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StageRobotFactory.cc
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/*
(C) Copyright 2005, ActivMedia Robotics LLC <http://www.activmedia.com>
(C) Copyright 2006-2010 MobileRobots, Inc. <http://www.mobilerobots.com>
(C) Copyright 2011-2015 Adept Technology
(C) Copyright 2016-2017 Omron Adept Technologies
This is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This software is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this software; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "MobileSim.hh"
#include "StageRobotFactory.hh"
#include "StageInterface.hh"
StageRobotFactory::StageRobotFactory(stg_world_t* world, const std::string& modelName,
double start_x, double start_y, double start_th,
const MobileSim::Options *userOpts)
:
RobotFactory(modelName, userOpts),
myWorld(world),
myUseFixedStartPos(true)
{
myStartPos.x = start_x / 1000.0;
myStartPos.y = start_y / 1000.0;
myStartPos.a = start_th / 1000.0;
}
StageRobotFactory::StageRobotFactory(stg_world_t *world, const std::string& modelName,
mobilesim_get_pose_cb_t *get_start_cb,
mobilesim_get_bounds_cb_t *get_bounds_cb, bool start_outside_bounds,
const MobileSim::Options *userOpts)
:
RobotFactory(modelName, userOpts),
myWorld(world),
myUseFixedStartPos(false),
myGetStartCB(get_start_cb),
myGetBoundsCB(get_bounds_cb),
myStartOutsideBounds(start_outside_bounds)
{
}
RobotInterface* StageRobotFactory::createRobot(const std::string& modelName, const std::string& requestedRobotName)
{
//stg_world_lock(myWorld);
stg_model_t* model;
if(requestedRobotName == "")
{
stg_print_msg("StageRobotFactory: Creating robot of type %s...", modelName.c_str());
model = stg_world_new_model(myWorld, (char*)modelName.c_str(), NULL, NULL);
}
else
{
stg_print_msg("StageRobotFactory: Creating robot of type %s with name %s...", modelName.c_str(), requestedRobotName.c_str());
model = stg_world_new_model(myWorld, (char*)modelName.c_str(), NULL, (char*) requestedRobotName.c_str());
}
//print_debug("created new position model 0x%x", model);
// cast should be safe, new_model should be making copies of those strings
if(!model) {
stg_print_error("StageRobotFactory: stage could not create a model of type \"%s\".", modelName.c_str());
return NULL;
}
//if(!stg_model_lock(model)) return NULL; // destroyed somehow
stg_model_set_property(model, "source", (void*)"StageRobotFactory", strlen("StageRobotFactory"));
std::string name = stg_model_get_token(model);
if(myUseFixedStartPos)
{
stg_print_msg("StageRobotFactory: New robot will have starting position (fixed) %f,%f,%f.", myStartPos.x, myStartPos.y, myStartPos.a);
stg_model_set_pose(model, myStartPos);
}
else if(myStartOutsideBounds && myGetBoundsCB)
{
double min_x, max_y;
myGetBoundsCB(&min_x, NULL, NULL, &max_y);
myStartPos.x = (min_x / 1000.0) - 2.0;
myStartPos.y = (max_y / 1000.0);
myStartPos.a = 0;
//stg_print_msg("Robot Factory: New robot will have starting position (outside map bounds) %f,%f,%f.", myStartPos.x, myStartPos.y, myStartPos.a);
stg_model_set_pose(model, myStartPos);
}
else if(myGetStartCB)
{
myGetStartCB(&myStartPos.x, &myStartPos.y, &myStartPos.a);
myStartPos.x /= 1000.0;
myStartPos.y /= 1000.0;
myStartPos.a = DTOR(myStartPos.a);
stg_print_msg("StageRobotFactory: New robot will have starting position (obtained) %f,%f,%f.", myStartPos.x, myStartPos.y, myStartPos.a);
stg_model_set_pose(model, myStartPos);
}
// add a messages model (for gui messages)
//stg_model_t *msgs = stg_world_new_model(myWorld, "messages", model, NULL);
//assert(msgs);
//if(!stg_model_lock(msgs)) return NULL; // messages model destroyed (somehow!)
