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 <iostream>
  20 #include <jsoncpp/json/json.h>
  21 #include <signal.h>
  22 #include <unistd.h>
  23 #include "compile.h"
  24 #include "obstacle.h"
  25 #include "rrtplanner.h"
  26 // OpenGL
  27 #include <GL/gl.h>
  28 #include <GL/glu.h>
  29 #include <SDL2/SDL.h>
  30
  31 // debug
  32 //#define JSONLOGEDGES
  33 //#define JSONLOGSAMPLES
  34
  35 // choose
  36 #define USE_INTERRUPT
  37 // or
  38 //#define USE_TMAX
  39 // or
  40 //#define USE_LOADF
  41
  42 #ifdef USE_INTERRUPT
  43         #define USE_GL
  44 #endif
  45
  46 bool run_planner = true;
  47
  48 SDL_Window* gw = NULL;
  49 SDL_GLContext gc;
  50
  51 bool init();
  52 bool initGL();
  53
  54 void hint(int)
  55 {
  56         run_planner = false;
  57 }
  58
  59 int main()
  60 {
  61 #ifdef USE_GL
  62         init();
  63 #endif
  64
  65         Json::Value jvi; // JSON input
  66         Json::Value jvo; // JSON output
  67         unsigned int i = 0;
  68         unsigned int j = 0;
  69         std::cin >> jvi;
  70         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  71
  72         PLANNER p(
  73                         new RRTNode(
  74                                 jvi["init"][0].asFloat(),
  75                                 jvi["init"][1].asFloat(),
  76                                 jvi["init"][2].asFloat()),
  77                         new RRTNode(
  78                                 jvi["goal"][0].asFloat(),
  79                                 jvi["goal"][1].asFloat(),
  80                                 jvi["goal"][2].asFloat()));
  81         std::vector<CircleObstacle> co;
  82         std::vector<SegmentObstacle> so;
  83         for (auto o: jvi["obst"]) {
  84                 if (o["circle"] != Json::nullValue) {
  85                         co.push_back(CircleObstacle(
  86                                                 o["circle"][0].asFloat(),
  87                                                 o["circle"][1].asFloat(),
  88                                                 o["circle"][2].asFloat()));
  89                 }
  90                 if (o["segment"] != Json::nullValue) {
  91                         so.push_back(SegmentObstacle(
  92                                 new RRTNode(
  93                                         o["segment"][0][0].asFloat(),
  94                                         o["segment"][0][1].asFloat(),
  95                                         0),
  96                                 new RRTNode(
  97                                         o["segment"][1][0].asFloat(),
  98                                         o["segment"][1][1].asFloat(),
  99                                         0)));
 100                 }
 101         }
 102         p.link_obstacles(&co, &so);
 103         p.ocost(p.root());
 104         p.ocost(p.goal());
 105
 106 #ifdef USE_LOADF
 107         std::vector<RRTNode *> steered;
 108         for (auto jn: jvi["traj"][0]) {
 109                 steered.push_back(new RRTNode(
 110                                         jn[0].asFloat(),
 111                                         jn[1].asFloat(),
 112                                         jn[2].asFloat(),
 113                                         jn[3].asFloat(),
 114                                         jn[4].asFloat()));
 115         }
 116         std::reverse(steered.begin(), steered.end());
 117         RRTNode *pn = p.root();
 118         for (auto n: steered) {
 119                 if (IS_NEAR(pn, n))
 120                         continue;
 121                 pn->add_child(n, p.cost(pn, n));
 122                 pn = n;
 123                 p.glplot();
 124         }
 125         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 126         p.goal_found(true);
 127         p.tlog(p.findt());
 128         if (p.opt_path()) {
 129                 p.tlog(p.findt());
 130                 p.glplot();
 131         }
 132         p.glplot();
 133         sleep(2);
 134 #elif defined USE_INTERRUPT
 135         signal(SIGINT, hint);
 136         signal(SIGTERM, hint);
 137         p.tstart();
 138         while (run_planner) {
 139                 p.next();
 140                 p.tend();
 141                 if (p.opt_path())
 142                         p.tlog(p.findt());
 143                 p.glplot();
 144         }
 145 #elif defined USE_TMAX
 146         p.tstart();
 147         p.tend();
 148         while (!p.goal_found() && p.elapsed() < TMAX) {
 149                 p.next();
 150                 p.tend();
 151                 if (p.opt_path())
 152                         p.tlog(p.findt());
 153         }
 154 #endif
 155 #ifdef JSONLOGEDGES
 156         p.logr(p.root());
 157 #endif
 158
 159         // statistics to error output
 160         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 161         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 162         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 163         std::cerr << "#samples is " << p.samples().size() << std::endl;
 164         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 165         std::cerr << "trajectories costs:" << std::endl;
 166         for (j = 0; j < p.clog().size(); j++)
 167                 std::cerr << "- " << p.clog()[j] << std::endl;
 168         std::cerr << "RRT #nodes:" << std::endl;
 169         for (j = 0; j < p.nlog().size(); j++)
 170                 std::cerr << "- " << p.nlog()[j] << std::endl;
 171         std::cerr << "trajectories seconds:" << std::endl;
 172         for (j = 0; j < p.slog().size(); j++)
