2 This file is part of I am car.
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.
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.
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/>.
23 #include <jsoncpp/json/json.h>
29 #include "rrtplanner.h"
30 #include "slotplanner.h"
40 //#define JSONLOGEDGES
41 //#define JSONLOGSAMPLES
47 //#define USE_INTERRUPT
57 #define SCREEN_WIDTH 1000
58 #define SCREEN_HEIGHT 1000
60 std::chrono::high_resolution_clock::time_point TSTART_;
61 std::chrono::high_resolution_clock::time_point TEND_;
64 void TSTART() {TSTART_ = std::chrono::high_resolution_clock::now();}
66 std::chrono::duration<float> DT_;
67 TEND_ = std::chrono::high_resolution_clock::now();
68 DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
71 TELAPSED += DT_.count();
72 ELAPSED = DT_.count();
74 void TPRINT(const char *what) {
75 std::chrono::duration<float> DT_;
76 DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
79 std::cerr << what << ": " << DT_.count() << std::endl;
82 bool run_planner = true;
85 SDL_Window* gw = NULL;
103 void *next_run(void *arg)
105 struct next_arg *na = (struct next_arg *) arg;
106 T2 *lp = (T2 *) na->p;
108 while (!*gf && lp->elapsed() < TMAX) {
120 float new_x = 1 + static_cast<float>(rand()) /
121 static_cast<float>(RAND_MAX / (6.6 - 1 - 1));
123 float new_h = M_PI / 2;
124 return new RRTNode(new_x, new_y, new_h);
129 srand(static_cast<unsigned>(time(0)));
134 Json::Value jvi; // JSON input
135 Json::Value jvo; // JSON output
139 std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
143 jvi["init"][0].asFloat(),
144 jvi["init"][1].asFloat(),
145 jvi["init"][2].asFloat()),
147 jvi["goal"][0].asFloat(),
148 jvi["goal"][1].asFloat(),
149 jvi["goal"][2].asFloat()));
150 jvo["init"][0] = p.root()->x();
151 jvo["init"][1] = p.root()->y();
152 jvo["init"][2] = p.root()->h();
153 std::vector<CircleObstacle> co;
154 std::vector<SegmentObstacle> so;
155 p.HMIN = p.root()->x();
156 p.HMAX = p.root()->x();
157 p.VMIN = p.root()->y();
158 p.VMAX = p.root()->y();
159 for (auto o: jvi["obst"]) {
164 if (o["circle"] != Json::nullValue) {
165 tmpx = o["circle"][0].asFloat();
166 tmpy = o["circle"][1].asFloat();
167 tmpr = o["circle"][2].asFloat();
168 co.push_back(CircleObstacle(tmpx, tmpy, tmpr));
169 if (tmpx < p.HMIN) p.HMIN = tmpx;
170 if (tmpx > p.HMAX) p.HMAX = tmpx;
171 if (tmpy < p.VMIN) p.VMIN = tmpy;
172 if (tmpy > p.VMAX) p.VMAX = tmpy;
174 if (o["segment"] != Json::nullValue) {
175 tmpx = o["segment"][0][0].asFloat();
176 tmpy = o["segment"][0][1].asFloat();
177 tmpr = o["segment"][1][0].asFloat();
178 tmps = o["segment"][1][1].asFloat();
179 so.push_back(SegmentObstacle(
180 new RRTNode(tmpx, tmpy, 0),
181 new RRTNode(tmpr, tmps, 0)
183 p.frame().add_bnode(so.back().init());
184 if (tmpx < p.HMIN) p.HMIN = tmpx;
185 if (tmpx > p.HMAX) p.HMAX = tmpx;
186 if (tmpy < p.VMIN) p.VMIN = tmpy;
187 if (tmpy > p.VMAX) p.VMAX = tmpy;
188 if (tmpr < p.HMIN) p.HMIN = tmpr;
189 if (tmpr > p.HMAX) p.HMAX = tmpr;
190 if (tmps < p.VMIN) p.VMIN = tmps;
191 if (tmps > p.VMAX) p.VMAX = tmps;
194 p.defaultSamplingInfo();
195 p.link_obstacles(&co, &so);
199 ParallelSlot ps = ParallelSlot();
201 jvi["slot"] != Json::nullValue &&
202 jvi["slot"]["polygon"] != Json::nullValue
204 for (auto xy: jvi["slot"]["polygon"]) {
205 ps.slot().add_bnode(new RRTNode(
210 for (auto e: ps.slot().frame())
211 so.push_back(SegmentObstacle(e->init(), e->goal()));
213 #ifdef USE_SLOTPLANNER
215 if (ps.slot().bnodes().size() > 0)
218 jvo["ppse"] = ELAPSED;
