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 <pthread.h>
  22 #include <signal.h>
  23 #include <unistd.h>
  24 #include "compile.h"
  25 #include "obstacle.h"
  26 #include "rrtplanner.h"
  27 // OpenGL
  28 #include <GL/gl.h>
  29 #include <GL/glu.h>
  30 #include <SDL2/SDL.h>
  31
  32 // debug
  33 //#define JSONLOGEDGES
  34 //#define JSONLOGSAMPLES
  35
  36 // choose
  37 //#define USE_INTERRUPT
  38 // or
  39 //#define USE_TMAX
  40 // or
  41 //#define USE_LOADF
  42 // or
  43 #define USE_PTHREAD
  44
  45 #ifdef USE_INTERRUPT
  46         #define USE_GL
  47 #endif
  48
  49 bool run_planner = true;
  50
  51 SDL_Window* gw = NULL;
  52 SDL_GLContext gc;
  53
  54 bool init();
  55 bool initGL();
  56
  57 void hint(int)
  58 {
  59         run_planner = false;
  60 }
  61
  62 #ifdef USE_PTHREAD
  63 struct next_arg {
  64         bool *gf;
  65         T2 *p;
  66 };
  67
  68 void *next_run(void *arg)
  69 {
  70         struct next_arg *na = (struct next_arg *) arg;
  71         T2 *lp = (T2 *) na->p;
  72         bool *gf = na->gf;
  73         while (!*gf && lp->elapsed() < TMAX) {
  74                 if (lp->next())
  75                         *gf = true;
  76                 lp->tend();
  77         }
  78         pthread_exit(NULL);
  79         return NULL;
  80 }
  81 #endif
  82
  83 int main()
  84 {
  85 #ifdef USE_GL
  86         init();
  87 #endif
  88
  89         Json::Value jvi; // JSON input
  90         Json::Value jvo; // JSON output
  91         unsigned int i = 0;
  92         unsigned int j = 0;
  93         std::cin >> jvi;
  94         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  95
  96         PLANNER p(
  97                         new RRTNode(
  98                                 jvi["init"][0].asFloat(),
  99                                 jvi["init"][1].asFloat(),
 100                                 jvi["init"][2].asFloat()),
 101                         new RRTNode(
 102                                 jvi["goal"][0].asFloat(),
 103                                 jvi["goal"][1].asFloat(),
 104                                 jvi["goal"][2].asFloat()));
 105         std::vector<CircleObstacle> co;
 106         std::vector<SegmentObstacle> so;
 107         for (auto o: jvi["obst"]) {
 108                 if (o["circle"] != Json::nullValue) {
 109                         co.push_back(CircleObstacle(
 110                                                 o["circle"][0].asFloat(),
 111                                                 o["circle"][1].asFloat(),
 112                                                 o["circle"][2].asFloat()));
 113                 }
 114                 if (o["segment"] != Json::nullValue) {
 115                         so.push_back(SegmentObstacle(
 116                                 new RRTNode(
 117                                         o["segment"][0][0].asFloat(),
 118                                         o["segment"][0][1].asFloat(),
 119                                         0),
 120                                 new RRTNode(
 121                                         o["segment"][1][0].asFloat(),
 122                                         o["segment"][1][1].asFloat(),
 123                                         0)));
 124                 }
 125         }
 126         p.link_obstacles(&co, &so);
 127         p.ocost(p.root());
 128         p.ocost(p.goal());
 129
 130 #ifdef USE_LOADF
 131         std::vector<RRTNode *> steered;
 132         for (auto jn: jvi["traj"][0]) {
 133                 steered.push_back(new RRTNode(
 134                                         jn[0].asFloat(),
 135                                         jn[1].asFloat(),
 136                                         jn[2].asFloat(),
 137                                         jn[3].asFloat(),
 138                                         jn[4].asFloat()));
 139         }
 140         std::reverse(steered.begin(), steered.end());
 141         RRTNode *pn = p.root();
 142         for (auto n: steered) {
 143                 if (IS_NEAR(pn, n))
 144                         continue;
 145                 pn->add_child(n, p.cost(pn, n));
 146                 pn = n;
 147                 p.glplot();
 148         }
 149         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 150         p.goal_found(true);
 151         p.tlog(p.findt());
 152         if (p.opt_path()) {
 153                 p.tlog(p.findt());
 154                 p.glplot();
 155         }
 156         p.glplot();
 157         sleep(2);
 158 #elif defined USE_INTERRUPT
 159         signal(SIGINT, hint);
 160         signal(SIGTERM, hint);
 161         p.tstart();
 162         while (run_planner) {
 163                 p.next();
 164                 p.tend();
 165                 if (p.opt_path())
 166                         p.tlog(p.findt());
 167                 p.glplot();
 168         }
 169 #elif defined USE_TMAX
 170         p.tstart();
 171         p.tend();
 172         while (!p.goal_found() && p.elapsed() < TMAX) {
 173                 p.next();
 174                 p.tend();
