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 // choose
  39 //#define USE_INTERRUPT
  40 // or
  41 #define USE_TMAX
  42 // or
  43 //#define USE_LOADF
  44 // or
  45 //#define USE_PTHREAD
  46
  47 // enable
  48 //#define USE_SLOTPLANNER
  49
  50 // enable
  51 //#define USE_SLOTPLANNER
  52
  53 #ifdef USE_INTERRUPT
  54         #define USE_GL
  55 #endif
  56
  57 std::chrono::high_resolution_clock::time_point TSTART_;
  58 std::chrono::high_resolution_clock::time_point TEND_;
  59 float TELAPSED = 0;
  60 float ELAPSED = 0;
  61 void TSTART() {TSTART_ = std::chrono::high_resolution_clock::now();}
  62 void TEND() {
  63         std::chrono::duration<float> DT_;
  64         TEND_ = std::chrono::high_resolution_clock::now();
  65         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  66                 TEND_ - TSTART_
  67         );
  68         TELAPSED += DT_.count();
  69         ELAPSED = DT_.count();
  70 }
  71 void TPRINT(const char *what) {
  72         std::chrono::duration<float> DT_;
  73         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  74                 TEND_ - TSTART_
  75         );
  76         std::cerr << what << ": " << DT_.count() << std::endl;
  77 }
  78
  79 bool run_planner = true;
  80
  81 SDL_Window* gw = NULL;
  82 SDL_GLContext gc;
  83
  84 bool init();
  85 bool initGL();
  86
  87 void hint(int)
  88 {
  89         run_planner = false;
  90 }
  91
  92 #ifdef USE_PTHREAD
  93 struct next_arg {
  94         bool *gf;
  95         T2 *p;
  96 };
  97
  98 void *next_run(void *arg)
  99 {
 100         struct next_arg *na = (struct next_arg *) arg;
 101         T2 *lp = (T2 *) na->p;
 102         bool *gf = na->gf;
 103         while (!*gf && lp->elapsed() < TMAX) {
 104                 if (lp->next())
 105                         *gf = true;
 106                 lp->tend();
 107         }
 108         pthread_exit(NULL);
 109         return NULL;
 110 }
 111 #endif
 112
 113 int main()
 114 {
 115 #ifdef USE_GL
 116         init();
 117 #endif
 118
 119         Json::Value jvi; // JSON input
 120         Json::Value jvo; // JSON output
 121         unsigned int i = 0;
 122         unsigned int j = 0;
 123         std::cin >> jvi;
 124         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 125
 126         PLANNER p(
 127                         new RRTNode(
 128                                 jvi["init"][0].asFloat(),
 129                                 jvi["init"][1].asFloat(),
 130                                 jvi["init"][2].asFloat()),
 131                         new RRTNode(
 132                                 jvi["goal"][0].asFloat(),
 133                                 jvi["goal"][1].asFloat(),
 134                                 jvi["goal"][2].asFloat()));
 135         std::vector<CircleObstacle> co;
 136         std::vector<SegmentObstacle> so;
 137         for (auto o: jvi["obst"]) {
 138                 if (o["circle"] != Json::nullValue) {
 139                         co.push_back(CircleObstacle(
 140                                                 o["circle"][0].asFloat(),
 141                                                 o["circle"][1].asFloat(),
 142                                                 o["circle"][2].asFloat()));
 143                 }
 144                 if (o["segment"] != Json::nullValue) {
 145                         so.push_back(SegmentObstacle(
 146                                 new RRTNode(
 147                                         o["segment"][0][0].asFloat(),
 148                                         o["segment"][0][1].asFloat(),
 149                                         0),
 150                                 new RRTNode(
 151                                         o["segment"][1][0].asFloat(),
 152                                         o["segment"][1][1].asFloat(),
 153                                         0)));
 154                         p.frame().add_bnode(so.back().init());
 155                 }
 156         }
 157         p.link_obstacles(&co, &so);
 158         p.ocost(p.root());
 159         p.ocost(p.goal());
 160
 161         ParallelSlot ps = ParallelSlot();
 162 #ifdef USE_SLOTPLANNER
 163         TSTART();
 164         for (auto xy: jvi["slot"]["polygon"]) {
 165                 ps.slot().add_bnode(new RRTNode(
 166                         xy[0].asFloat(),
 167                         xy[1].asFloat()
 168                 ));
 169         }
 170         ps.setAll();
 171         p.samplingInfo_ = ps.getSamplingInfo();
 172         if (ps.slot().bnodes().size() > 0)
 173                 ps.fpose();
 174                 //ps.fipr(new BicycleCar(
