root / scout / scoutsim / src / sim_frame.cpp @ 9cb9623b
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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 | c63c9752 | Alex | update_timer->Start(SCOUTSIM_REFRESH_RATE * 1000);
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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 | 594c3bb9 | Alex | images_path = ros::package::getPath("scoutsim") + "/images/"; |
79 | 266ae7f2 | Alex Zirbel | |
80 | ade1b7f9 | Alex | map_base_name = ros::package::getPath("scoutsim") + "/maps/" + |
81 | map_name + ".bmp";
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82 | map_lines_name = ros::package::getPath("scoutsim") + "/maps/" + |
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83 | map_name + "_lines.bmp";
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84 | 7ffad595 | Alex | map_walls_name = ros::package::getPath("scoutsim") + "/maps/" + |
85 | map_name + "_walls.bmp";
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86 | ade1b7f9 | Alex | display_map_name = map_base_name; |
87 | |||
88 | wxBitmap lines_bitmap; |
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89 | e2770306 | Alex | wxBitmap walls_bitmap; |
90 | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
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91 | 9cb9623b | Alex | sonar_visual_on = true;
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92 | e2770306 | Alex | |
93 | // Try to load the file; if it fails, make a new blank file
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94 | if (!lines_bitmap.LoadFile(wxString::FromAscii(map_lines_name.c_str())))
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95 | { |
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96 | lines_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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97 | } |
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98 | ade1b7f9 | Alex | lines_image = lines_bitmap.ConvertToImage(); |
99 | |||
100 | e2770306 | Alex | // Try to load the file; if it fails, make a new blank file
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101 | if (!walls_bitmap.LoadFile(wxString::FromAscii(map_walls_name.c_str())))
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102 | { |
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103 | walls_bitmap = wxBitmap(path_bitmap.GetWidth(), path_bitmap.GetHeight(), 3);
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104 | } |
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105 | 7ffad595 | Alex | walls_image = walls_bitmap.ConvertToImage(); |
106 | |||
107 | 266ae7f2 | Alex Zirbel | clear(); |
108 | |||
109 | 144137a1 | Alex Zirbel | clear_srv = nh.advertiseService("clear",
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110 | 4612f7e4 | Alex Zirbel | &SimFrame::clearCallback, this);
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111 | 144137a1 | Alex Zirbel | reset_srv = nh.advertiseService("reset",
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112 | 4612f7e4 | Alex Zirbel | &SimFrame::resetCallback, this);
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113 | 144137a1 | Alex Zirbel | spawn_srv = nh.advertiseService("spawn",
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114 | 4612f7e4 | Alex Zirbel | &SimFrame::spawnCallback, this);
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115 | 144137a1 | Alex Zirbel | kill_srv = nh.advertiseService("kill",
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116 | 4612f7e4 | Alex Zirbel | &SimFrame::killCallback, this);
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117 | 266ae7f2 | Alex Zirbel | |
118 | 82f3f746 | Priya | // Subscribe and publisher wirless from robots
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119 | 7ffad595 | Alex | wireless_receive = nh.advertise< ::messages::WirelessPacket>( |
120 | "/wireless/receive", 1000); |
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121 | wireless_send = nh.subscribe("/wireless/send", 1000, |
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122 | &SimFrame::wirelessCallback, this);
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123 | 82f3f746 | Priya | |
124 | 0e77683c | Alex | // Teleop
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125 | ddfeb111 | Priya | teleop_type = TELEOP_PRECISE; |
126 | 0e77683c | Alex | teleop_l_speed = 0;
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127 | teleop_r_speed = 0;
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128 | teleop_pub = nh.advertise<motors::set_motors>("/scout1/set_motors", 1000); |
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129 | |||
130 | 266ae7f2 | Alex Zirbel | ROS_INFO("Starting scoutsim with node name %s",
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131 | ros::this_node::getName().c_str()) ; |
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132 | |||
133 | 2eaafff2 | Alex | wxMenu *menuFile = new wxMenu;
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134 | menuFile->Append(ID_ABOUT, _("&About"));
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135 | menuFile->AppendSeparator(); |
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136 | menuFile->Append(ID_QUIT, _("E&xit"));
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137 | |||
138 | wxMenu *menuSim = new wxMenu;
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139 | 68b23184 | viki | menuSim->Append(ID_SONAR, _("S&onar"));
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140 | 2eaafff2 | Alex | menuSim->Append(ID_CLEAR, _("&Clear"));
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141 | |||
142 | wxMenu *menuView = new wxMenu;
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143 | menuView->Append(ID_MAP, _("&Map"));
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144 | menuView->Append(ID_LINES, _("&Lines"));
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145 | 7ffad595 | Alex | menuView->Append(ID_WALLS, _("&Walls"));
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146 | 2eaafff2 | Alex | |
147 | 0e77683c | Alex | wxMenu *menuTeleop = new wxMenu;
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148 | menuTeleop->Append(ID_TELEOP_NONE, _("&None"));
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149 | menuTeleop->Append(ID_TELEOP_PRECISE, _("&Precise"));
