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
  30 #if USE_GL > 0
  31 // OpenGL
  32 #include <GL/gl.h>
  33 #include <GL/glu.h>
  34 #include <SDL2/SDL.h>
  35 #endif
  36
  37 // debug
  38 //#define JSONLOGEDGES
  39 //#define JSONLOGSAMPLES
  40
  41 #if USE_GL > 0
  42         #define USE_INTERRUPT
  43 #else
  44         // choose
  45         //#define USE_INTERRUPT
  46         // or
  47         #define USE_TMAX
  48         // or
  49         //#define USE_LOADF
  50         // or
  51         //#define USE_PTHREAD
  52 #endif
  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 #if USE_GL > 0
  79 SDL_Window* gw = NULL;
  80 SDL_GLContext gc;
  81
  82 bool init();
  83 bool initGL();
  84 #endif
  85
  86 void hint(int)
  87 {
  88         run_planner = false;
  89 }
  90
  91 #ifdef USE_PTHREAD
  92 struct next_arg {
  93         bool *gf;
  94         T2 *p;
  95 };
  96
  97 void *next_run(void *arg)
  98 {
  99         struct next_arg *na = (struct next_arg *) arg;
 100         T2 *lp = (T2 *) na->p;
 101         bool *gf = na->gf;
 102         while (!*gf && lp->elapsed() < TMAX) {
 103                 if (lp->next())
 104                         *gf = true;
 105                 lp->tend();
 106         }
 107         pthread_exit(NULL);
 108         return NULL;
 109 }
 110 #endif
 111
 112 int main()
 113 {
 114 #if USE_GL > 0
 115         init();
 116 #endif
 117
 118         Json::Value jvi; // JSON input
 119         Json::Value jvo; // JSON output
 120         unsigned int i = 0;
 121         unsigned int j = 0;
 122         std::cin >> jvi;
 123         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 124
 125         PLANNER p(
 126                         new RRTNode(
 127                                 jvi["init"][0].asFloat(),
 128                                 jvi["init"][1].asFloat(),
 129                                 jvi["init"][2].asFloat()),
 130                         new RRTNode(
 131                                 jvi["goal"][0].asFloat(),
 132                                 jvi["goal"][1].asFloat(),
 133                                 jvi["goal"][2].asFloat()));
 134         std::vector<CircleObstacle> co;
 135         std::vector<SegmentObstacle> so;
 136         for (auto o: jvi["obst"]) {
 137                 if (o["circle"] != Json::nullValue) {
 138                         co.push_back(CircleObstacle(
 139                                                 o["circle"][0].asFloat(),
 140                                                 o["circle"][1].asFloat(),
 141                                                 o["circle"][2].asFloat()));
 142                 }
 143                 if (o["segment"] != Json::nullValue) {
 144                         so.push_back(SegmentObstacle(
 145                                 new RRTNode(
 146                                         o["segment"][0][0].asFloat(),
 147                                         o["segment"][0][1].asFloat(),
 148                                         0),
 149                                 new RRTNode(
 150                                         o["segment"][1][0].asFloat(),
 151                                         o["segment"][1][1].asFloat(),
 152                                         0)));
 153                         p.frame().add_bnode(so.back().init());
 154                 }
 155         }
 156         p.link_obstacles(&co, &so);
 157         p.ocost(p.root());
 158         p.ocost(p.goal());
 159
 160         ParallelSlot ps = ParallelSlot();
 161         if (
 162                 jvi["slot"] != Json::nullValue &&
 163                 jvi["slot"]["polygon"] != Json::nullValue
 164         ) {
 165                 for (auto xy: jvi["slot"]["polygon"]) {
 166                         ps.slot().add_bnode(new RRTNode(
 167                                 xy[0].asFloat(),
 168                                 xy[1].asFloat()
 169                         ));
 170                 }
 171         }
 172         if (ps.slot().bnodes().size() > 0) {
 173                 ps.setAll();
 174                 p.samplingInfo_ = ps.getSamplingInfo();
 175                 p.useSamplingInfo_ = true;
 176         }
 177 #ifdef USE_SLOTPLANNER
 178         TSTART();
 179         if (ps.slot().bnodes().size() > 0)
 180                 ps.fipr(ps.getFP());
 181         TEND();
 182         jvo["ppse"] = ELAPSED;
 183         TPRINT("ParallelSlot");
 184 #endif
 185         if (ps.cusp().size() > 0) {
 186                 p.goal(ps.cusp().front().front());
