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