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150 | menuTeleop->Append(ID_TELEOP_FLUID, _("&Fluid"));
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151 | |||
152 | 9cb9623b | Alex | wxMenu *menuTest = new wxMenu;
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153 | menuTest->Append(ID_TEST, _("&Scouts go here"));
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154 | |||
155 | 2eaafff2 | Alex | wxMenuBar *menuBar = new wxMenuBar;
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156 | menuBar->Append(menuFile, _("&File"));
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157 | menuBar->Append(menuSim, _("&Sim"));
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158 | menuBar->Append(menuView, _("&View"));
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159 | 0e77683c | Alex | menuBar->Append(menuTeleop, _("&Teleop"));
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160 | 9cb9623b | Alex | menuBar->Append(menuTest, _("T&est"));
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161 | 2eaafff2 | Alex | |
162 | SetMenuBar(menuBar); |
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163 | |||
164 | c63c9752 | Alex | width_in_meters = GetSize().GetWidth() / PIX_PER_METER; |
165 | height_in_meters = GetSize().GetHeight() / PIX_PER_METER; |
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166 | 25694a03 | Priya | |
167 | spawnScout("scout1", 1.4, .78, 0); |
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168 | 266ae7f2 | Alex Zirbel | } |
169 | |||
170 | SimFrame::~SimFrame() |
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171 | { |
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172 | 144137a1 | Alex Zirbel | delete update_timer;
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173 | 266ae7f2 | Alex Zirbel | } |
174 | |||
175 | 4612f7e4 | Alex Zirbel | bool SimFrame::spawnCallback(scoutsim::Spawn::Request &req,
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176 | scoutsim::Spawn::Response &res) |
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177 | 266ae7f2 | Alex Zirbel | { |
178 | std::string name = spawnScout(req.name, req.x, req.y, req.theta);
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179 | if (name.empty())
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180 | { |
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181 | ROS_ERROR("A scout named [%s] already exists", req.name.c_str());
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182 | return false; |
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183 | } |
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184 | |||
185 | res.name = name; |
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186 | |||
187 | return true; |
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188 | } |
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189 | |||
190 | bool SimFrame::killCallback(scoutsim::Kill::Request& req,
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191 | scoutsim::Kill::Response&) |
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192 | { |
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193 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.find(req.name); |
194 | if (it == scouts.end())
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195 | 266ae7f2 | Alex Zirbel | { |
196 | ROS_ERROR("Tried to kill scout [%s], which does not exist",
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197 | req.name.c_str()); |
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198 | return false; |
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199 | } |
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200 | |||
201 | 144137a1 | Alex Zirbel | scouts.erase(it); |
202 | 266ae7f2 | Alex Zirbel | |
203 | return true; |
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204 | } |
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205 | |||
206 | bool SimFrame::hasScout(const std::string& name) |
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207 | { |
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208 | 144137a1 | Alex Zirbel | return scouts.find(name) != scouts.end();
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209 | 266ae7f2 | Alex Zirbel | } |
210 | |||
211 | 9b3564f3 | Alex Zirbel | std::string SimFrame::spawnScout(const std::string& name, |
212 | float x, float y, float angle) |
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213 | 266ae7f2 | Alex Zirbel | { |
214 | std::string real_name = name;
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215 | if (real_name.empty())
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216 | { |
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217 | do
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218 | { |
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219 | std::stringstream ss; |
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220 | 144137a1 | Alex Zirbel | ss << "scout" << ++id_counter;
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221 | 266ae7f2 | Alex Zirbel | real_name = ss.str(); |
222 | } while (hasScout(real_name));
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223 | } |
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224 | else
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225 | { |
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226 | if (hasScout(real_name))
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227 | { |
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228 | return ""; |
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229 | } |
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230 | } |
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231 | |||
232 | 594c3bb9 | Alex | wxImage scout_image; |
233 | |||
234 | // Try to load a name-specific image; if not, load the default scout
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235 | string specific_name = images_path + name + ".png"; |
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236 | if (fileExists(specific_name))
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237 | { |
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238 | scout_image.LoadFile(wxString::FromAscii(specific_name.c_str())); |
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239 | scout_image.SetMask(true);
