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 "compile.h"
  23 #include "obstacle.h"
  24 #include "rrtplanner.h"
  25 // OpenGL
  26 #include <GL/gl.h>
  27 #include <GL/glu.h>
  28 #include <SDL2/SDL.h>
  29
  30 #define USE_GL
  31 #define USE_INTERRUPT
  32 #define USE_TMAX
  33 #define USE_TMAX_1ST_CUSPS
  34
  35 bool run_planner = true;
  36
  37 SDL_Window* gw = NULL;
  38 SDL_GLContext gc;
  39
  40 bool init();
  41 bool initGL();
  42
  43 void hint(int)
  44 {
  45         run_planner = false;
  46 }
  47
  48 int main()
  49 {
  50 #ifdef USE_GL
  51         init();
  52 #endif
  53
  54         Json::Value jvi; // JSON input
  55         Json::Value jvo; // JSON output
  56         unsigned int i = 0;
  57         unsigned int j = 0;
  58         std::cin >> jvi;
  59         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  60
  61         PLANNER p(
  62                         new RRTNode(
  63                                 jvi["init"][0].asFloat(),
  64                                 jvi["init"][1].asFloat(),
  65                                 jvi["init"][2].asFloat()),
  66                         new RRTNode(
  67                                 jvi["goal"][0].asFloat(),
  68                                 jvi["goal"][1].asFloat(),
  69                                 jvi["goal"][2].asFloat()));
  70         std::vector<CircleObstacle> co;
  71         std::vector<SegmentObstacle> so;
  72         for (auto o: jvi["obst"]) {
  73                 if (o["circle"] != Json::nullValue) {
  74                         co.push_back(CircleObstacle(
  75                                                 o["circle"][0].asFloat(),
  76                                                 o["circle"][1].asFloat(),
  77                                                 o["circle"][2].asFloat()));
  78                 }
  79                 if (o["segment"] != Json::nullValue) {
  80                         so.push_back(SegmentObstacle(
  81                                 new RRTNode(
  82                                         o["segment"][0][0].asFloat(),
  83                                         o["segment"][0][1].asFloat(),
  84                                         0),
  85                                 new RRTNode(
  86                                         o["segment"][1][0].asFloat(),
  87                                         o["segment"][1][1].asFloat(),
  88                                         0)));
  89                 }
  90         }
  91         p.link_obstacles(&co, &so);
  92         p.ocost(p.root());
  93         p.ocost(p.goal());
  94
  95         RRTNode *nn;
  96         std::vector<RRTNode *> tr;
  97
  98 #ifdef USE_INTERRUPT
  99         signal(SIGINT, hint);
 100         signal(SIGTERM, hint);
 101         p.tstart();
 102         while (run_planner) {
 103                 p.next();
 104                 p.tend();
 105                 if (p.opt_path())
 106                         p.tlog(p.findt());
 107 #ifdef USE_GL
 108                 p.glplot();
 109 #endif
 110         }
 111         if (!p.goal_found()) {
 112 #if NNVERSION > 1
 113                 nn = p.nn(p.iy_, p.goal(), p.cost);
 114 #else
 115                 nn = p.nn(p.nodes(), p.goal(), p.cost);
 116 #endif
 117                 tr = p.findt(nn);
 118                 p.tlog(tr);
 119                 while (p.opt_path())
 120                         p.tlog(p.findt(nn));
 121         }
 122 #if JSONLOGEDGES > 0
 123         p.logr(p.root());
 124 #endif
 125 #elif defined USE_TMAX // USE TMAX
 126         p.tstart();
 127         p.tend();
 128         while (p.elapsed() < TMAX) {
 129                 p.next();
 130                 p.tend();
 131                 while (p.opt_path())
 132                         p.tlog(p.findt());
 133         }
 134         if (!p.goal_found()) {
 135 #if NNVERSION > 1
 136                 nn = p.nn(p.iy_, p.goal(), p.cost);
 137 #else
 138                 nn = p.nn(p.nodes(), p.goal(), p.cost);
 139 #endif
 140                 tr = p.findt(nn);
 141 #ifdef USE_TMAX_1ST_CUSPS
 142                 while (p.opt_path()) {}
 143                 tr = p.findt(nn);
 144                 std::reverse(tr.begin(), tr.end());
 145                 for (auto n: tr) {
 146                         if (n->s() != 0 &&
