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         jvo["init"][0] = p.root()->x();
 166         jvo["init"][1] = p.root()->y();
 167         jvo["init"][2] = p.root()->h();
 168         std::vector<CircleObstacle> co;
 169         std::vector<SegmentObstacle> so;
 170         p.HMIN = p.root()->x();
 171         p.HMAX = p.root()->x();
 172         p.VMIN = p.root()->y();
 173         p.VMAX = p.root()->y();
 174         j = 0;
 175         for (auto o: jvi["obst"]) {
 176                 float tmpx;
 177                 float tmpy;
 178                 float tmpr;
 179                 float tmps;
 180                 for (i = 0; i < o.size() - 1; i++) {
 181                         tmpx = o[i][0].asFloat();
 182                         tmpy = o[i][1].asFloat();
 183                         tmpr = o[i + 1][0].asFloat();
 184                         tmps = o[i + 1][1].asFloat();
 185                         so.push_back(SegmentObstacle(
 186                                 new RRTNode(tmpx, tmpy, 0),
 187                                 new RRTNode(tmpr, tmps, 0)
 188                         ));
 189                         p.frame().add_bnode(so.back().init());
 190                         if (tmpx < p.HMIN) p.HMIN = tmpx;
 191                         if (tmpx > p.HMAX) p.HMAX = tmpx;
 192                         if (tmpy < p.VMIN) p.VMIN = tmpy;
 193                         if (tmpy > p.VMAX) p.VMAX = tmpy;
 194                         if (tmpr < p.HMIN) p.HMIN = tmpr;
 195                         if (tmpr > p.HMAX) p.HMAX = tmpr;
 196                         if (tmps < p.VMIN) p.VMIN = tmps;
 197                         if (tmps > p.VMAX) p.VMAX = tmps;
 198
 199                         // output
 200                         jvo["obst"][j][i][0] = tmpx;
 201                         jvo["obst"][j][i][1] = tmpy;
 202                 }
 203                 jvo["obst"][j][i][0] = tmpr;
 204                 jvo["obst"][j][i][1] = tmps;
 205                 j++;
 206         }
 207         p.defaultSamplingInfo();
 208         p.link_obstacles(&co, &so);
 209         p.ocost(p.root());
 210         p.ocost(p.goal());
 211
 212         ParallelSlot ps = ParallelSlot();
 213         if (
 214                 jvi["slot"] != Json::nullValue &&
 215                 jvi["slot"]["polygon"] != Json::nullValue
 216         ) {
 217                 for (auto xy: jvi["slot"]["polygon"]) {
 218                         ps.slot().add_bnode(new RRTNode(
 219                                 xy[0].asFloat(),
 220                                 xy[1].asFloat()
 221                         ));
 222                 }
 223                 for (auto e: ps.slot().frame())
 224                         so.push_back(SegmentObstacle(e->init(), e->goal()));
 225         }
 226 #ifdef USE_SLOTPLANNER
 227         TSTART();
 228         if (ps.slot().bnodes().size() > 0)
 229                 ps.fip(co, so);
 230         TEND();
 231         jvo["ppse"] = ELAPSED;
 232         TPRINT("ParallelSlot");
 233 #endif
 234         if (ps.slot().bnodes().size() > 0) {
 235                 ps.setAll();
 236                 //if (ps.getMidd() != nullptr)
 237                 //        p.setSamplingInfo(ps.getSamplingInfo());
 238         }
 239         if (ps.cusp().size() > 0) {
 240                 p.goal(ps.getMidd());
 241                 p.slot_cusp(ps.cusp().front()); // use first found solution
 242                 p.goals(ps.goals());
 243                 jvo["midd"][0] = p.goal()->x();
 244                 jvo["midd"][1] = p.goal()->y();
 245                 jvo["midd"][2] = p.goal()->h();
 246                 jvo["goal"][0] = p.slot_cusp().back()->x();
 247                 jvo["goal"][1] = p.slot_cusp().back()->y();
 248                 jvo["goal"][2] = p.slot_cusp().back()->h();
 249         } else {
 250                 jvo["goal"][0] = p.goal()->x();
 251                 jvo["goal"][1] = p.goal()->y();
 252                 jvo["goal"][2] = p.goal()->h();
 253         }
 254         TSTART();
 255         std::cerr << "Slot Info:" << std::endl;
 256         if (ps.slotSide() == LEFT)
 257                 std::cerr << "- LEFT" << std::endl;
 258         else
 259                 std::cerr << "- RIGHT" << std::endl;
 260         if (ps.slotType() == PARALLEL)
 261                 std::cerr << "- PARALLEL" << std::endl;