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240 | scout_image.SetMaskColour(255, 255, 255); |
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241 | } |
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242 | else
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243 | { |
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244 | scout_image.LoadFile( |
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245 | wxString::FromAscii((images_path + "scout.png").c_str()));
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246 | scout_image.SetMask(true);
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247 | scout_image.SetMaskColour(255, 255, 255); |
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248 | } |
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249 | |||
250 | 266ae7f2 | Alex Zirbel | ScoutPtr t(new Scout(ros::NodeHandle(real_name),
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251 | 594c3bb9 | Alex | scout_image, Vector2(x, y), &path_bitmap, angle)); |
252 | 144137a1 | Alex Zirbel | scouts[real_name] = t; |
253 | 266ae7f2 | Alex Zirbel | |
254 | 0e0ef125 | Priya | ghost_scouts.push_back(new GhostScout(ros::NodeHandle(real_name),
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255 | scout_image, Vector2(x, y), &path_bitmap, angle, name)); |
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256 | |||
257 | 266ae7f2 | Alex Zirbel | ROS_INFO("Spawning scout [%s] at x=[%f], y=[%f], theta=[%f]",
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258 | real_name.c_str(), x, y, angle); |
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259 | |||
260 | return real_name;
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261 | } |
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262 | |||
263 | 2eaafff2 | Alex | void SimFrame::onQuit(wxCommandEvent& WXUNUSED(event))
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264 | { |
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265 | Close(true);
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266 | } |
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267 | |||
268 | void SimFrame::onAbout(wxCommandEvent& WXUNUSED(event))
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269 | { |
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270 | wxMessageBox(_("Scoutsim is the simulator the Colony Project's scout robot.\n"
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271 | "\nThe Colony Project is a part of the Carnegie Mellon\n"
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272 | "Robotics Club. Our goal is to use cooperative low-cost\n"
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273 | "robots to solve challenging problems."),
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274 | _("About Scoutsim"),
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275 | wxOK | wxICON_INFORMATION, this );
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276 | } |
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277 | |||
278 | void SimFrame::onClear(wxCommandEvent& WXUNUSED(event))
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279 | 266ae7f2 | Alex Zirbel | { |
280 | 2eaafff2 | Alex | clear(); |
281 | } |
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282 | 266ae7f2 | Alex Zirbel | |
283 | 68b23184 | viki | void SimFrame::showSonar(wxCommandEvent& WXUNUSED(event))
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284 | { |
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285 | eb9cff77 | Hui Jun Tay | sonar_visual_on = not sonar_visual_on;
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286 | 9cb9623b | Alex | clear(); |
287 | 68b23184 | viki | } |
288 | |||
289 | 9cb9623b | Alex | void SimFrame::doTest(wxCommandEvent& WXUNUSED(event))
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290 | { |
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291 | clear(); |
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292 | } |
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293 | 68b23184 | viki | |
294 | 2eaafff2 | Alex | void SimFrame::showMap(wxCommandEvent& WXUNUSED(event))
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295 | { |
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296 | ade1b7f9 | Alex | display_map_name = map_base_name; |
297 | 2eaafff2 | Alex | clear(); |
298 | } |
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299 | 266ae7f2 | Alex Zirbel | |
300 | 2eaafff2 | Alex | void SimFrame::showLines(wxCommandEvent& WXUNUSED(event))
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301 | { |
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302 | ade1b7f9 | Alex | display_map_name = map_lines_name; |
303 | 2eaafff2 | Alex | clear(); |
304 | } |
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305 | 7ffad595 | Alex | |
306 | void SimFrame::showWalls(wxCommandEvent& WXUNUSED(event))
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307 | { |
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308 | display_map_name = map_walls_name; |
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309 | clear(); |
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310 | } |
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311 | 2eaafff2 | Alex | |
312 | void SimFrame::clear()
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313 | { |
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314 | path_dc.SetBackground(wxBrush(wxColour(100, 100, 100))); |
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315 | 144137a1 | Alex Zirbel | path_dc.Clear(); |
316 | 2eaafff2 | Alex | |
317 | 6639ce9c | viki | sonar_dc.SetBackground(wxBrush(wxColour(255, 0, 0))); |
318 | sonar_dc.Clear(); |
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319 | |||
320 | sonar_dc.SelectObject(path_bitmap); |
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321 | |||
322 | 2eaafff2 | Alex | path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
323 | path_dc.SelectObject(path_bitmap); |
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324 | SetSize(wxSize(path_bitmap.GetWidth(), path_bitmap.GetHeight())); |
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325 | 266ae7f2 | Alex Zirbel | } |
326 | |||
327 | c63c9752 | Alex | // Runs every SCOUTSIM_REFRESH_RATE.
