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 <chrono>
  20 #include <iostream>
  21 #include <jsoncpp/json/json.h>
  22 #include <pthread.h>
  23 #include <signal.h>
  24 #include <unistd.h>
  25 #include "compile.h"
  26 #include "obstacle.h"
  27 #include "rrtplanner.h"
  28 #include "slotplanner.h"
  29
  30 #if USE_GL > 0
  31 // OpenGL
  32 #include <GL/gl.h>
  33 #include <GL/glu.h>
  34 #include <SDL2/SDL.h>
  35 #endif
  36
  37 // debug
  38 //#define JSONLOGEDGES
  39 //#define JSONLOGSAMPLES
  40
  41 #if USE_GL > 0
  42         #define USE_INTERRUPT
  43 #else
  44         // choose
  45         //#define USE_INTERRUPT
  46         // or
  47         #define USE_TMAX
  48         // or
  49         //#define USE_LOADF
  50         // or
  51         //#define USE_PTHREAD
  52 #endif
  53
  54 // enable
  55 //#define USE_SLOTPLANNER
  56
  57 std::chrono::high_resolution_clock::time_point TSTART_;
  58 std::chrono::high_resolution_clock::time_point TEND_;
  59 float TELAPSED = 0;
  60 float ELAPSED = 0;
  61 void TSTART() {TSTART_ = std::chrono::high_resolution_clock::now();}
  62 void TEND() {
  63         std::chrono::duration<float> DT_;
  64         TEND_ = std::chrono::high_resolution_clock::now();
  65         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  66                 TEND_ - TSTART_
  67         );
  68         TELAPSED += DT_.count();
  69         ELAPSED = DT_.count();
  70 }
  71 void TPRINT(const char *what) {
  72         std::chrono::duration<float> DT_;
  73         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  74                 TEND_ - TSTART_
  75         );
  76         std::cerr << what << ": " << DT_.count() << std::endl;
  77 }
  78
  79 bool run_planner = true;
  80
  81 #if USE_GL > 0
  82 SDL_Window* gw = NULL;
  83 SDL_GLContext gc;
  84
  85 bool init();
  86 bool initGL();
  87 #endif
  88
  89 void hint(int)
  90 {
  91         run_planner = false;
  92 }
  93
  94 #ifdef USE_PTHREAD
  95 struct next_arg {
  96         bool *gf;
  97         T2 *p;
  98 };
  99
 100 void *next_run(void *arg)
 101 {
 102         struct next_arg *na = (struct next_arg *) arg;
 103         T2 *lp = (T2 *) na->p;
 104         bool *gf = na->gf;
 105         while (!*gf && lp->elapsed() < TMAX) {
 106                 if (lp->next())
 107                         *gf = true;
 108                 lp->tend();
 109         }
 110         pthread_exit(NULL);
 111         return NULL;
 112 }
 113 #endif
 114
 115 int main()
 116 {
 117 #if USE_GL > 0
 118         init();
 119 #endif
 120
 121         Json::Value jvi; // JSON input
 122         Json::Value jvo; // JSON output
 123         unsigned int i = 0;
 124         unsigned int j = 0;
 125         std::cin >> jvi;
 126         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 127
 128         PLANNER p(
 129                         new RRTNode(
 130                                 jvi["init"][0].asFloat(),
 131                                 jvi["init"][1].asFloat(),
 132                                 jvi["init"][2].asFloat()),
 133                         new RRTNode(
 134                                 jvi["goal"][0].asFloat(),
 135                                 jvi["goal"][1].asFloat(),
 136                                 jvi["goal"][2].asFloat()));
 137         std::vector<CircleObstacle> co;
 138         std::vector<SegmentObstacle> so;
 139         for (auto o: jvi["obst"]) {
 140                 if (o["circle"] != Json::nullValue) {
 141                         co.push_back(CircleObstacle(
 142                                                 o["circle"][0].asFloat(),
 143                                                 o["circle"][1].asFloat(),
 144                                                 o["circle"][2].asFloat()));
 145                 }
 146                 if (o["segment"] != Json::nullValue) {
 147                         so.push_back(SegmentObstacle(
 148                                 new RRTNode(
 149                                         o["segment"][0][0].asFloat(),
 150                                         o["segment"][0][1].asFloat(),
 151                                         0),
 152                                 new RRTNode(
 153                                         o["segment"][1][0].asFloat(),
 154                                         o["segment"][1][1].asFloat(),
 155                                         0)));
 156                         p.frame().add_bnode(so.back().init());
 157                 }
 158         }
 159         p.link_obstacles(&co, &so);
 160         p.ocost(p.root());
 161         p.ocost(p.goal());
 162
 163         ParallelSlot ps = ParallelSlot();
 164 #ifdef USE_SLOTPLANNER
 165         TSTART();
