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