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 // OpenGL window size
  57 #define SCREEN_WIDTH 1000
  58 #define SCREEN_HEIGHT 1000
  59
  60 std::chrono::high_resolution_clock::time_point TSTART_;
  61 std::chrono::high_resolution_clock::time_point TEND_;
  62 float TELAPSED = 0;
  63 float ELAPSED = 0;
  64 void TSTART() {TSTART_ = std::chrono::high_resolution_clock::now();}
  65 void TEND() {
  66         std::chrono::duration<float> DT_;
  67         TEND_ = std::chrono::high_resolution_clock::now();
  68         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  69                 TEND_ - TSTART_
  70         );
  71         TELAPSED += DT_.count();
  72         ELAPSED = DT_.count();
  73 }
  74 void TPRINT(const char *what) {
  75         std::chrono::duration<float> DT_;
  76         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  77                 TEND_ - TSTART_
  78         );
  79         std::cerr << what << ": " << DT_.count() << std::endl;
  80 }
  81
  82 bool run_planner = true;
  83
  84 #if USE_GL > 0
  85 SDL_Window* gw = NULL;
  86 SDL_GLContext gc;
  87
  88 bool init();
  89 bool initGL();
  90 #endif
  91
  92 void hint(int)
  93 {
  94         run_planner = false;
  95 }
  96
  97 #ifdef USE_PTHREAD
  98 struct next_arg {
  99         bool *gf;
 100         T2 *p;
 101 };
 102
 103 void *next_run(void *arg)
 104 {
 105         struct next_arg *na = (struct next_arg *) arg;
 106         T2 *lp = (T2 *) na->p;
 107         bool *gf = na->gf;
 108         while (!*gf && lp->elapsed() < TMAX) {
 109                 if (lp->next())
 110                         *gf = true;
 111                 lp->tend();
 112         }
 113         pthread_exit(NULL);
 114         return NULL;
 115 }
 116 #endif
 117
 118 RRTNode *sa_tmp()
 119 {
 120         float new_x = 1 + static_cast<float>(rand()) /
 121                 static_cast<float>(RAND_MAX / (6.6 - 1 - 1));
 122         float new_y = 1;
 123         float new_h = M_PI / 2;
 124         return new RRTNode(new_x, new_y, new_h);
 125 }
 126
 127 int main()
 128 {
 129         srand(static_cast<unsigned>(time(0)));
 130 #if USE_GL > 0
 131         init();
 132 #endif
 133
 134         Json::Value jvi; // JSON input
 135         Json::Value jvo; // JSON output
 136         unsigned int i = 0;
 137         unsigned int j = 0;
 138         std::cin >> jvi;
 139         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 140
 141         PLANNER p(
 142                         new RRTNode(
 143                                 jvi["init"][0].asFloat(),
 144                                 jvi["init"][1].asFloat(),
 145                                 jvi["init"][2].asFloat()),
 146                         new RRTNode(
 147                                 jvi["goal"][0].asFloat(),
 148                                 jvi["goal"][1].asFloat(),
 149                                 jvi["goal"][2].asFloat()));
 150         jvo["init"][0] = p.root()->x();
 151         jvo["init"][1] = p.root()->y();
 152         jvo["init"][2] = p.root()->h();
 153         std::vector<CircleObstacle> co;
 154         std::vector<SegmentObstacle> so;
 155         p.HMIN = p.root()->x();
 156         p.HMAX = p.root()->x();
 157         p.VMIN = p.root()->y();
 158         p.VMAX = p.root()->y();
 159         for (auto o: jvi["obst"]) {
 160                 float tmpx;
 161                 float tmpy;
 162                 float tmpr;
 163                 float tmps;
 164                 if (o["circle"] != Json::nullValue) {
 165                         tmpx = o["circle"][0].asFloat();
 166                         tmpy = o["circle"][1].asFloat();
 167                         tmpr = o["circle"][2].asFloat();
 168                         co.push_back(CircleObstacle(tmpx, tmpy, tmpr));
 169                         if (tmpx < p.HMIN) p.HMIN = tmpx;
 170                         if (tmpx > p.HMAX) p.HMAX = tmpx;
 171                         if (tmpy < p.VMIN) p.VMIN = tmpy;
 172                         if (tmpy > p.VMAX) p.VMAX = tmpy;
 173                 }
 174                 if (o["segment"] != Json::nullValue) {