 175                 //        p.goal()->x(),
 176                 //        p.goal()->y(),
 177                 //        p.goal()->h()
 178                 //));
 179         TEND();
 180         jvo["ppse"] = ELAPSED;
 181         TPRINT("ParallelSlot");
 182 #endif
 183         if (ps.cusp().size() > 0) {
 184                 p.goal(ps.cusp().front().front());
 185                 p.slot_cusp(ps.cusp().front()); // use first found solution
 186                 jvo["midd"][0] = p.goal()->x();
 187                 jvo["midd"][1] = p.goal()->y();
 188                 jvo["midd"][2] = p.goal()->h();
 189                 jvo["goal"][0] = p.slot_cusp().back()->x();
 190                 jvo["goal"][1] = p.slot_cusp().back()->y();
 191                 jvo["goal"][2] = p.slot_cusp().back()->h();
 192         } else {
 193                 jvo["goal"][0] = p.goal()->x();
 194                 jvo["goal"][1] = p.goal()->y();
 195                 jvo["goal"][2] = p.goal()->h();
 196         }
 197         TSTART();
 198 #ifdef USE_LOADF
 199         std::vector<RRTNode *> steered;
 200         for (auto jn: jvi["traj"][0]) {
 201                 steered.push_back(new RRTNode(
 202                                         jn[0].asFloat(),
 203                                         jn[1].asFloat(),
 204                                         jn[2].asFloat(),
 205                                         jn[3].asFloat(),
 206                                         jn[4].asFloat()));
 207         }
 208         std::reverse(steered.begin(), steered.end());
 209         RRTNode *pn = p.root();
 210         for (auto n: steered) {
 211                 if (IS_NEAR(pn, n))
 212                         continue;
 213                 pn->add_child(n, p.cost(pn, n));
 214                 pn = n;
 215                 p.glplot();
 216         }
 217         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 218         p.goal_found(true);
 219         p.tlog(p.findt());
 220         if (p.opt_path()) {
 221                 p.tlog(p.findt());
 222                 p.glplot();
 223         }
 224         p.glplot();
 225         sleep(2);
 226 #elif defined USE_INTERRUPT
 227         signal(SIGINT, hint);
 228         signal(SIGTERM, hint);
 229         p.tstart();
 230         while (run_planner) {
 231                 p.next();
 232                 p.tend();
 233                 if (p.opt_path())
 234                         p.tlog(p.findt());
 235                 p.glplot();
 236         }
 237 #elif defined USE_TMAX
 238         p.tstart();
 239         p.tend();
 240         while (!p.goal_found() && p.elapsed() < TMAX) {
 241                 p.next();
 242                 p.tend();
 243                 if (p.opt_path()) {
 244                         if (ps.cusp().size() > 0)
 245                                 p.tlog(p.findt(p.slot_cusp().back()));
 246                         else
 247                                 p.tlog(p.findt());
 248                 }
 249         }
 250 #elif defined USE_PTHREAD
 251         bool gf = false;
 252         RRTNode *ron = nullptr;
 253         RRTNode *gon = nullptr;
 254         float mc = 9999;
 255         pthread_t rt; // root thread
 256         pthread_t gt; // goal thread
 257         pthread_t ct; // connect thread
 258
 259         struct next_arg ra;
 260         ra.gf = &gf;
 261         ra.p = &p.p_root_;
 262
 263         struct next_arg ga;
 264         ga.gf = &gf;
 265         ga.p = &p.p_goal_;
 266
 267         p.tstart();
 268         p.p_root_.tstart();
 269         p.p_goal_.tstart();
 270         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 271         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 272         int tol = 0;
 273         int ndl = 0;
 274         bool ndone = true;
 275         while (!gf && p.elapsed() < TMAX &&
 276                         p.p_root_.nodes().size() < NOFNODES &&
 277                         p.p_goal_.nodes().size() < NOFNODES) {
 278                 // overlap trees
 279                 ndone = true;
 280                 for (int i = 0; i < IXSIZE; i++) {
 281                 for (int j = 0; j < IYSIZE; j++) {
 282                         if (p.p_root_.ixy_[i][j].changed() &&
 283                                         p.p_goal_.ixy_[i][j].changed()) {
 284 ndone = false;
 285 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 286 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 287         if (rn->ccost() + gn->ccost() < mc &&
 288                         IS_NEAR(rn, gn)) {
 289                 gf = true;
 290                 p.goal_found(true);
 291                 ron = rn;
