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         if (jvi["init"] == Json::nullValue) {
 142                 std::cerr << "I need `init` in JSON input scenario";
 143                 std::cerr << std::endl;
 144                 return 1;
 145         }
 146
 147         if (jvi["goal"] == Json::nullValue) {
 148                 std::cerr << "I need `goal` in JSON input scenario";
 149                 std::cerr << std::endl;
 150                 return 1;
 151         }
 152
 153         PLANNER p(
 154                 new RRTNode(
 155                         jvi["init"][0].asFloat(),
 156                         jvi["init"][1].asFloat(),
 157                         jvi["init"][2].asFloat()
 158                 ),
 159                 new RRTNode(
 160                         jvi["goal"][0].asFloat(),
 161                         jvi["goal"][1].asFloat(),
 162                         jvi["goal"][2].asFloat()
 163                 )
 164         );
 165         p.firsts().push(p.goal());
 166         jvo["init"][0] = p.root()->x();
 167         jvo["init"][1] = p.root()->y();
 168         jvo["init"][2] = p.root()->h();
 169         jvo["goal"][0] = jvi["goal"][0].asFloat();
 170         jvo["goal"][1] = jvi["goal"][1].asFloat();
 171         jvo["goal"][2] = jvi["goal"][2].asFloat();
 172
 173         if (jvi["goals"] != Json::nullValue) {
 174                 for (auto g: jvi["goals"]) {
 175                         p.goals().push_back(new RRTNode(
 176                                 g[0].asFloat(),
 177                                 g[1].asFloat(),
 178                                 g[2].asFloat()
 179                         ));
 180                 }
 181         }
 182
 183         if (jvi["slot"] != Json::nullValue) {
 184                 jvo["slot"] = jvi["slot"];
 185         }
 186
 187         std::vector<CircleObstacle> co;
 188         std::vector<SegmentObstacle> so;
 189         p.HMIN = p.root()->x();
 190         p.HMAX = p.root()->x();
 191         p.VMIN = p.root()->y();
 192         p.VMAX = p.root()->y();
 193         j = 0;
 194         for (auto o: jvi["obst"]) {
 195                 float tmpx;
 196                 float tmpy;
 197                 float tmpr;
 198                 float tmps;
 199                 for (i = 0; i < o.size() - 1; i++) {
 200                         tmpx = o[i][0].asFloat();
 201                         tmpy = o[i][1].asFloat();
 202                         tmpr = o[i + 1][0].asFloat();
 203                         tmps = o[i + 1][1].asFloat();
 204                         so.push_back(SegmentObstacle(
 205                                 new RRTNode(tmpx, tmpy, 0),
 206                                 new RRTNode(tmpr, tmps, 0)
 207                         ));
 208                         p.frame().add_bnode(so.back().init());
 209                         if (tmpx < p.HMIN) p.HMIN = tmpx;
 210                         if (tmpx > p.HMAX) p.HMAX = tmpx;
 211                         if (tmpy < p.VMIN) p.VMIN = tmpy;
 212                         if (tmpy > p.VMAX) p.VMAX = tmpy;
 213                         if (tmpr < p.HMIN) p.HMIN = tmpr;
 214                         if (tmpr > p.HMAX) p.HMAX = tmpr;
 215                         if (tmps < p.VMIN) p.VMIN = tmps;
 216                         if (tmps > p.VMAX) p.VMAX = tmps;
 217
 218                         // output
 219                         jvo["obst"][j][i][0] = tmpx;
 220                         jvo["obst"][j][i][1] = tmpy;
 221                 }
 222                 jvo["obst"][j][i][0] = tmpr;
 223                 jvo["obst"][j][i][1] = tmps;
 224                 j++;
 225         }
 226         p.defaultSamplingInfo();
 227         p.link_obstacles(&co, &so);
 228         p.ocost(p.root());
 229         p.ocost(p.goal());
 230
 231 #ifdef USE_LOADF
 232         std::vector<RRTNode *> steered;
 233         for (auto jn: jvi["traj"][0]) {
 234                 steered.push_back(new RRTNode(
 235                                         jn[0].asFloat(),
 236                                         jn[1].asFloat(),
 237                                         jn[2].asFloat(),
 238                                         jn[3].asFloat(),
 239                                         jn[4].asFloat()));
