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 <signal.h>
  22 #include "compile.h"
  23 #include "obstacle.h"
  24 #include "rrtplanner.h"
  25 // OpenGL
  26 #include <GL/gl.h>
  27 #include <GL/glu.h>
  28 #include <SDL2/SDL.h>
  29
  30 #define USE_GL
  31 #define USE_INTERRUPT
  32 #define USE_TMAX
  33 #define USE_TMAX_1ST_CUSPS
  34
  35 bool run_planner = true;
  36
  37 SDL_Window* gw = NULL;
  38 SDL_GLContext gc;
  39
  40 bool init();
  41 bool initGL();
  42
  43 void hint(int)
  44 {
  45         run_planner = false;
  46 }
  47
  48 int main()
  49 {
  50 #ifdef USE_GL
  51         init();
  52 #endif
  53
  54         Json::Value jvi; // JSON input
  55         Json::Value jvo; // JSON output
  56         unsigned int i = 0;
  57         unsigned int j = 0;
  58         std::cin >> jvi;
  59         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  60
  61         PLANNER p(
  62                         new RRTNode(
  63                                 jvi["init"][0].asFloat(),
  64                                 jvi["init"][1].asFloat(),
  65                                 jvi["init"][2].asFloat()),
  66                         new RRTNode(
  67                                 jvi["goal"][0].asFloat(),
  68                                 jvi["goal"][1].asFloat(),
  69                                 jvi["goal"][2].asFloat()));
  70         std::vector<CircleObstacle> co;
  71         std::vector<SegmentObstacle> so;
  72         for (auto o: jvi["obst"]) {
  73                 if (o["circle"] != Json::nullValue) {
  74                         co.push_back(CircleObstacle(
  75                                                 o["circle"][0].asFloat(),
  76                                                 o["circle"][1].asFloat(),
  77                                                 o["circle"][2].asFloat()));
  78                 }
  79                 if (o["segment"] != Json::nullValue) {
  80                         so.push_back(SegmentObstacle(
  81                                 new RRTNode(
  82                                         o["segment"][0][0].asFloat(),
  83                                         o["segment"][0][1].asFloat(),
  84                                         0),
  85                                 new RRTNode(
  86                                         o["segment"][1][0].asFloat(),
  87                                         o["segment"][1][1].asFloat(),
  88                                         0)));
  89                 }
  90         }
  91         p.link_obstacles(&co, &so);
  92         p.ocost(p.root());
  93         p.ocost(p.goal());
  94
  95         RRTNode *nn;
  96         std::vector<RRTNode *> tr;
  97
  98 #ifdef DBG_LOADF
  99         std::vector<RRTNode *> steered;
 100         for (auto jn: jvi["traj"][0]) {
 101                 steered.push_back(new RRTNode(
 102                                         jn[0].asFloat(),
 103                                         jn[1].asFloat(),
 104                                         jn[2].asFloat(),
 105                                         jn[3].asFloat(),
 106                                         jn[4].asFloat()));
 107         }
 108         std::reverse(steered.begin(), steered.end());
 109         RRTNode *pn = p.root();
 110         for (auto n: steered) {
 111                 pn->add_child(n, p.cost(pn, n));
 112                 pn = n;
 113         }
 114         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 115         p.tlog(p.findt());
 116         if (p.opt_path())
 117                 p.tlog(p.findt());
 118 #else
 119 #ifdef USE_INTERRUPT
 120         signal(SIGINT, hint);
 121         signal(SIGTERM, hint);
 122         p.tstart();
 123         while (run_planner) {
 124                 p.next();
 125                 p.tend();
 126                 if (p.opt_path())
 127                         p.tlog(p.findt());
 128 #ifdef USE_GL
 129                 p.glplot();
 130 #endif
 131         }
 132         if (!p.goal_found()) {
 133 #if NNVERSION > 1
 134                 nn = p.nn(p.iy_, p.goal(), p.cost);
 135 #else
 136                 nn = p.nn(p.nodes(), p.goal(), p.cost);
 137 #endif
 138                 tr = p.findt(nn);
 139                 p.tlog(tr);
 140                 if (p.opt_path())
 141                         p.tlog(p.findt(nn));
 142         }
