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 <chrono>
  20 #include <iostream>
  21 #include <jsoncpp/json/json.h>
  22 #include <pthread.h>
  23 #include <signal.h>
  24 #include <unistd.h>
  25 #include "compile.h"
  26 #include "obstacle.h"
  27 #include "rrtplanner.h"
  28 #include "slotplanner.h"
  29 // OpenGL
  30 #include <GL/gl.h>
  31 #include <GL/glu.h>
  32 #include <SDL2/SDL.h>
  33
  34 // debug
  35 //#define JSONLOGEDGES
  36 //#define JSONLOGSAMPLES
  37
  38 // choose
  39 //#define USE_INTERRUPT
  40 // or
  41 #define USE_TMAX
  42 // or
  43 //#define USE_LOADF
  44 // or
  45 //#define USE_PTHREAD
  46
  47 // enable
  48 //#define USE_SLOTPLANNER
  49
  50 // enable
  51 //#define USE_SLOTPLANNER
  52
  53 #ifdef USE_INTERRUPT
  54         #define USE_GL
  55 #endif
  56
  57 std::chrono::high_resolution_clock::time_point TSTART_;
  58 std::chrono::high_resolution_clock::time_point TEND_;
  59 float TELAPSED = 0;
  60 float ELAPSED = 0;
  61 void TSTART() {TSTART_ = std::chrono::high_resolution_clock::now();}
  62 void TEND() {
  63         std::chrono::duration<float> DT_;
  64         TEND_ = std::chrono::high_resolution_clock::now();
  65         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  66                 TEND_ - TSTART_
  67         );
  68         TELAPSED += DT_.count();
  69         ELAPSED = DT_.count();
  70 }
  71 void TPRINT(const char *what) {
  72         std::chrono::duration<float> DT_;
  73         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  74                 TEND_ - TSTART_
  75         );
  76         std::cerr << what << ": " << DT_.count() << std::endl;
  77 }
  78
  79 bool run_planner = true;
  80
  81 SDL_Window* gw = NULL;
  82 SDL_GLContext gc;
  83
  84 bool init();
  85 bool initGL();
  86
  87 void hint(int)
  88 {
  89         run_planner = false;
  90 }
  91
  92 #ifdef USE_PTHREAD
  93 struct next_arg {
  94         bool *gf;
  95         T2 *p;
  96 };
  97
  98 void *next_run(void *arg)
  99 {
 100         struct next_arg *na = (struct next_arg *) arg;
 101         T2 *lp = (T2 *) na->p;
 102         bool *gf = na->gf;
 103         while (!*gf && lp->elapsed() < TMAX) {
 104                 if (lp->next())
 105                         *gf = true;
 106                 lp->tend();
 107         }
 108         pthread_exit(NULL);
 109         return NULL;
 110 }
 111 #endif
 112
 113 int main()
 114 {
 115 #ifdef USE_GL
 116         init();
 117 #endif
 118
 119         Json::Value jvi; // JSON input
 120         Json::Value jvo; // JSON output
 121         unsigned int i = 0;
 122         unsigned int j = 0;
 123         std::cin >> jvi;
 124         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 125
 126         PLANNER p(
 127                         new RRTNode(
 128                                 jvi["init"][0].asFloat(),
 129                                 jvi["init"][1].asFloat(),
 130                                 jvi["init"][2].asFloat()),
 131                         new RRTNode(
 132                                 jvi["goal"][0].asFloat(),
 133                                 jvi["goal"][1].asFloat(),
 134                                 jvi["goal"][2].asFloat()));
 135         std::vector<CircleObstacle> co;
 136         std::vector<SegmentObstacle> so;
 137         for (auto o: jvi["obst"]) {
 138                 if (o["circle"] != Json::nullValue) {
 139                         co.push_back(CircleObstacle(
 140                                                 o["circle"][0].asFloat(),
 141                                                 o["circle"][1].asFloat(),
 142                                                 o["circle"][2].asFloat()));
 143                 }
 144                 if (o["segment"] != Json::nullValue) {
 145                         so.push_back(SegmentObstacle(
 146                                 new RRTNode(
 147                                         o["segment"][0][0].asFloat(),
 148                                         o["segment"][0][1].asFloat(),
 149                                         0),
 150                                 new RRTNode(
 151                                         o["segment"][1][0].asFloat(),
 152                                         o["segment"][1][1].asFloat(),
 153                                         0)));
 154                         p.frame().add_bnode(so.back().init());
 155                 }
 156         }
 157         p.link_obstacles(&co, &so);
 158         p.ocost(p.root());
 159         p.ocost(p.goal());
 160
 161         ParallelSlot ps = ParallelSlot();
 162 #ifdef USE_SLOTPLANNER
 163         TSTART();
 164         for (auto xy: jvi["slot"]["polygon"]) {
 165                 ps.slot().add_bnode(new RRTNode(
