SimRobot.java

package com.roboclub.robobuggy.robots;

import com.roboclub.robobuggy.main.RobobuggyConfigFile;
import com.roboclub.robobuggy.messages.GpsMeasurement;
import com.roboclub.robobuggy.nodes.localizers.HighTrustGPSLocalizer;
import com.roboclub.robobuggy.nodes.localizers.LocalizerUtil;
import com.roboclub.robobuggy.nodes.planners.WayPointFollowerPlanner;
import com.roboclub.robobuggy.nodes.planners.WayPointUtil;
import com.roboclub.robobuggy.nodes.sensors.LoggingNode;
import com.roboclub.robobuggy.ros.NodeChannel;
import com.roboclub.robobuggy.simulation.SimulatedBuggy;
import com.roboclub.robobuggy.simulation.SimulatedGPSNode;
import com.roboclub.robobuggy.simulation.SimulatedImuNode;
import com.roboclub.robobuggy.simulation.SimulatedRBSMNode;
import com.roboclub.robobuggy.ui.AutonomousPanel;
import com.roboclub.robobuggy.ui.ConfigurationPanel;
import com.roboclub.robobuggy.ui.Gui;
import com.roboclub.robobuggy.ui.MainGuiWindow;
import com.roboclub.robobuggy.ui.PathPanel;
import com.roboclub.robobuggy.ui.RobobuggyGUITabs;
import com.roboclub.robobuggy.ui.RobobuggyJFrame;
import com.roboclub.robobuggy.ui.SimulationPanel;

import java.io.FileNotFoundException;
import java.util.ArrayList;


/**
 * A robot file for a simulated robot that can be used for internal testing of nodes along simulated paths
 *
 * @author Trevor Decker
 */
public final class SimRobot extends AbstractRobot {
    private static SimRobot instance;

    /**
     * Returns a reference to the one instance of the {@link Robot} object.
     * If no instance exists, a new one is created.
     *
     * @return a reference to the one instance of the {@link Robot} object
     */
    public static AbstractRobot getInstance() {
        if (instance == null) {
            instance = new SimRobot();
        }
        return instance;
    }

    private SimRobot() {
        super();

        nodeList.add(new HighTrustGPSLocalizer());
        //	nodeList.add(new KfLocalizer(100));
        nodeList.add(new SimulatedImuNode(100));
        nodeList.add(new SimulatedGPSNode(500));
        nodeList.add(new SimulatedRBSMNode());

        try {
            ArrayList<GpsMeasurement> wayPoints =
                    WayPointUtil.createWayPointsFromWaypointList(RobobuggyConfigFile.getWaypointSourceLogFile());
            nodeList.add(new WayPointFollowerPlanner(wayPoints));
        } catch (FileNotFoundException e) {
            e.printStackTrace();
        }

        SimulatedBuggy simBuggy = SimulatedBuggy.getInstance();
        simBuggy.setY(LocalizerUtil.convertLatToMeters(40.441705));
        simBuggy.setX(LocalizerUtil.convertLonToMeters(-79.941585));
        simBuggy.setTh(-110);
        simBuggy.setDx(10);


        nodeList.add(new LoggingNode(NodeChannel.GUI_LOGGING_BUTTON, RobobuggyConfigFile.LOG_FILE_LOCATION,
                NodeChannel.getLoggingChannels()));
        //simBuggy.setDth(1);
        //	simBuggy.setDth(0.10);


        //setup the gui
        RobobuggyJFrame mainWindow = new RobobuggyJFrame("MainWindow", 1.0, 1.0);
        Gui.getInstance().addWindow(mainWindow);
        RobobuggyGUITabs tabs = new RobobuggyGUITabs();
        mainWindow.addComponent(tabs, 0.0, 0.0, 1.0, 1.0);
        tabs.addTab(new MainGuiWindow(), "Home");
        //	tabs.addTab(new PoseGraphsPanel(),"poses");
        //	tabs.addTab(new ImuPanel(),"IMU");
        tabs.addTab(new AutonomousPanel(), "Autonomous");
        tabs.addTab(new SimulationPanel(), "Simulation");
        tabs.addTab(new PathPanel(), "Path Panel");
        tabs.addTab(new ConfigurationPanel(), "Configuration");


    }
}