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328 | 266ae7f2 | Alex Zirbel | void SimFrame::onUpdate(wxTimerEvent& evt)
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329 | { |
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330 | ros::spinOnce(); |
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331 | |||
332 | 0e77683c | Alex | teleop(); |
333 | |||
334 | 266ae7f2 | Alex Zirbel | updateScouts(); |
335 | |||
336 | if (!ros::ok())
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337 | { |
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338 | Close(); |
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339 | } |
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340 | 04114d13 | Alex | |
341 | frame_count++; |
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342 | 266ae7f2 | Alex Zirbel | } |
343 | |||
344 | void SimFrame::onPaint(wxPaintEvent& evt)
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345 | { |
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346 | wxPaintDC dc(this);
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347 | |||
348 | 144137a1 | Alex Zirbel | dc.DrawBitmap(path_bitmap, 0, 0, true); |
349 | 266ae7f2 | Alex Zirbel | |
350 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
351 | M_Scout::iterator end = scouts.end(); |
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352 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
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353 | { |
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354 | it->second->paint(dc); |
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355 | } |
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356 | 0e0ef125 | Priya | for (unsigned int i=0; i<ghost_scouts.size(); ++i) |
357 | { |
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358 | ghost_scouts.at(i)->paint(dc); |
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359 | } |
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360 | 266ae7f2 | Alex Zirbel | } |
361 | |||
362 | 594c3bb9 | Alex | bool SimFrame::fileExists(const std::string& filename) |
363 | { |
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364 | struct stat buf;
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365 | if (stat(filename.c_str(), &buf) != -1) |
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366 | { |
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367 | return true; |
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368 | } |
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369 | return false; |
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370 | } |
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371 | |||
372 | 0e77683c | Alex | void SimFrame::stopTeleop(wxCommandEvent& event)
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373 | { |
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374 | teleop_type = TELEOP_OFF; |
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375 | teleop_l_speed = 0;
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376 | teleop_r_speed = 0;
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377 | } |
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378 | |||
379 | void SimFrame::startTeleopPrecise(wxCommandEvent& event)
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380 | { |
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381 | teleop_type = TELEOP_PRECISE; |
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382 | teleop_l_speed = 0;
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383 | teleop_r_speed = 0;
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384 | } |
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385 | |||
386 | void SimFrame::startTeleopFluid(wxCommandEvent& event)
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387 | { |
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388 | teleop_type = TELEOP_FLUID; |
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389 | teleop_l_speed = 0;
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390 | teleop_r_speed = 0;
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391 | teleop_fluid_speed = 0;