 166                         xy[0].asFloat(),
 167                         xy[1].asFloat()
 168                 ));
 169         }
 170         if (ps.slot().bnodes().size() > 0)
 171                 ps.fpose();
 172                 //ps.fipr(new BicycleCar(
 173                 //        p.goal()->x(),
 174                 //        p.goal()->y(),
 175                 //        p.goal()->h()
 176                 //));
 177         TEND();
 178         jvo["ppse"] = ELAPSED;
 179         TPRINT("ParallelSlot");
 180 #endif
 181         if (ps.cusp().size() > 0) {
 182                 p.goal(ps.cusp().front().front());
 183                 p.slot_cusp(ps.cusp().front()); // use first found solution
 184                 jvo["midd"][0] = p.goal()->x();
 185                 jvo["midd"][1] = p.goal()->y();
 186                 jvo["midd"][2] = p.goal()->h();
 187                 jvo["goal"][0] = p.slot_cusp().back()->x();
 188                 jvo["goal"][1] = p.slot_cusp().back()->y();
 189                 jvo["goal"][2] = p.slot_cusp().back()->h();
 190         } else {
 191                 jvo["goal"][0] = p.goal()->x();
 192                 jvo["goal"][1] = p.goal()->y();
 193                 jvo["goal"][2] = p.goal()->h();
 194         }
 195         TSTART();
 196 #ifdef USE_LOADF
 197         std::vector<RRTNode *> steered;
 198         for (auto jn: jvi["traj"][0]) {
 199                 steered.push_back(new RRTNode(
 200                                         jn[0].asFloat(),
 201                                         jn[1].asFloat(),
 202                                         jn[2].asFloat(),
 203                                         jn[3].asFloat(),
 204                                         jn[4].asFloat()));
 205         }
 206         std::reverse(steered.begin(), steered.end());
 207         RRTNode *pn = p.root();
 208         for (auto n: steered) {
 209                 if (IS_NEAR(pn, n))
 210                         continue;
 211                 pn->add_child(n, p.cost(pn, n));
 212                 pn = n;
 213                 p.glplot();
 214         }
 215         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 216         p.goal_found(true);
 217         p.tlog(p.findt());
 218         if (p.opt_path()) {
 219                 p.tlog(p.findt());
 220                 p.glplot();
 221         }
 222         p.glplot();
 223         sleep(2);
 224 #elif defined USE_INTERRUPT
 225         signal(SIGINT, hint);
 226         signal(SIGTERM, hint);
 227         p.tstart();
 228         while (run_planner) {
 229                 p.next();
 230                 p.tend();
 231                 if (p.opt_path())
 232                         p.tlog(p.findt());
 233                 p.glplot();
 234         }
 235 #elif defined USE_TMAX
 236         p.tstart();
 237         p.tend();
 238         while (!p.goal_found() && p.elapsed() < TMAX) {
 239                 p.next();
 240                 p.tend();
 241                 if (p.opt_path()) {
 242                         if (ps.cusp().size() > 0)
 243                                 p.tlog(p.findt(p.slot_cusp().back()));
 244                         else
 245                                 p.tlog(p.findt());
 246                 }
 247         }
 248 #elif defined USE_PTHREAD
 249         bool gf = false;
 250         RRTNode *ron = nullptr;
 251         RRTNode *gon = nullptr;
 252         float mc = 9999;
 253         pthread_t rt; // root thread
 254         pthread_t gt; // goal thread
 255         pthread_t ct; // connect thread
 256
 257         struct next_arg ra;
 258         ra.gf = &gf;
 259         ra.p = &p.p_root_;
 260
 261         struct next_arg ga;
 262         ga.gf = &gf;
 263         ga.p = &p.p_goal_;
 264
 265         p.tstart();
 266         p.p_root_.tstart();
 267         p.p_goal_.tstart();
 268         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 269         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 270         int tol = 0;
 271         int ndl = 0;
 272         bool ndone = true;
 273         while (!gf && p.elapsed() < TMAX &&
 274                         p.p_root_.nodes().size() < NOFNODES &&
 275                         p.p_goal_.nodes().size() < NOFNODES) {
 276                 // overlap trees
 277                 ndone = true;
 278                 for (int i = 0; i < IXSIZE; i++) {
 279                 for (int j = 0; j < IYSIZE; j++) {
 280                         if (p.p_root_.ixy_[i][j].changed() &&
 281                                         p.p_goal_.ixy_[i][j].changed()) {
 282 ndone = false;
 283 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 284 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 285         if (rn->ccost() + gn->ccost() < mc &&
