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 <cmath>
  21 #include <cstdlib>
  22 #include <iostream>
  23 #include <jsoncpp/json/json.h>
  24 #include <pthread.h>
  25 #include <signal.h>
  26 #include <unistd.h>
  27 #include "compile.h"
  28 #include "obstacle.h"
  29 #include "rrtplanner.h"
  30 #include "slotplanner.h"
  31
  32 #if USE_GL > 0
  33 // OpenGL
  34 #include <GL/gl.h>
  35 #include <GL/glu.h>
  36 #include <SDL2/SDL.h>
  37 #endif
  38
  39 // debug
  40 //#define JSONLOGEDGES
  41 //#define JSONLOGSAMPLES
  42
  43 #if USE_GL > 0
  44         #define USE_INTERRUPT
  45 #else
  46         // choose
  47         //#define USE_INTERRUPT
  48         // or
  49         #define USE_TMAX
  50         // or
  51         //#define USE_LOADF
  52         // or
  53         //#define USE_PTHREAD
  54 #endif
  55
  56 // OpenGL window size
  57 #define SCREEN_WIDTH 1000
  58 #define SCREEN_HEIGHT 1000
  59
  60 std::chrono::high_resolution_clock::time_point TSTART_;
  61 std::chrono::high_resolution_clock::time_point TEND_;
  62 float TELAPSED = 0;
  63 float ELAPSED = 0;
  64 void TSTART() {TSTART_ = std::chrono::high_resolution_clock::now();}
  65 void TEND() {
  66         std::chrono::duration<float> DT_;
  67         TEND_ = std::chrono::high_resolution_clock::now();
  68         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  69                 TEND_ - TSTART_
  70         );
  71         TELAPSED += DT_.count();
  72         ELAPSED = DT_.count();
  73 }
  74 void TPRINT(const char *what) {
  75         std::chrono::duration<float> DT_;
  76         DT_ = std::chrono::duration_cast<std::chrono::duration<float>>(
  77                 TEND_ - TSTART_
  78         );
  79         std::cerr << what << ": " << DT_.count() << std::endl;
  80 }
  81
  82 bool run_planner = true;
  83
  84 #if USE_GL > 0
  85 SDL_Window* gw = NULL;
  86 SDL_GLContext gc;
  87
  88 bool init();
  89 bool initGL();
  90 #endif
  91
  92 void hint(int)
  93 {
  94         run_planner = false;
  95 }
  96
  97 #ifdef USE_PTHREAD
  98 struct next_arg {
  99         bool *gf;
 100         T2 *p;
 101 };
 102
 103 void *next_run(void *arg)
 104 {
 105         struct next_arg *na = (struct next_arg *) arg;
 106         T2 *lp = (T2 *) na->p;
 107         bool *gf = na->gf;
 108         while (!*gf && lp->elapsed() < TMAX) {
 109                 if (lp->next())
 110                         *gf = true;
 111                 lp->tend();
 112         }
 113         pthread_exit(NULL);
 114         return NULL;
 115 }
 116 #endif
 117
 118 RRTNode *sa_tmp()
 119 {
 120         float new_x = 1 + static_cast<float>(rand()) /
 121                 static_cast<float>(RAND_MAX / (6.6 - 1 - 1));
 122         float new_y = 1;
 123         float new_h = M_PI / 2;
 124         return new RRTNode(new_x, new_y, new_h);
 125 }
 126
 127 int main()
 128 {
 129         srand(static_cast<unsigned>(time(0)));
 130 #if USE_GL > 0
 131         init();
 132 #endif
 133
 134         Json::Value jvi; // JSON input
 135         Json::Value jvo; // JSON output
 136         unsigned int i = 0;
 137         unsigned int j = 0;
 138         std::cin >> jvi;
 139         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
 140
 141         PLANNER p(
 142                         new RRTNode(
 143                                 jvi["init"][0].asFloat(),
 144                                 jvi["init"][1].asFloat(),
 145                                 jvi["init"][2].asFloat()),
 146                         new RRTNode(
 147                                 jvi["goal"][0].asFloat(),
 148                                 jvi["goal"][1].asFloat(),
 149                                 jvi["goal"][2].asFloat()));
 150         jvo["init"][0] = p.root()->x();
 151         jvo["init"][1] = p.root()->y();
 152         jvo["init"][2] = p.root()->h();
 153         std::vector<CircleObstacle> co;
 154         std::vector<SegmentObstacle> so;
 155         for (auto o: jvi["obst"]) {
 156                 if (o["circle"] != Json::nullValue) {
 157                         co.push_back(CircleObstacle(
 158                                                 o["circle"][0].asFloat(),
 159                                                 o["circle"][1].asFloat(),
 160                                                 o["circle"][2].asFloat()));
 161                 }
 162                 if (o["segment"] != Json::nullValue) {
 163                         so.push_back(SegmentObstacle(
 164                                 new RRTNode(
 165                                         o["segment"][0][0].asFloat(),
 166                                         o["segment"][0][1].asFloat(),
 167                                         0),
 168                                 new RRTNode(
 169                                         o["segment"][1][0].asFloat(),
