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