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392 | teleop_fluid_omega = 0;
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393 | } |
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394 | |||
395 | void SimFrame::teleop_move_precise()
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396 | { |
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397 | // Default to stop
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398 | teleop_l_speed = 0;
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399 | teleop_r_speed = 0;
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400 | |||
401 | if (wxGetKeyState(WXK_UP))
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402 | { |
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403 | teleop_l_speed = TELEOP_PRECISE_SPEED; |
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404 | teleop_r_speed = TELEOP_PRECISE_SPEED; |
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405 | } |
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406 | else if (wxGetKeyState(WXK_DOWN)) |
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407 | { |
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408 | teleop_l_speed = -TELEOP_PRECISE_SPEED; |
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409 | teleop_r_speed = -TELEOP_PRECISE_SPEED; |
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410 | } |
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411 | else if (wxGetKeyState(WXK_LEFT)) |
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412 | { |
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413 | 04114d13 | Alex | teleop_l_speed = -TELEOP_PRECISE_SPEED * 2;
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414 | teleop_r_speed = TELEOP_PRECISE_SPEED * 2;
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415 | 0e77683c | Alex | } |
416 | else if (wxGetKeyState(WXK_RIGHT)) |
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417 | { |
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418 | 04114d13 | Alex | teleop_l_speed = TELEOP_PRECISE_SPEED * 2;
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419 | teleop_r_speed = -TELEOP_PRECISE_SPEED * 2;
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420 | 0e77683c | Alex | } |
421 | } |
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422 | |||
423 | void SimFrame::teleop_move_fluid()
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424 | { |
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425 | if (wxGetKeyState(WXK_UP))
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426 | { |
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427 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC * 2;
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428 | 0e77683c | Alex | } |
429 | else if (wxGetKeyState(WXK_DOWN)) |
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430 | { |
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431 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC * 2;
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432 | 0e77683c | Alex | } |
433 | 04114d13 | Alex | else if (teleop_fluid_speed > TELEOP_FLUID_INC) |
434 | 0e77683c | Alex | { |
435 | c63c9752 | Alex | teleop_fluid_speed -= TELEOP_FLUID_INC; |
436 | 0e77683c | Alex | } |
437 | 04114d13 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_INC) |
438 | 0e77683c | Alex | { |
439 | c63c9752 | Alex | teleop_fluid_speed += TELEOP_FLUID_INC; |
440 | 0e77683c | Alex | } |
441 | 04114d13 | Alex | else
|
442 | { |
||
443 | teleop_fluid_speed = 0;
|
||
444 | } |
||
445 | 0e77683c | Alex | |
446 | if (wxGetKeyState(WXK_LEFT))
|
||
447 | { |
||
448 | c63c9752 | Alex | teleop_fluid_omega -= TELEOP_FLUID_INC; |
449 | 0e77683c | Alex | } |
450 | else if (wxGetKeyState(WXK_RIGHT)) |
||
451 | { |
||
452 | c63c9752 | Alex | teleop_fluid_omega += TELEOP_FLUID_INC; |
453 | 0e77683c | Alex | } |
454 | 0076084e | Alex | else
|
455 | 0e77683c | Alex | { |
456 | 0076084e | Alex | teleop_fluid_omega = 0;
|
457 | 0e77683c | Alex | } |
458 | |||
459 | if (teleop_fluid_speed > TELEOP_FLUID_MAX_SPEED)
|
||
460 | { |
||