 143 #if JSONLOGEDGES > 0
 144         p.logr(p.root());
 145 #endif
 146 #elif defined USE_TMAX // USE TMAX
 147         p.tstart();
 148         p.tend();
 149         while (!p.goal_found() && p.elapsed() < TMAX) {
 150                 p.next();
 151                 p.tend();
 152                 if (p.opt_path())
 153                         p.tlog(p.findt());
 154         }
 155 #if JSONLOGEDGES > 0
 156         p.logr(p.root());
 157 #endif
 158 #else // NOT USE_INTERRUPT
 159         i = 0;
 160         while (!p.goal_found() && i < 20) {
 161                 p.tstart();
 162                 p.tend();
 163                 while (p.elapsed() < TMAX) {
 164                         p.next();
 165                         p.tend();
 166                 }
 167                 if (!p.goal_found()) {
 168 #if NNVERSION > 1
 169                         nn = p.nn(p.iy_, p.goal(), p.cost);
 170 #else
 171                         nn = p.nn(p.nodes(), p.goal(), p.cost);
 172 #endif
 173                         tr = p.findt(nn);
 174                 } else {
 175                         nn = p.goal();
 176                         tr = p.findt();
 177                 }
 178                 p.tlog(tr);
 179 #if JSONLOGEDGES > 0
 180                 p.logr(p.root());
 181 #endif
 182                 if (p.opt_path())
 183                         p.tlog(p.findt(nn));
 184                 if (!p.goal_found()) {
 185                         nn = p.tlog().back().back();
 186                         for (j = p.tlog().back().size() - 1; j > 0; j--) {
 187                                 float s1 = p.tlog().back()[j]->s();
 188                                 float s2 = p.tlog().back()[j - 1]->s();
 189                                 if (sgn(s1) != sgn(s2)) {
 190                                         nn = p.tlog().back()[j - 1];
 191                                         break;
 192                                 }
 193                         }
 194                         p.tlog(p.findt(nn));
 195                         p.rebase(nn);
 196                 }
 197                 i++;
 198         }
 199         std::cerr << "#iterations is " << i << std::endl;
 200 #endif // USE_INTERRUPT
 201 #endif // DBG_LOADF
 202
 203         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 204         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 205         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 206         std::cerr << "#samples is " << p.samples().size() << std::endl;
 207         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 208         std::cerr << "trajectories costs:" << std::endl;
 209         for (j = 0; j < p.clog().size(); j++)
 210                 std::cerr << "- " << p.clog()[j] << std::endl;
 211         std::cerr << "RRT #nodes:" << std::endl;
 212         for (j = 0; j < p.nlog().size(); j++)
 213                 std::cerr << "- " << p.nlog()[j] << std::endl;
 214         std::cerr << "trajectories seconds:" << std::endl;
 215         for (j = 0; j < p.slog().size(); j++)
 216                 std::cerr << "- " << p.slog()[j] << std::endl;
 217         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 218         std::cerr << std::endl;
 219         for (auto edges: p.rlog())
 220                 std::cerr << "- " << edges.size() << std::endl;
 221
 222         // JSON output
 223         jvo["elap"] = p.elapsed();
 224         // log cost
 225         for (j = 0; j < p.clog().size(); j++)
 226                 jvo["cost"][j] = p.clog()[j];
 227         // log #nodes
 228         for (j = 0; j < p.nlog().size(); j++)
 229                 jvo["node"][j] = p.nlog()[j];
 230         // log seconds
 231         for (j = 0; j < p.slog().size(); j++)
 232                 jvo["secs"][j] = p.slog()[j];
 233         // log traj
 234         i = 0;
 235         j = 0;
 236         for (auto traj: p.tlog()) {
 237                 i = 0;
 238                 for (auto n: traj) {
 239                         jvo["traj"][j][i][0] = n->x();
 240                         jvo["traj"][j][i][1] = n->y();
 241                         jvo["traj"][j][i][2] = n->h();
 242                         jvo["traj"][j][i][3] = n->t();
 243                         jvo["traj"][j][i][4] = n->s();
 244                         i++;
 245                 }
 246                 j++;
 247         }
 248 #if JSONLOGEDGES > 0