 262         else
 263                 std::cerr << "- PERPENDICULAR" << std::endl;
 264 #ifdef USE_LOADF
 265         std::vector<RRTNode *> steered;
 266         for (auto jn: jvi["traj"][0]) {
 267                 steered.push_back(new RRTNode(
 268                                         jn[0].asFloat(),
 269                                         jn[1].asFloat(),
 270                                         jn[2].asFloat(),
 271                                         jn[3].asFloat(),
 272                                         jn[4].asFloat()));
 273         }
 274         std::reverse(steered.begin(), steered.end());
 275         RRTNode *pn = p.root();
 276         for (auto n: steered) {
 277                 if (IS_NEAR(pn, n))
 278                         continue;
 279                 pn->add_child(n, p.cost(pn, n));
 280                 pn = n;
 281                 p.glplot();
 282         }
 283         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 284         p.goal_found(true);
 285         p.tlog(p.findt());
 286         if (p.opt_path()) {
 287                 p.tlog(p.findt());
 288                 p.glplot();
 289         }
 290         p.glplot();
 291         sleep(2);
 292 #elif defined USE_INTERRUPT
 293         signal(SIGINT, hint);
 294         signal(SIGTERM, hint);
 295         p.tstart();
 296         while (run_planner) {
 297                 p.next();
 298                 p.tend();
 299                 if (p.opt_path())
 300                         p.tlog(p.findt());
 301                 p.glplot();
 302         }
 303 #elif defined USE_TMAX
 304         p.tstart();
 305         p.tend();
 306         while (!p.goal_found() && p.elapsed() < TMAX) {
 307                 p.next();
 308                 p.tend();
 309                 if (p.opt_path()) {
 310                         p.tlog(p.findt());
 311                 }
 312         }
 313         if (p.goal_found() && ps.slotType() == PARALLEL)
 314                 p.tlog(p.findt(p.slot_cusp().back()));
 315 #elif defined USE_PTHREAD
 316         bool gf = false;
 317         RRTNode *ron = nullptr;
 318         RRTNode *gon = nullptr;
 319         float mc = 9999;
 320         pthread_t rt; // root thread
 321         pthread_t gt; // goal thread
 322         pthread_t ct; // connect thread
 323
 324         struct next_arg ra;
 325         ra.gf = &gf;
 326         ra.p = &p.p_root_;
 327
 328         struct next_arg ga;
 329         ga.gf = &gf;
 330         ga.p = &p.p_goal_;
 331
 332         p.tstart();
 333         p.p_root_.tstart();
 334         p.p_goal_.tstart();
 335         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 336         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 337         int tol = 0;
 338         int ndl = 0;
 339         bool ndone = true;
 340         while (!gf && p.elapsed() < TMAX &&
 341                         p.p_root_.nodes().size() < NOFNODES &&
 342                         p.p_goal_.nodes().size() < NOFNODES) {
 343                 // overlap trees
 344                 ndone = true;
 345                 for (int i = 0; i < IXSIZE; i++) {
 346                 for (int j = 0; j < IYSIZE; j++) {
 347                         if (p.p_root_.ixy_[i][j].changed() &&
 348                                         p.p_goal_.ixy_[i][j].changed()) {
 349 ndone = false;
 350 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 351 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 352         if (rn->ccost() + gn->ccost() < mc &&
 353                         IS_NEAR(rn, gn)) {
 354                 gf = true;
 355                 p.goal_found(true);
 356                 ron = rn;
 357                 gon = gn;
 358                 mc = rn->ccost() + gn->ccost();
 359         }
 360 }}
 361                         }
 362                         tol++;
 363                         if (ndone)
 364                                 ndl++;
 365                         p.tend();
 366                         if (p.elapsed() >= TMAX)
 367                                 goto escapeloop;
 368                 }}
 369                 // end of overlap trees
 370                 p.tend();
 371         }
 372 escapeloop:
 373         pthread_join(rt, NULL);
 374         pthread_join(gt, NULL);
 375         float nodo = ((float) ndl / (float) tol);
