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 <pthread.h>
  22 #include <signal.h>
  23 #include <unistd.h>
  24 #include "compile.h"
  25 #include "obstacle.h"
  26 #include "rrtplanner.h"
  27 #include "slotplanner.h"
  28 // OpenGL
  29 #include <GL/gl.h>
  30 #include <GL/glu.h>
  31 #include <SDL2/SDL.h>
  32
  33 // debug
  34 //#define JSONLOGEDGES
  35 //#define JSONLOGSAMPLES
  36
  37 // choose
  38 //#define USE_INTERRUPT
  39 // or
  40 //#define USE_TMAX
  41 // or
  42 //#define USE_LOADF
  43 // or
  44 #define USE_PTHREAD
  45
  46 #ifdef USE_INTERRUPT
  47         #define USE_GL
  48 #endif
  49
  50 bool run_planner = true;
  51
  52 SDL_Window* gw = NULL;
  53 SDL_GLContext gc;
  54
  55 bool init();
  56 bool initGL();
  57
  58 void hint(int)
  59 {
  60         run_planner = false;
  61 }
  62
  63 #ifdef USE_PTHREAD
  64 struct next_arg {
  65         bool *gf;
  66         T2 *p;
  67 };
  68
  69 void *next_run(void *arg)
  70 {
  71         struct next_arg *na = (struct next_arg *) arg;
  72         T2 *lp = (T2 *) na->p;
  73         bool *gf = na->gf;
  74         while (!*gf && lp->elapsed() < TMAX) {
  75                 if (lp->next())
  76                         *gf = true;
  77                 lp->tend();
  78         }
  79         pthread_exit(NULL);
  80         return NULL;
  81 }
  82 #endif
  83
  84 int main()
  85 {
  86 #ifdef USE_GL
  87         init();
  88 #endif
  89
  90         Json::Value jvi; // JSON input
  91         Json::Value jvo; // JSON output
  92         unsigned int i = 0;
  93         unsigned int j = 0;
  94         std::cin >> jvi;
  95         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  96
  97         PLANNER p(
  98                         new RRTNode(
  99                                 jvi["init"][0].asFloat(),
 100                                 jvi["init"][1].asFloat(),
 101                                 jvi["init"][2].asFloat()),
 102                         new RRTNode(
 103                                 jvi["goal"][0].asFloat(),
 104                                 jvi["goal"][1].asFloat(),
 105                                 jvi["goal"][2].asFloat()));
 106         std::vector<CircleObstacle> co;
 107         std::vector<SegmentObstacle> so;
 108         for (auto o: jvi["obst"]) {
 109                 if (o["circle"] != Json::nullValue) {
 110                         co.push_back(CircleObstacle(
 111                                                 o["circle"][0].asFloat(),
 112                                                 o["circle"][1].asFloat(),
 113                                                 o["circle"][2].asFloat()));
 114                 }
 115                 if (o["segment"] != Json::nullValue) {
 116                         so.push_back(SegmentObstacle(
 117                                 new RRTNode(
 118                                         o["segment"][0][0].asFloat(),
 119                                         o["segment"][0][1].asFloat(),
 120                                         0),
 121                                 new RRTNode(
 122                                         o["segment"][1][0].asFloat(),
 123                                         o["segment"][1][1].asFloat(),
 124                                         0)));
 125                         p.frame().add_bnode(so.back().init());
 126                 }
 127         }
 128         p.link_obstacles(&co, &so);
 129         p.ocost(p.root());
 130         p.ocost(p.goal());
 131
 132         ParallelSlot ps = ParallelSlot();
 133         for (auto xy: jvi["slot"]["polygon"]) {
 134                 ps.slot().add_bnode(new RRTNode(
 135                         xy[0].asFloat(),
 136                         xy[1].asFloat()
 137                 ));
 138         }
 139
 140 #ifdef USE_LOADF
 141         std::vector<RRTNode *> steered;
 142         for (auto jn: jvi["traj"][0]) {
 143                 steered.push_back(new RRTNode(
 144                                         jn[0].asFloat(),
 145                                         jn[1].asFloat(),
 146                                         jn[2].asFloat(),
 147                                         jn[3].asFloat(),
 148                                         jn[4].asFloat()));
 149         }
 150         std::reverse(steered.begin(), steered.end());
 151         RRTNode *pn = p.root();
 152         for (auto n: steered) {
 153                 if (IS_NEAR(pn, n))
 154                         continue;
 155                 pn->add_child(n, p.cost(pn, n));
 156                 pn = n;
 157                 p.glplot();
 158         }
 159         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 160         p.goal_found(true);
 161         p.tlog(p.findt());
 162         if (p.opt_path()) {
 163                 p.tlog(p.findt());
 164                 p.glplot();
 165         }
 166         p.glplot();
 167         sleep(2);
 168 #elif defined USE_INTERRUPT
 169         signal(SIGINT, hint);
 170         signal(SIGTERM, hint);
 171         p.tstart();
 172         while (run_planner) {
 173                 p.next();
 174                 p.tend();
 175                 if (p.opt_path())
 176                         p.tlog(p.findt());
 177                 p.glplot();
 178         }
 179 #elif defined USE_TMAX
 180         p.tstart();
 181         p.tend();
 182         while (!p.goal_found() && p.elapsed() < TMAX) {
 183                 p.next();
