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 <iostream>
  19 #include <jsoncpp/json/json.h>
  20 #include <signal.h>
  21 #include "compile.h"
  22 #include "obstacle.h"
  23 #include "rrtplanner.h"
  24
  25 #define USE_INTERRUPT
  26
  27 bool run_planner = true;
  28
  29 void hint(int)
  30 {
  31         run_planner = false;
  32 }
  33
  34 int main()
  35 {
  36         Json::Value jvi; // JSON input
  37         Json::Value jvo; // JSON output
  38         unsigned int i = 0;
  39         unsigned int j = 0;
  40         std::cin >> jvi;
  41         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  42
  43         PLANNER p(
  44                         new RRTNode(
  45                                 jvi["init"][0].asFloat(),
  46                                 jvi["init"][1].asFloat(),
  47                                 jvi["init"][2].asFloat()),
  48                         new RRTNode(
  49                                 jvi["goal"][0].asFloat(),
  50                                 jvi["goal"][1].asFloat(),
  51                                 jvi["goal"][2].asFloat()));
  52         std::vector<CircleObstacle> co;
  53         std::vector<SegmentObstacle> so;
  54         for (auto o: jvi["obst"]) {
  55                 if (o["circle"] != Json::nullValue) {
  56                         co.push_back(CircleObstacle(
  57                                                 o["circle"][0].asFloat(),
  58                                                 o["circle"][1].asFloat(),
  59                                                 o["circle"][2].asFloat()));
  60                 }
  61                 if (o["segment"] != Json::nullValue) {
  62                         so.push_back(SegmentObstacle(
  63                                 new RRTNode(
  64                                         o["segment"][0][0].asFloat(),
  65                                         o["segment"][0][1].asFloat(),
  66                                         0),
  67                                 new RRTNode(
  68                                         o["segment"][1][0].asFloat(),
  69                                         o["segment"][1][1].asFloat(),
  70                                         0)));
  71                 }
  72         }
  73         p.link_obstacles(&co, &so);
  74         p.ocost(p.root());
  75         p.ocost(p.goal());
  76
  77         RRTNode *nn;
  78         std::vector<RRTNode *> tr;
  79
  80 #ifdef USE_INTERRUPT
  81         signal(SIGINT, hint);
  82         signal(SIGTERM, hint);
  83         p.tstart();
  84         while (run_planner) {
  85                 p.next();
  86                 p.tend();
  87         }
  88         if (!p.goal_found()) {
  89 #if NNVERSION > 1
  90                 nn = p.nn(p.iy_, p.goal(), p.cost);
  91 #else
  92                 nn = p.nn(p.nodes(), p.goal(), p.cost);
  93 #endif
  94                 tr = p.findt(nn);
  95                 p.tlog(tr);
  96 #if JSONLOGEDGES > 0
  97                 p.logr(p.root());
  98 #endif
  99         }
 100 #else // USE_INTERRUPT
 101         while(!p.goal_found()) {
 102                 p.tstart();
 103                 p.tend();
 104                 while (p.elapsed() < TMAX) {
 105                         p.next();
 106                         p.tend();
 107                 }
 108 #if NNVERSION > 1
 109                 nn = p.nn(p.iy_, p.goal(), p.cost);
 110 #else
 111                 nn = p.nn(p.nodes(), p.goal(), p.cost);
 112 #endif
 113                 tr = p.findt(nn);
 114                 p.tlog(tr);
 115 #if JSONLOGEDGES > 0
 116                 p.logr(p.root());
 117 #endif
 118                 p.rebase(nn);
 119         }
 120 #endif // USE_INTERRUPT
 121
 122         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 123         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 124         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 125         std::cerr << "#samples is " << p.samples().size() << std::endl;
 126         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 127         std::cerr << "trajectories costs:" << std::endl;
 128         for (j = 0; j < p.clog().size(); j++)
 129                 std::cerr << "- " << p.clog()[j] << std::endl;
 130         std::cerr << "RRT #nodes:" << std::endl;
 131         for (j = 0; j < p.nlog().size(); j++)
 132                 std::cerr << "- " << p.nlog()[j] << std::endl;
 133         std::cerr << "trajectories seconds:" << std::endl;
 134         for (j = 0; j < p.slog().size(); j++)
 135                 std::cerr << "- " << p.slog()[j] << std::endl;
 136         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 137         std::cerr << std::endl;
 138         for (auto edges: p.rlog())
 139                 std::cerr << "- " << edges.size() << std::endl;
 140
 141         // JSON output
 142         jvo["elap"] = p.elapsed();
 143         // log cost
 144         for (j = 0; j < p.clog().size(); j++)
 145                 jvo["cost"][j] = p.clog()[j];
 146         // log #nodes
 147         for (j = 0; j < p.nlog().size(); j++)
 148                 jvo["node"][j] = p.nlog()[j];
 149         // log seconds
 150         for (j = 0; j < p.slog().size(); j++)
 151                 jvo["secs"][j] = p.slog()[j];
 152         // log traj
 153         i = 0;
 154         j = 0;
 155         for (auto traj: p.tlog()) {
 156                 i = 0;
 157                 for (auto n: traj) {
 158                         jvo["traj"][j][i][0] = n->x();
 159                         jvo["traj"][j][i][1] = n->y();
 160                         jvo["traj"][j][i][2] = n->h();
 161                         i++;
 162                 }
 163                 j++;
 164         }
 165 #if JSONLOGEDGES > 0
 166         // log edges
 167         i = 0;
 168         j = 0;
 169         for (auto edges: p.rlog()) {
 170                 j = 0;
 171                 for (auto e: edges) {
 172                         jvo["edge"][i][j][0][0] = e->init()->x();
 173                         jvo["edge"][i][j][0][1] = e->init()->y();
 174                         jvo["edge"][i][j][1][0] = e->goal()->x();
 175                         jvo["edge"][i][j][1][1] = e->goal()->y();
 176                         j++;
 177                 }
 178                 i++;
 179         }
 180 #endif
 181 #if JSONLOGSAMPLES > 0
 182         // log samples
 183         i = 0;
 184         j = 0;
 185         for (auto s: p.samples()) {
 186                 jvo["samp"][j][0] = s->x();
 187                 jvo["samp"][j][1] = s->y();
 188                 jvo["samp"][j][2] = s->h();
 189                 j++;
 190         }
 191 #endif
 192         // print output
 193         std::cout << jvo << std::endl;
 194
 195         // free mem
 196         for (auto o: so) {
 197                 delete o.init();
 198                 delete o.goal();
 199         }
 200         return 0;
 201 }