 187                 p.slot_cusp(ps.cusp().front()); // use first found solution
 188                 jvo["midd"][0] = p.goal()->x();
 189                 jvo["midd"][1] = p.goal()->y();
 190                 jvo["midd"][2] = p.goal()->h();
 191                 jvo["goal"][0] = p.slot_cusp().back()->x();
 192                 jvo["goal"][1] = p.slot_cusp().back()->y();
 193                 jvo["goal"][2] = p.slot_cusp().back()->h();
 194         } else {
 195                 jvo["goal"][0] = p.goal()->x();
 196                 jvo["goal"][1] = p.goal()->y();
 197                 jvo["goal"][2] = p.goal()->h();
 198         }
 199         TSTART();
 200 #ifdef USE_LOADF
 201         std::vector<RRTNode *> steered;
 202         for (auto jn: jvi["traj"][0]) {
 203                 steered.push_back(new RRTNode(
 204                                         jn[0].asFloat(),
 205                                         jn[1].asFloat(),
 206                                         jn[2].asFloat(),
 207                                         jn[3].asFloat(),
 208                                         jn[4].asFloat()));
 209         }
 210         std::reverse(steered.begin(), steered.end());
 211         RRTNode *pn = p.root();
 212         for (auto n: steered) {
 213                 if (IS_NEAR(pn, n))
 214                         continue;
 215                 pn->add_child(n, p.cost(pn, n));
 216                 pn = n;
 217                 p.glplot();
 218         }
 219         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 220         p.goal_found(true);
 221         p.tlog(p.findt());
 222         if (p.opt_path()) {
 223                 p.tlog(p.findt());
 224                 p.glplot();
 225         }
 226         p.glplot();
 227         sleep(2);
 228 #elif defined USE_INTERRUPT
 229         signal(SIGINT, hint);
 230         signal(SIGTERM, hint);
 231         p.tstart();
 232         while (run_planner) {
 233                 p.next();
 234                 p.tend();
 235                 if (p.opt_path())
 236                         p.tlog(p.findt());
 237                 p.glplot();
 238         }
 239 #elif defined USE_TMAX
 240         p.tstart();
 241         p.tend();
 242         while (!p.goal_found() && p.elapsed() < TMAX) {
 243                 p.next();
 244                 p.tend();
 245                 if (p.opt_path()) {
 246                         if (ps.cusp().size() > 0)
 247                                 p.tlog(p.findt(p.slot_cusp().back()));
 248                         else
 249                                 p.tlog(p.findt());
 250                 }
 251         }
 252 #elif defined USE_PTHREAD
 253         bool gf = false;
 254         RRTNode *ron = nullptr;
 255         RRTNode *gon = nullptr;
 256         float mc = 9999;
 257         pthread_t rt; // root thread
 258         pthread_t gt; // goal thread
 259         pthread_t ct; // connect thread
 260
 261         struct next_arg ra;
 262         ra.gf = &gf;
 263         ra.p = &p.p_root_;
 264
 265         struct next_arg ga;
 266         ga.gf = &gf;
 267         ga.p = &p.p_goal_;
 268
 269         p.tstart();
 270         p.p_root_.tstart();
 271         p.p_goal_.tstart();
 272         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 273         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 274         int tol = 0;
 275         int ndl = 0;
 276         bool ndone = true;
 277         while (!gf && p.elapsed() < TMAX &&
 278                         p.p_root_.nodes().size() < NOFNODES &&
 279                         p.p_goal_.nodes().size() < NOFNODES) {
 280                 // overlap trees
 281                 ndone = true;
 282                 for (int i = 0; i < IXSIZE; i++) {
 283                 for (int j = 0; j < IYSIZE; j++) {
 284                         if (p.p_root_.ixy_[i][j].changed() &&
 285                                         p.p_goal_.ixy_[i][j].changed()) {
 286 ndone = false;
 287 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 288 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 289         if (rn->ccost() + gn->ccost() < mc &&
 290                         IS_NEAR(rn, gn)) {
 291                 gf = true;
 292                 p.goal_found(true);
 293                 ron = rn;
 294                 gon = gn;
 295                 mc = rn->ccost() + gn->ccost();
 296         }
 297 }}
 298                         }
 299                         tol++;
 300                         if (ndone)
 301                                 ndl++;
