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