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 <cmath>
  21 #include <cstdlib>
  22 #include <iostream>
  23 #include <jsoncpp/json/json.h>
  24 #include <pthread.h>
  25 #include <signal.h>
  26 #include <unistd.h>
  27 #include "compile.h"
  28 #include "obstacle.h"
  29 #include "rrtplanner.h"
  30 #include "slotplanner.h"
  31
  32 #if USE_GL > 0
  33 // OpenGL
  34 #include <GL/gl.h>
  35 #include <GL/glu.h>
  36 #include <SDL2/SDL.h>
  37 #endif
  38
  39 // debug
  40 //#define JSONLOGEDGES
  41 //#define JSONLOGSAMPLES
  42
  43 #if USE_GL > 0
  44         #define USE_INTERRUPT
  45 #else
  46         // choose
  47         //#define USE_INTERRUPT
  48         // or
  49         #define USE_TMAX
  50         // or
  51         //#define USE_LOADF
  52         // or
  53         //#define USE_PTHREAD
  54 #endif
  55
  56 // OpenGL window size
  57 #define SCREEN_WIDTH 1000
  58 #define SCREEN_HEIGHT 1000
  59
  60 std::chrono::high_resolution_clock::time_point TSTART_;
  61 std::chrono::high_resolution_clock::time_point TEND_;
  62 float TELAPSED = 0;
  63 float ELAPSED = 0;
  64 void TSTART() {TSTART_ = std::chrono::high_resolution_clock::now();}
  65 void TEND() {
  66         std::chrono::duration<float> DT_;
  67         TEND_ = std::chrono::high_resolution_clock::now();
  68         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  69                 TEND_ - TSTART_
  70         );
  71         TELAPSED += DT_.count();
  72         ELAPSED = DT_.count();
  73 }
  74 void TPRINT(const char *what) {
  75         std::chrono::duration<float> DT_;
  76         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  77                 TEND_ - TSTART_
  78         );
  79         std::cerr << what << ": " << DT_.count() << std::endl;
  80 }
  81
  82 bool run_planner = true;
  83
  84 #if USE_GL > 0
  85 SDL_Window* gw = NULL;
  86 SDL_GLContext gc;
  87
  88 bool init();
  89 bool initGL();
  90 #endif
  91
  92 void hint(int)
  93 {
  94         run_planner = false;
  95 }
  96
  97 #ifdef USE_PTHREAD
  98 struct next_arg {
  99         bool *gf;
 100         T2 *p;
 101 };
 102
 103 void *next_run(void *arg)
 104 {
 105         struct next_arg *na = (struct next_arg *) arg;
 106         T2 *lp = (T2 *) na->p;
 107         bool *gf = na->gf;
 108         while (!*gf && lp->elapsed() < TMAX) {
 109                 if (lp->next())
 110                         *gf = true;
 111                 lp->tend();
 112         }
 113         pthread_exit(NULL);
 114         return NULL;
 115 }
 116 #endif
 117
 118 RRTNode *sa_tmp()
 119 {
 120         float new_x = 1 + static_cast<float>(rand()) /
 121                 static_cast<float>(RAND_MAX / (6.6 - 1 - 1));
 122         float new_y = 1;
 123         float new_h = M_PI / 2;
 124         return new RRTNode(new_x, new_y, new_h);
 125 }
 126
 127 int main()
 128 {
 129         srand(static_cast<unsigned>(time(0)));
 130 #if USE_GL > 0
 131         init();
 132 #endif
 133
 134         Json::Value jvi; // JSON input
 135         Json::Value jvo; // JSON output
 136         unsigned int i = 0;
 137         unsigned int j = 0;
 138         std::cin >> jvi;
 139         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 140
 141         if (jvi["init"] == Json::nullValue) {
 142                 std::cerr << "I need `init` in JSON input scenario";
 143                 std::cerr << std::endl;
 144                 return 1;
 145         }
 146
 147         if (jvi["goal"] == Json::nullValue) {
 148                 std::cerr << "I need `goal` in JSON input scenario";
 149                 std::cerr << std::endl;
 150                 return 1;
 151         }
 152
 153         PLANNER p(
 154                 new RRTNode(
 155                         jvi["init"][0].asFloat(),
 156                         jvi["init"][1].asFloat(),
 157                         jvi["init"][2].asFloat()
 158                 ),
 159                 new RRTNode(
 160                         jvi["goal"][0].asFloat(),
 161                         jvi["goal"][1].asFloat(),
 162                         jvi["goal"][2].asFloat()
 163                 )
 164         );
 165         jvo["init"][0] = p.root()->x();
 166         jvo["init"][1] = p.root()->y();
 167         jvo["init"][2] = p.root()->h();
 168         std::vector<CircleObstacle> co;
 169         std::vector<SegmentObstacle> so;
 170         p.HMIN = p.root()->x();
 171         p.HMAX = p.root()->x();
 172         p.VMIN = p.root()->y();
 173         p.VMAX = p.root()->y();
 174         j = 0;
 175         for (auto o: jvi["obst"]) {
 176                 float tmpx;
 177                 float tmpy;
 178                 float tmpr;
 179                 float tmps;
 180                 for (i = 0; i < o.size() - 1; i++) {