 376         std::cerr << "nothing done is " << 100.0 * nodo;
 377         std::cerr << "%" << std::endl;
 378         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 379         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 380         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 381         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 382                 ron = p.p_root_.goal()->parent();
 383                 gon = p.p_root_.goal();
 384                 mc = p.p_root_.goal()->ccost();
 385         }
 386         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 387                 ron = p.p_goal_.goal();
 388                 gon = p.p_goal_.goal()->parent();
 389                 mc = p.p_goal_.goal()->ccost();
 390         }
 391         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 392         p.root()->ccost(0);
 393         p.goal()->children().clear();
 394         // connect trees
 395         if (gf) {
 396         while (gon != p.goal()) {
 397                 p.p_root_.nodes().push_back(new RRTNode(
 398                                 gon->x(),
 399                                 gon->y(),
 400                                 gon->h()));
 401                 ron->add_child(
 402                                 p.p_root_.nodes().back(),
 403                                 p.p_root_.cost(
 404                                                 ron,
 405                                                 p.p_root_.nodes().back()));
 406                 ron = p.p_root_.nodes().back();
 407                 gon = gon->parent();
 408         }
 409         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 410         }
 411         // end of connect trees
 412         if (gf)
 413                 p.tlog(p.findt());
 414         if (p.opt_path())
 415                 p.tlog(p.findt());
 416 #endif
 417         TEND();
 418         TPRINT("RRT");
 419         jvo["rrte"] = ELAPSED;
 420 #ifdef JSONLOGEDGES
 421         p.logr(p.root());
 422 #endif
 423
 424         // statistics to error output
 425         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 426         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 427         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 428         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 429         std::cerr << "#samples is " << p.samples().size() << std::endl;
 430         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 431         std::cerr << "trajectories costs:" << std::endl;
 432         for (j = 0; j < p.clog().size(); j++)
 433                 std::cerr << "- " << p.clog()[j] << std::endl;
 434         std::cerr << "RRT #nodes:" << std::endl;
 435         for (j = 0; j < p.nlog().size(); j++)
 436                 std::cerr << "- " << p.nlog()[j] << std::endl;
 437         std::cerr << "trajectories seconds:" << std::endl;
 438         for (j = 0; j < p.slog().size(); j++)
 439                 std::cerr << "- " << p.slog()[j] << std::endl;
 440         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 441         std::cerr << std::endl;
 442         for (auto edges: p.rlog())
 443                 std::cerr << "- " << edges.size() << std::endl;
 444
 445         // JSON output
 446         jvo["elap"] = TELAPSED;
 447 #ifdef USE_PTHREAD
 448         jvo["nodo"][0] = nodo;
 449 #endif
 450         // log cost
 451         for (j = 0; j < p.clog().size(); j++)
 452                 jvo["cost"][j] = p.clog()[j];
 453         // log #nodes
 454         for (j = 0; j < p.nlog().size(); j++)
 455                 jvo["node"][j] = p.nlog()[j];
 456         // log seconds
 457         for (j = 0; j < p.slog().size(); j++)
 458                 jvo["secs"][j] = p.slog()[j];
 459         // log traj
 460         i = 0;
 461         j = 0;
 462         for (auto traj: p.tlog()) {
 463                 i = 0;
 464                 for (auto n: traj) {
 465                         jvo["traj"][j][i][0] = n->x();
 466                         jvo["traj"][j][i][1] = n->y();
 467                         jvo["traj"][j][i][2] = n->h();
 468                         jvo["traj"][j][i][3] = n->t();
 469                         jvo["traj"][j][i][4] = n->s();
 470                         i++;
 471                 }
 472                 j++;
 473         }
 474 #ifdef JSONLOGEDGES
 475         i = 0;
