turtle_frame.cpp

/*
 * 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_frame.h"

#include <QPointF>

#include <ros/package.h>
#include <cstdlib>
#include <ctime>

#define DEFAULT_BG_R 0x2a
#define DEFAULT_BG_G 0x2a
#define DEFAULT_BG_B 0x2e
#define FRAME_WIDTH 1200
#define FRAME_HEIGHT 800

namespace turtlesim
{

TurtleFrame::TurtleFrame(QWidget* parent, Qt::WindowFlags f)
: QFrame(parent, f)
, path_image_(FRAME_WIDTH, FRAME_HEIGHT, QImage::Format_ARGB32)
, path_painter_(&path_image_)
, frame_count_(0)
, id_counter_(0)
, private_nh_("~")
{
  setFixedSize(FRAME_WIDTH,FRAME_HEIGHT);
  setWindowTitle("TurtleSimXL");

  srand(time(NULL));

  update_timer_ = new QTimer(this);
  update_timer_->setInterval(16);
  update_timer_->start();

  connect(update_timer_, SIGNAL(timeout()), this, SLOT(onUpdate()));

  if (!private_nh_.hasParam("background_r"))
  {
    private_nh_.setParam("background_r", DEFAULT_BG_R);
  }
  if (!private_nh_.hasParam("background_g"))