219 TPRINT("ParallelSlot");
221 if (ps.slot().bnodes().size() > 0) {
223 //if (ps.getMidd() != nullptr)
224 // p.setSamplingInfo(ps.getSamplingInfo());
226 if (ps.cusp().size() > 0) {
227 p.goal(ps.getMidd());
228 p.slot_cusp(ps.cusp().front()); // use first found solution
230 jvo["midd"][0] = p.goal()->x();
231 jvo["midd"][1] = p.goal()->y();
232 jvo["midd"][2] = p.goal()->h();
233 jvo["goal"][0] = p.slot_cusp().back()->x();
234 jvo["goal"][1] = p.slot_cusp().back()->y();
235 jvo["goal"][2] = p.slot_cusp().back()->h();
237 jvo["goal"][0] = p.goal()->x();
238 jvo["goal"][1] = p.goal()->y();
239 jvo["goal"][2] = p.goal()->h();
242 std::cerr << "Slot Info:" << std::endl;
243 if (ps.slotSide() == LEFT)
244 std::cerr << "- LEFT" << std::endl;
246 std::cerr << "- RIGHT" << std::endl;
247 if (ps.slotType() == PARALLEL)
248 std::cerr << "- PARALLEL" << std::endl;
250 std::cerr << "- PERPENDICULAR" << std::endl;
252 std::vector<RRTNode *> steered;
253 for (auto jn: jvi["traj"][0]) {
254 steered.push_back(new RRTNode(
261 std::reverse(steered.begin(), steered.end());
262 RRTNode *pn = p.root();
263 for (auto n: steered) {
266 pn->add_child(n, p.cost(pn, n));
270 pn->add_child(p.goal(), p.cost(pn, p.goal()));
279 #elif defined USE_INTERRUPT
280 signal(SIGINT, hint);
281 signal(SIGTERM, hint);
283 while (run_planner) {
290 #elif defined USE_TMAX
293 while (!p.goal_found() && p.elapsed() < TMAX) {
300 if (p.goal_found() && ps.slotType() == PARALLEL)
301 p.tlog(p.findt(p.slot_cusp().back()));
302 #elif defined USE_PTHREAD
304 RRTNode *ron = nullptr;
305 RRTNode *gon = nullptr;
307 pthread_t rt; // root thread
308 pthread_t gt; // goal thread
309 pthread_t ct; // connect thread
322 pthread_create(&rt, NULL, &next_run, (void *) &ra);
323 pthread_create(>, NULL, &next_run, (void *) &ga);
327 while (!gf && p.elapsed() < TMAX &&
328 p.p_root_.nodes().size() < NOFNODES &&
329 p.p_goal_.nodes().size() < NOFNODES) {
332 for (int i = 0; i < IXSIZE; i++) {
333 for (int j = 0; j < IYSIZE; j++) {
334 if (p.p_root_.ixy_[i][j].changed() &&
335 p.p_goal_.ixy_[i][j].changed()) {
337 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
338 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
339 if (rn->ccost() + gn->ccost() < mc &&
345 mc = rn->ccost() + gn->ccost();
353 if (p.elapsed() >= TMAX)
356 // end of overlap trees
360 pthread_join(rt, NULL);
361 pthread_join(gt, NULL);
362 float nodo = ((float) ndl / (float) tol);
363 std::cerr << "nothing done is " << 100.0 * nodo;
364 std::cerr << "%" << std::endl;
365 //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
366 //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
367 //std::cerr << "cgf is " << p.goal_found() << std::endl;
368 if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
369 ron = p.p_root_.goal()->parent();
370 gon = p.p_root_.goal();
371 mc = p.p_root_.goal()->ccost();
373 if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
374 ron = p.p_goal_.goal();
375 gon = p.p_goal_.goal()->parent();
376 mc = p.p_goal_.goal()->ccost();
378 p.root()->remove_parent(); // needed if p.p_goal_.goal_found()
380 p.goal()->children().clear();
383 while (gon != p.goal()) {
384 p.p_root_.nodes().push_back(new RRTNode(
389 p.p_root_.nodes().back(),
392 p.p_root_.nodes().back()));
393 ron = p.p_root_.nodes().back();
396 ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
398 // end of connect trees
406 jvo["rrte"] = ELAPSED;
411 // statistics to error output
412 std::cerr << "TELAPSED is " << TELAPSED << std::endl;
