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