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 <iostream>
  20 #include <jsoncpp/json/json.h>
  21 #include <signal.h>
  22 #include "compile.h"
  23 #include "obstacle.h"
  24 #include "rrtplanner.h"
  25 // OpenGL
  26 #include <GL/gl.h>
  27 #include <GL/glu.h>
  28 #include <SDL2/SDL.h>
  29
  30 #define USE_GL
  31 #define USE_INTERRUPT
  32 #define USE_TMAX
  33 #define USE_TMAX_1ST_CUSPS
  34
  35 bool run_planner = true;
  36
  37 SDL_Window* gw = NULL;
  38 SDL_GLContext gc;
  39
  40 bool init();
  41 bool initGL();
  42
  43 void hint(int)
  44 {
  45         run_planner = false;
  46 }
  47
  48 int main()
  49 {
  50 #ifdef USE_GL
  51         init();
  52 #endif
  53
  54         Json::Value jvi; // JSON input
  55         Json::Value jvo; // JSON output
  56         unsigned int i = 0;
  57         unsigned int j = 0;
  58         std::cin >> jvi;
  59         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  60
  61         PLANNER p(
  62                         new RRTNode(
  63                                 jvi["init"][0].asFloat(),
  64                                 jvi["init"][1].asFloat(),
  65                                 jvi["init"][2].asFloat()),
  66                         new RRTNode(
  67                                 jvi["goal"][0].asFloat(),
  68                                 jvi["goal"][1].asFloat(),
  69                                 jvi["goal"][2].asFloat()));
  70         std::vector<CircleObstacle> co;
  71         std::vector<SegmentObstacle> so;
  72         for (auto o: jvi["obst"]) {
  73                 if (o["circle"] != Json::nullValue) {
  74                         co.push_back(CircleObstacle(
  75                                                 o["circle"][0].asFloat(),
  76                                                 o["circle"][1].asFloat(),
  77                                                 o["circle"][2].asFloat()));
  78                 }
  79                 if (o["segment"] != Json::nullValue) {
  80                         so.push_back(SegmentObstacle(
  81                                 new RRTNode(
  82                                         o["segment"][0][0].asFloat(),
  83                                         o["segment"][0][1].asFloat(),
  84                                         0),
  85                                 new RRTNode(
  86                                         o["segment"][1][0].asFloat(),
  87                                         o["segment"][1][1].asFloat(),
  88                                         0)));
  89                 }
  90         }
  91         p.link_obstacles(&co, &so);
  92         p.ocost(p.root());
  93         p.ocost(p.goal());
  94
  95         RRTNode *nn;
  96         std::vector<RRTNode *> tr;
  97
  98 #ifdef DBG_LOADF
  99         std::vector<RRTNode *> steered;
 100         for (auto jn: jvi["traj"][0]) {
 101                 steered.push_back(new RRTNode(
 102                                         jn[0].asFloat(),
 103                                         jn[1].asFloat(),
 104                                         jn[2].asFloat(),
 105                                         jn[3].asFloat(),
 106                                         jn[4].asFloat()));
 107         }
 108         std::reverse(steered.begin(), steered.end());
 109         RRTNode *pn = p.root();
 110         for (auto n: steered) {
 111                 pn->add_child(n, p.cost(pn, n));
 112                 pn = n;
 113         }
 114         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 115         p.tlog(p.findt());
 116         if (p.opt_path())
 117                 p.tlog(p.findt());
 118 #else
 119 #ifdef USE_INTERRUPT
 120         signal(SIGINT, hint);
 121         signal(SIGTERM, hint);
 122         p.tstart();
 123         while (run_planner) {
 124                 p.next();
 125                 p.tend();
 126                 if (p.opt_path())
 127                         p.tlog(p.findt());
 128 #ifdef USE_GL
 129                 p.glplot();
 130 #endif
 131         }
 132 #if JSONLOGEDGES > 0
 133         p.logr(p.root());
 134 #endif
 135 #elif defined USE_TMAX // USE TMAX
 136         p.tstart();
 137         p.tend();
 138         while (!p.goal_found() && p.elapsed() < TMAX) {
