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                 if (lp->opt_path())
  78                         lp->tlog(lp->findt());
  79         }
  80         pthread_exit(NULL);
  81         return NULL;
  82 }
  83 #endif
  84
  85 int main()
  86 {
  87 #ifdef USE_GL
  88         init();
  89 #endif
  90
  91         Json::Value jvi; // JSON input
  92         Json::Value jvo; // JSON output
  93         unsigned int i = 0;
  94         unsigned int j = 0;
  95         std::cin >> jvi;
  96         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  97
  98         PLANNER p(
  99                         new RRTNode(
 100                                 jvi["init"][0].asFloat(),
 101                                 jvi["init"][1].asFloat(),
 102                                 jvi["init"][2].asFloat()),
 103                         new RRTNode(
 104                                 jvi["goal"][0].asFloat(),
 105                                 jvi["goal"][1].asFloat(),
 106                                 jvi["goal"][2].asFloat()));
 107         std::vector<CircleObstacle> co;
 108         std::vector<SegmentObstacle> so;
 109         for (auto o: jvi["obst"]) {
 110                 if (o["circle"] != Json::nullValue) {
 111                         co.push_back(CircleObstacle(
 112                                                 o["circle"][0].asFloat(),
 113                                                 o["circle"][1].asFloat(),
 114                                                 o["circle"][2].asFloat()));
 115                 }
 116                 if (o["segment"] != Json::nullValue) {
 117                         so.push_back(SegmentObstacle(
 118                                 new RRTNode(
 119                                         o["segment"][0][0].asFloat(),
 120                                         o["segment"][0][1].asFloat(),
 121                                         0),
 122                                 new RRTNode(
 123                                         o["segment"][1][0].asFloat(),
 124                                         o["segment"][1][1].asFloat(),
 125                                         0)));
 126                 }
 127         }
 128         p.link_obstacles(&co, &so);
 129         p.ocost(p.root());
 130         p.ocost(p.goal());
 131
 132 #ifdef USE_LOADF
 133         std::vector<RRTNode *> steered;
 134         for (auto jn: jvi["traj"][0]) {
 135                 steered.push_back(new RRTNode(
 136                                         jn[0].asFloat(),
 137                                         jn[1].asFloat(),
 138                                         jn[2].asFloat(),
 139                                         jn[3].asFloat(),
 140                                         jn[4].asFloat()));
 141         }
 142         std::reverse(steered.begin(), steered.end());
 143         RRTNode *pn = p.root();
 144         for (auto n: steered) {
 145                 if (IS_NEAR(pn, n))
 146                         continue;
 147                 pn->add_child(n, p.cost(pn, n));
 148                 pn = n;
 149                 p.glplot();
 150         }
 151         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 152         p.goal_found(true);
 153         p.tlog(p.findt());
 154         if (p.opt_path()) {
 155                 p.tlog(p.findt());
 156                 p.glplot();
 157         }
 158         p.glplot();
 159         sleep(2);
 160 #elif defined USE_INTERRUPT
 161         signal(SIGINT, hint);
 162         signal(SIGTERM, hint);
 163         p.tstart();
 164         while (run_planner) {
 165                 p.next();
 166                 p.tend();
 167                 if (p.opt_path())
 168                         p.tlog(p.findt());
 169                 p.glplot();
 170         }
 171 #elif defined USE_TMAX
 172         p.tstart();
 173         p.tend();
 174         while (!p.goal_found() && p.elapsed() < TMAX) {
 175                 p.next();
 176                 p.tend();
 177                 if (p.opt_path())
 178                         p.tlog(p.findt());
 179         }
 180 #elif defined USE_PTHREAD
 181         bool gf = false;
 182         pthread_t rt; // root thread
 183         pthread_t gt; // goal thread
 184         pthread_t ct; // connect thread
 185
 186         struct next_arg ra;
 187         ra.gf = &gf;
 188         ra.p = &p.p_root_;
 189
 190         struct next_arg ga;
 191         ga.gf = &gf;
 192         ga.p = &p.p_goal_;
 193
 194         p.tstart();
 195         p.p_root_.tstart();
 196         p.p_goal_.tstart();
 197         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 198         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 199         while (!gf && p.elapsed() < TMAX) {
 200                 sleep(0.2);
 201                 p.tend();
 202         }
 203         pthread_join(rt, NULL);
 204         pthread_join(gt, NULL);
 205         if (gf)
 206                 p.tlog(p.findt());
 207         if (p.opt_path())
 208                 p.tlog(p.findt());
 209 #endif
 210 #ifdef JSONLOGEDGES
 211         p.logr(p.root());
 212 #endif
 213
 214         // statistics to error output
 215         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 216         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 217         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 218         std::cerr << "#samples is " << p.samples().size() << std::endl;
 219         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 220         std::cerr << "trajectories costs:" << std::endl;
 221         for (j = 0; j < p.clog().size(); j++)
 222                 std::cerr << "- " << p.clog()[j] << std::endl;
 223         std::cerr << "RRT #nodes:" << std::endl;
 224         for (j = 0; j < p.nlog().size(); j++)