//stg_messages_send(msgs, NULL, STG_MSG_INFORMATION, "Robot factory for model type %s created a new robot (%s).", modelName.c_str(), name.c_str());
//stg_model_unlock(msgs);
// TODO: test. does this cause the crash?
//stg_world_display_message(myWorld, 0, NULL, STG_MSG_INFORMATION, "Robot factory for model type %s created a new robot (%s).", modelName.c_str(), name.c_str());
//stg_model_unlock(model);
//stg_world_unlock(myWorld);
StageInterface *retInterface = new StageInterface(myWorld, model, modelName, name);
return retInterface;
}
RobotInterface* StageRobotFactory::createStubRobot(const std::string& modelName, const std::string& requestedRobotName)
{
//stg_world_lock(myWorld);
stg_model_t* model;
if(requestedRobotName == "")
{
stg_print_msg("StageRobotFactory: Creating robot of type %s...", "position");
model = stg_world_new_model(myWorld, "position", NULL, NULL);
}
else
{
stg_print_msg("StageRobotFactory: Creating robot of type %s with name %s...", "position", requestedRobotName.c_str());
model = stg_world_new_model(myWorld, "position", NULL, (char*) requestedRobotName.c_str());
}
//print_debug("created new position model 0x%x", model);
// cast should be safe, new_model should be making copies of those strings
if(!model) {
stg_print_error("StageRobotFactory: stage could not create a model of type \"%s\".", "position");
return NULL;
}
//if(!stg_model_lock(model)) return NULL; // destroyed somehow
stg_model_set_property(model, "source", (void*)"StageRobotFactory", strlen("StageRobotFactory"));
std::string name = stg_model_get_token(model);
if(myUseFixedStartPos)
{
stg_print_msg("StageRobotFactory: New robot will have starting position (fixed) %f,%f,%f.", myStartPos.x, myStartPos.y, myStartPos.a);
stg_model_set_pose(model, myStartPos);
}
else if(myStartOutsideBounds && myGetBoundsCB)
{
double min_x, max_y;
myGetBoundsCB(&min_x, NULL, NULL, &max_y);
myStartPos.x = (min_x / 1000.0) - 2.0;
myStartPos.y = (max_y / 1000.0);
myStartPos.a = 0;
//stg_print_msg("Robot Factory: New robot will have starting position (outside map bounds) %f,%f,%f.", myStartPos.x, myStartPos.y, myStartPos.a);
stg_model_set_pose(model, myStartPos);
}
else if(myGetStartCB)
{
myGetStartCB(&myStartPos.x, &myStartPos.y, &myStartPos.a);
myStartPos.x /= 1000.0;
myStartPos.y /= 1000.0;
myStartPos.a = DTOR(myStartPos.a);
stg_print_msg("StageRobotFactory: New robot will have starting position (obtained) %f,%f,%f.", myStartPos.x, myStartPos.y, myStartPos.a);
stg_model_set_pose(model, myStartPos);
}
// add a messages model (for gui messages)
//stg_model_t *msgs = stg_world_new_model(myWorld, "messages", model, NULL);
//assert(msgs);
//if(!stg_model_lock(msgs)) return NULL; // messages model destroyed (somehow!)
//stg_messages_send(msgs, NULL, STG_MSG_INFORMATION, "Robot factory for model type %s created a new robot (%s).", modelName.c_str(), name.c_str());
//stg_model_unlock(msgs);
// TODO: test. does this cause the crash?
//stg_world_display_message(myWorld, 0, NULL, STG_MSG_INFORMATION, "Robot factory for model type %s created a new robot (%s).", modelName.c_str(), name.c_str());
//stg_model_unlock(model);
//stg_world_unlock(myWorld);
StageInterface *retInterface = new StageInterface(myWorld, model, "position", name);
return retInterface;
}