 249         // log edges
 250         i = 0;
 251         j = 0;
 252         for (auto edges: p.rlog()) {
 253                 j = 0;
 254                 for (auto e: edges) {
 255                         jvo["edge"][i][j][0][0] = e->init()->x();
 256                         jvo["edge"][i][j][0][1] = e->init()->y();
 257                         jvo["edge"][i][j][0][2] = e->init()->h();
 258                         jvo["edge"][i][j][1][0] = e->goal()->x();
 259                         jvo["edge"][i][j][1][1] = e->goal()->y();
 260                         jvo["edge"][i][j][1][2] = e->goal()->h();
 261                         j++;
 262                 }
 263                 i++;
 264         }
 265 #endif
 266 #if JSONLOGSAMPLES > 0
 267         // log samples
 268         i = 0;
 269         j = 0;
 270         for (auto s: p.samples()) {
 271                 jvo["samp"][j][0] = s->x();
 272                 jvo["samp"][j][1] = s->y();
 273                 jvo["samp"][j][2] = s->h();
 274                 j++;
 275         }
 276 #endif
 277         // print output
 278         std::cout << jvo << std::endl;
 279
 280 #ifdef USE_GL
 281         SDL_DestroyWindow(gw);
 282         SDL_Quit();
 283 #endif
 284
 285         // free mem
 286         for (auto o: so) {
 287                 delete o.init();
 288                 delete o.goal();
 289         }
 290         return 0;
 291 }
 292
 293 bool init()
 294 {
 295         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 296                 std::cerr << "SDL could not initialize! SDL_Error: ";
 297                 std::cerr << SDL_GetError();
 298                 std::cerr << std::endl;
 299                 return false;
 300         }
 301         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 302         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 303         gw = SDL_CreateWindow(
 304                         "I am car",
 305                         SDL_WINDOWPOS_UNDEFINED,
 306                         SDL_WINDOWPOS_UNDEFINED,
 307                         SCREEN_WIDTH,
 308                         SCREEN_HEIGHT,
 309                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 310         if (gw == NULL) {
 311                 std::cerr << "Window could not be created! SDL_Error: ";
 312                 std::cerr << SDL_GetError();
 313                 std::cerr << std::endl;
 314                 return false;
 315         }
 316         gc = SDL_GL_CreateContext(gw);
 317         if (gc == NULL) {
 318                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 319                 std::cerr << SDL_GetError();
 320                 std::cerr << std::endl;
 321                 return false;
 322         }
 323         if (SDL_GL_SetSwapInterval(1) < 0) {
 324                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 325                 std::cerr << SDL_GetError();
 326                 std::cerr << std::endl;
 327                 return false;
 328         }
 329         if (!initGL()) {
 330                 std::cerr << "Unable to initialize OpenGL!";
 331                 std::cerr << std::endl;
 332                 return false;
 333         }
 334         return true;
 335 }
 336
 337 bool initGL()
 338 {
 339         GLenum error = GL_NO_ERROR;
 340         glMatrixMode(GL_PROJECTION);
 341         glLoadIdentity();
 342         error = glGetError();
 343         if (error != GL_NO_ERROR) {
 344                 std::cerr << "Error initializing OpenGL! ";
 345                 std::cerr << gluErrorString(error);
 346                 std::cerr << std::endl;
 347                 return false;
 348         }
 349         glMatrixMode(GL_MODELVIEW);
 350         glLoadIdentity();
 351         error = glGetError();
 352         if (error != GL_NO_ERROR) {
 353                 std::cerr << "Error initializing OpenGL! ";
 354                 std::cerr << gluErrorString(error);
 355                 std::cerr << std::endl;
 356                 return false;
 357         }
 358         glClearColor(1, 1, 1, 1);
 359         error = glGetError();
 360         if (error != GL_NO_ERROR) {
 361                 std::cerr << "Error initializing OpenGL! ";
 362                 std::cerr << gluErrorString(error);
 363                 std::cerr << std::endl;
 364                 return false;
 365         }
 366         return true;
 367 }