 302                         p.tend();
 303                         if (p.elapsed() >= TMAX)
 304                                 goto escapeloop;
 305                 }}
 306                 // end of overlap trees
 307                 p.tend();
 308         }
 309 escapeloop:
 310         pthread_join(rt, NULL);
 311         pthread_join(gt, NULL);
 312         float nodo = ((float) ndl / (float) tol);
 313         std::cerr << "nothing done is " << 100.0 * nodo;
 314         std::cerr << "%" << std::endl;
 315         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 316         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 317         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 318         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 319                 ron = p.p_root_.goal()->parent();
 320                 gon = p.p_root_.goal();
 321                 mc = p.p_root_.goal()->ccost();
 322         }
 323         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 324                 ron = p.p_goal_.goal();
 325                 gon = p.p_goal_.goal()->parent();
 326                 mc = p.p_goal_.goal()->ccost();
 327         }
 328         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 329         p.root()->ccost(0);
 330         p.goal()->children().clear();
 331         // connect trees
 332         if (gf) {
 333         while (gon != p.goal()) {
 334                 p.p_root_.nodes().push_back(new RRTNode(
 335                                 gon->x(),
 336                                 gon->y(),
 337                                 gon->h()));
 338                 ron->add_child(
 339                                 p.p_root_.nodes().back(),
 340                                 p.p_root_.cost(
 341                                                 ron,
 342                                                 p.p_root_.nodes().back()));
 343                 ron = p.p_root_.nodes().back();
 344                 gon = gon->parent();
 345         }
 346         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 347         }
 348         // end of connect trees
 349         if (gf)
 350                 p.tlog(p.findt());
 351         if (p.opt_path())
 352                 p.tlog(p.findt());
 353 #endif
 354         TEND();
 355         TPRINT("RRT");
 356         jvo["rrte"] = ELAPSED;
 357 #ifdef JSONLOGEDGES
 358         p.logr(p.root());
 359 #endif
 360
 361         // statistics to error output
 362         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 363         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 364         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 365         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 366         std::cerr << "#samples is " << p.samples().size() << std::endl;
 367         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 368         std::cerr << "trajectories costs:" << std::endl;
 369         for (j = 0; j < p.clog().size(); j++)
 370                 std::cerr << "- " << p.clog()[j] << std::endl;
 371         std::cerr << "RRT #nodes:" << std::endl;
 372         for (j = 0; j < p.nlog().size(); j++)
 373                 std::cerr << "- " << p.nlog()[j] << std::endl;
 374         std::cerr << "trajectories seconds:" << std::endl;
 375         for (j = 0; j < p.slog().size(); j++)
 376                 std::cerr << "- " << p.slog()[j] << std::endl;
 377         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 378         std::cerr << std::endl;
 379         for (auto edges: p.rlog())
 380                 std::cerr << "- " << edges.size() << std::endl;
 381
 382         // JSON output
 383         jvo["elap"] = TELAPSED;
 384 #ifdef USE_PTHREAD
 385         jvo["nodo"][0] = nodo;
 386 #endif
 387         // log cost
 388         for (j = 0; j < p.clog().size(); j++)
 389                 jvo["cost"][j] = p.clog()[j];
 390         // log #nodes
 391         for (j = 0; j < p.nlog().size(); j++)
 392                 jvo["node"][j] = p.nlog()[j];
 393         // log seconds
 394         for (j = 0; j < p.slog().size(); j++)
 395                 jvo["secs"][j] = p.slog()[j];
 396         // log traj
 397         i = 0;
 398         j = 0;
 399         for (auto traj: p.tlog()) {
 400                 i = 0;
 401                 for (auto n: traj) {
 402                         jvo["traj"][j][i][0] = n->x();
 403                         jvo["traj"][j][i][1] = n->y();
 404                         jvo["traj"][j][i][2] = n->h();
 405                         jvo["traj"][j][i][3] = n->t();