 166         for (auto xy: jvi["slot"]["polygon"]) {
 167                 ps.slot().add_bnode(new RRTNode(
 168                         xy[0].asFloat(),
 169                         xy[1].asFloat()
 170                 ));
 171         }
 172         ps.setAll();
 173         p.samplingInfo_ = ps.getSamplingInfo();
 174         if (ps.slot().bnodes().size() > 0)
 175                 ps.fipr(ps.getFP());
 176         TEND();
 177         jvo["ppse"] = ELAPSED;
 178         TPRINT("ParallelSlot");
 179 #endif
 180         if (ps.cusp().size() > 0) {
 181                 p.goal(ps.cusp().front().front());
 182                 p.slot_cusp(ps.cusp().front()); // use first found solution
 183                 jvo["midd"][0] = p.goal()->x();
 184                 jvo["midd"][1] = p.goal()->y();
 185                 jvo["midd"][2] = p.goal()->h();
 186                 jvo["goal"][0] = p.slot_cusp().back()->x();
 187                 jvo["goal"][1] = p.slot_cusp().back()->y();
 188                 jvo["goal"][2] = p.slot_cusp().back()->h();
 189         } else {
 190                 jvo["goal"][0] = p.goal()->x();
 191                 jvo["goal"][1] = p.goal()->y();
 192                 jvo["goal"][2] = p.goal()->h();
 193         }
 194         TSTART();
 195 #ifdef USE_LOADF
 196         std::vector<RRTNode *> steered;
 197         for (auto jn: jvi["traj"][0]) {
 198                 steered.push_back(new RRTNode(
 199                                         jn[0].asFloat(),
 200                                         jn[1].asFloat(),
 201                                         jn[2].asFloat(),
 202                                         jn[3].asFloat(),
 203                                         jn[4].asFloat()));
 204         }
 205         std::reverse(steered.begin(), steered.end());
 206         RRTNode *pn = p.root();
 207         for (auto n: steered) {
 208                 if (IS_NEAR(pn, n))
 209                         continue;
 210                 pn->add_child(n, p.cost(pn, n));
 211                 pn = n;
 212                 p.glplot();
 213         }
 214         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 215         p.goal_found(true);
 216         p.tlog(p.findt());
 217         if (p.opt_path()) {
 218                 p.tlog(p.findt());
 219                 p.glplot();
 220         }
 221         p.glplot();
 222         sleep(2);
 223 #elif defined USE_INTERRUPT
 224         signal(SIGINT, hint);
 225         signal(SIGTERM, hint);
 226         p.tstart();
 227         while (run_planner) {
 228                 p.next();
 229                 p.tend();
 230                 if (p.opt_path())
 231                         p.tlog(p.findt());
 232                 p.glplot();
 233         }
 234 #elif defined USE_TMAX
 235         p.tstart();
 236         p.tend();
 237         while (!p.goal_found() && p.elapsed() < TMAX) {
 238                 p.next();
 239                 p.tend();
 240                 if (p.opt_path()) {
 241                         if (ps.cusp().size() > 0)
 242                                 p.tlog(p.findt(p.slot_cusp().back()));
 243                         else
 244                                 p.tlog(p.findt());
 245                 }
 246         }
 247 #elif defined USE_PTHREAD
 248         bool gf = false;
 249         RRTNode *ron = nullptr;
 250         RRTNode *gon = nullptr;
 251         float mc = 9999;
 252         pthread_t rt; // root thread
 253         pthread_t gt; // goal thread
 254         pthread_t ct; // connect thread
 255
 256         struct next_arg ra;
 257         ra.gf = &gf;
 258         ra.p = &p.p_root_;
 259
 260         struct next_arg ga;
 261         ga.gf = &gf;
 262         ga.p = &p.p_goal_;
 263
 264         p.tstart();
 265         p.p_root_.tstart();
 266         p.p_goal_.tstart();
 267         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 268         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 269         int tol = 0;
 270         int ndl = 0;
 271         bool ndone = true;
 272         while (!gf && p.elapsed() < TMAX &&
 273                         p.p_root_.nodes().size() < NOFNODES &&
 274                         p.p_goal_.nodes().size() < NOFNODES) {
 275                 // overlap trees
 276                 ndone = true;
 277                 for (int i = 0; i < IXSIZE; i++) {
 278                 for (int j = 0; j < IYSIZE; j++) {
 279                         if (p.p_root_.ixy_[i][j].changed() &&
 280                                         p.p_goal_.ixy_[i][j].changed()) {
 281 ndone = false;
 282 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 283 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 284         if (rn->ccost() + gn->ccost() < mc &&