 175                         tmpx = o["segment"][0][0].asFloat();
 176                         tmpy = o["segment"][0][1].asFloat();
 177                         tmpr = o["segment"][1][0].asFloat();
 178                         tmps = o["segment"][1][1].asFloat();
 179                         so.push_back(SegmentObstacle(
 180                                 new RRTNode(tmpx, tmpy, 0),
 181                                 new RRTNode(tmpr, tmps, 0)
 182                         ));
 183                         p.frame().add_bnode(so.back().init());
 184                         if (tmpx < p.HMIN) p.HMIN = tmpx;
 185                         if (tmpx > p.HMAX) p.HMAX = tmpx;
 186                         if (tmpy < p.VMIN) p.VMIN = tmpy;
 187                         if (tmpy > p.VMAX) p.VMAX = tmpy;
 188                         if (tmpr < p.HMIN) p.HMIN = tmpr;
 189                         if (tmpr > p.HMAX) p.HMAX = tmpr;
 190                         if (tmps < p.VMIN) p.VMIN = tmps;
 191                         if (tmps > p.VMAX) p.VMAX = tmps;
 192                 }
 193         }
 194         p.defaultSamplingInfo();
 195         p.link_obstacles(&co, &so);
 196         p.ocost(p.root());
 197         p.ocost(p.goal());
 198
 199         ParallelSlot ps = ParallelSlot();
 200         if (
 201                 jvi["slot"] != Json::nullValue &&
 202                 jvi["slot"]["polygon"] != Json::nullValue
 203         ) {
 204                 for (auto xy: jvi["slot"]["polygon"]) {
 205                         ps.slot().add_bnode(new RRTNode(
 206                                 xy[0].asFloat(),
 207                                 xy[1].asFloat()
 208                         ));
 209                 }
 210                 for (auto e: ps.slot().frame())
 211                         so.push_back(SegmentObstacle(e->init(), e->goal()));
 212         }
 213 #ifdef USE_SLOTPLANNER
 214         TSTART();
 215         if (ps.slot().bnodes().size() > 0)
 216                 ps.fip(co, so);
 217         TEND();
 218         jvo["ppse"] = ELAPSED;
 219         TPRINT("ParallelSlot");
 220 #endif
 221         if (ps.slot().bnodes().size() > 0) {
 222                 ps.setAll();
 223                 //if (ps.getMidd() != nullptr)
 224                 //        p.setSamplingInfo(ps.getSamplingInfo());
 225         }
 226         if (ps.cusp().size() > 0) {
 227                 p.goal(ps.getMidd());
 228                 p.slot_cusp(ps.cusp().front()); // use first found solution
 229                 p.goals(ps.goals());
 230                 jvo["midd"][0] = p.goal()->x();
 231                 jvo["midd"][1] = p.goal()->y();
 232                 jvo["midd"][2] = p.goal()->h();
 233                 jvo["goal"][0] = p.slot_cusp().back()->x();
 234                 jvo["goal"][1] = p.slot_cusp().back()->y();
 235                 jvo["goal"][2] = p.slot_cusp().back()->h();
 236         } else {
 237                 jvo["goal"][0] = p.goal()->x();
 238                 jvo["goal"][1] = p.goal()->y();
 239                 jvo["goal"][2] = p.goal()->h();
 240         }
 241         TSTART();
 242         std::cerr << "Slot Info:" << std::endl;
 243         if (ps.slotSide() == LEFT)
 244                 std::cerr << "- LEFT" << std::endl;
 245         else
 246                 std::cerr << "- RIGHT" << std::endl;
 247         if (ps.slotType() == PARALLEL)
 248                 std::cerr << "- PARALLEL" << std::endl;
 249         else
 250                 std::cerr << "- PERPENDICULAR" << std::endl;
 251 #ifdef USE_LOADF
 252         std::vector<RRTNode *> steered;
 253         for (auto jn: jvi["traj"][0]) {
 254                 steered.push_back(new RRTNode(
 255                                         jn[0].asFloat(),
 256                                         jn[1].asFloat(),
 257                                         jn[2].asFloat(),
 258                                         jn[3].asFloat(),
 259                                         jn[4].asFloat()));
 260         }
 261         std::reverse(steered.begin(), steered.end());
 262         RRTNode *pn = p.root();