 139                 p.next();
 140                 p.tend();
 141                 if (p.opt_path())
 142                         p.tlog(p.findt());
 143         }
 144 #if JSONLOGEDGES > 0
 145         p.logr(p.root());
 146 #endif
 147 #else // NOT USE_INTERRUPT
 148         i = 0;
 149         while (!p.goal_found() && i < 20) {
 150                 p.tstart();
 151                 p.tend();
 152                 while (p.elapsed() < TMAX) {
 153                         p.next();
 154                         p.tend();
 155                 }
 156                 if (!p.goal_found()) {
 157 #if NNVERSION > 1
 158                         nn = p.nn(p.iy_, p.goal(), p.cost);
 159 #else
 160                         nn = p.nn(p.nodes(), p.goal(), p.cost);
 161 #endif
 162                         tr = p.findt(nn);
 163                 } else {
 164                         nn = p.goal();
 165                         tr = p.findt();
 166                 }
 167                 p.tlog(tr);
 168 #if JSONLOGEDGES > 0
 169                 p.logr(p.root());
 170 #endif
 171                 if (p.opt_path())
 172                         p.tlog(p.findt(nn));
 173                 if (!p.goal_found()) {
 174                         nn = p.tlog().back().back();
 175                         for (j = p.tlog().back().size() - 1; j > 0; j--) {
 176                                 float s1 = p.tlog().back()[j]->s();
 177                                 float s2 = p.tlog().back()[j - 1]->s();
 178                                 if (sgn(s1) != sgn(s2)) {
 179                                         nn = p.tlog().back()[j - 1];
 180                                         break;
 181                                 }
 182                         }
 183                         p.tlog(p.findt(nn));
 184                         p.rebase(nn);
 185                 }
 186                 i++;
 187         }
 188         std::cerr << "#iterations is " << i << std::endl;
 189 #endif // USE_INTERRUPT
 190 #endif // DBG_LOADF
 191
 192         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 193         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 194         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 195         std::cerr << "#samples is " << p.samples().size() << std::endl;
 196         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 197         std::cerr << "trajectories costs:" << std::endl;
 198         for (j = 0; j < p.clog().size(); j++)
 199                 std::cerr << "- " << p.clog()[j] << std::endl;
 200         std::cerr << "RRT #nodes:" << std::endl;
 201         for (j = 0; j < p.nlog().size(); j++)
 202                 std::cerr << "- " << p.nlog()[j] << std::endl;
 203         std::cerr << "trajectories seconds:" << std::endl;
 204         for (j = 0; j < p.slog().size(); j++)
 205                 std::cerr << "- " << p.slog()[j] << std::endl;
 206         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 207         std::cerr << std::endl;
 208         for (auto edges: p.rlog())
 209                 std::cerr << "- " << edges.size() << std::endl;
 210
 211         // JSON output
 212         jvo["elap"] = p.elapsed();
 213         // log cost
 214         for (j = 0; j < p.clog().size(); j++)
 215                 jvo["cost"][j] = p.clog()[j];
 216         // log #nodes
 217         for (j = 0; j < p.nlog().size(); j++)
 218                 jvo["node"][j] = p.nlog()[j];
 219         // log seconds
 220         for (j = 0; j < p.slog().size(); j++)
 221                 jvo["secs"][j] = p.slog()[j];
 222         // log traj
 223         i = 0;
 224         j = 0;
 225         for (auto traj: p.tlog()) {
 226                 i = 0;
 227                 for (auto n: traj) {
 228                         jvo["traj"][j][i][0] = n->x();
 229                         jvo["traj"][j][i][1] = n->y();
 230                         jvo["traj"][j][i][2] = n->h();
 231                         jvo["traj"][j][i][3] = n->t();
 232                         jvo["traj"][j][i][4] = n->s();
 233                         i++;
 234                 }
 235                 j++;
 236         }
 237 #if JSONLOGEDGES > 0
 238         // log edges
 239         i = 0;
 240         j = 0;
 241         for (auto edges: p.rlog()) {
