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