 263         for (auto n: steered) {
 264                 if (IS_NEAR(pn, n))
 265                         continue;
 266                 pn->add_child(n, p.cost(pn, n));
 267                 pn = n;
 268                 p.glplot();
 269         }
 270         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 271         p.goal_found(true);
 272         p.tlog(p.findt());
 273         if (p.opt_path()) {
 274                 p.tlog(p.findt());
 275                 p.glplot();
 276         }
 277         p.glplot();
 278         sleep(2);
 279 #elif defined USE_INTERRUPT
 280         signal(SIGINT, hint);
 281         signal(SIGTERM, hint);
 282         p.tstart();
 283         while (run_planner) {
 284                 p.next();
 285                 p.tend();
 286                 if (p.opt_path())
 287                         p.tlog(p.findt());
 288                 p.glplot();
 289         }
 290 #elif defined USE_TMAX
 291         p.tstart();
 292         p.tend();
 293         while (!p.goal_found() && p.elapsed() < TMAX) {
 294                 p.next();
 295                 p.tend();
 296                 if (p.opt_path()) {
 297                         p.tlog(p.findt());
 298                 }
 299         }
 300         if (p.goal_found() && ps.slotType() == PARALLEL)
 301                 p.tlog(p.findt(p.slot_cusp().back()));
 302 #elif defined USE_PTHREAD
 303         bool gf = false;
 304         RRTNode *ron = nullptr;
 305         RRTNode *gon = nullptr;
 306         float mc = 9999;
 307         pthread_t rt; // root thread
 308         pthread_t gt; // goal thread
 309         pthread_t ct; // connect thread
 310
 311         struct next_arg ra;
 312         ra.gf = &gf;
 313         ra.p = &p.p_root_;
 314
 315         struct next_arg ga;
 316         ga.gf = &gf;
 317         ga.p = &p.p_goal_;
 318
 319         p.tstart();
 320         p.p_root_.tstart();
 321         p.p_goal_.tstart();
 322         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 323         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 324         int tol = 0;
 325         int ndl = 0;
 326         bool ndone = true;
 327         while (!gf && p.elapsed() < TMAX &&
 328                         p.p_root_.nodes().size() < NOFNODES &&
 329                         p.p_goal_.nodes().size() < NOFNODES) {
 330                 // overlap trees
 331                 ndone = true;
 332                 for (int i = 0; i < IXSIZE; i++) {
 333                 for (int j = 0; j < IYSIZE; j++) {
 334                         if (p.p_root_.ixy_[i][j].changed() &&
 335                                         p.p_goal_.ixy_[i][j].changed()) {
 336 ndone = false;
 337 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 338 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 339         if (rn->ccost() + gn->ccost() < mc &&
 340                         IS_NEAR(rn, gn)) {
 341                 gf = true;
 342                 p.goal_found(true);
 343                 ron = rn;
 344                 gon = gn;
 345                 mc = rn->ccost() + gn->ccost();
 346         }
 347 }}
 348                         }
 349                         tol++;
 350                         if (ndone)
 351                                 ndl++;
 352                         p.tend();
 353                         if (p.elapsed() >= TMAX)
 354                                 goto escapeloop;
 355                 }}
 356                 // end of overlap trees
 357                 p.tend();
 358         }
 359 escapeloop:
 360         pthread_join(rt, NULL);
 361         pthread_join(gt, NULL);
 362         float nodo = ((float) ndl / (float) tol);
 363         std::cerr << "nothing done is " << 100.0 * nodo;
 364         std::cerr << "%" << std::endl;
 365         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 366         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 367         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 368         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 369                 ron = p.p_root_.goal()->parent();
 370                 gon = p.p_root_.goal();