 184                 p.tend();
 185                 if (p.opt_path())
 186                         p.tlog(p.findt());
 187         }
 188 #elif defined USE_PTHREAD
 189         bool gf = false;
 190         RRTNode *ron = nullptr;
 191         RRTNode *gon = nullptr;
 192         float mc = 9999;
 193         pthread_t rt; // root thread
 194         pthread_t gt; // goal thread
 195         pthread_t ct; // connect thread
 196
 197         struct next_arg ra;
 198         ra.gf = &gf;
 199         ra.p = &p.p_root_;
 200
 201         struct next_arg ga;
 202         ga.gf = &gf;
 203         ga.p = &p.p_goal_;
 204
 205         p.tstart();
 206         p.p_root_.tstart();
 207         p.p_goal_.tstart();
 208         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 209         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 210         int tol = 0;
 211         int ndl = 0;
 212         bool ndone = true;
 213         while (!gf && p.elapsed() < TMAX &&
 214                         p.p_root_.nodes().size() < NOFNODES &&
 215                         p.p_goal_.nodes().size() < NOFNODES) {
 216                 // overlap trees
 217                 ndone = true;
 218                 for (int i = 0; i < IXSIZE; i++) {
 219                 for (int j = 0; j < IYSIZE; j++) {
 220                         if (p.p_root_.ixy_[i][j].changed() &&
 221                                         p.p_goal_.ixy_[i][j].changed()) {
 222 ndone = false;
 223 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 224 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 225         if (rn->ccost() + gn->ccost() < mc &&
 226                         IS_NEAR(rn, gn)) {
 227                 gf = true;
 228                 p.goal_found(true);
 229                 ron = rn;
 230                 gon = gn;
 231                 mc = rn->ccost() + gn->ccost();
 232         }
 233 }}
 234                         }
 235                         tol++;
 236                         if (ndone)
 237                                 ndl++;
 238                         p.tend();
 239                         if (p.elapsed() >= TMAX)
 240                                 goto escapeloop;
 241                 }}
 242                 // end of overlap trees
 243                 p.tend();
 244         }
 245 escapeloop:
 246         pthread_join(rt, NULL);
 247         pthread_join(gt, NULL);
 248         float nodo = ((float) ndl / (float) tol);
 249         std::cerr << "nothing done is " << 100.0 * nodo;
 250         std::cerr << "%" << std::endl;
 251         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 252         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 253         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 254         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 255                 ron = p.p_root_.goal()->parent();
 256                 gon = p.p_root_.goal();
 257                 mc = p.p_root_.goal()->ccost();
 258         }
 259         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 260                 ron = p.p_goal_.goal();
 261                 gon = p.p_goal_.goal()->parent();
 262                 mc = p.p_goal_.goal()->ccost();
 263         }
 264         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 265         p.root()->ccost(0);
 266         p.goal()->children().clear();
 267         // connect trees
 268         if (gf) {
 269         while (gon != p.goal()) {
 270                 p.p_root_.nodes().push_back(new RRTNode(
 271                                 gon->x(),
 272                                 gon->y(),
 273                                 gon->h()));
 274                 ron->add_child(
 275                                 p.p_root_.nodes().back(),
 276                                 p.p_root_.cost(
 277                                                 ron,
 278                                                 p.p_root_.nodes().back()));
 279                 ron = p.p_root_.nodes().back();
 280                 gon = gon->parent();
 281         }
 282         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 283         }
 284         // end of connect trees
 285         if (gf)
 286                 p.tlog(p.findt());
 287         if (p.opt_path())
 288                 p.tlog(p.findt());
 289 #endif
 290 #ifdef JSONLOGEDGES
 291         p.logr(p.root());
 292 #endif
 293
 294         // statistics to error output
 295         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 296         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 297         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 298         std::cerr << "#samples is " << p.samples().size() << std::endl;
 299         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 300         std::cerr << "trajectories costs:" << std::endl;
 301         for (j = 0; j < p.clog().size(); j++)
 302                 std::cerr << "- " << p.clog()[j] << std::endl;
 303         std::cerr << "RRT #nodes:" << std::endl;
 304         for (j = 0; j < p.nlog().size(); j++)
 305                 std::cerr << "- " << p.nlog()[j] << std::endl;
 306         std::cerr << "trajectories seconds:" << std::endl;
 307         for (j = 0; j < p.slog().size(); j++)
 308                 std::cerr << "- " << p.slog()[j] << std::endl;
 309         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 310         std::cerr << std::endl;
 311         for (auto edges: p.rlog())
 312                 std::cerr << "- " << edges.size() << std::endl;
