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         TEND();
 173         jvo["ppse"] = ELAPSED;
 174         TPRINT("ParallelSlot");
 175 #endif
 176         if (ps.cusp().size() > 0) {
 177                 p.goal(ps.cusp().front().front());
 178                 p.slot_cusp(ps.cusp().front()); // use first found solution
 179                 jvo["midd"][0] = p.goal()->x();
 180                 jvo["midd"][1] = p.goal()->y();
 181                 jvo["midd"][2] = p.goal()->h();
 182                 jvo["goal"][0] = p.slot_cusp().back()->x();
 183                 jvo["goal"][1] = p.slot_cusp().back()->y();
 184                 jvo["goal"][2] = p.slot_cusp().back()->h();
 185         } else {
 186                 jvo["goal"][0] = p.goal()->x();
 187                 jvo["goal"][1] = p.goal()->y();
 188                 jvo["goal"][2] = p.goal()->h();
 189         }
 190         TSTART();
 191 #ifdef USE_LOADF
 192         std::vector<RRTNode *> steered;
 193         for (auto jn: jvi["traj"][0]) {
 194                 steered.push_back(new RRTNode(
 195                                         jn[0].asFloat(),
 196                                         jn[1].asFloat(),
 197                                         jn[2].asFloat(),
 198                                         jn[3].asFloat(),
 199                                         jn[4].asFloat()));
 200         }
 201         std::reverse(steered.begin(), steered.end());
 202         RRTNode *pn = p.root();
 203         for (auto n: steered) {
 204                 if (IS_NEAR(pn, n))
 205                         continue;
 206                 pn->add_child(n, p.cost(pn, n));
 207                 pn = n;
 208                 p.glplot();
 209         }
 210         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 211         p.goal_found(true);
 212         p.tlog(p.findt());
 213         if (p.opt_path()) {
 214                 p.tlog(p.findt());
 215                 p.glplot();
 216         }
 217         p.glplot();
 218         sleep(2);
 219 #elif defined USE_INTERRUPT
 220         signal(SIGINT, hint);
 221         signal(SIGTERM, hint);
 222         p.tstart();
 223         while (run_planner) {
 224                 p.next();
 225                 p.tend();
 226                 if (p.opt_path())
 227                         p.tlog(p.findt());
 228                 p.glplot();
 229         }
 230 #elif defined USE_TMAX
 231         p.tstart();
 232         p.tend();
 233         while (!p.goal_found() && p.elapsed() < TMAX) {
 234                 p.next();
 235                 p.tend();
 236                 if (p.opt_path()) {
 237                         if (ps.cusp().size() > 0)
 238                                 p.tlog(p.findt(p.slot_cusp().back()));
 239                         else
 240                                 p.tlog(p.findt());
 241                 }
 242         }
 243 #elif defined USE_PTHREAD
 244         bool gf = false;
 245         RRTNode *ron = nullptr;
 246         RRTNode *gon = nullptr;
 247         float mc = 9999;
 248         pthread_t rt; // root thread
 249         pthread_t gt; // goal thread
 250         pthread_t ct; // connect thread
 251
 252         struct next_arg ra;
 253         ra.gf = &gf;
 254         ra.p = &p.p_root_;
 255
 256         struct next_arg ga;
 257         ga.gf = &gf;
 258         ga.p = &p.p_goal_;
 259
 260         p.tstart();
 261         p.p_root_.tstart();
 262         p.p_goal_.tstart();
 263         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 264         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 265         int tol = 0;
 266         int ndl = 0;
 267         bool ndone = true;
 268         std::vector<RRTNode *> steered;
 269         while (!gf && p.elapsed() < TMAX &&
 270                         p.p_root_.nodes().size() < NOFNODES &&
 271                         p.p_goal_.nodes().size() < NOFNODES) {
 272                 // overlap trees
 273                 ndone = true;
 274                 for (int i = 0; i < IXSIZE; i++) {
 275                 for (int j = 0; j < IYSIZE; j++) {
 276                         if (p.p_root_.ixy_[i][j].changed() &&
 277                                         p.p_goal_.ixy_[i][j].changed()) {
 278 ndone = false;
 279 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 280 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 281         if (rn->ccost() + gn->ccost() < mc &&
 282                         IS_NEAR(rn, gn)) {
 283                 gf = true;
 284                 p.goal_found(true);
 285                 ron = rn;
 286                 gon = gn;
 287                 mc = rn->ccost() + gn->ccost();
 288         }
 289         //// TRY TO STEER
 290         //steered.clear();
 291         //steered = p.steer(rn, gn);
 292         //for (unsigned int k = 0; k < steered.size() - 1; k++)
 293         //        steered[k]->add_child(steered[k + 1], 1);
 294         //if (p.collide(
 295         //                steered[0],
 296         //                steered[steered.size() - 1])) {
 297         //        for (auto n: steered)
 298         //                delete n;
 299         //        continue;
 300         //}
