base/main.cc

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is nree software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #include <algorithm>
  19 #include <chrono>
  20 #include <cmath>
  21 #include <cstdlib>
  22 #include <iostream>
  23 #include <jsoncpp/json/json.h>
  24 #include <pthread.h>
  25 #include <signal.h>
  26 #include <unistd.h>
  27 #include "compile.h"
  28 #include "obstacle.h"
  29 #include "rrtplanner.h"
  30 #include "slotplanner.h"
  31
  32 #if USE_GL > 0
  33 // OpenGL
  34 #include <GL/gl.h>
  35 #include <GL/glu.h>
  36 #include <SDL2/SDL.h>
  37 #endif
  38
  39 // debug
  40 //#define JSONLOGEDGES
  41 //#define JSONLOGSAMPLES
  42
  43 #if USE_GL > 0
  44         #define USE_INTERRUPT
  45 #else
  46         // choose
  47         //#define USE_INTERRUPT
  48         // or
  49         #define USE_TMAX
  50         // or
  51         //#define USE_LOADF
  52         // or
  53         //#define USE_PTHREAD
  54 #endif
  55
  56 std::chrono::high_resolution_clock::time_point TSTART_;
  57 std::chrono::high_resolution_clock::time_point TEND_;
  58 float TELAPSED = 0;
  59 float ELAPSED = 0;
  60 void TSTART() {TSTART_ = std::chrono::high_resolution_clock::now();}
  61 void TEND() {
  62         std::chrono::duration<float> DT_;
  63         TEND_ = std::chrono::high_resolution_clock::now();
  64         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  65                 TEND_ - TSTART_
  66         );
  67         TELAPSED += DT_.count();
  68         ELAPSED = DT_.count();
  69 }
  70 void TPRINT(const char *what) {
  71         std::chrono::duration<float> DT_;
  72         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  73                 TEND_ - TSTART_
  74         );
  75         std::cerr << what << ": " << DT_.count() << std::endl;
  76 }
  77
  78 bool run_planner = true;
  79
  80 #if USE_GL > 0
  81 SDL_Window* gw = NULL;
  82 SDL_GLContext gc;
  83
  84 bool init();
  85 bool initGL();
  86 #endif
  87
  88 void hint(int)
  89 {
  90         run_planner = false;
  91 }
  92
  93 #ifdef USE_PTHREAD
  94 struct next_arg {
  95         bool *gf;
  96         T2 *p;
  97 };
  98
  99 void *next_run(void *arg)
 100 {
 101         struct next_arg *na = (struct next_arg *) arg;
 102         T2 *lp = (T2 *) na->p;
 103         bool *gf = na->gf;
 104         while (!*gf && lp->elapsed() < TMAX) {
 105                 if (lp->next())
 106                         *gf = true;
 107                 lp->tend();
 108         }
 109         pthread_exit(NULL);
 110         return NULL;
 111 }
 112 #endif
 113
 114 RRTNode *sa_tmp()
 115 {
 116         float new_x = 1 + static_cast<float>(rand()) /
 117                 static_cast<float>(RAND_MAX / (6.6 - 1 - 1));
 118         float new_y = 1;
 119         float new_h = M_PI / 2;
 120         return new RRTNode(new_x, new_y, new_h);
 121 }
 122
 123 int main()
 124 {
 125         srand(static_cast<unsigned>(time(0)));
 126 #if USE_GL > 0
 127         init();
 128 #endif
 129
 130         Json::Value jvi; // JSON input
 131         Json::Value jvo; // JSON output
 132         unsigned int i = 0;
 133         unsigned int j = 0;
 134         std::cin >> jvi;
 135         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 136
 137         PLANNER p(
 138                         new RRTNode(
 139                                 jvi["init"][0].asFloat(),
 140                                 jvi["init"][1].asFloat(),
 141                                 jvi["init"][2].asFloat()),
 142                         new RRTNode(
 143                                 jvi["goal"][0].asFloat(),
 144                                 jvi["goal"][1].asFloat(),
 145                                 jvi["goal"][2].asFloat()));
 146         jvo["init"][0] = p.root()->x();
 147         jvo["init"][1] = p.root()->y();
 148         jvo["init"][2] = p.root()->h();
 149         std::vector<CircleObstacle> co;
 150         std::vector<SegmentObstacle> so;
 151         for (auto o: jvi["obst"]) {
 152                 if (o["circle"] != Json::nullValue) {
 153                         co.push_back(CircleObstacle(
 154                                                 o["circle"][0].asFloat(),
 155                                                 o["circle"][1].asFloat(),
 156                                                 o["circle"][2].asFloat()));
 157                 }
 158                 if (o["segment"] != Json::nullValue) {
 159                         so.push_back(SegmentObstacle(
 160                                 new RRTNode(
 161                                         o["segment"][0][0].asFloat(),
 162                                         o["segment"][0][1].asFloat(),
 163                                         0),
 164                                 new RRTNode(
 165                                         o["segment"][1][0].asFloat(),
 166                                         o["segment"][1][1].asFloat(),
