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