 371                 mc = p.p_root_.goal()->ccost();
 372         }
 373         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 374                 ron = p.p_goal_.goal();
 375                 gon = p.p_goal_.goal()->parent();
 376                 mc = p.p_goal_.goal()->ccost();
 377         }
 378         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 379         p.root()->ccost(0);
 380         p.goal()->children().clear();
 381         // connect trees
 382         if (gf) {
 383         while (gon != p.goal()) {
 384                 p.p_root_.nodes().push_back(new RRTNode(
 385                                 gon->x(),
 386                                 gon->y(),
 387                                 gon->h()));
 388                 ron->add_child(
 389                                 p.p_root_.nodes().back(),
 390                                 p.p_root_.cost(
 391                                                 ron,
 392                                                 p.p_root_.nodes().back()));
 393                 ron = p.p_root_.nodes().back();
 394                 gon = gon->parent();
 395         }
 396         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 397         }
 398         // end of connect trees
 399         if (gf)
 400                 p.tlog(p.findt());
 401         if (p.opt_path())
 402                 p.tlog(p.findt());
 403 #endif
 404         TEND();
 405         TPRINT("RRT");
 406         jvo["rrte"] = ELAPSED;
 407 #ifdef JSONLOGEDGES
 408         p.logr(p.root());
 409 #endif
 410
 411         // statistics to error output
 412         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 413         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 414         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 415         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 416         std::cerr << "#samples is " << p.samples().size() << std::endl;
 417         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 418         std::cerr << "trajectories costs:" << std::endl;
 419         for (j = 0; j < p.clog().size(); j++)
 420                 std::cerr << "- " << p.clog()[j] << std::endl;
 421         std::cerr << "RRT #nodes:" << std::endl;
 422         for (j = 0; j < p.nlog().size(); j++)
 423                 std::cerr << "- " << p.nlog()[j] << std::endl;
 424         std::cerr << "trajectories seconds:" << std::endl;
 425         for (j = 0; j < p.slog().size(); j++)
 426                 std::cerr << "- " << p.slog()[j] << std::endl;
 427         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 428         std::cerr << std::endl;
 429         for (auto edges: p.rlog())
 430                 std::cerr << "- " << edges.size() << std::endl;
 431
 432         // JSON output
 433         jvo["elap"] = TELAPSED;
 434 #ifdef USE_PTHREAD
 435         jvo["nodo"][0] = nodo;
 436 #endif
 437         // log cost
 438         for (j = 0; j < p.clog().size(); j++)
 439                 jvo["cost"][j] = p.clog()[j];
 440         // log #nodes
 441         for (j = 0; j < p.nlog().size(); j++)
 442                 jvo["node"][j] = p.nlog()[j];
 443         // log seconds
 444         for (j = 0; j < p.slog().size(); j++)
 445                 jvo["secs"][j] = p.slog()[j];
 446         // log traj
 447         i = 0;
 448         j = 0;
 449         for (auto traj: p.tlog()) {
 450                 i = 0;
 451                 for (auto n: traj) {
 452                         jvo["traj"][j][i][0] = n->x();
 453                         jvo["traj"][j][i][1] = n->y();
 454                         jvo["traj"][j][i][2] = n->h();
 455                         jvo["traj"][j][i][3] = n->t();
 456                         jvo["traj"][j][i][4] = n->s();
 457                         i++;
 458                 }
 459                 j++;
 460         }
 461 #ifdef JSONLOGEDGES
 462         i = 0;
 463         j = 0;
 464         for (auto edges: p.rlog()) {
 465                 j = 0;
 466                 for (auto e: edges) {
 467                         jvo["edge"][i][j][0][0] = e->init()->x();