 167                                         0)));
 168                         p.frame().add_bnode(so.back().init());
 169                 }
 170         }
 171         p.link_obstacles(&co, &so);
 172         p.ocost(p.root());
 173         p.ocost(p.goal());
 174
 175         ParallelSlot ps = ParallelSlot();
 176         if (
 177                 jvi["slot"] != Json::nullValue &&
 178                 jvi["slot"]["polygon"] != Json::nullValue
 179         ) {
 180                 for (auto xy: jvi["slot"]["polygon"]) {
 181                         ps.slot().add_bnode(new RRTNode(
 182                                 xy[0].asFloat(),
 183                                 xy[1].asFloat()
 184                         ));
 185                 }
 186         }
 187         if (ps.slot().bnodes().size() > 0) {
 188                 ps.setAll();
 189                 p.samplingInfo_ = ps.getSamplingInfo();
 190                 p.useSamplingInfo_ = true;
 191         }
 192 #ifdef USE_SLOTPLANNER
 193         TSTART();
 194         if (ps.slot().bnodes().size() > 0)
 195                 ps.fip(co, so);
 196         TEND();
 197         jvo["ppse"] = ELAPSED;
 198         TPRINT("ParallelSlot");
 199 #endif
 200         if (ps.cusp().size() > 0) {
 201                 p.goal(ps.cusp().front().front());
 202                 p.slot_cusp(ps.cusp().front()); // use first found solution
 203                 jvo["midd"][0] = p.goal()->x();
 204                 jvo["midd"][1] = p.goal()->y();
 205                 jvo["midd"][2] = p.goal()->h();
 206                 jvo["goal"][0] = p.slot_cusp().back()->x();
 207                 jvo["goal"][1] = p.slot_cusp().back()->y();
 208                 jvo["goal"][2] = p.slot_cusp().back()->h();
 209         } else {
 210                 jvo["goal"][0] = p.goal()->x();
 211                 jvo["goal"][1] = p.goal()->y();
 212                 jvo["goal"][2] = p.goal()->h();
 213         }
 214         TSTART();
 215 #ifdef USE_LOADF
 216         std::vector<RRTNode *> steered;
 217         for (auto jn: jvi["traj"][0]) {
 218                 steered.push_back(new RRTNode(
 219                                         jn[0].asFloat(),
 220                                         jn[1].asFloat(),
 221                                         jn[2].asFloat(),
 222                                         jn[3].asFloat(),
 223                                         jn[4].asFloat()));
 224         }
 225         std::reverse(steered.begin(), steered.end());
 226         RRTNode *pn = p.root();
 227         for (auto n: steered) {
 228                 if (IS_NEAR(pn, n))
 229                         continue;
 230                 pn->add_child(n, p.cost(pn, n));
 231                 pn = n;
 232                 p.glplot();
 233         }
 234         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 235         p.goal_found(true);
 236         p.tlog(p.findt());
 237         if (p.opt_path()) {
 238                 p.tlog(p.findt());
 239                 p.glplot();
 240         }
 241         p.glplot();
 242         sleep(2);
 243 #elif defined USE_INTERRUPT
 244         signal(SIGINT, hint);
 245         signal(SIGTERM, hint);
 246         p.tstart();
 247         while (run_planner) {
 248                 p.next();
 249                 p.tend();
 250                 if (p.opt_path())
 251                         p.tlog(p.findt());
 252                 p.glplot();
 253         }
 254 #elif defined USE_TMAX
 255         p.tstart();
 256         p.tend();
 257         while (!p.goal_found() && p.elapsed() < TMAX) {
 258                 p.next();
 259                 p.tend();
 260                 if (p.opt_path()) {
 261                         if (ps.cusp().size() > 0)
 262                                 p.tlog(p.findt(p.slot_cusp().back()));
 263                         else
 264                                 p.tlog(p.findt());
 265                 }
 266         }
 267 #elif defined USE_PTHREAD
 268         bool gf = false;
 269         RRTNode *ron = nullptr;
 270         RRTNode *gon = nullptr;
 271         float mc = 9999;
 272         pthread_t rt; // root thread
 273         pthread_t gt; // goal thread
 274         pthread_t ct; // connect thread
 275
 276         struct next_arg ra;
 277         ra.gf = &gf;
 278         ra.p = &p.p_root_;
 279
 280         struct next_arg ga;
 281         ga.gf = &gf;
 282         ga.p = &p.p_goal_;
 283
 284         p.tstart();
 285         p.p_root_.tstart();
 286         p.p_goal_.tstart();
 287         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 288         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 289         int tol = 0;
 290         int ndl = 0;
 291         bool ndone = true;
 292         while (!gf && p.elapsed() < TMAX &&
 293                         p.p_root_.nodes().size() < NOFNODES &&
 294                         p.p_goal_.nodes().size() < NOFNODES) {
 295                 // overlap trees
 296                 ndone = true;