 240         }
 241         std::reverse(steered.begin(), steered.end());
 242         RRTNode *pn = p.root();
 243         for (auto n: steered) {
 244                 if (IS_NEAR(pn, n))
 245                         continue;
 246                 pn->add_child(n, p.cost(pn, n));
 247                 pn = n;
 248                 p.glplot();
 249         }
 250         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 251         p.goal_found(true);
 252         p.tlog(p.findt());
 253         if (p.opt_path()) {
 254                 p.tlog(p.findt());
 255                 p.glplot();
 256         }
 257         p.glplot();
 258         sleep(2);
 259 #elif defined USE_INTERRUPT
 260         signal(SIGINT, hint);
 261         signal(SIGTERM, hint);
 262         p.tstart();
 263         while (run_planner) {
 264                 p.next();
 265                 p.tend();
 266                 if (p.opt_path())
 267                         p.tlog(p.findt());
 268                 p.glplot();
 269         }
 270 #elif defined USE_TMAX
 271         p.tstart();
 272         p.tend();
 273         while (!p.goal_found() && p.elapsed() < TMAX) {
 274                 p.next();
 275                 p.tend();
 276                 if (p.opt_path()) {
 277                         p.tlog(p.findt());
 278                 }
 279         }
 280         p.tend();
 281         jvo["time"] = p.elapsed();
 282 #elif defined USE_PTHREAD
 283         bool gf = false;
 284         RRTNode *ron = nullptr;
 285         RRTNode *gon = nullptr;
 286         float mc = 9999;
 287         pthread_t rt; // root thread
 288         pthread_t gt; // goal thread
 289         pthread_t ct; // connect thread
 290
 291         struct next_arg ra;
 292         ra.gf = &gf;
 293         ra.p = &p.p_root_;
 294
 295         struct next_arg ga;
 296         ga.gf = &gf;
 297         ga.p = &p.p_goal_;
 298
 299         p.tstart();
 300         p.p_root_.tstart();
 301         p.p_goal_.tstart();
 302         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 303         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 304         int tol = 0;
 305         int ndl = 0;
 306         bool ndone = true;
 307         while (!gf && p.elapsed() < TMAX &&
 308                         p.p_root_.nodes().size() < NOFNODES &&
 309                         p.p_goal_.nodes().size() < NOFNODES) {
 310                 // overlap trees
 311                 ndone = true;
 312                 for (int i = 0; i < IXSIZE; i++) {
 313                 for (int j = 0; j < IYSIZE; j++) {
 314                         if (p.p_root_.ixy_[i][j].changed() &&
 315                                         p.p_goal_.ixy_[i][j].changed()) {
 316 ndone = false;
 317 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 318 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 319         if (rn->ccost() + gn->ccost() < mc &&
 320                         IS_NEAR(rn, gn)) {
 321                 gf = true;
 322                 p.goal_found(true);
 323                 ron = rn;
 324                 gon = gn;
 325                 mc = rn->ccost() + gn->ccost();
 326         }
 327 }}
 328                         }
 329                         tol++;
 330                         if (ndone)
 331                                 ndl++;
 332                         p.tend();
 333                         if (p.elapsed() >= TMAX)
 334                                 goto escapeloop;
 335                 }}
 336                 // end of overlap trees
 337                 p.tend();
 338         }
 339 escapeloop:
 340         pthread_join(rt, NULL);
 341         pthread_join(gt, NULL);
 342         float nodo = ((float) ndl / (float) tol);
 343         std::cerr << "nothing done is " << 100.0 * nodo;
 344         std::cerr << "%" << std::endl;
 345         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 346         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 347         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 348         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 349                 ron = p.p_root_.goal()->parent();
 350                 gon = p.p_root_.goal();
 351                 mc = p.p_root_.goal()->ccost();
 352         }