 292                 gon = gn;
 293                 mc = rn->ccost() + gn->ccost();
 294         }
 295 }}
 296                         }
 297                         tol++;
 298                         if (ndone)
 299                                 ndl++;
 300                         p.tend();
 301                         if (p.elapsed() >= TMAX)
 302                                 goto escapeloop;
 303                 }}
 304                 // end of overlap trees
 305                 p.tend();
 306         }
 307 escapeloop:
 308         pthread_join(rt, NULL);
 309         pthread_join(gt, NULL);
 310         float nodo = ((float) ndl / (float) tol);
 311         std::cerr << "nothing done is " << 100.0 * nodo;
 312         std::cerr << "%" << std::endl;
 313         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 314         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 315         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 316         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 317                 ron = p.p_root_.goal()->parent();
 318                 gon = p.p_root_.goal();
 319                 mc = p.p_root_.goal()->ccost();
 320         }
 321         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 322                 ron = p.p_goal_.goal();
 323                 gon = p.p_goal_.goal()->parent();
 324                 mc = p.p_goal_.goal()->ccost();
 325         }
 326         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 327         p.root()->ccost(0);
 328         p.goal()->children().clear();
 329         // connect trees
 330         if (gf) {
 331         while (gon != p.goal()) {
 332                 p.p_root_.nodes().push_back(new RRTNode(
 333                                 gon->x(),
 334                                 gon->y(),
 335                                 gon->h()));
 336                 ron->add_child(
 337                                 p.p_root_.nodes().back(),
 338                                 p.p_root_.cost(
 339                                                 ron,
 340                                                 p.p_root_.nodes().back()));
 341                 ron = p.p_root_.nodes().back();
 342                 gon = gon->parent();
 343         }
 344         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 345         }
 346         // end of connect trees
 347         if (gf)
 348                 p.tlog(p.findt());
 349         if (p.opt_path())
 350                 p.tlog(p.findt());
 351 #endif
 352         TEND();
 353         TPRINT("RRT");
 354         jvo["rrte"] = ELAPSED;
 355 #ifdef JSONLOGEDGES
 356         p.logr(p.root());
 357 #endif
 358
 359         // statistics to error output
 360         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 361         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 362         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 363         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 364         std::cerr << "#samples is " << p.samples().size() << std::endl;
 365         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 366         std::cerr << "trajectories costs:" << std::endl;
 367         for (j = 0; j < p.clog().size(); j++)
 368                 std::cerr << "- " << p.clog()[j] << std::endl;
 369         std::cerr << "RRT #nodes:" << std::endl;
 370         for (j = 0; j < p.nlog().size(); j++)
 371                 std::cerr << "- " << p.nlog()[j] << std::endl;
 372         std::cerr << "trajectories seconds:" << std::endl;
 373         for (j = 0; j < p.slog().size(); j++)
 374                 std::cerr << "- " << p.slog()[j] << std::endl;
 375         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 376         std::cerr << std::endl;
 377         for (auto edges: p.rlog())
 378                 std::cerr << "- " << edges.size() << std::endl;
 379
 380         // JSON output
 381         jvo["elap"] = TELAPSED;
 382 #ifdef USE_PTHREAD
 383         jvo["nodo"][0] = nodo;
 384 #endif
 385         // log cost
 386         for (j = 0; j < p.clog().size(); j++)
 387                 jvo["cost"][j] = p.clog()[j];
 388         // log #nodes
 389         for (j = 0; j < p.nlog().size(); j++)
 390                 jvo["node"][j] = p.nlog()[j];
 391         // log seconds
 392         for (j = 0; j < p.slog().size(); j++)
 393                 jvo["secs"][j] = p.slog()[j];
 394         // log traj
 395         i = 0;
 396         j = 0;
 397         for (auto traj: p.tlog()) {
 398                 i = 0;
 399                 for (auto n: traj) {
 400                         jvo["traj"][j][i][0] = n->x();