413 std::cerr << "Elapsed is " << p.elapsed() << std::endl;
414 std::cerr << "Goal found is " << p.goal_found() << std::endl;
415 std::cerr << "#nodes is " << p.nodes().size() << std::endl;
416 std::cerr << "#samples is " << p.samples().size() << std::endl;
417 std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
418 std::cerr << "trajectories costs:" << std::endl;
419 for (j = 0; j < p.clog().size(); j++)
420 std::cerr << "- " << p.clog()[j] << std::endl;
421 std::cerr << "RRT #nodes:" << std::endl;
422 for (j = 0; j < p.nlog().size(); j++)
423 std::cerr << "- " << p.nlog()[j] << std::endl;
424 std::cerr << "trajectories seconds:" << std::endl;
425 for (j = 0; j < p.slog().size(); j++)
426 std::cerr << "- " << p.slog()[j] << std::endl;
427 std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
428 std::cerr << std::endl;
429 for (auto edges: p.rlog())
430 std::cerr << "- " << edges.size() << std::endl;
433 jvo["elap"] = TELAPSED;
435 jvo["nodo"][0] = nodo;
438 for (j = 0; j < p.clog().size(); j++)
439 jvo["cost"][j] = p.clog()[j];
441 for (j = 0; j < p.nlog().size(); j++)
442 jvo["node"][j] = p.nlog()[j];
444 for (j = 0; j < p.slog().size(); j++)
445 jvo["secs"][j] = p.slog()[j];
449 for (auto traj: p.tlog()) {
452 jvo["traj"][j][i][0] = n->x();
453 jvo["traj"][j][i][1] = n->y();
454 jvo["traj"][j][i][2] = n->h();
455 jvo["traj"][j][i][3] = n->t();
456 jvo["traj"][j][i][4] = n->s();
464 for (auto edges: p.rlog()) {
466 for (auto e: edges) {
467 jvo["edge"][i][j][0][0] = e->init()->x();
468 jvo["edge"][i][j][0][1] = e->init()->y();
469 jvo["edge"][i][j][0][2] = e->init()->h();
470 jvo["edge"][i][j][1][0] = e->goal()->x();
471 jvo["edge"][i][j][1][1] = e->goal()->y();
472 jvo["edge"][i][j][1][2] = e->goal()->h();
478 #ifdef JSONLOGSAMPLES
481 for (auto s: p.samples()) {
482 jvo["samp"][j][0] = s->x();
483 jvo["samp"][j][1] = s->y();
484 jvo["samp"][j][2] = s->h();
489 std::cout << jvo << std::endl;
492 SDL_DestroyWindow(gw);
507 if (SDL_Init(SDL_INIT_VIDEO) < 0) {
508 std::cerr << "SDL could not initialize! SDL_Error: ";
509 std::cerr << SDL_GetError();
510 std::cerr << std::endl;
513 SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
514 SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
515 gw = SDL_CreateWindow(
517 SDL_WINDOWPOS_UNDEFINED,
518 SDL_WINDOWPOS_UNDEFINED,
521 SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
523 std::cerr << "Window could not be created! SDL_Error: ";
524 std::cerr << SDL_GetError();
525 std::cerr << std::endl;
528 gc = SDL_GL_CreateContext(gw);
530 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
531 std::cerr << SDL_GetError();
532 std::cerr << std::endl;
535 if (SDL_GL_SetSwapInterval(1) < 0) {
536 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
537 std::cerr << SDL_GetError();
538 std::cerr << std::endl;
542 std::cerr << "Unable to initialize OpenGL!";
543 std::cerr << std::endl;
551 GLenum error = GL_NO_ERROR;
552 glMatrixMode(GL_PROJECTION);
554 error = glGetError();
555 if (error != GL_NO_ERROR) {
556 std::cerr << "Error initializing OpenGL! ";
557 std::cerr << gluErrorString(error);
558 std::cerr << std::endl;
561 glMatrixMode(GL_MODELVIEW);
563 error = glGetError();
564 if (error != GL_NO_ERROR) {
565 std::cerr << "Error initializing OpenGL! ";
566 std::cerr << gluErrorString(error);
567 std::cerr << std::endl;
570 glClearColor(1, 1, 1, 1);
571 error = glGetError();
572 if (error != GL_NO_ERROR) {
573 std::cerr << "Error initializing OpenGL! ";
574 std::cerr << gluErrorString(error);
575 std::cerr << std::endl;