 476         j = 0;
 477         for (auto edges: p.rlog()) {
 478                 j = 0;
 479                 for (auto e: edges) {
 480                         jvo["edge"][i][j][0][0] = e->init()->x();
 481                         jvo["edge"][i][j][0][1] = e->init()->y();
 482                         jvo["edge"][i][j][0][2] = e->init()->h();
 483                         jvo["edge"][i][j][1][0] = e->goal()->x();
 484                         jvo["edge"][i][j][1][1] = e->goal()->y();
 485                         jvo["edge"][i][j][1][2] = e->goal()->h();
 486                         j++;
 487                 }
 488                 i++;
 489         }
 490 #endif
 491 #ifdef JSONLOGSAMPLES
 492         i = 0;
 493         j = 0;
 494         for (auto s: p.samples()) {
 495                 jvo["samp"][j][0] = s->x();
 496                 jvo["samp"][j][1] = s->y();
 497                 jvo["samp"][j][2] = s->h();
 498                 j++;
 499         }
 500 #endif
 501         // print output
 502         std::cout << jvo << std::endl;
 503
 504 #if USE_GL > 0
 505         SDL_DestroyWindow(gw);
 506         SDL_Quit();
 507 #endif
 508
 509         // free mem
 510         for (auto o: so) {
 511                 delete o.init();
 512                 delete o.goal();
 513         }
 514         return 0;
 515 }
 516
 517 #if USE_GL > 0
 518 bool init()
 519 {
 520         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 521                 std::cerr << "SDL could not initialize! SDL_Error: ";
 522                 std::cerr << SDL_GetError();
 523                 std::cerr << std::endl;
 524                 return false;
 525         }
 526         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 527         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 528         gw = SDL_CreateWindow(
 529                         "I am car",
 530                         SDL_WINDOWPOS_UNDEFINED,
 531                         SDL_WINDOWPOS_UNDEFINED,
 532                         SCREEN_WIDTH,
 533                         SCREEN_HEIGHT,
 534                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 535         if (gw == NULL) {
 536                 std::cerr << "Window could not be created! SDL_Error: ";
 537                 std::cerr << SDL_GetError();
 538                 std::cerr << std::endl;
 539                 return false;
 540         }
 541         gc = SDL_GL_CreateContext(gw);
 542         if (gc == NULL) {
 543                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 544                 std::cerr << SDL_GetError();
 545                 std::cerr << std::endl;
 546                 return false;
 547         }
 548         if (SDL_GL_SetSwapInterval(1) < 0) {
 549                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 550                 std::cerr << SDL_GetError();
 551                 std::cerr << std::endl;
 552                 return false;
 553         }
 554         if (!initGL()) {
 555                 std::cerr << "Unable to initialize OpenGL!";
 556                 std::cerr << std::endl;
 557                 return false;
 558         }
 559         return true;
 560 }
 561
 562 bool initGL()
 563 {
 564         GLenum error = GL_NO_ERROR;
 565         glMatrixMode(GL_PROJECTION);
 566         glLoadIdentity();
 567         error = glGetError();
 568         if (error != GL_NO_ERROR) {
 569                 std::cerr << "Error initializing OpenGL! ";
 570                 std::cerr << gluErrorString(error);
 571                 std::cerr << std::endl;
 572                 return false;
 573         }
 574         glMatrixMode(GL_MODELVIEW);
 575         glLoadIdentity();
 576         error = glGetError();
 577         if (error != GL_NO_ERROR) {
 578                 std::cerr << "Error initializing OpenGL! ";
 579                 std::cerr << gluErrorString(error);
 580                 std::cerr << std::endl;
 581                 return false;
 582         }
 583         glClearColor(1, 1, 1, 1);
 584         error = glGetError();
 585         if (error != GL_NO_ERROR) {
 586                 std::cerr << "Error initializing OpenGL! ";
 587                 std::cerr << gluErrorString(error);
 588                 std::cerr << std::endl;
 589                 return false;
 590         }
 591         return true;
 592 }
 593 #endif