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