 286                         IS_NEAR(rn, gn)) {
 287                 gf = true;
 288                 p.goal_found(true);
 289                 ron = rn;
 290                 gon = gn;
 291                 mc = rn->ccost() + gn->ccost();
 292         }
 293 }}
 294                         }
 295                         tol++;
 296                         if (ndone)
 297                                 ndl++;
 298                         p.tend();
 299                         if (p.elapsed() >= TMAX)
 300                                 goto escapeloop;
 301                 }}
 302                 // end of overlap trees
 303                 p.tend();
 304         }
 305 escapeloop:
 306         pthread_join(rt, NULL);
 307         pthread_join(gt, NULL);
 308         float nodo = ((float) ndl / (float) tol);
 309         std::cerr << "nothing done is " << 100.0 * nodo;
 310         std::cerr << "%" << std::endl;
 311         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 312         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 313         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 314         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 315                 ron = p.p_root_.goal()->parent();
 316                 gon = p.p_root_.goal();
 317                 mc = p.p_root_.goal()->ccost();
 318         }
 319         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 320                 ron = p.p_goal_.goal();
 321                 gon = p.p_goal_.goal()->parent();
 322                 mc = p.p_goal_.goal()->ccost();
 323         }
 324         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 325         p.root()->ccost(0);
 326         p.goal()->children().clear();
 327         // connect trees
 328         if (gf) {
 329         while (gon != p.goal()) {
 330                 p.p_root_.nodes().push_back(new RRTNode(
 331                                 gon->x(),
 332                                 gon->y(),
 333                                 gon->h()));
 334                 ron->add_child(
 335                                 p.p_root_.nodes().back(),
 336                                 p.p_root_.cost(
 337                                                 ron,
 338                                                 p.p_root_.nodes().back()));
 339                 ron = p.p_root_.nodes().back();
 340                 gon = gon->parent();
 341         }
 342         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 343         }
 344         // end of connect trees
 345         if (gf)
 346                 p.tlog(p.findt());
 347         if (p.opt_path())
 348                 p.tlog(p.findt());
 349 #endif
 350         TEND();
 351         TPRINT("RRT");
 352         jvo["rrte"] = ELAPSED;
 353 #ifdef JSONLOGEDGES
 354         p.logr(p.root());
 355 #endif
 356
 357         // statistics to error output
 358         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 359         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 360         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 361         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 362         std::cerr << "#samples is " << p.samples().size() << std::endl;
 363         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 364         std::cerr << "trajectories costs:" << std::endl;
 365         for (j = 0; j < p.clog().size(); j++)
 366                 std::cerr << "- " << p.clog()[j] << std::endl;
 367         std::cerr << "RRT #nodes:" << std::endl;
 368         for (j = 0; j < p.nlog().size(); j++)
 369                 std::cerr << "- " << p.nlog()[j] << std::endl;
 370         std::cerr << "trajectories seconds:" << std::endl;
 371         for (j = 0; j < p.slog().size(); j++)
 372                 std::cerr << "- " << p.slog()[j] << std::endl;
 373         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 374         std::cerr << std::endl;
 375         for (auto edges: p.rlog())
 376                 std::cerr << "- " << edges.size() << std::endl;
 377
 378         // JSON output
 379         jvo["elap"] = TELAPSED;
 380 #ifdef USE_PTHREAD
 381         jvo["nodo"][0] = nodo;
 382 #endif
 383         // log cost
 384         for (j = 0; j < p.clog().size(); j++)
 385                 jvo["cost"][j] = p.clog()[j];
 386         // log #nodes
 387         for (j = 0; j < p.nlog().size(); j++)
 388                 jvo["node"][j] = p.nlog()[j];
 389         // log seconds
 390         for (j = 0; j < p.slog().size(); j++)
 391                 jvo["secs"][j] = p.slog()[j];
 392         // log traj
 393         i = 0;
 394         j = 0;
 395         for (auto traj: p.tlog()) {
 396                 i = 0;
 397                 for (auto n: traj) {
