turtle_frame.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2009, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #include <wx/wx.h> 00031 #include <wx/event.h> 00032 #include <wx/timer.h> 00033 00034 #include <ros/ros.h> 00035 00036 #include <std_srvs/Empty.h> 00037 #include <turtlesim/Spawn.h> 00038 #include <turtlesim/Kill.h> 00039 #include <map> 00040 00041 #include "turtle.h" 00042 00043 #define TURTLESIM_NUM_TURTLES 5 00044 00045 namespace turtlesim 00046 { 00047 00048 class TurtleFrame : public wxFrame 00049 { 00050 public: 00051 TurtleFrame(wxWindow* parent); 00052 ~TurtleFrame(); 00053 00054 std::string spawnTurtle(const std::string& name, float x, float y, float angle); 00055 00056 private: 00057 void onUpdate(wxTimerEvent& evt); 00058 void onPaint(wxPaintEvent& evt); 00059 00060 void updateTurtles(); 00061 void clear(); 00062 bool hasTurtle(const std::string& name); 00063 00064 bool clearCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&); 00065 bool resetCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&); 00066 bool spawnCallback(turtlesim::Spawn::Request&, turtlesim::Spawn::Response&); 00067 bool killCallback(turtlesim::Kill::Request&, turtlesim::Kill::Response&); 00068 00069 ros::NodeHandle nh_; 00070 wxTimer* update_timer_; 00071 wxBitmap path_bitmap_; 00072 wxImage path_image_; 00073 wxMemoryDC path_dc_; 00074 00075 uint64_t frame_count_; 00076 00077 ros::WallTime last_turtle_update_; 00078 00079 ros::ServiceServer clear_srv_; 00080 ros::ServiceServer reset_srv_; 00081 ros::ServiceServer spawn_srv_; 00082 ros::ServiceServer kill_srv_; 00083 00084 typedef std::map<std::string, TurtlePtr> M_Turtle; 00085 M_Turtle turtles_; 00086 uint32_t id_counter_; 00087 00088 wxImage turtle_images_[TURTLESIM_NUM_TURTLES]; 00089 00090 float meter_; 00091 float width_in_meters_; 00092 float height_in_meters_; 00093 }; 00094 00095 }