 181                         tmpx = o[i][0].asFloat();
 182                         tmpy = o[i][1].asFloat();
 183                         tmpr = o[i + 1][0].asFloat();
 184                         tmps = o[i + 1][1].asFloat();
 185                         so.push_back(SegmentObstacle(
 186                                 new RRTNode(tmpx, tmpy, 0),
 187                                 new RRTNode(tmpr, tmps, 0)
 188                         ));
 189                         p.frame().add_bnode(so.back().init());
 190                         if (tmpx < p.HMIN) p.HMIN = tmpx;
 191                         if (tmpx > p.HMAX) p.HMAX = tmpx;
 192                         if (tmpy < p.VMIN) p.VMIN = tmpy;
 193                         if (tmpy > p.VMAX) p.VMAX = tmpy;
 194                         if (tmpr < p.HMIN) p.HMIN = tmpr;
 195                         if (tmpr > p.HMAX) p.HMAX = tmpr;
 196                         if (tmps < p.VMIN) p.VMIN = tmps;
 197                         if (tmps > p.VMAX) p.VMAX = tmps;
 198
 199                         // output
 200                         jvo["obst"][j][i][0] = tmpx;
 201                         jvo["obst"][j][i][1] = tmpy;
 202                 }
 203                 jvo["obst"][j][i][0] = tmpr;
 204                 jvo["obst"][j][i][1] = tmps;
 205                 j++;
 206         }
 207         p.defaultSamplingInfo();
 208         p.link_obstacles(&co, &so);
 209         p.ocost(p.root());
 210         p.ocost(p.goal());
 211
 212 #ifdef USE_LOADF
 213         std::vector<RRTNode *> steered;
 214         for (auto jn: jvi["traj"][0]) {
 215                 steered.push_back(new RRTNode(
 216                                         jn[0].asFloat(),
 217                                         jn[1].asFloat(),
 218                                         jn[2].asFloat(),
 219                                         jn[3].asFloat(),
 220                                         jn[4].asFloat()));
 221         }
 222         std::reverse(steered.begin(), steered.end());
 223         RRTNode *pn = p.root();
 224         for (auto n: steered) {
 225                 if (IS_NEAR(pn, n))
 226                         continue;
 227                 pn->add_child(n, p.cost(pn, n));
 228                 pn = n;
 229                 p.glplot();
 230         }
 231         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 232         p.goal_found(true);
 233         p.tlog(p.findt());
 234         if (p.opt_path()) {
 235                 p.tlog(p.findt());
 236                 p.glplot();
 237         }
 238         p.glplot();
 239         sleep(2);
 240 #elif defined USE_INTERRUPT
 241         signal(SIGINT, hint);
 242         signal(SIGTERM, hint);
 243         p.tstart();
 244         while (run_planner) {
 245                 p.next();
 246                 p.tend();
 247                 if (p.opt_path())
 248                         p.tlog(p.findt());
 249                 p.glplot();
 250         }
 251 #elif defined USE_TMAX
 252         p.tstart();
 253         p.tend();
 254         while (!p.goal_found() && p.elapsed() < TMAX) {
 255                 p.next();
 256                 p.tend();
 257                 if (p.opt_path()) {
 258                         p.tlog(p.findt());
 259                 }
 260         }
 261 #elif defined USE_PTHREAD
 262         bool gf = false;
 263         RRTNode *ron = nullptr;
 264         RRTNode *gon = nullptr;
 265         float mc = 9999;
 266         pthread_t rt; // root thread
 267         pthread_t gt; // goal thread
 268         pthread_t ct; // connect thread
 269
 270         struct next_arg ra;
 271         ra.gf = &gf;
 272         ra.p = &p.p_root_;
 273
 274         struct next_arg ga;
 275         ga.gf = &gf;
 276         ga.p = &p.p_goal_;
 277
 278         p.tstart();
 279         p.p_root_.tstart();
 280         p.p_goal_.tstart();
 281         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 282         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 283         int tol = 0;
 284         int ndl = 0;
 285         bool ndone = true;
 286         while (!gf && p.elapsed() < TMAX &&
 287                         p.p_root_.nodes().size() < NOFNODES &&
 288                         p.p_goal_.nodes().size() < NOFNODES) {
 289                 // overlap trees
 290                 ndone = true;
 291                 for (int i = 0; i < IXSIZE; i++) {
 292                 for (int j = 0; j < IYSIZE; j++) {
 293                         if (p.p_root_.ixy_[i][j].changed() &&
 294                                         p.p_goal_.ixy_[i][j].changed()) {
 295 ndone = false;
 296 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 297 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 298         if (rn->ccost() + gn->ccost() < mc &&