 173                 std::cerr << "- " << p.slog()[j] << std::endl;
 174         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 175         std::cerr << std::endl;
 176         for (auto edges: p.rlog())
 177                 std::cerr << "- " << edges.size() << std::endl;
 178
 179         // JSON output
 180         jvo["elap"] = p.elapsed();
 181         // log cost
 182         for (j = 0; j < p.clog().size(); j++)
 183                 jvo["cost"][j] = p.clog()[j];
 184         // log #nodes
 185         for (j = 0; j < p.nlog().size(); j++)
 186                 jvo["node"][j] = p.nlog()[j];
 187         // log seconds
 188         for (j = 0; j < p.slog().size(); j++)
 189                 jvo["secs"][j] = p.slog()[j];
 190         // log traj
 191         i = 0;
 192         j = 0;
 193         for (auto traj: p.tlog()) {
 194                 i = 0;
 195                 for (auto n: traj) {
 196                         jvo["traj"][j][i][0] = n->x();
 197                         jvo["traj"][j][i][1] = n->y();
 198                         jvo["traj"][j][i][2] = n->h();
 199                         jvo["traj"][j][i][3] = n->t();
 200                         jvo["traj"][j][i][4] = n->s();
 201                         i++;
 202                 }
 203                 j++;
 204         }
 205 #ifdef JSONLOGEDGES
 206         i = 0;
 207         j = 0;
 208         for (auto edges: p.rlog()) {
 209                 j = 0;
 210                 for (auto e: edges) {
 211                         jvo["edge"][i][j][0][0] = e->init()->x();
 212                         jvo["edge"][i][j][0][1] = e->init()->y();
 213                         jvo["edge"][i][j][0][2] = e->init()->h();
 214                         jvo["edge"][i][j][1][0] = e->goal()->x();
 215                         jvo["edge"][i][j][1][1] = e->goal()->y();
 216                         jvo["edge"][i][j][1][2] = e->goal()->h();
 217                         j++;
 218                 }
 219                 i++;
 220         }
 221 #endif
 222 #ifdef JSONLOGSAMPLES
 223         i = 0;
 224         j = 0;
 225         for (auto s: p.samples()) {
 226                 jvo["samp"][j][0] = s->x();
 227                 jvo["samp"][j][1] = s->y();
 228                 jvo["samp"][j][2] = s->h();
 229                 j++;
 230         }
 231 #endif
 232         // print output
 233         std::cout << jvo << std::endl;
 234
 235 #ifdef USE_GL
 236         SDL_DestroyWindow(gw);
 237         SDL_Quit();
 238 #endif
 239
 240         // free mem
 241         for (auto o: so) {
 242                 delete o.init();
 243                 delete o.goal();
 244         }
 245         return 0;
 246 }
 247
 248 bool init()
 249 {
 250         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 251                 std::cerr << "SDL could not initialize! SDL_Error: ";
 252                 std::cerr << SDL_GetError();
 253                 std::cerr << std::endl;
 254                 return false;
 255         }
 256         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 257         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 258         gw = SDL_CreateWindow(
 259                         "I am car",
 260                         SDL_WINDOWPOS_UNDEFINED,
 261                         SDL_WINDOWPOS_UNDEFINED,
 262                         SCREEN_WIDTH,
 263                         SCREEN_HEIGHT,
 264                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 265         if (gw == NULL) {
 266                 std::cerr << "Window could not be created! SDL_Error: ";
 267                 std::cerr << SDL_GetError();
 268                 std::cerr << std::endl;
 269                 return false;
 270         }
 271         gc = SDL_GL_CreateContext(gw);
 272         if (gc == NULL) {
 273                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 274                 std::cerr << SDL_GetError();
 275                 std::cerr << std::endl;
 276                 return false;
 277         }
 278         if (SDL_GL_SetSwapInterval(1) < 0) {
 279                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 280                 std::cerr << SDL_GetError();
 281                 std::cerr << std::endl;
 282                 return false;
 283         }
 284         if (!initGL()) {
 285                 std::cerr << "Unable to initialize OpenGL!";
 286                 std::cerr << std::endl;
 287                 return false;
 288         }
 289         return true;
 290 }
 291
 292 bool initGL()
 293 {
 294         GLenum error = GL_NO_ERROR;
 295         glMatrixMode(GL_PROJECTION);
 296         glLoadIdentity();
 297         error = glGetError();
 298         if (error != GL_NO_ERROR) {
 299                 std::cerr << "Error initializing OpenGL! ";
 300                 std::cerr << gluErrorString(error);
 301                 std::cerr << std::endl;
 302                 return false;
 303         }
 304         glMatrixMode(GL_MODELVIEW);
 305         glLoadIdentity();
 306         error = glGetError();
 307         if (error != GL_NO_ERROR) {
 308                 std::cerr << "Error initializing OpenGL! ";
 309                 std::cerr << gluErrorString(error);
 310                 std::cerr << std::endl;
 311                 return false;
 312         }
 313         glClearColor(1, 1, 1, 1);
 314         error = glGetError();
 315         if (error != GL_NO_ERROR) {
 316                 std::cerr << "Error initializing OpenGL! ";
 317                 std::cerr << gluErrorString(error);
 318                 std::cerr << std::endl;
 319                 return false;
 320         }
 321         return true;
 322 }