 242                 j = 0;
 243                 for (auto e: edges) {
 244                         jvo["edge"][i][j][0][0] = e->init()->x();
 245                         jvo["edge"][i][j][0][1] = e->init()->y();
 246                         jvo["edge"][i][j][0][2] = e->init()->h();
 247                         jvo["edge"][i][j][1][0] = e->goal()->x();
 248                         jvo["edge"][i][j][1][1] = e->goal()->y();
 249                         jvo["edge"][i][j][1][2] = e->goal()->h();
 250                         j++;
 251                 }
 252                 i++;
 253         }
 254 #endif
 255 #if JSONLOGSAMPLES > 0
 256         // log samples
 257         i = 0;
 258         j = 0;
 259         for (auto s: p.samples()) {
 260                 jvo["samp"][j][0] = s->x();
 261                 jvo["samp"][j][1] = s->y();
 262                 jvo["samp"][j][2] = s->h();
 263                 j++;
 264         }
 265 #endif
 266         // print output
 267         std::cout << jvo << std::endl;
 268
 269 #ifdef USE_GL
 270         SDL_DestroyWindow(gw);
 271         SDL_Quit();
 272 #endif
 273
 274         // free mem
 275         for (auto o: so) {
 276                 delete o.init();
 277                 delete o.goal();
 278         }
 279         return 0;
 280 }
 281
 282 bool init()
 283 {
 284         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 285                 std::cerr << "SDL could not initialize! SDL_Error: ";
 286                 std::cerr << SDL_GetError();
 287                 std::cerr << std::endl;
 288                 return false;
 289         }
 290         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 291         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 292         gw = SDL_CreateWindow(
 293                         "I am car",
 294                         SDL_WINDOWPOS_UNDEFINED,
 295                         SDL_WINDOWPOS_UNDEFINED,
 296                         SCREEN_WIDTH,
 297                         SCREEN_HEIGHT,
 298                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 299         if (gw == NULL) {
 300                 std::cerr << "Window could not be created! SDL_Error: ";
 301                 std::cerr << SDL_GetError();
 302                 std::cerr << std::endl;
 303                 return false;
 304         }
 305         gc = SDL_GL_CreateContext(gw);
 306         if (gc == NULL) {
 307                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 308                 std::cerr << SDL_GetError();
 309                 std::cerr << std::endl;
 310                 return false;
 311         }
 312         if (SDL_GL_SetSwapInterval(1) < 0) {
 313                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 314                 std::cerr << SDL_GetError();
 315                 std::cerr << std::endl;
 316                 return false;
 317         }
 318         if (!initGL()) {
 319                 std::cerr << "Unable to initialize OpenGL!";
 320                 std::cerr << std::endl;
 321                 return false;
 322         }
 323         return true;
 324 }
 325
 326 bool initGL()
 327 {
 328         GLenum error = GL_NO_ERROR;
 329         glMatrixMode(GL_PROJECTION);
 330         glLoadIdentity();
 331         error = glGetError();
 332         if (error != GL_NO_ERROR) {
 333                 std::cerr << "Error initializing OpenGL! ";
 334                 std::cerr << gluErrorString(error);
 335                 std::cerr << std::endl;
 336                 return false;
 337         }
 338         glMatrixMode(GL_MODELVIEW);
 339         glLoadIdentity();
 340         error = glGetError();
 341         if (error != GL_NO_ERROR) {
 342                 std::cerr << "Error initializing OpenGL! ";
 343                 std::cerr << gluErrorString(error);
 344                 std::cerr << std::endl;
 345                 return false;
 346         }
 347         glClearColor(1, 1, 1, 1);
 348         error = glGetError();
 349         if (error != GL_NO_ERROR) {
 350                 std::cerr << "Error initializing OpenGL! ";
 351                 std::cerr << gluErrorString(error);
 352                 std::cerr << std::endl;
 353                 return false;
 354         }
 355         return true;
 356 }