 147                                         n->parent() &&
 148                                         n->parent()->s() != 0 &&
 149                                         sgn(n->s()) != sgn(n->parent()->s())) {
 150                                 nn = n;
 151                                 break;
 152                         }
 153                 }
 154                 tr = p.findt(nn);
 155 #endif
 156         } else {
 157                 nn = p.goal();
 158                 tr = p.findt();
 159         }
 160         p.tlog(tr);
 161 #if JSONLOGEDGES > 0
 162         p.logr(p.root());
 163 #endif
 164         while (p.opt_path())
 165                 p.tlog(p.findt(nn));
 166 #else // NOT USE_INTERRUPT
 167         i = 0;
 168         while (!p.goal_found() && i < 20) {
 169                 p.tstart();
 170                 p.tend();
 171                 while (p.elapsed() < TMAX) {
 172                         p.next();
 173                         p.tend();
 174                 }
 175                 if (!p.goal_found()) {
 176 #if NNVERSION > 1
 177                         nn = p.nn(p.iy_, p.goal(), p.cost);
 178 #else
 179                         nn = p.nn(p.nodes(), p.goal(), p.cost);
 180 #endif
 181                         tr = p.findt(nn);
 182                 } else {
 183                         nn = p.goal();
 184                         tr = p.findt();
 185                 }
 186                 p.tlog(tr);
 187 #if JSONLOGEDGES > 0
 188                 p.logr(p.root());
 189 #endif
 190                 while (p.opt_path())
 191                         p.tlog(p.findt(nn));
 192                 if (!p.goal_found()) {
 193                         nn = p.tlog().back().back();
 194                         for (j = p.tlog().back().size() - 1; j > 0; j--) {
 195                                 float s1 = p.tlog().back()[j]->s();
 196                                 float s2 = p.tlog().back()[j - 1]->s();
 197                                 if (sgn(s1) != sgn(s2)) {
 198                                         nn = p.tlog().back()[j - 1];
 199                                         break;
 200                                 }
 201                         }
 202                         p.tlog(p.findt(nn));
 203                         p.rebase(nn);
 204                 }
 205                 i++;
 206         }
 207         std::cerr << "#iterations is " << i << std::endl;
 208 #endif // USE_INTERRUPT
 209
 210         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 211         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 212         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 213         std::cerr << "#samples is " << p.samples().size() << std::endl;
 214         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 215         std::cerr << "trajectories costs:" << std::endl;
 216         for (j = 0; j < p.clog().size(); j++)
 217                 std::cerr << "- " << p.clog()[j] << std::endl;
 218         std::cerr << "RRT #nodes:" << std::endl;
 219         for (j = 0; j < p.nlog().size(); j++)
 220                 std::cerr << "- " << p.nlog()[j] << std::endl;
 221         std::cerr << "trajectories seconds:" << std::endl;
 222         for (j = 0; j < p.slog().size(); j++)
 223                 std::cerr << "- " << p.slog()[j] << std::endl;
 224         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 225         std::cerr << std::endl;
 226         for (auto edges: p.rlog())
 227                 std::cerr << "- " << edges.size() << std::endl;
 228
 229         // JSON output
 230         jvo["elap"] = p.elapsed();
 231         // log cost
 232         for (j = 0; j < p.clog().size(); j++)
 233                 jvo["cost"][j] = p.clog()[j];
 234         // log #nodes
 235         for (j = 0; j < p.nlog().size(); j++)
 236                 jvo["node"][j] = p.nlog()[j];
 237         // log seconds
 238         for (j = 0; j < p.slog().size(); j++)
 239                 jvo["secs"][j] = p.slog()[j];
 240         // log traj
 241         i = 0;
 242         j = 0;
 243         for (auto traj: p.tlog()) {
 244                 i = 0;
 245                 for (auto n: traj) {
 246                         jvo["traj"][j][i][0] = n->x();
 247                         jvo["traj"][j][i][1] = n->y();