 175                 if (p.opt_path())
 176                         p.tlog(p.findt());
 177         }
 178 #elif defined USE_PTHREAD
 179         bool gf = false;
 180         RRTNode *ron = nullptr;
 181         RRTNode *gon = nullptr;
 182         float mc = 9999;
 183         pthread_t rt; // root thread
 184         pthread_t gt; // goal thread
 185         pthread_t ct; // connect thread
 186
 187         struct next_arg ra;
 188         ra.gf = &gf;
 189         ra.p = &p.p_root_;
 190
 191         struct next_arg ga;
 192         ga.gf = &gf;
 193         ga.p = &p.p_goal_;
 194
 195         p.tstart();
 196         p.p_root_.tstart();
 197         p.p_goal_.tstart();
 198         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 199         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 200         while (!gf && p.elapsed() < TMAX &&
 201                         p.p_root_.nodes().size() < NOFNODES &&
 202                         p.p_goal_.nodes().size() < NOFNODES) {
 203                 // overlap trees
 204                 for (int i = 0; i < IXSIZE; i++) {
 205                 for (int j = 0; j < IYSIZE; j++) {
 206                         if (p.p_root_.ixy_[i][j].changed() &&
 207                                         p.p_goal_.ixy_[i][j].changed()) {
 208 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 209 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 210         if (rn->ccost() + gn->ccost() < mc &&
 211                         IS_NEAR(rn, gn)) {
 212                 gf = true;
 213                 p.goal_found(true);
 214                 ron = rn;
 215                 gon = gn;
 216                 mc = rn->ccost() + gn->ccost();
 217         }
 218 }}
 219                         }
 220                         p.tend();
 221                         if (p.elapsed() >= TMAX)
 222                                 goto escapeloop;
 223                 }}
 224                 // end of overlap trees
 225                 p.tend();
 226         }
 227 escapeloop:
 228         pthread_join(rt, NULL);
 229         pthread_join(gt, NULL);
 230         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 231                 ron = p.p_root_.goal()->parent();
 232                 gon = p.p_root_.goal();
 233                 mc = p.p_root_.goal()->ccost();
 234         }
 235         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 236                 ron = p.p_goal_.goal();
 237                 gon = p.p_goal_.goal()->parent();
 238                 mc = p.p_goal_.goal()->ccost();
 239         }
 240         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 241         p.root()->ccost(0);
 242         p.goal()->children().clear();
 243         // connect trees
 244         if (gf) {
 245         while (gon != p.goal()) {
 246                 p.p_root_.nodes().push_back(new RRTNode(
 247                                 gon->x(),
 248                                 gon->y(),
 249                                 gon->h()));
 250                 ron->add_child(
 251                                 p.p_root_.nodes().back(),
 252                                 p.p_root_.cost(
 253                                                 ron,
 254                                                 p.p_root_.nodes().back()));
 255                 ron = p.p_root_.nodes().back();
 256                 gon = gon->parent();
 257         }
 258         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 259         }
 260         // end of connect trees
 261         if (gf)
 262                 p.tlog(p.findt());
 263         if (p.opt_path())
 264                 p.tlog(p.findt());
 265 #endif
 266 #ifdef JSONLOGEDGES
 267         p.logr(p.root());
 268 #endif
 269
 270         // statistics to error output
 271         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 272         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 273         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 274         std::cerr << "#samples is " << p.samples().size() << std::endl;
 275         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 276         std::cerr << "trajectories costs:" << std::endl;
 277         for (j = 0; j < p.clog().size(); j++)
 278                 std::cerr << "- " << p.clog()[j] << std::endl;
 279         std::cerr << "RRT #nodes:" << std::endl;
 280         for (j = 0; j < p.nlog().size(); j++)
 281                 std::cerr << "- " << p.nlog()[j] << std::endl;
 282         std::cerr << "trajectories seconds:" << std::endl;
 283         for (j = 0; j < p.slog().size(); j++)
 284                 std::cerr << "- " << p.slog()[j] << std::endl;
 285         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 286         std::cerr << std::endl;
 287         for (auto edges: p.rlog())
 288                 std::cerr << "- " << edges.size() << std::endl;
 289
 290         // JSON output
 291         jvo["elap"] = p.elapsed();
 292         // log cost
 293         for (j = 0; j < p.clog().size(); j++)
 294                 jvo["cost"][j] = p.clog()[j];
 295         // log #nodes
 296         for (j = 0; j < p.nlog().size(); j++)