 313
 314         // JSON output
 315         jvo["elap"] = p.elapsed();
 316 #ifdef USE_PTHREAD
 317         jvo["nodo"][0] = nodo;
 318 #endif
 319         // log cost
 320         for (j = 0; j < p.clog().size(); j++)
 321                 jvo["cost"][j] = p.clog()[j];
 322         // log #nodes
 323         for (j = 0; j < p.nlog().size(); j++)
 324                 jvo["node"][j] = p.nlog()[j];
 325         // log seconds
 326         for (j = 0; j < p.slog().size(); j++)
 327                 jvo["secs"][j] = p.slog()[j];
 328         // log traj
 329         i = 0;
 330         j = 0;
 331         for (auto traj: p.tlog()) {
 332                 i = 0;
 333                 for (auto n: traj) {
 334                         jvo["traj"][j][i][0] = n->x();
 335                         jvo["traj"][j][i][1] = n->y();
 336                         jvo["traj"][j][i][2] = n->h();
 337                         jvo["traj"][j][i][3] = n->t();
 338                         jvo["traj"][j][i][4] = n->s();
 339                         i++;
 340                 }
 341                 j++;
 342         }
 343 #ifdef JSONLOGEDGES
 344         i = 0;
 345         j = 0;
 346         for (auto edges: p.rlog()) {
 347                 j = 0;
 348                 for (auto e: edges) {
 349                         jvo["edge"][i][j][0][0] = e->init()->x();
 350                         jvo["edge"][i][j][0][1] = e->init()->y();
 351                         jvo["edge"][i][j][0][2] = e->init()->h();
 352                         jvo["edge"][i][j][1][0] = e->goal()->x();
 353                         jvo["edge"][i][j][1][1] = e->goal()->y();
 354                         jvo["edge"][i][j][1][2] = e->goal()->h();
 355                         j++;
 356                 }
 357                 i++;
 358         }
 359 #endif
 360 #ifdef JSONLOGSAMPLES
 361         i = 0;
 362         j = 0;
 363         for (auto s: p.samples()) {
 364                 jvo["samp"][j][0] = s->x();
 365                 jvo["samp"][j][1] = s->y();
 366                 jvo["samp"][j][2] = s->h();
 367                 j++;
 368         }
 369 #endif
 370         // print output
 371         std::cout << jvo << std::endl;
 372
 373 #ifdef USE_GL
 374         SDL_DestroyWindow(gw);
 375         SDL_Quit();
 376 #endif
 377
 378         // free mem
 379         for (auto o: so) {
 380                 delete o.init();
 381                 delete o.goal();
 382         }
 383         return 0;
 384 }
 385
 386 bool init()
 387 {
 388         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 389                 std::cerr << "SDL could not initialize! SDL_Error: ";
 390                 std::cerr << SDL_GetError();
 391                 std::cerr << std::endl;
 392                 return false;
 393         }
 394         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 395         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 396         gw = SDL_CreateWindow(
 397                         "I am car",
 398                         SDL_WINDOWPOS_UNDEFINED,
 399                         SDL_WINDOWPOS_UNDEFINED,
 400                         SCREEN_WIDTH,
 401                         SCREEN_HEIGHT,
 402                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 403         if (gw == NULL) {
 404                 std::cerr << "Window could not be created! SDL_Error: ";
 405                 std::cerr << SDL_GetError();
 406                 std::cerr << std::endl;
 407                 return false;
 408         }
 409         gc = SDL_GL_CreateContext(gw);
 410         if (gc == NULL) {
 411                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 412                 std::cerr << SDL_GetError();
 413                 std::cerr << std::endl;
 414                 return false;
 415         }
 416         if (SDL_GL_SetSwapInterval(1) < 0) {
 417                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 418                 std::cerr << SDL_GetError();
 419                 std::cerr << std::endl;
 420                 return false;
 421         }
 422         if (!initGL()) {
 423                 std::cerr << "Unable to initialize OpenGL!";
 424                 std::cerr << std::endl;
 425                 return false;
 426         }
 427         return true;
 428 }
 429
 430 bool initGL()
 431 {
 432         GLenum error = GL_NO_ERROR;
 433         glMatrixMode(GL_PROJECTION);
 434         glLoadIdentity();
 435         error = glGetError();
 436         if (error != GL_NO_ERROR) {
 437                 std::cerr << "Error initializing OpenGL! ";
 438                 std::cerr << gluErrorString(error);
 439                 std::cerr << std::endl;
 440                 return false;
 441         }
 442         glMatrixMode(GL_MODELVIEW);
 443         glLoadIdentity();
 444         error = glGetError();
 445         if (error != GL_NO_ERROR) {
 446                 std::cerr << "Error initializing OpenGL! ";
 447                 std::cerr << gluErrorString(error);
 448                 std::cerr << std::endl;
 449                 return false;
 450         }
 451         glClearColor(1, 1, 1, 1);
 452         error = glGetError();
 453         if (error != GL_NO_ERROR) {
 454                 std::cerr << "Error initializing OpenGL! ";
 455                 std::cerr << gluErrorString(error);
 456                 std::cerr << std::endl;
 457                 return false;
 458         }
 459         return true;
 460 }