 225                 std::cerr << "- " << p.nlog()[j] << std::endl;
 226         std::cerr << "trajectories seconds:" << std::endl;
 227         for (j = 0; j < p.slog().size(); j++)
 228                 std::cerr << "- " << p.slog()[j] << std::endl;
 229         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 230         std::cerr << std::endl;
 231         for (auto edges: p.rlog())
 232                 std::cerr << "- " << edges.size() << std::endl;
 233
 234         // JSON output
 235         jvo["elap"] = p.elapsed();
 236         // log cost
 237         for (j = 0; j < p.clog().size(); j++)
 238                 jvo["cost"][j] = p.clog()[j];
 239         // log #nodes
 240         for (j = 0; j < p.nlog().size(); j++)
 241                 jvo["node"][j] = p.nlog()[j];
 242         // log seconds
 243         for (j = 0; j < p.slog().size(); j++)
 244                 jvo["secs"][j] = p.slog()[j];
 245         // log traj
 246         i = 0;
 247         j = 0;
 248         for (auto traj: p.tlog()) {
 249                 i = 0;
 250                 for (auto n: traj) {
 251                         jvo["traj"][j][i][0] = n->x();
 252                         jvo["traj"][j][i][1] = n->y();
 253                         jvo["traj"][j][i][2] = n->h();
 254                         jvo["traj"][j][i][3] = n->t();
 255                         jvo["traj"][j][i][4] = n->s();
 256                         i++;
 257                 }
 258                 j++;
 259         }
 260 #ifdef JSONLOGEDGES
 261         i = 0;
 262         j = 0;
 263         for (auto edges: p.rlog()) {
 264                 j = 0;
 265                 for (auto e: edges) {
 266                         jvo["edge"][i][j][0][0] = e->init()->x();
 267                         jvo["edge"][i][j][0][1] = e->init()->y();
 268                         jvo["edge"][i][j][0][2] = e->init()->h();
 269                         jvo["edge"][i][j][1][0] = e->goal()->x();
 270                         jvo["edge"][i][j][1][1] = e->goal()->y();
 271                         jvo["edge"][i][j][1][2] = e->goal()->h();
 272                         j++;
 273                 }
 274                 i++;
 275         }
 276 #endif
 277 #ifdef JSONLOGSAMPLES
 278         i = 0;
 279         j = 0;
 280         for (auto s: p.samples()) {
 281                 jvo["samp"][j][0] = s->x();
 282                 jvo["samp"][j][1] = s->y();
 283                 jvo["samp"][j][2] = s->h();
 284                 j++;
 285         }
 286 #endif
 287         // print output
 288         std::cout << jvo << std::endl;
 289
 290 #ifdef USE_GL
 291         SDL_DestroyWindow(gw);
 292         SDL_Quit();
 293 #endif
 294
 295         // free mem
 296         for (auto o: so) {
 297                 delete o.init();
 298                 delete o.goal();
 299         }
 300         return 0;
 301 }
 302
 303 bool init()
 304 {
 305         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 306                 std::cerr << "SDL could not initialize! SDL_Error: ";
 307                 std::cerr << SDL_GetError();
 308                 std::cerr << std::endl;
 309                 return false;
 310         }
 311         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 312         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 313         gw = SDL_CreateWindow(
 314                         "I am car",
 315                         SDL_WINDOWPOS_UNDEFINED,
 316                         SDL_WINDOWPOS_UNDEFINED,
 317                         SCREEN_WIDTH,
 318                         SCREEN_HEIGHT,
 319                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 320         if (gw == NULL) {
 321                 std::cerr << "Window could not be created! SDL_Error: ";
 322                 std::cerr << SDL_GetError();
 323                 std::cerr << std::endl;
 324                 return false;
 325         }
 326         gc = SDL_GL_CreateContext(gw);
 327         if (gc == NULL) {
 328                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 329                 std::cerr << SDL_GetError();
 330                 std::cerr << std::endl;
 331                 return false;
 332         }
 333         if (SDL_GL_SetSwapInterval(1) < 0) {
 334                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 335                 std::cerr << SDL_GetError();
 336                 std::cerr << std::endl;
 337                 return false;
 338         }
 339         if (!initGL()) {
 340                 std::cerr << "Unable to initialize OpenGL!";
 341                 std::cerr << std::endl;
 342                 return false;
 343         }
 344         return true;
 345 }
 346
 347 bool initGL()
 348 {
 349         GLenum error = GL_NO_ERROR;
 350         glMatrixMode(GL_PROJECTION);
 351         glLoadIdentity();
 352         error = glGetError();
 353         if (error != GL_NO_ERROR) {
 354                 std::cerr << "Error initializing OpenGL! ";
 355                 std::cerr << gluErrorString(error);
 356                 std::cerr << std::endl;
 357                 return false;
 358         }
 359         glMatrixMode(GL_MODELVIEW);
 360         glLoadIdentity();
 361         error = glGetError();
 362         if (error != GL_NO_ERROR) {
 363                 std::cerr << "Error initializing OpenGL! ";
 364                 std::cerr << gluErrorString(error);
 365                 std::cerr << std::endl;
 366                 return false;
 367         }
 368         glClearColor(1, 1, 1, 1);
 369         error = glGetError();
 370         if (error != GL_NO_ERROR) {
 371                 std::cerr << "Error initializing OpenGL! ";
 372                 std::cerr << gluErrorString(error);
 373                 std::cerr << std::endl;
 374                 return false;
 375         }
 376         return true;
 377 }