 299                         IS_NEAR(rn, gn)) {
 300                 gf = true;
 301                 p.goal_found(true);
 302                 ron = rn;
 303                 gon = gn;
 304                 mc = rn->ccost() + gn->ccost();
 305         }
 306 }}
 307                         }
 308                         tol++;
 309                         if (ndone)
 310                                 ndl++;
 311                         p.tend();
 312                         if (p.elapsed() >= TMAX)
 313                                 goto escapeloop;
 314                 }}
 315                 // end of overlap trees
 316                 p.tend();
 317         }
 318 escapeloop:
 319         pthread_join(rt, NULL);
 320         pthread_join(gt, NULL);
 321         float nodo = ((float) ndl / (float) tol);
 322         std::cerr << "nothing done is " << 100.0 * nodo;
 323         std::cerr << "%" << std::endl;
 324         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 325         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 326         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 327         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 328                 ron = p.p_root_.goal()->parent();
 329                 gon = p.p_root_.goal();
 330                 mc = p.p_root_.goal()->ccost();
 331         }
 332         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 333                 ron = p.p_goal_.goal();
 334                 gon = p.p_goal_.goal()->parent();
 335                 mc = p.p_goal_.goal()->ccost();
 336         }
 337         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 338         p.root()->ccost(0);
 339         p.goal()->children().clear();
 340         // connect trees
 341         if (gf) {
 342         while (gon != p.goal()) {
 343                 p.p_root_.nodes().push_back(new RRTNode(
 344                                 gon->x(),
 345                                 gon->y(),
 346                                 gon->h()));
 347                 ron->add_child(
 348                                 p.p_root_.nodes().back(),
 349                                 p.p_root_.cost(
 350                                                 ron,
 351                                                 p.p_root_.nodes().back()));
 352                 ron = p.p_root_.nodes().back();
 353                 gon = gon->parent();
 354         }
 355         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 356         }
 357         // end of connect trees
 358         if (gf)
 359                 p.tlog(p.findt());
 360         if (p.opt_path())
 361                 p.tlog(p.findt());
 362 #endif
 363         TEND();
 364         TPRINT("RRT");
 365         jvo["rrte"] = ELAPSED;
 366 #ifdef JSONLOGEDGES
 367         p.logr(p.root());
 368 #endif
 369
 370         // statistics to error output
 371         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 372         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 373         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 374         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 375         std::cerr << "#samples is " << p.samples().size() << std::endl;
 376         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 377         std::cerr << "trajectories costs:" << std::endl;
 378         for (j = 0; j < p.clog().size(); j++)
 379                 std::cerr << "- " << p.clog()[j] << std::endl;
 380         std::cerr << "RRT #nodes:" << std::endl;
 381         for (j = 0; j < p.nlog().size(); j++)
 382                 std::cerr << "- " << p.nlog()[j] << std::endl;
 383         std::cerr << "trajectories seconds:" << std::endl;
 384         for (j = 0; j < p.slog().size(); j++)
 385                 std::cerr << "- " << p.slog()[j] << std::endl;
 386         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 387         std::cerr << std::endl;
 388         for (auto edges: p.rlog())
 389                 std::cerr << "- " << edges.size() << std::endl;
 390
 391         // JSON output
 392         jvo["elap"] = TELAPSED;
 393 #ifdef USE_PTHREAD
 394         jvo["nodo"][0] = nodo;
 395 #endif
 396         // log cost
 397         for (j = 0; j < p.clog().size(); j++)
 398                 jvo["cost"][j] = p.clog()[j];
 399         // log #nodes
 400         for (j = 0; j < p.nlog().size(); j++)
 401                 jvo["node"][j] = p.nlog()[j];
 402         // log seconds
 403         for (j = 0; j < p.slog().size(); j++)
 404                 jvo["secs"][j] = p.slog()[j];
 405         // log traj
 406         i = 0;
 407         j = 0;
 408         for (auto traj: p.tlog()) {
 409                 i = 0;
 410                 for (auto n: traj) {
