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