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                 }
 125         }
 126         p.link_obstacles(&co, &so);
 127         p.ocost(p.root());
 128         p.ocost(p.goal());
 129
 130 #ifdef USE_LOADF
 131         std::vector<RRTNode *> steered;
 132         for (auto jn: jvi["traj"][0]) {
 133                 steered.push_back(new RRTNode(
 134                                         jn[0].asFloat(),
 135                                         jn[1].asFloat(),
 136                                         jn[2].asFloat(),
 137                                         jn[3].asFloat(),
 138                                         jn[4].asFloat()));
 139         }
 140         std::reverse(steered.begin(), steered.end());
 141         RRTNode *pn = p.root();
 142         for (auto n: steered) {
 143                 if (IS_NEAR(pn, n))
 144                         continue;
 145                 pn->add_child(n, p.cost(pn, n));
 146                 pn = n;
 147                 p.glplot();
 148         }
 149         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 150         p.goal_found(true);
 151         p.tlog(p.findt());
 152         if (p.opt_path()) {
 153                 p.tlog(p.findt());
 154                 p.glplot();
 155         }
 156         p.glplot();
 157         sleep(2);
 158 #elif defined USE_INTERRUPT
 159         signal(SIGINT, hint);
 160         signal(SIGTERM, hint);
 161         p.tstart();
 162         while (run_planner) {
 163                 p.next();
 164                 p.tend();
 165                 if (p.opt_path())
 166                         p.tlog(p.findt());
 167                 p.glplot();
 168         }
 169 #elif defined USE_TMAX
 170         p.tstart();
 171         p.tend();
 172         while (!p.goal_found() && p.elapsed() < TMAX) {
 173                 p.next();
 174                 p.tend();
 175                 if (p.opt_path())
 176                         p.tlog(p.findt());
 177         }
 178 #elif defined USE_PTHREAD
 179         bool gf = false;
 180         float mc = 9999;
 181         pthread_t rt; // root thread
 182         pthread_t gt; // goal thread
 183         pthread_t ct; // connect thread
 184
 185         struct next_arg ra;
 186         ra.gf = &gf;
 187         ra.p = &p.p_root_;
 188
 189         struct next_arg ga;
 190         ga.gf = &gf;
 191         ga.p = &p.p_goal_;
 192
 193         p.tstart();
 194         p.p_root_.tstart();
 195         p.p_goal_.tstart();
 196         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 197         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 198         volatile int nofrn = 0;
 199         volatile int nofgn = 0;
 200         RRTNode *rn;
 201         RRTNode *gn;
 202         while (!gf && p.elapsed() < TMAX) {
 203                 // overlap trees
 204                 nofrn = p.p_root_.nodes().size() - 1;  // TODO workaround
 205                 nofgn = p.p_goal_.nodes().size() - 1;
 206                 for (int i = 0; i < nofrn; i++) {
 207                         rn = p.p_root_.nodes()[i];
 208                         if (rn->parent() == nullptr)
 209                                 continue;
 210                         for (int j = 0; j < nofgn; j++) {
 211                                 gn = p.p_goal_.nodes()[j];
 212                                 if (gn->parent() == nullptr)
 213                                         continue;
 214                                 if (rn->ccost() + gn->ccost() < mc &&
 215                                                 IS_NEAR(rn, gn)) {
 216                                         gf = true;
 217                                 }
 218                         }
 219                 }
 220                 // end of overlap trees
 221                 p.tend();
 222         }
 223         pthread_join(rt, NULL);
 224         pthread_join(gt, NULL);
 225         if (gf)
 226                 p.tlog(p.findt());
 227         if (p.opt_path())
 228                 p.tlog(p.findt());
 229 #endif
 230 #ifdef JSONLOGEDGES
 231         p.logr(p.root());
 232 #endif
 233
 234         // statistics to error output
 235         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 236         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 237         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 238         std::cerr << "#samples is " << p.samples().size() << std::endl;
 239         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 240         std::cerr << "trajectories costs:" << std::endl;
 241         for (j = 0; j < p.clog().size(); j++)
 242                 std::cerr << "- " << p.clog()[j] << std::endl;
 243         std::cerr << "RRT #nodes:" << std::endl;
 244         for (j = 0; j < p.nlog().size(); j++)
 245                 std::cerr << "- " << p.nlog()[j] << std::endl;
 246         std::cerr << "trajectories seconds:" << std::endl;
 247         for (j = 0; j < p.slog().size(); j++)
 248                 std::cerr << "- " << p.slog()[j] << std::endl;
 249         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 250         std::cerr << std::endl;
 251         for (auto edges: p.rlog())
 252                 std::cerr << "- " << edges.size() << std::endl;
 253
 254         // JSON output
 255         jvo["elap"] = p.elapsed();
