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