 170                                         o["segment"][1][1].asFloat(),
 171                                         0)));
 172                         p.frame().add_bnode(so.back().init());
 173                 }
 174         }
 175         p.link_obstacles(&co, &so);
 176         p.ocost(p.root());
 177         p.ocost(p.goal());
 178
 179         ParallelSlot ps = ParallelSlot();
 180         if (
 181                 jvi["slot"] != Json::nullValue &&
 182                 jvi["slot"]["polygon"] != Json::nullValue
 183         ) {
 184                 for (auto xy: jvi["slot"]["polygon"]) {
 185                         ps.slot().add_bnode(new RRTNode(
 186                                 xy[0].asFloat(),
 187                                 xy[1].asFloat()
 188                         ));
 189                 }
 190                 for (auto e: ps.slot().frame())
 191                         so.push_back(SegmentObstacle(e->init(), e->goal()));
 192         }
 193 #ifdef USE_SLOTPLANNER
 194         TSTART();
 195         if (ps.slot().bnodes().size() > 0)
 196                 ps.fip(co, so);
 197         TEND();
 198         jvo["ppse"] = ELAPSED;
 199         TPRINT("ParallelSlot");
 200 #endif
 201         if (ps.slot().bnodes().size() > 0) {
 202                 ps.setAll();
 203                 //p.setSamplingInfo(ps.getSamplingInfo());
 204         }
 205         if (ps.cusp().size() > 0) {
 206                 p.goal(ps.getMidd());
 207                 p.slot_cusp(ps.cusp().front()); // use first found solution
 208                 p.goals(ps.goals());
 209                 jvo["midd"][0] = p.goal()->x();
 210                 jvo["midd"][1] = p.goal()->y();
 211                 jvo["midd"][2] = p.goal()->h();
 212                 jvo["goal"][0] = p.slot_cusp().back()->x();
 213                 jvo["goal"][1] = p.slot_cusp().back()->y();
 214                 jvo["goal"][2] = p.slot_cusp().back()->h();
 215         } else {
 216                 jvo["goal"][0] = p.goal()->x();
 217                 jvo["goal"][1] = p.goal()->y();
 218                 jvo["goal"][2] = p.goal()->h();
 219         }
 220         TSTART();
 221         std::cerr << "Slot Info:" << std::endl;
 222         if (ps.slotSide() == LEFT)
 223                 std::cerr << "- LEFT" << std::endl;
 224         else
 225                 std::cerr << "- RIGHT" << std::endl;
 226         if (ps.slotType() == PARALLEL)
 227                 std::cerr << "- PARALLEL" << std::endl;
 228         else
 229                 std::cerr << "- PERPENDICULAR" << std::endl;
 230 #ifdef USE_LOADF
 231         std::vector<RRTNode *> steered;
 232         for (auto jn: jvi["traj"][0]) {
 233                 steered.push_back(new RRTNode(
 234                                         jn[0].asFloat(),
 235                                         jn[1].asFloat(),
 236                                         jn[2].asFloat(),
 237                                         jn[3].asFloat(),
 238                                         jn[4].asFloat()));
 239         }
 240         std::reverse(steered.begin(), steered.end());
 241         RRTNode *pn = p.root();
 242         for (auto n: steered) {
 243                 if (IS_NEAR(pn, n))
 244                         continue;
 245                 pn->add_child(n, p.cost(pn, n));
 246                 pn = n;
 247                 p.glplot();
 248         }
 249         pn->add_child(p.goal(), p.cost(pn, p.goal()));
 250         p.goal_found(true);
 251         p.tlog(p.findt());
 252         if (p.opt_path()) {
 253                 p.tlog(p.findt());
 254                 p.glplot();
 255         }
 256         p.glplot();
 257         sleep(2);
 258 #elif defined USE_INTERRUPT
 259         signal(SIGINT, hint);
 260         signal(SIGTERM, hint);
 261         p.tstart();
 262         while (run_planner) {
 263                 p.next();
 264                 p.tend();
 265                 if (p.opt_path())
 266                         p.tlog(p.findt());
 267                 p.glplot();
 268         }
 269 #elif defined USE_TMAX
 270         p.tstart();
 271         p.tend();
 272         while (!p.goal_found() && p.elapsed() < TMAX) {
 273                 p.next();
 274                 p.tend();
 275                 if (p.opt_path()) {
 276                         p.tlog(p.findt());
 277                 }
 278         }
 279         if (p.goal_found() && ps.slotType() == PARALLEL)
 280                 p.tlog(p.findt(p.slot_cusp().back()));
 281 #elif defined USE_PTHREAD
 282         bool gf = false;
 283         RRTNode *ron = nullptr;
 284         RRTNode *gon = nullptr;
 285         float mc = 9999;
 286         pthread_t rt; // root thread
 287         pthread_t gt; // goal thread
 288         pthread_t ct; // connect thread
 289
 290         struct next_arg ra;
 291         ra.gf = &gf;
 292         ra.p = &p.p_root_;
 293
 294         struct next_arg ga;
