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