 411                         jvo["traj"][j][i][0] = n->x();
 412                         jvo["traj"][j][i][1] = n->y();
 413                         jvo["traj"][j][i][2] = n->h();
 414                         jvo["traj"][j][i][3] = n->t();
 415                         jvo["traj"][j][i][4] = n->s();
 416                         i++;
 417                 }
 418                 j++;
 419         }
 420 #ifdef JSONLOGEDGES
 421         i = 0;
 422         j = 0;
 423         for (auto edges: p.rlog()) {
 424                 j = 0;
 425                 for (auto e: edges) {
 426                         jvo["edge"][i][j][0][0] = e->init()->x();
 427                         jvo["edge"][i][j][0][1] = e->init()->y();
 428                         jvo["edge"][i][j][0][2] = e->init()->h();
 429                         jvo["edge"][i][j][1][0] = e->goal()->x();
 430                         jvo["edge"][i][j][1][1] = e->goal()->y();
 431                         jvo["edge"][i][j][1][2] = e->goal()->h();
 432                         j++;
 433                 }
 434                 i++;
 435         }
 436 #endif
 437 #ifdef JSONLOGSAMPLES
 438         i = 0;
 439         j = 0;
 440         for (auto s: p.samples()) {
 441                 jvo["samp"][j][0] = s->x();
 442                 jvo["samp"][j][1] = s->y();
 443                 jvo["samp"][j][2] = s->h();
 444                 j++;
 445         }
 446 #endif
 447         // print output
 448         std::cout << jvo << std::endl;
 449
 450 #if USE_GL > 0
 451         SDL_DestroyWindow(gw);
 452         SDL_Quit();
 453 #endif
 454
 455         // free mem
 456         for (auto o: so) {
 457                 delete o.init();
 458                 delete o.goal();
 459         }
 460         return 0;
 461 }
 462
 463 #if USE_GL > 0
 464 bool init()
 465 {
 466         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 467                 std::cerr << "SDL could not initialize! SDL_Error: ";
 468                 std::cerr << SDL_GetError();
 469                 std::cerr << std::endl;
 470                 return false;
 471         }
 472         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 473         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 474         gw = SDL_CreateWindow(
 475                         "I am car",
 476                         SDL_WINDOWPOS_UNDEFINED,
 477                         SDL_WINDOWPOS_UNDEFINED,
 478                         SCREEN_WIDTH,
 479                         SCREEN_HEIGHT,
 480                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 481         if (gw == NULL) {
 482                 std::cerr << "Window could not be created! SDL_Error: ";
 483                 std::cerr << SDL_GetError();
 484                 std::cerr << std::endl;
 485                 return false;
 486         }
 487         gc = SDL_GL_CreateContext(gw);
 488         if (gc == NULL) {
 489                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 490                 std::cerr << SDL_GetError();
 491                 std::cerr << std::endl;
 492                 return false;
 493         }
 494         if (SDL_GL_SetSwapInterval(1) < 0) {
 495                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 496                 std::cerr << SDL_GetError();
 497                 std::cerr << std::endl;
 498                 return false;
 499         }
 500         if (!initGL()) {
 501                 std::cerr << "Unable to initialize OpenGL!";
 502                 std::cerr << std::endl;
 503                 return false;
 504         }
 505         return true;
 506 }
 507
 508 bool initGL()
 509 {
 510         GLenum error = GL_NO_ERROR;
 511         glMatrixMode(GL_PROJECTION);
 512         glLoadIdentity();
 513         error = glGetError();
 514         if (error != GL_NO_ERROR) {
 515                 std::cerr << "Error initializing OpenGL! ";
 516                 std::cerr << gluErrorString(error);
 517                 std::cerr << std::endl;
 518                 return false;
 519         }
 520         glMatrixMode(GL_MODELVIEW);
 521         glLoadIdentity();
 522         error = glGetError();
 523         if (error != GL_NO_ERROR) {
 524                 std::cerr << "Error initializing OpenGL! ";
 525                 std::cerr << gluErrorString(error);
 526                 std::cerr << std::endl;
 527                 return false;
 528         }
 529         glClearColor(1, 1, 1, 1);
 530         error = glGetError();
 531         if (error != GL_NO_ERROR) {
 532                 std::cerr << "Error initializing OpenGL! ";
 533                 std::cerr << gluErrorString(error);
 534                 std::cerr << std::endl;
 535                 return false;
 536         }
 537         return true;
 538 }
 539 #endif