 256         // log cost
 257         for (j = 0; j < p.clog().size(); j++)
 258                 jvo["cost"][j] = p.clog()[j];
 259         // log #nodes
 260         for (j = 0; j < p.nlog().size(); j++)
 261                 jvo["node"][j] = p.nlog()[j];
 262         // log seconds
 263         for (j = 0; j < p.slog().size(); j++)
 264                 jvo["secs"][j] = p.slog()[j];
 265         // log traj
 266         i = 0;
 267         j = 0;
 268         for (auto traj: p.tlog()) {
 269                 i = 0;
 270                 for (auto n: traj) {
 271                         jvo["traj"][j][i][0] = n->x();
 272                         jvo["traj"][j][i][1] = n->y();
 273                         jvo["traj"][j][i][2] = n->h();
 274                         jvo["traj"][j][i][3] = n->t();
 275                         jvo["traj"][j][i][4] = n->s();
 276                         i++;
 277                 }
 278                 j++;
 279         }
 280 #ifdef JSONLOGEDGES
 281         i = 0;
 282         j = 0;
 283         for (auto edges: p.rlog()) {
 284                 j = 0;
 285                 for (auto e: edges) {
 286                         jvo["edge"][i][j][0][0] = e->init()->x();
 287                         jvo["edge"][i][j][0][1] = e->init()->y();
 288                         jvo["edge"][i][j][0][2] = e->init()->h();
 289                         jvo["edge"][i][j][1][0] = e->goal()->x();
 290                         jvo["edge"][i][j][1][1] = e->goal()->y();
 291                         jvo["edge"][i][j][1][2] = e->goal()->h();
 292                         j++;
 293                 }
 294                 i++;
 295         }
 296 #endif
 297 #ifdef JSONLOGSAMPLES
 298         i = 0;
 299         j = 0;
 300         for (auto s: p.samples()) {
 301                 jvo["samp"][j][0] = s->x();
 302                 jvo["samp"][j][1] = s->y();
 303                 jvo["samp"][j][2] = s->h();
 304                 j++;
 305         }
 306 #endif
 307         // print output
 308         std::cout << jvo << std::endl;
 309
 310 #ifdef USE_GL
 311         SDL_DestroyWindow(gw);
 312         SDL_Quit();
 313 #endif
 314
 315         // free mem
 316         for (auto o: so) {
 317                 delete o.init();
 318                 delete o.goal();
 319         }
 320         return 0;
 321 }
 322
 323 bool init()
 324 {
 325         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 326                 std::cerr << "SDL could not initialize! SDL_Error: ";
 327                 std::cerr << SDL_GetError();
 328                 std::cerr << std::endl;
 329                 return false;
 330         }
 331         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 332         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 333         gw = SDL_CreateWindow(
 334                         "I am car",
 335                         SDL_WINDOWPOS_UNDEFINED,
 336                         SDL_WINDOWPOS_UNDEFINED,
 337                         SCREEN_WIDTH,
 338                         SCREEN_HEIGHT,
 339                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 340         if (gw == NULL) {
 341                 std::cerr << "Window could not be created! SDL_Error: ";
 342                 std::cerr << SDL_GetError();
 343                 std::cerr << std::endl;
 344                 return false;
 345         }
 346         gc = SDL_GL_CreateContext(gw);
 347         if (gc == NULL) {
 348                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 349                 std::cerr << SDL_GetError();
 350                 std::cerr << std::endl;
 351                 return false;
 352         }
 353         if (SDL_GL_SetSwapInterval(1) < 0) {
 354                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 355                 std::cerr << SDL_GetError();
 356                 std::cerr << std::endl;
 357                 return false;
 358         }
 359         if (!initGL()) {
 360                 std::cerr << "Unable to initialize OpenGL!";
 361                 std::cerr << std::endl;
 362                 return false;
 363         }
 364         return true;
 365 }
 366
 367 bool initGL()
 368 {
 369         GLenum error = GL_NO_ERROR;
 370         glMatrixMode(GL_PROJECTION);
 371         glLoadIdentity();
 372         error = glGetError();
 373         if (error != GL_NO_ERROR) {
 374                 std::cerr << "Error initializing OpenGL! ";
 375                 std::cerr << gluErrorString(error);
 376                 std::cerr << std::endl;
 377                 return false;
 378         }
 379         glMatrixMode(GL_MODELVIEW);
 380         glLoadIdentity();
 381         error = glGetError();
 382         if (error != GL_NO_ERROR) {
 383                 std::cerr << "Error initializing OpenGL! ";
 384                 std::cerr << gluErrorString(error);
 385                 std::cerr << std::endl;
 386                 return false;
 387         }
 388         glClearColor(1, 1, 1, 1);
 389         error = glGetError();
 390         if (error != GL_NO_ERROR) {
 391                 std::cerr << "Error initializing OpenGL! ";
 392                 std::cerr << gluErrorString(error);
 393                 std::cerr << std::endl;
 394                 return false;
 395         }
 396         return true;
 397 }