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