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