 401                         jvo["traj"][j][i][1] = n->y();
 402                         jvo["traj"][j][i][2] = n->h();
 403                         jvo["traj"][j][i][3] = n->t();
 404                         jvo["traj"][j][i][4] = n->s();
 405                         i++;
 406                 }
 407                 j++;
 408         }
 409 #ifdef JSONLOGEDGES
 410         i = 0;
 411         j = 0;
 412         for (auto edges: p.rlog()) {
 413                 j = 0;
 414                 for (auto e: edges) {
 415                         jvo["edge"][i][j][0][0] = e->init()->x();
 416                         jvo["edge"][i][j][0][1] = e->init()->y();
 417                         jvo["edge"][i][j][0][2] = e->init()->h();
 418                         jvo["edge"][i][j][1][0] = e->goal()->x();
 419                         jvo["edge"][i][j][1][1] = e->goal()->y();
 420                         jvo["edge"][i][j][1][2] = e->goal()->h();
 421                         j++;
 422                 }
 423                 i++;
 424         }
 425 #endif
 426 #ifdef JSONLOGSAMPLES
 427         i = 0;
 428         j = 0;
 429         for (auto s: p.samples()) {
 430                 jvo["samp"][j][0] = s->x();
 431                 jvo["samp"][j][1] = s->y();
 432                 jvo["samp"][j][2] = s->h();
 433                 j++;
 434         }
 435 #endif
 436         // print output
 437         std::cout << jvo << std::endl;
 438
 439 #ifdef USE_GL
 440         SDL_DestroyWindow(gw);
 441         SDL_Quit();
 442 #endif
 443
 444         // free mem
 445         for (auto o: so) {
 446                 delete o.init();
 447                 delete o.goal();
 448         }
 449         return 0;
 450 }
 451
 452 bool init()
 453 {
 454         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 455                 std::cerr << "SDL could not initialize! SDL_Error: ";
 456                 std::cerr << SDL_GetError();
 457                 std::cerr << std::endl;
 458                 return false;
 459         }
 460         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 461         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 462         gw = SDL_CreateWindow(
 463                         "I am car",
 464                         SDL_WINDOWPOS_UNDEFINED,
 465                         SDL_WINDOWPOS_UNDEFINED,
 466                         SCREEN_WIDTH,
 467                         SCREEN_HEIGHT,
 468                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 469         if (gw == NULL) {
 470                 std::cerr << "Window could not be created! SDL_Error: ";
 471                 std::cerr << SDL_GetError();
 472                 std::cerr << std::endl;
 473                 return false;
 474         }
 475         gc = SDL_GL_CreateContext(gw);
 476         if (gc == NULL) {
 477                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 478                 std::cerr << SDL_GetError();
 479                 std::cerr << std::endl;
 480                 return false;
 481         }
 482         if (SDL_GL_SetSwapInterval(1) < 0) {
 483                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 484                 std::cerr << SDL_GetError();
 485                 std::cerr << std::endl;
 486                 return false;
 487         }
 488         if (!initGL()) {
 489                 std::cerr << "Unable to initialize OpenGL!";
 490                 std::cerr << std::endl;
 491                 return false;
 492         }
 493         return true;
 494 }
 495
 496 bool initGL()
 497 {
 498         GLenum error = GL_NO_ERROR;
 499         glMatrixMode(GL_PROJECTION);
 500         glLoadIdentity();
 501         error = glGetError();
 502         if (error != GL_NO_ERROR) {
 503                 std::cerr << "Error initializing OpenGL! ";
 504                 std::cerr << gluErrorString(error);
 505                 std::cerr << std::endl;
 506                 return false;
 507         }
 508         glMatrixMode(GL_MODELVIEW);
 509         glLoadIdentity();
 510         error = glGetError();
 511         if (error != GL_NO_ERROR) {
 512                 std::cerr << "Error initializing OpenGL! ";
 513                 std::cerr << gluErrorString(error);
 514                 std::cerr << std::endl;
 515                 return false;
 516         }
 517         glClearColor(1, 1, 1, 1);
 518         error = glGetError();
 519         if (error != GL_NO_ERROR) {
 520                 std::cerr << "Error initializing OpenGL! ";
 521                 std::cerr << gluErrorString(error);
 522                 std::cerr << std::endl;
 523                 return false;
 524         }
 525         return true;
 526 }