 301         //if (steered[steered.size() - 1]->ccost() +
 302         //                rn->ccost() +
 303         //                gn->ccost() < mc) {
 304         //        gf = true;
 305         //        p.goal_found(true);
 306         //        ron = rn;
 307         //        gon = gn;
 308         //        mc = steered[steered.size() - 1]->ccost() +
 309         //                rn->ccost() +
 310         //                gn->ccost();
 311         //}
 312         //for (auto n: steered)
 313         //        delete n;
 314         //p.tend();
 315         //if (p.elapsed() >= TMAX)
 316         //        goto escapeloop;
 317         //// END OF STEER
 318 }}
 319                         }
 320                         tol++;
 321                         if (ndone)
 322                                 ndl++;
 323                         p.tend();
 324                         if (p.elapsed() >= TMAX)
 325                                 goto escapeloop;
 326                 }}
 327                 // end of overlap trees
 328                 p.tend();
 329         }
 330 escapeloop:
 331         pthread_join(rt, NULL);
 332         pthread_join(gt, NULL);
 333         float nodo = ((float) ndl / (float) tol);
 334         std::cerr << "nothing done is " << 100.0 * nodo;
 335         std::cerr << "%" << std::endl;
 336         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 337         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 338         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 339         //if (p.goal_found()) {
 340         //        steered.clear();
 341         //        steered = p.steer(ron, gon);
 342         //        for (auto ns: steered) {
 343         //                p.nodes().push_back(ns);
 344         //                p.add_ixy(ns);
 345         //                ron->add_child(ns, p.cost(ron, ns));
 346         //                ron = ns;
 347         //        }
 348         //        mc = ron->ccost() + gon->ccost();
 349         //}
 350         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 351                 ron = p.p_root_.goal()->parent();
 352                 gon = p.p_root_.goal();
 353                 mc = p.p_root_.goal()->ccost();
 354         }
 355         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 356                 ron = p.p_goal_.goal();
 357                 gon = p.p_goal_.goal()->parent();
 358                 mc = p.p_goal_.goal()->ccost();
 359         }
 360         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 361         p.root()->ccost(0);
 362         p.goal()->children().clear();
 363         // connect trees
 364         if (gf) {
 365         while (gon != p.goal()) {
 366                 p.p_root_.nodes().push_back(new RRTNode(
 367                                 gon->x(),
 368                                 gon->y(),
 369                                 gon->h()));
 370                 ron->add_child(
 371                                 p.p_root_.nodes().back(),
 372                                 p.p_root_.cost(
 373                                                 ron,
 374                                                 p.p_root_.nodes().back()));
 375                 ron = p.p_root_.nodes().back();
 376                 gon = gon->parent();
 377         }
 378         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 379         }
 380         // end of connect trees
 381         if (gf)
 382                 p.tlog(p.findt());
 383         if (p.opt_path())
 384                 p.tlog(p.findt());
 385 #endif
 386         TEND();
 387         TPRINT("RRT");
 388         jvo["rrte"] = ELAPSED;
 389 #ifdef JSONLOGEDGES
 390         p.logr(p.root());
 391 #endif
 392
 393         // statistics to error output
 394         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 395         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 396         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 397         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 398         std::cerr << "#samples is " << p.samples().size() << std::endl;
 399         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 400         std::cerr << "trajectories costs:" << std::endl;
 401         for (j = 0; j < p.clog().size(); j++)
 402                 std::cerr << "- " << p.clog()[j] << std::endl;
 403         std::cerr << "RRT #nodes:" << std::endl;
 404         for (j = 0; j < p.nlog().size(); j++)
 405                 std::cerr << "- " << p.nlog()[j] << std::endl;
 406         std::cerr << "trajectories seconds:" << std::endl;
 407         for (j = 0; j < p.slog().size(); j++)
 408                 std::cerr << "- " << p.slog()[j] << std::endl;
 409         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 410         std::cerr << std::endl;
 411         for (auto edges: p.rlog())
 412                 std::cerr << "- " << edges.size() << std::endl;
 413
 414         // JSON output
 415         jvo["elap"] = TELAPSED;
 416 #ifdef USE_PTHREAD
 417         jvo["nodo"][0] = nodo;
 418 #endif
 419         // log cost
 420         for (j = 0; j < p.clog().size(); j++)
 421                 jvo["cost"][j] = p.clog()[j];