 353         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 354                 ron = p.p_goal_.goal();
 355                 gon = p.p_goal_.goal()->parent();
 356                 mc = p.p_goal_.goal()->ccost();
 357         }
 358         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 359         p.root()->ccost(0);
 360         p.goal()->children().clear();
 361         // connect trees
 362         if (gf) {
 363         while (gon != p.goal()) {
 364                 p.p_root_.nodes().push_back(new RRTNode(
 365                                 gon->x(),
 366                                 gon->y(),
 367                                 gon->h()));
 368                 ron->add_child(
 369                                 p.p_root_.nodes().back(),
 370                                 p.p_root_.cost(
 371                                                 ron,
 372                                                 p.p_root_.nodes().back()));
 373                 ron = p.p_root_.nodes().back();
 374                 gon = gon->parent();
 375         }
 376         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 377         }
 378         // end of connect trees
 379         if (gf)
 380                 p.tlog(p.findt());
 381         if (p.opt_path())
 382                 p.tlog(p.findt());
 383 #endif
 384         TEND();
 385         TPRINT("RRT");
 386         jvo["rrte"] = ELAPSED;
 387 #ifdef JSONLOGEDGES
 388         p.logr(p.root());
 389 #endif
 390
 391         // statistics to error output
 392         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 393         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 394         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 395         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 396         std::cerr << "#samples is " << p.samples().size() << std::endl;
 397         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 398         std::cerr << "trajectories costs:" << std::endl;
 399         for (j = 0; j < p.clog().size(); j++)
 400                 std::cerr << "- " << p.clog()[j] << std::endl;
 401         std::cerr << "RRT #nodes:" << std::endl;
 402         for (j = 0; j < p.nlog().size(); j++)
 403                 std::cerr << "- " << p.nlog()[j] << std::endl;
 404         std::cerr << "trajectories seconds:" << std::endl;
 405         for (j = 0; j < p.slog().size(); j++)
 406                 std::cerr << "- " << p.slog()[j] << std::endl;
 407         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 408         std::cerr << std::endl;
 409         for (auto edges: p.rlog())
 410                 std::cerr << "- " << edges.size() << std::endl;
 411
 412         // JSON output
 413         jvo["elap"] = TELAPSED;
 414 #ifdef USE_PTHREAD
 415         jvo["nodo"][0] = nodo;
 416 #endif
 417         // log cost
 418         for (j = 0; j < p.clog().size(); j++)
 419                 jvo["cost"][j] = p.clog()[j];
 420         // log #nodes
 421         for (j = 0; j < p.nlog().size(); j++)
 422                 jvo["node"][j] = p.nlog()[j];
 423         // log seconds
 424         for (j = 0; j < p.slog().size(); j++)
 425                 jvo["secs"][j] = p.slog()[j];
 426         // log traj
 427         i = 0;
 428         j = 0;
 429         for (auto traj: p.tlog()) {
 430                 i = 0;
 431                 for (auto n: traj) {
 432                         jvo["traj"][j][i][0] = n->x();
 433                         jvo["traj"][j][i][1] = n->y();
 434                         jvo["traj"][j][i][2] = n->h();
 435                         jvo["traj"][j][i][3] = n->t();
 436                         jvo["traj"][j][i][4] = n->s();
 437                         i++;
 438                 }
 439                 if (j == p.tlog().size() - 1) {
 440                         i = 0;
 441                         for (auto n: traj) {
 442                                 jvo["path"][i][0] = n->x();
 443                                 jvo["path"][i][1] = n->y();
 444                                 jvo["path"][i][2] = n->h();
 445                                 i++;
 446                         }
 447                 }
 448                 j++;
 449         }
 450         jvo["goals"][0][0] = p.tlog()[p.tlog().size() - 1].front()->x();