 468                         jvo["edge"][i][j][0][1] = e->init()->y();
 469                         jvo["edge"][i][j][0][2] = e->init()->h();
 470                         jvo["edge"][i][j][1][0] = e->goal()->x();
 471                         jvo["edge"][i][j][1][1] = e->goal()->y();
 472                         jvo["edge"][i][j][1][2] = e->goal()->h();
 473                         j++;
 474                 }
 475                 i++;
 476         }
 477 #endif
 478 #ifdef JSONLOGSAMPLES
 479         i = 0;
 480         j = 0;
 481         for (auto s: p.samples()) {
 482                 jvo["samp"][j][0] = s->x();
 483                 jvo["samp"][j][1] = s->y();
 484                 jvo["samp"][j][2] = s->h();
 485                 j++;
 486         }
 487 #endif
 488         // print output
 489         std::cout << jvo << std::endl;
 490
 491 #if USE_GL > 0
 492         SDL_DestroyWindow(gw);
 493         SDL_Quit();
 494 #endif
 495
 496         // free mem
 497         for (auto o: so) {
 498                 delete o.init();
 499                 delete o.goal();
 500         }
 501         return 0;
 502 }
 503
 504 #if USE_GL > 0
 505 bool init()
 506 {
 507         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 508                 std::cerr << "SDL could not initialize! SDL_Error: ";
 509                 std::cerr << SDL_GetError();
 510                 std::cerr << std::endl;
 511                 return false;
 512         }
 513         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 514         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 515         gw = SDL_CreateWindow(
 516                         "I am car",
 517                         SDL_WINDOWPOS_UNDEFINED,
 518                         SDL_WINDOWPOS_UNDEFINED,
 519                         SCREEN_WIDTH,
 520                         SCREEN_HEIGHT,
 521                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 522         if (gw == NULL) {
 523                 std::cerr << "Window could not be created! SDL_Error: ";
 524                 std::cerr << SDL_GetError();
 525                 std::cerr << std::endl;
 526                 return false;
 527         }
 528         gc = SDL_GL_CreateContext(gw);
 529         if (gc == NULL) {
 530                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 531                 std::cerr << SDL_GetError();
 532                 std::cerr << std::endl;
 533                 return false;
 534         }
 535         if (SDL_GL_SetSwapInterval(1) < 0) {
 536                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 537                 std::cerr << SDL_GetError();
 538                 std::cerr << std::endl;
 539                 return false;
 540         }
 541         if (!initGL()) {
 542                 std::cerr << "Unable to initialize OpenGL!";
 543                 std::cerr << std::endl;
 544                 return false;
 545         }
 546         return true;
 547 }
 548
 549 bool initGL()
 550 {
 551         GLenum error = GL_NO_ERROR;
 552         glMatrixMode(GL_PROJECTION);
 553         glLoadIdentity();
 554         error = glGetError();
 555         if (error != GL_NO_ERROR) {
 556                 std::cerr << "Error initializing OpenGL! ";
 557                 std::cerr << gluErrorString(error);
 558                 std::cerr << std::endl;
 559                 return false;
 560         }
 561         glMatrixMode(GL_MODELVIEW);
 562         glLoadIdentity();
 563         error = glGetError();
 564         if (error != GL_NO_ERROR) {
 565                 std::cerr << "Error initializing OpenGL! ";
 566                 std::cerr << gluErrorString(error);
 567                 std::cerr << std::endl;
 568                 return false;
 569         }
 570         glClearColor(1, 1, 1, 1);
 571         error = glGetError();
 572         if (error != GL_NO_ERROR) {
 573                 std::cerr << "Error initializing OpenGL! ";
 574                 std::cerr << gluErrorString(error);
 575                 std::cerr << std::endl;
 576                 return false;
 577         }
 578         return true;
 579 }
 580 #endif