 297                 for (int i = 0; i < IXSIZE; i++) {
 298                 for (int j = 0; j < IYSIZE; j++) {
 299                         if (p.p_root_.ixy_[i][j].changed() &&
 300                                         p.p_goal_.ixy_[i][j].changed()) {
 301 ndone = false;
 302 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 303 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 304         if (rn->ccost() + gn->ccost() < mc &&
 305                         IS_NEAR(rn, gn)) {
 306                 gf = true;
 307                 p.goal_found(true);
 308                 ron = rn;
 309                 gon = gn;
 310                 mc = rn->ccost() + gn->ccost();
 311         }
 312 }}
 313                         }
 314                         tol++;
 315                         if (ndone)
 316                                 ndl++;
 317                         p.tend();
 318                         if (p.elapsed() >= TMAX)
 319                                 goto escapeloop;
 320                 }}
 321                 // end of overlap trees
 322                 p.tend();
 323         }
 324 escapeloop:
 325         pthread_join(rt, NULL);
 326         pthread_join(gt, NULL);
 327         float nodo = ((float) ndl / (float) tol);
 328         std::cerr << "nothing done is " << 100.0 * nodo;
 329         std::cerr << "%" << std::endl;
 330         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 331         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 332         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 333         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 334                 ron = p.p_root_.goal()->parent();
 335                 gon = p.p_root_.goal();
 336                 mc = p.p_root_.goal()->ccost();
 337         }
 338         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 339                 ron = p.p_goal_.goal();
 340                 gon = p.p_goal_.goal()->parent();
 341                 mc = p.p_goal_.goal()->ccost();
 342         }
 343         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 344         p.root()->ccost(0);
 345         p.goal()->children().clear();
 346         // connect trees
 347         if (gf) {
 348         while (gon != p.goal()) {
 349                 p.p_root_.nodes().push_back(new RRTNode(
 350                                 gon->x(),
 351                                 gon->y(),
 352                                 gon->h()));
 353                 ron->add_child(
 354                                 p.p_root_.nodes().back(),
 355                                 p.p_root_.cost(
 356                                                 ron,
 357                                                 p.p_root_.nodes().back()));
 358                 ron = p.p_root_.nodes().back();
 359                 gon = gon->parent();
 360         }
 361         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 362         }
 363         // end of connect trees
 364         if (gf)
 365                 p.tlog(p.findt());
 366         if (p.opt_path())
 367                 p.tlog(p.findt());
 368 #endif
 369         TEND();
 370         TPRINT("RRT");
 371         jvo["rrte"] = ELAPSED;
 372 #ifdef JSONLOGEDGES
 373         p.logr(p.root());
 374 #endif
 375
 376         // statistics to error output
 377         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 378         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 379         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 380         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 381         std::cerr << "#samples is " << p.samples().size() << std::endl;
 382         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 383         std::cerr << "trajectories costs:" << std::endl;
 384         for (j = 0; j < p.clog().size(); j++)
 385                 std::cerr << "- " << p.clog()[j] << std::endl;
 386         std::cerr << "RRT #nodes:" << std::endl;
 387         for (j = 0; j < p.nlog().size(); j++)
 388                 std::cerr << "- " << p.nlog()[j] << std::endl;
 389         std::cerr << "trajectories seconds:" << std::endl;
 390         for (j = 0; j < p.slog().size(); j++)
 391                 std::cerr << "- " << p.slog()[j] << std::endl;
 392         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 393         std::cerr << std::endl;
 394         for (auto edges: p.rlog())
 395                 std::cerr << "- " << edges.size() << std::endl;
 396
 397         // JSON output
 398         jvo["elap"] = TELAPSED;
 399 #ifdef USE_PTHREAD
 400         jvo["nodo"][0] = nodo;
 401 #endif
 402         // log cost
 403         for (j = 0; j < p.clog().size(); j++)
 404                 jvo["cost"][j] = p.clog()[j];
 405         // log #nodes
 406         for (j = 0; j < p.nlog().size(); j++)
 407                 jvo["node"][j] = p.nlog()[j];
 408         // log seconds
 409         for (j = 0; j < p.slog().size(); j++)
 410                 jvo["secs"][j] = p.slog()[j];