 406                         jvo["traj"][j][i][4] = n->s();
 407                         i++;
 408                 }
 409                 j++;
 410         }
 411 #ifdef JSONLOGEDGES
 412         i = 0;
 413         j = 0;
 414         for (auto edges: p.rlog()) {
 415                 j = 0;
 416                 for (auto e: edges) {
 417                         jvo["edge"][i][j][0][0] = e->init()->x();
 418                         jvo["edge"][i][j][0][1] = e->init()->y();
 419                         jvo["edge"][i][j][0][2] = e->init()->h();
 420                         jvo["edge"][i][j][1][0] = e->goal()->x();
 421                         jvo["edge"][i][j][1][1] = e->goal()->y();
 422                         jvo["edge"][i][j][1][2] = e->goal()->h();
 423                         j++;
 424                 }
 425                 i++;
 426         }
 427 #endif
 428 #ifdef JSONLOGSAMPLES
 429         i = 0;
 430         j = 0;
 431         for (auto s: p.samples()) {
 432                 jvo["samp"][j][0] = s->x();
 433                 jvo["samp"][j][1] = s->y();
 434                 jvo["samp"][j][2] = s->h();
 435                 j++;
 436         }
 437 #endif
 438         // print output
 439         std::cout << jvo << std::endl;
 440
 441 #if USE_GL > 0
 442         SDL_DestroyWindow(gw);
 443         SDL_Quit();
 444 #endif
 445
 446         // free mem
 447         for (auto o: so) {
 448                 delete o.init();
 449                 delete o.goal();
 450         }
 451         return 0;
 452 }
 453
 454 #if USE_GL > 0
 455 bool init()
 456 {
 457         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 458                 std::cerr << "SDL could not initialize! SDL_Error: ";
 459                 std::cerr << SDL_GetError();
 460                 std::cerr << std::endl;
 461                 return false;
 462         }
 463         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 464         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 465         gw = SDL_CreateWindow(
 466                         "I am car",
 467                         SDL_WINDOWPOS_UNDEFINED,
 468                         SDL_WINDOWPOS_UNDEFINED,
 469                         SCREEN_WIDTH,
 470                         SCREEN_HEIGHT,
 471                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 472         if (gw == NULL) {
 473                 std::cerr << "Window could not be created! SDL_Error: ";
 474                 std::cerr << SDL_GetError();
 475                 std::cerr << std::endl;
 476                 return false;
 477         }
 478         gc = SDL_GL_CreateContext(gw);
 479         if (gc == NULL) {
 480                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 481                 std::cerr << SDL_GetError();
 482                 std::cerr << std::endl;
 483                 return false;
 484         }
 485         if (SDL_GL_SetSwapInterval(1) < 0) {
 486                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 487                 std::cerr << SDL_GetError();
 488                 std::cerr << std::endl;
 489                 return false;
 490         }
 491         if (!initGL()) {
 492                 std::cerr << "Unable to initialize OpenGL!";
 493                 std::cerr << std::endl;
 494                 return false;
 495         }
 496         return true;
 497 }
 498
 499 bool initGL()
 500 {
 501         GLenum error = GL_NO_ERROR;
 502         glMatrixMode(GL_PROJECTION);
 503         glLoadIdentity();
 504         error = glGetError();
 505         if (error != GL_NO_ERROR) {
 506                 std::cerr << "Error initializing OpenGL! ";
 507                 std::cerr << gluErrorString(error);
 508                 std::cerr << std::endl;
 509                 return false;
 510         }
 511         glMatrixMode(GL_MODELVIEW);
 512         glLoadIdentity();
 513         error = glGetError();
 514         if (error != GL_NO_ERROR) {
 515                 std::cerr << "Error initializing OpenGL! ";
 516                 std::cerr << gluErrorString(error);
 517                 std::cerr << std::endl;
 518                 return false;
 519         }
 520         glClearColor(1, 1, 1, 1);
 521         error = glGetError();
 522         if (error != GL_NO_ERROR) {
 523                 std::cerr << "Error initializing OpenGL! ";
 524                 std::cerr << gluErrorString(error);
 525                 std::cerr << std::endl;
 526                 return false;
 527         }
 528         return true;
 529 }
 530 #endif