Program Listing for File turtle.hpp

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// Copyright (c) 2009, Willow Garage, Inc.
//
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// modification, are permitted provided that the following conditions are met:
//
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//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
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//      documentation and/or other materials provided with the distribution.
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//    * Neither the name of the Willow Garage nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TURTLESIM__TURTLE_HPP_
#define TURTLESIM__TURTLE_HPP_

// This prevents a MOC error with versions of boost >= 1.48
#ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
# include <rclcpp/rclcpp.hpp>
# include <rclcpp_action/rclcpp_action.hpp>

# include <geometry_msgs/msg/twist.hpp>
# include <turtlesim/action/rotate_absolute.hpp>
# include <turtlesim/msg/color.hpp>
# include <turtlesim/msg/pose.hpp>
# include <turtlesim/srv/set_pen.hpp>
# include <turtlesim/srv/teleport_absolute.hpp>
# include <turtlesim/srv/teleport_relative.hpp>
#endif

#include <QImage>
#include <QPainter>
#include <QPen>
#include <QPointF>

#include <memory>
#include <string>
#include <vector>

#define PI 3.14159265
#define TWO_PI 2.0 * PI

namespace turtlesim
{
class Turtle
{
public:
  using RotateAbsoluteGoalHandle = rclcpp_action::ServerGoalHandle<
    turtlesim::action::RotateAbsolute>;

  Turtle(
    rclcpp::Node::SharedPtr & nh, const std::string & real_name, const QImage & turtle_image,
    const QPointF & pos, float orient);

  bool update(
    double dt, QPainter & path_painter, const QImage & path_image, qreal canvas_width,
    qreal canvas_height);
  void paint(QPainter & painter);

private:
  void velocityCallback(const geometry_msgs::msg::Twist::ConstSharedPtr vel);
  bool setPenCallback(
    const turtlesim::srv::SetPen::Request::SharedPtr,
    turtlesim::srv::SetPen::Response::SharedPtr);
  bool teleportRelativeCallback(
    const turtlesim::srv::TeleportRelative::Request::SharedPtr,
    turtlesim::srv::TeleportRelative::Response::SharedPtr);
  bool teleportAbsoluteCallback(
    const turtlesim::srv::TeleportAbsolute::Request::SharedPtr,
    turtlesim::srv::TeleportAbsolute::Response::SharedPtr);
  void rotateAbsoluteAcceptCallback(const std::shared_ptr<RotateAbsoluteGoalHandle>);

  void rotateImage();

  rclcpp::Node::SharedPtr nh_;

  QImage turtle_image_;
  QImage turtle_rotated_image_;

  QPointF pos_;
  qreal orient_;

  qreal lin_vel_x_;
  qreal lin_vel_y_;
  qreal ang_vel_;
  bool pen_on_;
  QPen pen_;

  rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr velocity_sub_;
  rclcpp::Publisher<turtlesim::msg::Pose>::SharedPtr pose_pub_;
  rclcpp::Publisher<turtlesim::msg::Color>::SharedPtr color_pub_;
  rclcpp::Service<turtlesim::srv::SetPen>::SharedPtr set_pen_srv_;
  rclcpp::Service<turtlesim::srv::TeleportRelative>::SharedPtr teleport_relative_srv_;
  rclcpp::Service<turtlesim::srv::TeleportAbsolute>::SharedPtr teleport_absolute_srv_;
  rclcpp_action::Server<turtlesim::action::RotateAbsolute>
  ::SharedPtr rotate_absolute_action_server_;

  std::shared_ptr<RotateAbsoluteGoalHandle> rotate_absolute_goal_handle_;
  std::shared_ptr<turtlesim::action::RotateAbsolute::Feedback> rotate_absolute_feedback_;
  std::shared_ptr<turtlesim::action::RotateAbsolute::Result> rotate_absolute_result_;
  qreal rotate_absolute_start_orient_;

  rclcpp::Time last_command_time_;

  float meter_;

  struct TeleportRequest
  {
    TeleportRequest(float x, float y, qreal _theta, qreal _linear, bool _relative)
    : pos(x, y),
      theta(_theta),
      linear(_linear),
      relative(_relative)
    {
    }

    QPointF pos;
    qreal theta;
    qreal linear;
    bool relative;
  };
  typedef std::vector<TeleportRequest> V_TeleportRequest;
  V_TeleportRequest teleport_requests_;
};
typedef std::shared_ptr<Turtle> TurtlePtr;
}  // namespace turtlesim

#endif  // TURTLESIM__TURTLE_HPP_