 411         // log traj
 412         i = 0;
 413         j = 0;
 414         for (auto traj: p.tlog()) {
 415                 i = 0;
 416                 for (auto n: traj) {
 417                         jvo["traj"][j][i][0] = n->x();
 418                         jvo["traj"][j][i][1] = n->y();
 419                         jvo["traj"][j][i][2] = n->h();
 420                         jvo["traj"][j][i][3] = n->t();
 421                         jvo["traj"][j][i][4] = n->s();
 422                         i++;
 423                 }
 424                 j++;
 425         }
 426 #ifdef JSONLOGEDGES
 427         i = 0;
 428         j = 0;
 429         for (auto edges: p.rlog()) {
 430                 j = 0;
 431                 for (auto e: edges) {
 432                         jvo["edge"][i][j][0][0] = e->init()->x();
 433                         jvo["edge"][i][j][0][1] = e->init()->y();
 434                         jvo["edge"][i][j][0][2] = e->init()->h();
 435                         jvo["edge"][i][j][1][0] = e->goal()->x();
 436                         jvo["edge"][i][j][1][1] = e->goal()->y();
 437                         jvo["edge"][i][j][1][2] = e->goal()->h();
 438                         j++;
 439                 }
 440                 i++;
 441         }
 442 #endif
 443 #ifdef JSONLOGSAMPLES
 444         i = 0;
 445         j = 0;
 446         for (auto s: p.samples()) {
 447                 jvo["samp"][j][0] = s->x();
 448                 jvo["samp"][j][1] = s->y();
 449                 jvo["samp"][j][2] = s->h();
 450                 j++;
 451         }
 452 #endif
 453         // print output
 454         std::cout << jvo << std::endl;
 455
 456 #if USE_GL > 0
 457         SDL_DestroyWindow(gw);
 458         SDL_Quit();
 459 #endif
 460
 461         // free mem
 462         for (auto o: so) {
 463                 delete o.init();
 464                 delete o.goal();
 465         }
 466         return 0;
 467 }
 468
 469 #if USE_GL > 0
 470 bool init()
 471 {
 472         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 473                 std::cerr << "SDL could not initialize! SDL_Error: ";
 474                 std::cerr << SDL_GetError();
 475                 std::cerr << std::endl;
 476                 return false;
 477         }
 478         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 479         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 480         gw = SDL_CreateWindow(
 481                         "I am car",
 482                         SDL_WINDOWPOS_UNDEFINED,
 483                         SDL_WINDOWPOS_UNDEFINED,
 484                         SCREEN_WIDTH,
 485                         SCREEN_HEIGHT,
 486                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 487         if (gw == NULL) {
 488                 std::cerr << "Window could not be created! SDL_Error: ";
 489                 std::cerr << SDL_GetError();
 490                 std::cerr << std::endl;
 491                 return false;
 492         }
 493         gc = SDL_GL_CreateContext(gw);
 494         if (gc == NULL) {
 495                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 496                 std::cerr << SDL_GetError();
 497                 std::cerr << std::endl;
 498                 return false;
 499         }
 500         if (SDL_GL_SetSwapInterval(1) < 0) {
 501                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 502                 std::cerr << SDL_GetError();
 503                 std::cerr << std::endl;
 504                 return false;
 505         }
 506         if (!initGL()) {
 507                 std::cerr << "Unable to initialize OpenGL!";
 508                 std::cerr << std::endl;
 509                 return false;
 510         }
 511         return true;
 512 }
 513
 514 bool initGL()
 515 {
 516         GLenum error = GL_NO_ERROR;
 517         glMatrixMode(GL_PROJECTION);
 518         glLoadIdentity();
 519         error = glGetError();
 520         if (error != GL_NO_ERROR) {
 521                 std::cerr << "Error initializing OpenGL! ";
 522                 std::cerr << gluErrorString(error);
 523                 std::cerr << std::endl;
 524                 return false;
 525         }
 526         glMatrixMode(GL_MODELVIEW);
 527         glLoadIdentity();
 528         error = glGetError();
 529         if (error != GL_NO_ERROR) {
 530                 std::cerr << "Error initializing OpenGL! ";
 531                 std::cerr << gluErrorString(error);
 532                 std::cerr << std::endl;
 533                 return false;
 534         }
 535         glClearColor(1, 1, 1, 1);
 536         error = glGetError();
 537         if (error != GL_NO_ERROR) {
 538                 std::cerr << "Error initializing OpenGL! ";
 539                 std::cerr << gluErrorString(error);
 540                 std::cerr << std::endl;
 541                 return false;
 542         }
 543         return true;
 544 }
 545 #endif