 451         jvo["goals"][0][1] = p.tlog()[p.tlog().size() - 1].front()->y();
 452         jvo["goals"][0][2] = p.tlog()[p.tlog().size() - 1].front()->h();
 453 #ifdef JSONLOGEDGES
 454         i = 0;
 455         j = 0;
 456         for (auto edges: p.rlog()) {
 457                 j = 0;
 458                 for (auto e: edges) {
 459                         jvo["edge"][i][j][0][0] = e->init()->x();
 460                         jvo["edge"][i][j][0][1] = e->init()->y();
 461                         jvo["edge"][i][j][0][2] = e->init()->h();
 462                         jvo["edge"][i][j][1][0] = e->goal()->x();
 463                         jvo["edge"][i][j][1][1] = e->goal()->y();
 464                         jvo["edge"][i][j][1][2] = e->goal()->h();
 465                         j++;
 466                 }
 467                 i++;
 468         }
 469 #endif
 470 #ifdef JSONLOGSAMPLES
 471         i = 0;
 472         j = 0;
 473         for (auto s: p.samples()) {
 474                 jvo["samp"][j][0] = s->x();
 475                 jvo["samp"][j][1] = s->y();
 476                 jvo["samp"][j][2] = s->h();
 477                 j++;
 478         }
 479 #endif
 480         // print output
 481         std::cout << jvo << std::endl;
 482
 483 #if USE_GL > 0
 484         SDL_DestroyWindow(gw);
 485         SDL_Quit();
 486 #endif
 487
 488         // free mem
 489         for (auto o: so) {
 490                 delete o.init();
 491                 delete o.goal();
 492         }
 493         return 0;
 494 }
 495
 496 #if USE_GL > 0
 497 bool init()
 498 {
 499         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 500                 std::cerr << "SDL could not initialize! SDL_Error: ";
 501                 std::cerr << SDL_GetError();
 502                 std::cerr << std::endl;
 503                 return false;
 504         }
 505         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 506         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 507         gw = SDL_CreateWindow(
 508                         "I am car",
 509                         SDL_WINDOWPOS_UNDEFINED,
 510                         SDL_WINDOWPOS_UNDEFINED,
 511                         SCREEN_WIDTH,
 512                         SCREEN_HEIGHT,
 513                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 514         if (gw == NULL) {
 515                 std::cerr << "Window could not be created! SDL_Error: ";
 516                 std::cerr << SDL_GetError();
 517                 std::cerr << std::endl;
 518                 return false;
 519         }
 520         gc = SDL_GL_CreateContext(gw);
 521         if (gc == NULL) {
 522                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 523                 std::cerr << SDL_GetError();
 524                 std::cerr << std::endl;
 525                 return false;
 526         }
 527         if (SDL_GL_SetSwapInterval(1) < 0) {
 528                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 529                 std::cerr << SDL_GetError();
 530                 std::cerr << std::endl;
 531                 return false;
 532         }
 533         if (!initGL()) {
 534                 std::cerr << "Unable to initialize OpenGL!";
 535                 std::cerr << std::endl;
 536                 return false;
 537         }
 538         return true;
 539 }
 540
 541 bool initGL()
 542 {
 543         GLenum error = GL_NO_ERROR;
 544         glMatrixMode(GL_PROJECTION);
 545         glLoadIdentity();
 546         error = glGetError();
 547         if (error != GL_NO_ERROR) {
 548                 std::cerr << "Error initializing OpenGL! ";
 549                 std::cerr << gluErrorString(error);
 550                 std::cerr << std::endl;
 551                 return false;
 552         }
 553         glMatrixMode(GL_MODELVIEW);
 554         glLoadIdentity();
 555         error = glGetError();
 556         if (error != GL_NO_ERROR) {
 557                 std::cerr << "Error initializing OpenGL! ";
 558                 std::cerr << gluErrorString(error);
 559                 std::cerr << std::endl;
 560                 return false;
 561         }
 562         glClearColor(1, 1, 1, 1);
 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         return true;
 571 }
 572 #endif