 285                         IS_NEAR(rn, gn)) {
 286                 gf = true;
 287                 p.goal_found(true);
 288                 ron = rn;
 289                 gon = gn;
 290                 mc = rn->ccost() + gn->ccost();
 291         }
 292 }}
 293                         }
 294                         tol++;
 295                         if (ndone)
 296                                 ndl++;
 297                         p.tend();
 298                         if (p.elapsed() >= TMAX)
 299                                 goto escapeloop;
 300                 }}
 301                 // end of overlap trees
 302                 p.tend();
 303         }
 304 escapeloop:
 305         pthread_join(rt, NULL);
 306         pthread_join(gt, NULL);
 307         float nodo = ((float) ndl / (float) tol);
 308         std::cerr << "nothing done is " << 100.0 * nodo;
 309         std::cerr << "%" << std::endl;
 310         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 311         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 312         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 313         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 314                 ron = p.p_root_.goal()->parent();
 315                 gon = p.p_root_.goal();
 316                 mc = p.p_root_.goal()->ccost();
 317         }
 318         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 319                 ron = p.p_goal_.goal();
 320                 gon = p.p_goal_.goal()->parent();
 321                 mc = p.p_goal_.goal()->ccost();
 322         }
 323         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 324         p.root()->ccost(0);
 325         p.goal()->children().clear();
 326         // connect trees
 327         if (gf) {
 328         while (gon != p.goal()) {
 329                 p.p_root_.nodes().push_back(new RRTNode(
 330                                 gon->x(),
 331                                 gon->y(),
 332                                 gon->h()));
 333                 ron->add_child(
 334                                 p.p_root_.nodes().back(),
 335                                 p.p_root_.cost(
 336                                                 ron,
 337                                                 p.p_root_.nodes().back()));
 338                 ron = p.p_root_.nodes().back();
 339                 gon = gon->parent();
 340         }
 341         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 342         }
 343         // end of connect trees
 344         if (gf)
 345                 p.tlog(p.findt());
 346         if (p.opt_path())
 347                 p.tlog(p.findt());
 348 #endif
 349         TEND();
 350         TPRINT("RRT");
 351         jvo["rrte"] = ELAPSED;
 352 #ifdef JSONLOGEDGES
 353         p.logr(p.root());
 354 #endif
 355
 356         // statistics to error output
 357         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 358         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 359         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 360         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 361         std::cerr << "#samples is " << p.samples().size() << std::endl;
 362         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 363         std::cerr << "trajectories costs:" << std::endl;
 364         for (j = 0; j < p.clog().size(); j++)
 365                 std::cerr << "- " << p.clog()[j] << std::endl;
 366         std::cerr << "RRT #nodes:" << std::endl;
 367         for (j = 0; j < p.nlog().size(); j++)
 368                 std::cerr << "- " << p.nlog()[j] << std::endl;
 369         std::cerr << "trajectories seconds:" << std::endl;
 370         for (j = 0; j < p.slog().size(); j++)
 371                 std::cerr << "- " << p.slog()[j] << std::endl;
 372         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 373         std::cerr << std::endl;
 374         for (auto edges: p.rlog())
 375                 std::cerr << "- " << edges.size() << std::endl;
 376
 377         // JSON output
 378         jvo["elap"] = TELAPSED;
 379 #ifdef USE_PTHREAD
 380         jvo["nodo"][0] = nodo;
 381 #endif
 382         // log cost
 383         for (j = 0; j < p.clog().size(); j++)
 384                 jvo["cost"][j] = p.clog()[j];
 385         // log #nodes
 386         for (j = 0; j < p.nlog().size(); j++)
 387                 jvo["node"][j] = p.nlog()[j];
 388         // log seconds
 389         for (j = 0; j < p.slog().size(); j++)
 390                 jvo["secs"][j] = p.slog()[j];
 391         // log traj
 392         i = 0;
 393         j = 0;
 394         for (auto traj: p.tlog()) {
 395                 i = 0;
 396                 for (auto n: traj) {
 397                         jvo["traj"][j][i][0] = n->x();