 297                 jvo["node"][j] = p.nlog()[j];
 298         // log seconds
 299         for (j = 0; j < p.slog().size(); j++)
 300                 jvo["secs"][j] = p.slog()[j];
 301         // log traj
 302         i = 0;
 303         j = 0;
 304         for (auto traj: p.tlog()) {
 305                 i = 0;
 306                 for (auto n: traj) {
 307                         jvo["traj"][j][i][0] = n->x();
 308                         jvo["traj"][j][i][1] = n->y();
 309                         jvo["traj"][j][i][2] = n->h();
 310                         jvo["traj"][j][i][3] = n->t();
 311                         jvo["traj"][j][i][4] = n->s();
 312                         i++;
 313                 }
 314                 j++;
 315         }
 316 #ifdef JSONLOGEDGES
 317         i = 0;
 318         j = 0;
 319         for (auto edges: p.rlog()) {
 320                 j = 0;
 321                 for (auto e: edges) {
 322                         jvo["edge"][i][j][0][0] = e->init()->x();
 323                         jvo["edge"][i][j][0][1] = e->init()->y();
 324                         jvo["edge"][i][j][0][2] = e->init()->h();
 325                         jvo["edge"][i][j][1][0] = e->goal()->x();
 326                         jvo["edge"][i][j][1][1] = e->goal()->y();
 327                         jvo["edge"][i][j][1][2] = e->goal()->h();
 328                         j++;
 329                 }
 330                 i++;
 331         }
 332 #endif
 333 #ifdef JSONLOGSAMPLES
 334         i = 0;
 335         j = 0;
 336         for (auto s: p.samples()) {
 337                 jvo["samp"][j][0] = s->x();
 338                 jvo["samp"][j][1] = s->y();
 339                 jvo["samp"][j][2] = s->h();
 340                 j++;
 341         }
 342 #endif
 343         // print output
 344         std::cout << jvo << std::endl;
 345
 346 #ifdef USE_GL
 347         SDL_DestroyWindow(gw);
 348         SDL_Quit();
 349 #endif
 350
 351         // free mem
 352         for (auto o: so) {
 353                 delete o.init();
 354                 delete o.goal();
 355         }
 356         return 0;
 357 }
 358
 359 bool init()
 360 {
 361         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 362                 std::cerr << "SDL could not initialize! SDL_Error: ";
 363                 std::cerr << SDL_GetError();
 364                 std::cerr << std::endl;
 365                 return false;
 366         }
 367         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 368         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 369         gw = SDL_CreateWindow(
 370                         "I am car",
 371                         SDL_WINDOWPOS_UNDEFINED,
 372                         SDL_WINDOWPOS_UNDEFINED,
 373                         SCREEN_WIDTH,
 374                         SCREEN_HEIGHT,
 375                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 376         if (gw == NULL) {
 377                 std::cerr << "Window could not be created! SDL_Error: ";
 378                 std::cerr << SDL_GetError();
 379                 std::cerr << std::endl;
 380                 return false;
 381         }
 382         gc = SDL_GL_CreateContext(gw);
 383         if (gc == NULL) {
 384                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 385                 std::cerr << SDL_GetError();
 386                 std::cerr << std::endl;
 387                 return false;
 388         }
 389         if (SDL_GL_SetSwapInterval(1) < 0) {
 390                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 391                 std::cerr << SDL_GetError();
 392                 std::cerr << std::endl;
 393                 return false;
 394         }
 395         if (!initGL()) {
 396                 std::cerr << "Unable to initialize OpenGL!";
 397                 std::cerr << std::endl;
 398                 return false;
 399         }
 400         return true;
 401 }
 402
 403 bool initGL()
 404 {
 405         GLenum error = GL_NO_ERROR;
 406         glMatrixMode(GL_PROJECTION);
 407         glLoadIdentity();
 408         error = glGetError();
 409         if (error != GL_NO_ERROR) {
 410                 std::cerr << "Error initializing OpenGL! ";
 411                 std::cerr << gluErrorString(error);
 412                 std::cerr << std::endl;
 413                 return false;
 414         }
 415         glMatrixMode(GL_MODELVIEW);
 416         glLoadIdentity();
 417         error = glGetError();
 418         if (error != GL_NO_ERROR) {
 419                 std::cerr << "Error initializing OpenGL! ";
 420                 std::cerr << gluErrorString(error);
 421                 std::cerr << std::endl;
 422                 return false;
 423         }
 424         glClearColor(1, 1, 1, 1);
 425         error = glGetError();
 426         if (error != GL_NO_ERROR) {
 427                 std::cerr << "Error initializing OpenGL! ";
 428                 std::cerr << gluErrorString(error);
 429                 std::cerr << std::endl;
 430                 return false;
 431         }
 432         return true;
 433 }