& lines_image, int x, int y, |
148 | double theta);
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149 | c63c9752 | Alex | int old_front_dx;
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150 | int old_front_dy;
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151 | int old_back_dx;
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152 | int old_back_dy;
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153 | bool isFront;
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154 | b1fdaaf6 | Hui Jun Tay | |
155 | 96ec9388 | Hui Jun Tay | wxBitmap *path_bitmap; |
156 | bool sonar_visual_on;
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157 | c63c9752 | Alex | bool sonar_on;
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158 | 266ae7f2 | Alex Zirbel | |
159 | 144137a1 | Alex Zirbel | ros::NodeHandle node; |
160 | 266ae7f2 | Alex Zirbel | |
161 | 144137a1 | Alex Zirbel | wxImage scout_image; |
162 | wxBitmap scout; |
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163 | 266ae7f2 | Alex Zirbel | |
164 | 144137a1 | Alex Zirbel | Vector2 pos; |
165 | float orient;
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166 | 266ae7f2 | Alex Zirbel | |
167 | 9f547ef7 | Alex Zirbel | /// @todo should these be an array or something?
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168 | |||
169 | 6257c97d | Alex | // Keep track of the last commanded speeds sent to the sim,
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170 | // converted to m/s
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171 | float motor_fl_speed;
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172 | float motor_fr_speed;
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173 | float motor_bl_speed;
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174 | float motor_br_speed;
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175 | a8480867 | Alex Zirbel | |
176 | 9f547ef7 | Alex Zirbel | // Keep track of encoder ticks for each motor
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177 | unsigned int fl_ticks; |
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178 | unsigned int fr_ticks; |
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179 | unsigned int bl_ticks; |
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180 | unsigned int br_ticks; |
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181 | |||
182 | a2e6bd4c | Alex | int sonar_position;
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183 | int sonar_stop_l;
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184 | int sonar_stop_r;
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185 | int sonar_direction;
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186 | c63c9752 | Alex | |
187 | a2e6bd4c | Alex | // The last time the sonar changed its position.
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188 | ros::Time last_sonar_time; |
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189 | ros::Duration sonar_tick_time; |
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190 | |||
191 | ade1b7f9 | Alex | // A vector of the 8 linesensor readings
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192 | std::vector<unsigned int> linesensor_readings; |
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193 | |||
194 | c492be62 | Alex Zirbel | // Each scout has a unique id number, which is also displayed on its image.
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195 | int scout_id;
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196 | |||
197 | 144137a1 | Alex Zirbel | bool pen_on;
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198 | wxPen pen; |
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199 | 266ae7f2 | Alex Zirbel | |
200 | 144137a1 | Alex Zirbel | ros::Subscriber motors_sub; |
201 | ros::Publisher pose_pub; |
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202 | ros::Publisher color_pub; |
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203 | a2e6bd4c | Alex | ros::Publisher sonar_pub; |
204 | 144137a1 | Alex Zirbel | ros::ServiceServer set_pen_srv; |
205 | 9f547ef7 | Alex Zirbel | ros::ServiceServer query_encoders_srv; |
206 | af0d9743 | Alex | ros::ServiceServer query_linesensor_srv; |
207 | eb9cff77 | Hui Jun Tay | ros::ServiceServer toggle_sonar_srv; |
208 | ros::ServiceServer set_sonar_srv; |
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209 | 266ae7f2 | Alex Zirbel | |
210 | 144137a1 | Alex Zirbel | ros::WallTime last_command_time; |
211 | 266ae7f2 | Alex Zirbel | }; |
212 | typedef boost::shared_ptr<Scout> ScoutPtr;
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213 | 4612f7e4 | Alex Zirbel | } |
214 | 266ae7f2 | Alex Zirbel | |
215 | #endif |