 248                         jvo["traj"][j][i][2] = n->h();
 249                         jvo["traj"][j][i][3] = n->t();
 250                         jvo["traj"][j][i][4] = n->s();
 251                         i++;
 252                 }
 253                 j++;
 254         }
 255 #if JSONLOGEDGES > 0
 256         // log edges
 257         i = 0;
 258         j = 0;
 259         for (auto edges: p.rlog()) {
 260                 j = 0;
 261                 for (auto e: edges) {
 262                         jvo["edge"][i][j][0][0] = e->init()->x();
 263                         jvo["edge"][i][j][0][1] = e->init()->y();
 264                         jvo["edge"][i][j][1][0] = e->goal()->x();
 265                         jvo["edge"][i][j][1][1] = e->goal()->y();
 266                         j++;
 267                 }
 268                 i++;
 269         }
 270 #endif
 271 #if JSONLOGSAMPLES > 0
 272         // log samples
 273         i = 0;
 274         j = 0;
 275         for (auto s: p.samples()) {
 276                 jvo["samp"][j][0] = s->x();
 277                 jvo["samp"][j][1] = s->y();
 278                 jvo["samp"][j][2] = s->h();
 279                 j++;
 280         }
 281 #endif
 282         // print output
 283         std::cout << jvo << std::endl;
 284
 285 #ifdef USE_GL
 286         SDL_DestroyWindow(gw);
 287         SDL_Quit();
 288 #endif
 289
 290         // free mem
 291         for (auto o: so) {
 292                 delete o.init();
 293                 delete o.goal();
 294         }
 295         return 0;
 296 }
 297
 298 bool init()
 299 {
 300         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 301                 std::cerr << "SDL could not initialize! SDL_Error: ";
 302                 std::cerr << SDL_GetError();
 303                 std::cerr << std::endl;
 304                 return false;
 305         }
 306         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 307         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 308         gw = SDL_CreateWindow(
 309                         "I am car",
 310                         SDL_WINDOWPOS_UNDEFINED,
 311                         SDL_WINDOWPOS_UNDEFINED,
 312                         SCREEN_WIDTH,
 313                         SCREEN_HEIGHT,
 314                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 315         if (gw == NULL) {
 316                 std::cerr << "Window could not be created! SDL_Error: ";
 317                 std::cerr << SDL_GetError();
 318                 std::cerr << std::endl;
 319                 return false;
 320         }
 321         gc = SDL_GL_CreateContext(gw);
 322         if (gc == NULL) {
 323                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 324                 std::cerr << SDL_GetError();
 325                 std::cerr << std::endl;
 326                 return false;
 327         }
 328         if (SDL_GL_SetSwapInterval(1) < 0) {
 329                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 330                 std::cerr << SDL_GetError();
 331                 std::cerr << std::endl;
 332                 return false;
 333         }
 334         if (!initGL()) {
 335                 std::cerr << "Unable to initialize OpenGL!";
 336                 std::cerr << std::endl;
 337                 return false;
 338         }
 339         return true;
 340 }
 341
 342 bool initGL()
 343 {
 344         GLenum error = GL_NO_ERROR;
 345         glMatrixMode(GL_PROJECTION);
 346         glLoadIdentity();
 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         glMatrixMode(GL_MODELVIEW);
 355         glLoadIdentity();
 356         error = glGetError();
 357         if (error != GL_NO_ERROR) {
 358                 std::cerr << "Error initializing OpenGL! ";
 359                 std::cerr << gluErrorString(error);
 360                 std::cerr << std::endl;
 361                 return false;
 362         }
 363         glClearColor(1, 1, 1, 1);
 364         error = glGetError();
 365         if (error != GL_NO_ERROR) {
 366                 std::cerr << "Error initializing OpenGL! ";
 367                 std::cerr << gluErrorString(error);
 368                 std::cerr << std::endl;
 369                 return false;
 370         }
 371         return true;
 372 }