 398                         jvo["traj"][j][i][1] = n->y();
 399                         jvo["traj"][j][i][2] = n->h();
 400                         jvo["traj"][j][i][3] = n->t();
 401                         jvo["traj"][j][i][4] = n->s();
 402                         i++;
 403                 }
 404                 j++;
 405         }
 406 #ifdef JSONLOGEDGES
 407         i = 0;
 408         j = 0;
 409         for (auto edges: p.rlog()) {
 410                 j = 0;
 411                 for (auto e: edges) {
 412                         jvo["edge"][i][j][0][0] = e->init()->x();
 413                         jvo["edge"][i][j][0][1] = e->init()->y();
 414                         jvo["edge"][i][j][0][2] = e->init()->h();
 415                         jvo["edge"][i][j][1][0] = e->goal()->x();
 416                         jvo["edge"][i][j][1][1] = e->goal()->y();
 417                         jvo["edge"][i][j][1][2] = e->goal()->h();
 418                         j++;
 419                 }
 420                 i++;
 421         }
 422 #endif
 423 #ifdef JSONLOGSAMPLES
 424         i = 0;
 425         j = 0;
 426         for (auto s: p.samples()) {
 427                 jvo["samp"][j][0] = s->x();
 428                 jvo["samp"][j][1] = s->y();
 429                 jvo["samp"][j][2] = s->h();
 430                 j++;
 431         }
 432 #endif
 433         // print output
 434         std::cout << jvo << std::endl;
 435
 436 #if USE_GL > 0
 437         SDL_DestroyWindow(gw);
 438         SDL_Quit();
 439 #endif
 440
 441         // free mem
 442         for (auto o: so) {
 443                 delete o.init();
 444                 delete o.goal();
 445         }
 446         return 0;
 447 }
 448
 449 #if USE_GL > 0
 450 bool init()
 451 {
 452         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 453                 std::cerr << "SDL could not initialize! SDL_Error: ";
 454                 std::cerr << SDL_GetError();
 455                 std::cerr << std::endl;
 456                 return false;
 457         }
 458         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 459         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 460         gw = SDL_CreateWindow(
 461                         "I am car",
 462                         SDL_WINDOWPOS_UNDEFINED,
 463                         SDL_WINDOWPOS_UNDEFINED,
 464                         SCREEN_WIDTH,
 465                         SCREEN_HEIGHT,
 466                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 467         if (gw == NULL) {
 468                 std::cerr << "Window could not be created! SDL_Error: ";
 469                 std::cerr << SDL_GetError();
 470                 std::cerr << std::endl;
 471                 return false;
 472         }
 473         gc = SDL_GL_CreateContext(gw);
 474         if (gc == NULL) {
 475                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 476                 std::cerr << SDL_GetError();
 477                 std::cerr << std::endl;
 478                 return false;
 479         }
 480         if (SDL_GL_SetSwapInterval(1) < 0) {
 481                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 482                 std::cerr << SDL_GetError();
 483                 std::cerr << std::endl;
 484                 return false;
 485         }
 486         if (!initGL()) {
 487                 std::cerr << "Unable to initialize OpenGL!";
 488                 std::cerr << std::endl;
 489                 return false;
 490         }
 491         return true;
 492 }
 493
 494 bool initGL()
 495 {
 496         GLenum error = GL_NO_ERROR;
 497         glMatrixMode(GL_PROJECTION);
 498         glLoadIdentity();
 499         error = glGetError();
 500         if (error != GL_NO_ERROR) {
 501                 std::cerr << "Error initializing OpenGL! ";
 502                 std::cerr << gluErrorString(error);
 503                 std::cerr << std::endl;
 504                 return false;
 505         }
 506         glMatrixMode(GL_MODELVIEW);
 507         glLoadIdentity();
 508         error = glGetError();
 509         if (error != GL_NO_ERROR) {
 510                 std::cerr << "Error initializing OpenGL! ";
 511                 std::cerr << gluErrorString(error);
 512                 std::cerr << std::endl;
 513                 return false;
 514         }
 515         glClearColor(1, 1, 1, 1);
 516         error = glGetError();
 517         if (error != GL_NO_ERROR) {
 518                 std::cerr << "Error initializing OpenGL! ";
 519                 std::cerr << gluErrorString(error);
 520                 std::cerr << std::endl;
 521                 return false;
 522         }
 523         return true;
 524 }
 525 #endif