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turtle.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "turtlesim/turtle.h"

#include <wx/wx.h>

#define DEFAULT_PEN_R 0xb3
#define DEFAULT_PEN_G 0xb8
#define DEFAULT_PEN_B 0xff

namespace turtlesim
{

Turtle::Turtle(const ros::NodeHandle& nh, const wxImage& turtle_image, const Vector2& pos, float orient)
: nh_(nh)
, turtle_image_(turtle_image)
, pos_(pos)
, orient_(orient)
, lin_vel_(0.0)
, ang_vel_(0.0)
, pen_on_(true)
, pen_(wxColour(DEFAULT_PEN_R, DEFAULT_PEN_G, DEFAULT_PEN_B))
{
  pen_.SetWidth(3);
  turtle_ = wxBitmap(turtle_image_);

  velocity_sub_ = nh_.subscribe("command_velocity", 1, &Turtle::velocityCallback, this);
  pose_pub_ = nh_.advertise<Pose>("pose", 1);
  color_pub_ = nh_.advertise<Color>("color_sensor", 1);
  set_pen_srv_ = nh_.advertiseService("set_pen", &Turtle::setPenCallback, this);
  teleport_relative_srv_ = nh_.advertiseService("teleport_relative", &Turtle::teleportRelativeCallback, this);
  teleport_absolute_srv_ = nh_.advertiseService("teleport_absolute", &Turtle::teleportAbsoluteCallback, this);

  meter_ = turtle_.GetHeight();
}


void Turtle::velocityCallback(const VelocityConstPtr& vel)
{
  last_command_time_ = ros::WallTime::now();
  lin_vel_ = vel->linear;
  ang_vel_ = vel->angular;
}

bool Turtle::setPenCallback(turtlesim::SetPen::Request& req, turtlesim::SetPen::Response&)
{
  pen_on_ = !req.off;
  if (req.off)
  {
    return true;
  }

  wxPen pen(wxColour(req.r, req.g, req.b));
  if (req.width != 0)
  {
    pen.SetWidth(req.width);
  }

  pen_ = pen;
  return true;
}

bool Turtle::teleportRelativeCallback(turtlesim::TeleportRelative::Request& req, turtlesim::TeleportRelative::Response&)
{
  teleport_requests_.push_back(TeleportRequest(0, 0, req.angular, req.linear, true));
  return true;
}

bool Turtle::teleportAbsoluteCallback(turtlesim::TeleportAbsolute::Request& req, turtlesim::TeleportAbsolute::Response&)
{
  teleport_requests_.push_back(TeleportRequest(req.x, req.y, req.theta, 0, false));
  return true;
}

void Turtle::update(double dt, wxMemoryDC& path_dc, const wxImage& path_image, wxColour background_color, float canvas_width, float canvas_height)
{
  // first process any teleportation requests, in order
  V_TeleportRequest::iterator it = teleport_requests_.begin();
  V_TeleportRequest::iterator end = teleport_requests_.end();
  for (; it != end; ++it)
  {
    const TeleportRequest& req = *it;

    Vector2 old_pos = pos_;
    if (req.relative)
    {
      orient_ += req.theta;
      pos_.x += sin(orient_ + PI/2.0) * req.linear;
      pos_.y += cos(orient_ + PI/2.0) * req.linear;
    }
    else
    {
      pos_.x = req.pos.x;
      pos_.y = std::max(0.0f, canvas_height - req.pos.y);
      orient_ = req.theta;
    }

    path_dc.SetPen(pen_);
    path_dc.DrawLine(pos_.x * meter_, pos_.y * meter_, old_pos.x * meter_, old_pos.y * meter_);
  }

  teleport_requests_.clear();

  if (ros::WallTime::now() - last_command_time_ > ros::WallDuration(1.0))
  {
    lin_vel_ = 0.0f;
    ang_vel_ = 0.0f;
  }

  Vector2 old_pos = pos_;

  orient_ = fmod(orient_ + ang_vel_ * dt, 2*PI);
  pos_.x += sin(orient_ + PI/2.0) * lin_vel_ * dt;
  pos_.y += cos(orient_ + PI/2.0) * lin_vel_ * dt;

  // Clamp to screen size
  if (pos_.x < 0 || pos_.x >= canvas_width
      || pos_.y < 0 || pos_.y >= canvas_height)
  {
    ROS_WARN("Oh no! I hit the wall! (Clamping from [x=%f, y=%f])", pos_.x, pos_.y);
  }

  pos_.x = std::min(std::max(pos_.x, 0.0f), canvas_width);
  pos_.y = std::min(std::max(pos_.y, 0.0f), canvas_height);

  int canvas_x = pos_.x * meter_;
  int canvas_y = pos_.y * meter_;

  {
    wxImage rotated_image = turtle_image_.Rotate(orient_ - PI/2.0, wxPoint(turtle_image_.GetWidth() / 2, turtle_image_.GetHeight() / 2), false);

    for (int y = 0; y < rotated_image.GetHeight(); ++y)
    {
      for (int x = 0; x < rotated_image.GetWidth(); ++x)
      {
        if (rotated_image.GetRed(x, y) == 255 && rotated_image.GetBlue(x, y) == 255 && rotated_image.GetGreen(x, y) == 255)
        {
          rotated_image.SetAlpha(x, y, 0);
        }
      }
    }

    turtle_ = wxBitmap(rotated_image);
  }

  Pose p;
  p.x = pos_.x;
  p.y = canvas_height - pos_.y;
  p.theta = orient_;
  p.linear_velocity = lin_vel_;
  p.angular_velocity = ang_vel_;
  pose_pub_.publish(p);

  // Figure out (and publish) the color underneath the turtle
  {
    wxSize turtle_size = wxSize(turtle_.GetWidth(), turtle_.GetHeight());
    Color color;
    color.r = path_image.GetRed(canvas_x, canvas_y);
    color.g = path_image.GetGreen(canvas_x, canvas_y);
    color.b = path_image.GetBlue(canvas_x, canvas_y);
    color_pub_.publish(color);
  }

  ROS_DEBUG("[%s]: pos_x: %f pos_y: %f theta: %f", nh_.getNamespace().c_str(), pos_.x, pos_.y, orient_);

  if (pen_on_)
  {
    if (pos_ != old_pos)
    {
      path_dc.SetPen(pen_);
      path_dc.DrawLine(pos_.x * meter_, pos_.y * meter_, old_pos.x * meter_, old_pos.y * meter_);
    }
  }
}

void Turtle::paint(wxDC& dc)
{
  wxSize turtle_size = wxSize(turtle_.GetWidth(), turtle_.GetHeight());
  dc.DrawBitmap(turtle_, pos_.x * meter_ - (turtle_size.GetWidth() / 2), pos_.y * meter_ - (turtle_size.GetHeight() / 2), true);
}

}

---

turtlesim
Author(s): Josh Faust
autogenerated on Sat Mar 2 13:20:58 2013