 422         // log #nodes
 423         for (j = 0; j < p.nlog().size(); j++)
 424                 jvo["node"][j] = p.nlog()[j];
 425         // log seconds
 426         for (j = 0; j < p.slog().size(); j++)
 427                 jvo["secs"][j] = p.slog()[j];
 428         // log traj
 429         i = 0;
 430         j = 0;
 431         for (auto traj: p.tlog()) {
 432                 i = 0;
 433                 for (auto n: traj) {
 434                         jvo["traj"][j][i][0] = n->x();
 435                         jvo["traj"][j][i][1] = n->y();
 436                         jvo["traj"][j][i][2] = n->h();
 437                         jvo["traj"][j][i][3] = n->t();
 438                         jvo["traj"][j][i][4] = n->s();
 439                         i++;
 440                 }
 441                 j++;
 442         }
 443 #ifdef JSONLOGEDGES
 444         i = 0;
 445         j = 0;
 446         for (auto edges: p.rlog()) {
 447                 j = 0;
 448                 for (auto e: edges) {
 449                         jvo["edge"][i][j][0][0] = e->init()->x();
 450                         jvo["edge"][i][j][0][1] = e->init()->y();
 451                         jvo["edge"][i][j][0][2] = e->init()->h();
 452                         jvo["edge"][i][j][1][0] = e->goal()->x();
 453                         jvo["edge"][i][j][1][1] = e->goal()->y();
 454                         jvo["edge"][i][j][1][2] = e->goal()->h();
 455                         j++;
 456                 }
 457                 i++;
 458         }
 459 #endif
 460 #ifdef JSONLOGSAMPLES
 461         i = 0;
 462         j = 0;
 463         for (auto s: p.samples()) {
 464                 jvo["samp"][j][0] = s->x();
 465                 jvo["samp"][j][1] = s->y();
 466                 jvo["samp"][j][2] = s->h();
 467                 j++;
 468         }
 469 #endif
 470         // print output
 471         std::cout << jvo << std::endl;
 472
 473 #ifdef USE_GL
 474         SDL_DestroyWindow(gw);
 475         SDL_Quit();
 476 #endif
 477
 478         // free mem
 479         for (auto o: so) {
 480                 delete o.init();
 481                 delete o.goal();
 482         }
 483         return 0;
 484 }
 485
 486 bool init()
 487 {
 488         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 489                 std::cerr << "SDL could not initialize! SDL_Error: ";
 490                 std::cerr << SDL_GetError();
 491                 std::cerr << std::endl;
 492                 return false;
 493         }
 494         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 495         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 496         gw = SDL_CreateWindow(
 497                         "I am car",
 498                         SDL_WINDOWPOS_UNDEFINED,
 499                         SDL_WINDOWPOS_UNDEFINED,
 500                         SCREEN_WIDTH,
 501                         SCREEN_HEIGHT,
 502                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 503         if (gw == NULL) {
 504                 std::cerr << "Window could not be created! SDL_Error: ";
 505                 std::cerr << SDL_GetError();
 506                 std::cerr << std::endl;
 507                 return false;
 508         }
 509         gc = SDL_GL_CreateContext(gw);
 510         if (gc == NULL) {
 511                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 512                 std::cerr << SDL_GetError();
 513                 std::cerr << std::endl;
 514                 return false;
 515         }
 516         if (SDL_GL_SetSwapInterval(1) < 0) {
 517                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 518                 std::cerr << SDL_GetError();
 519                 std::cerr << std::endl;
 520                 return false;
 521         }
 522         if (!initGL()) {
 523                 std::cerr << "Unable to initialize OpenGL!";
 524                 std::cerr << std::endl;
 525                 return false;
 526         }
 527         return true;
 528 }
 529
 530 bool initGL()
 531 {
 532         GLenum error = GL_NO_ERROR;
 533         glMatrixMode(GL_PROJECTION);
 534         glLoadIdentity();
 535         error = glGetError();
 536         if (error != GL_NO_ERROR) {
 537                 std::cerr << "Error initializing OpenGL! ";
 538                 std::cerr << gluErrorString(error);
 539                 std::cerr << std::endl;
 540                 return false;
 541         }
 542         glMatrixMode(GL_MODELVIEW);
 543         glLoadIdentity();
 544         error = glGetError();
 545         if (error != GL_NO_ERROR) {
 546                 std::cerr << "Error initializing OpenGL! ";
 547                 std::cerr << gluErrorString(error);
 548                 std::cerr << std::endl;
 549                 return false;
 550         }
 551         glClearColor(1, 1, 1, 1);
 552         error = glGetError();
 553         if (error != GL_NO_ERROR) {
 554                 std::cerr << "Error initializing OpenGL! ";
 555                 std::cerr << gluErrorString(error);
 556                 std::cerr << std::endl;
 557                 return false;
 558         }
 559         return true;
 560 }