 398                         jvo["traj"][j][i][0] = n->x();
 399                         jvo["traj"][j][i][1] = n->y();
 400                         jvo["traj"][j][i][2] = n->h();
 401                         jvo["traj"][j][i][3] = n->t();
 402                         jvo["traj"][j][i][4] = n->s();
 403                         i++;
 404                 }
 405                 j++;
 406         }
 407 #ifdef JSONLOGEDGES
 408         i = 0;
 409         j = 0;
 410         for (auto edges: p.rlog()) {
 411                 j = 0;
 412                 for (auto e: edges) {
 413                         jvo["edge"][i][j][0][0] = e->init()->x();
 414                         jvo["edge"][i][j][0][1] = e->init()->y();
 415                         jvo["edge"][i][j][0][2] = e->init()->h();
 416                         jvo["edge"][i][j][1][0] = e->goal()->x();
 417                         jvo["edge"][i][j][1][1] = e->goal()->y();
 418                         jvo["edge"][i][j][1][2] = e->goal()->h();
 419                         j++;
 420                 }
 421                 i++;
 422         }
 423 #endif
 424 #ifdef JSONLOGSAMPLES
 425         i = 0;
 426         j = 0;
 427         for (auto s: p.samples()) {
 428                 jvo["samp"][j][0] = s->x();
 429                 jvo["samp"][j][1] = s->y();
 430                 jvo["samp"][j][2] = s->h();
 431                 j++;
 432         }
 433 #endif
 434         // print output
 435         std::cout << jvo << std::endl;
 436
 437 #ifdef USE_GL
 438         SDL_DestroyWindow(gw);
 439         SDL_Quit();
 440 #endif
 441
 442         // free mem
 443         for (auto o: so) {
 444                 delete o.init();
 445                 delete o.goal();
 446         }
 447         return 0;
 448 }
 449
 450 bool init()
 451 {
 452         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 453                 std::cerr << "SDL could not initialize! SDL_Error: ";
 454                 std::cerr << SDL_GetError();
 455                 std::cerr << std::endl;
 456                 return false;
 457         }
 458         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 459         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 460         gw = SDL_CreateWindow(
 461                         "I am car",
 462                         SDL_WINDOWPOS_UNDEFINED,
 463                         SDL_WINDOWPOS_UNDEFINED,
 464                         SCREEN_WIDTH,
 465                         SCREEN_HEIGHT,
 466                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 467         if (gw == NULL) {
 468                 std::cerr << "Window could not be created! SDL_Error: ";
 469                 std::cerr << SDL_GetError();
 470                 std::cerr << std::endl;
 471                 return false;
 472         }
 473         gc = SDL_GL_CreateContext(gw);
 474         if (gc == NULL) {
 475                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 476                 std::cerr << SDL_GetError();
 477                 std::cerr << std::endl;
 478                 return false;
 479         }
 480         if (SDL_GL_SetSwapInterval(1) < 0) {
 481                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 482                 std::cerr << SDL_GetError();
 483                 std::cerr << std::endl;
 484                 return false;
 485         }
 486         if (!initGL()) {
 487                 std::cerr << "Unable to initialize OpenGL!";
 488                 std::cerr << std::endl;
 489                 return false;
 490         }
 491         return true;
 492 }
 493
 494 bool initGL()
 495 {
 496         GLenum error = GL_NO_ERROR;
 497         glMatrixMode(GL_PROJECTION);
 498         glLoadIdentity();
 499         error = glGetError();
 500         if (error != GL_NO_ERROR) {
 501                 std::cerr << "Error initializing OpenGL! ";
 502                 std::cerr << gluErrorString(error);
 503                 std::cerr << std::endl;
 504                 return false;
 505         }
 506         glMatrixMode(GL_MODELVIEW);
 507         glLoadIdentity();
 508         error = glGetError();
 509         if (error != GL_NO_ERROR) {
 510                 std::cerr << "Error initializing OpenGL! ";
 511                 std::cerr << gluErrorString(error);
 512                 std::cerr << std::endl;
 513                 return false;
 514         }
 515         glClearColor(1, 1, 1, 1);
 516         error = glGetError();
 517         if (error != GL_NO_ERROR) {
 518                 std::cerr << "Error initializing OpenGL! ";
 519                 std::cerr << gluErrorString(error);
 520                 std::cerr << std::endl;
 521                 return false;
 522         }
 523         return true;
 524 }