461 | teleop_fluid_speed = TELEOP_FLUID_MAX_SPEED; |
||
462 | } |
||
463 | c63c9752 | Alex | else if (teleop_fluid_speed < -TELEOP_FLUID_MAX_SPEED) |
464 | { |
||
465 | teleop_fluid_speed = -TELEOP_FLUID_MAX_SPEED; |
||
466 | } |
||
467 | 04114d13 | Alex | if (teleop_fluid_omega > TELEOP_FLUID_MAX_SPEED)
|
468 | 0e77683c | Alex | { |
469 | 04114d13 | Alex | teleop_fluid_omega = TELEOP_FLUID_MAX_SPEED; |
470 | 0e77683c | Alex | } |
471 | 04114d13 | Alex | else if (teleop_fluid_omega < -TELEOP_FLUID_MAX_SPEED) |
472 | c63c9752 | Alex | { |
473 | 04114d13 | Alex | teleop_fluid_omega = -TELEOP_FLUID_MAX_SPEED; |
474 | c63c9752 | Alex | } |
475 | 0e77683c | Alex | |
476 | 04114d13 | Alex | int l_speed = teleop_fluid_speed + teleop_fluid_omega;
|
477 | int r_speed = teleop_fluid_speed - teleop_fluid_omega;
|
||
478 | |||
479 | teleop_l_speed = max(MIN_ABSOLUTE_SPEED, |
||
480 | min(MAX_ABSOLUTE_SPEED, l_speed)); |
||
481 | teleop_r_speed = max(MIN_ABSOLUTE_SPEED, |
||
482 | min(MAX_ABSOLUTE_SPEED, r_speed)); |
||
483 | 0e77683c | Alex | } |
484 | |||
485 | void SimFrame::teleop()
|
||
486 | { |
||
487 | switch (teleop_type)
|
||
488 | { |
||
489 | case TELEOP_OFF:
|
||
490 | return;
|
||
491 | case TELEOP_PRECISE:
|
||
492 | teleop_move_precise(); |
||
493 | break;
|
||
494 | case TELEOP_FLUID:
|
||
495 | teleop_move_fluid(); |
||
496 | break;
|
||
497 | } |
||
498 | |||
499 | motors::set_motors msg; |
||
500 | msg.fl_set = true;
|
||
501 | msg.fr_set = true;
|
||
502 | msg.bl_set = true;
|
||
503 | msg.br_set = true;
|
||
504 | |||
505 | msg.fl_speed = teleop_l_speed; |
||
506 | msg.fr_speed = teleop_r_speed; |
||
507 | msg.bl_speed = teleop_l_speed; |
||
508 | msg.br_speed = teleop_r_speed; |
||
509 | |||
510 | teleop_pub.publish(msg); |
||
511 | } |
||
512 | |||
513 | 266ae7f2 | Alex Zirbel | void SimFrame::updateScouts()
|
514 | { |
||
515 | 144137a1 | Alex Zirbel | if (last_scout_update.isZero())
|
516 | 266ae7f2 | Alex Zirbel | { |
517 | 144137a1 | Alex Zirbel | last_scout_update = ros::WallTime::now(); |
518 | 266ae7f2 | Alex Zirbel | return;
|
519 | } |
||
520 | |||
521 | 04114d13 | Alex | path_image = path_bitmap.ConvertToImage(); |
522 | Refresh(); |
||
523 | 266ae7f2 | Alex Zirbel | |
524 | 144137a1 | Alex Zirbel | M_Scout::iterator it = scouts.begin(); |
525 | M_Scout::iterator end = scouts.end(); |
||
526 | e3f69e61 | Alex | |
527 | world_state state; |
||
528 | state.canvas_width = width_in_meters; |
||
529 | state.canvas_height = height_in_meters; |
||
530 | |||
531 | 266ae7f2 | Alex Zirbel | for (; it != end; ++it)
|
532 | { |
||
533 | 04114d13 | Alex | it->second->update(SCOUTSIM_REFRESH_RATE, |
534 | 9cb9623b | Alex | path_dc,sonar_dc, sonar_visual_on, |
535 | a2e6bd4c | Alex | path_image, lines_image, walls_image, |
536 | 144137a1 | Alex Zirbel | path_dc.GetBackground().GetColour(), |
537 | 04114d13 | Alex | sonar_dc.GetBackground().GetColour(), |
538 | e3f69e61 | Alex | state); |
539 | 266ae7f2 | Alex Zirbel | } |
540 | |||
541 | 0e0ef125 | Priya | for (unsigned int i=0; i<ghost_scouts.size(); ++i) |
542 | { |
||
543 | ghost_scouts.at(i)->update(0.016, path_dc, sonar_dc, |
||
544 | path_dc.GetBackground().GetColour(), state); |
||
545 | } |
||
546 | |||
547 | c492be62 | Alex Zirbel | frame_count++; |
548 | 266ae7f2 | Alex Zirbel | } |
549 | |||
550 | bool SimFrame::clearCallback(std_srvs::Empty::Request&,
|
||
551 | std_srvs::Empty::Response&) |
||
552 | { |
||
553 | ROS_INFO("Clearing scoutsim.");
|
||
554 | clear(); |
||
555 | return true; |
||
556 | } |
||
557 | |||
558 | bool SimFrame::resetCallback(std_srvs::Empty::Request&,
|
||
559 | std_srvs::Empty::Response&) |
||
560 | { |
||
561 | ROS_INFO("Resetting scoutsim.");
|
||
562 | 144137a1 | Alex Zirbel | scouts.clear(); |
563 | id_counter = 0;
|
||
564 | spawnScout("", width_in_meters / 2.0, height_in_meters / 2.0, 0); |
||
565 | 266ae7f2 | Alex Zirbel | clear(); |
566 | return true; |
||
567 | } |
||
568 | |||
569 | 1d1281cc | Priya | void SimFrame::wirelessCallback(const ::messages::WirelessPacket::ConstPtr& msg) |
570 | 82f3f746 | Priya | { |
571 | wireless_receive.publish(msg); |
||
572 | } |
||
573 | 266ae7f2 | Alex Zirbel | } |