 295         ga.gf = &gf;
 296         ga.p = &p.p_goal_;
 297
 298         p.tstart();
 299         p.p_root_.tstart();
 300         p.p_goal_.tstart();
 301         pthread_create(&rt, NULL, &next_run, (void *) &ra);
 302         pthread_create(&gt, NULL, &next_run, (void *) &ga);
 303         int tol = 0;
 304         int ndl = 0;
 305         bool ndone = true;
 306         while (!gf && p.elapsed() < TMAX &&
 307                         p.p_root_.nodes().size() < NOFNODES &&
 308                         p.p_goal_.nodes().size() < NOFNODES) {
 309                 // overlap trees
 310                 ndone = true;
 311                 for (int i = 0; i < IXSIZE; i++) {
 312                 for (int j = 0; j < IYSIZE; j++) {
 313                         if (p.p_root_.ixy_[i][j].changed() &&
 314                                         p.p_goal_.ixy_[i][j].changed()) {
 315 ndone = false;
 316 for (auto rn: p.p_root_.ixy_[i][j].nodes()) {
 317 for (auto gn: p.p_goal_.ixy_[i][j].nodes()) {
 318         if (rn->ccost() + gn->ccost() < mc &&
 319                         IS_NEAR(rn, gn)) {
 320                 gf = true;
 321                 p.goal_found(true);
 322                 ron = rn;
 323                 gon = gn;
 324                 mc = rn->ccost() + gn->ccost();
 325         }
 326 }}
 327                         }
 328                         tol++;
 329                         if (ndone)
 330                                 ndl++;
 331                         p.tend();
 332                         if (p.elapsed() >= TMAX)
 333                                 goto escapeloop;
 334                 }}
 335                 // end of overlap trees
 336                 p.tend();
 337         }
 338 escapeloop:
 339         pthread_join(rt, NULL);
 340         pthread_join(gt, NULL);
 341         float nodo = ((float) ndl / (float) tol);
 342         std::cerr << "nothing done is " << 100.0 * nodo;
 343         std::cerr << "%" << std::endl;
 344         //std::cerr << "rgf is " << p.p_root_.goal_found() << std::endl;
 345         //std::cerr << "ggf is " << p.p_goal_.goal_found() << std::endl;
 346         //std::cerr << "cgf is " << p.goal_found() << std::endl;
 347         if (p.p_root_.goal_found() && p.p_root_.goal()->ccost() < mc) {
 348                 ron = p.p_root_.goal()->parent();
 349                 gon = p.p_root_.goal();
 350                 mc = p.p_root_.goal()->ccost();
 351         }
 352         if (p.p_goal_.goal_found() && p.p_goal_.goal()->ccost() < mc) {
 353                 ron = p.p_goal_.goal();
 354                 gon = p.p_goal_.goal()->parent();
 355                 mc = p.p_goal_.goal()->ccost();
 356         }
 357         p.root()->remove_parent();  // needed if p.p_goal_.goal_found()
 358         p.root()->ccost(0);
 359         p.goal()->children().clear();
 360         // connect trees
 361         if (gf) {
 362         while (gon != p.goal()) {
 363                 p.p_root_.nodes().push_back(new RRTNode(
 364                                 gon->x(),
 365                                 gon->y(),
 366                                 gon->h()));
 367                 ron->add_child(
 368                                 p.p_root_.nodes().back(),
 369                                 p.p_root_.cost(
 370                                                 ron,
 371                                                 p.p_root_.nodes().back()));
 372                 ron = p.p_root_.nodes().back();
 373                 gon = gon->parent();
 374         }
 375         ron->add_child(p.goal(), p.p_root_.cost(ron, p.goal()));
 376         }
 377         // end of connect trees
 378         if (gf)
 379                 p.tlog(p.findt());
 380         if (p.opt_path())
 381                 p.tlog(p.findt());
 382 #endif
 383         TEND();
 384         TPRINT("RRT");
 385         jvo["rrte"] = ELAPSED;
 386 #ifdef JSONLOGEDGES
 387         p.logr(p.root());
 388 #endif
 389
 390         // statistics to error output
 391         std::cerr << "TELAPSED is " << TELAPSED << std::endl;
 392         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 393         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 394         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 395         std::cerr << "#samples is " << p.samples().size() << std::endl;
 396         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 397         std::cerr << "trajectories costs:" << std::endl;
 398         for (j = 0; j < p.clog().size(); j++)
 399                 std::cerr << "- " << p.clog()[j] << std::endl;
 400         std::cerr << "RRT #nodes:" << std::endl;
 401         for (j = 0; j < p.nlog().size(); j++)
 402                 std::cerr << "- " << p.nlog()[j] << std::endl;
 403         std::cerr << "trajectories seconds:" << std::endl;
 404         for (j = 0; j < p.slog().size(); j++)
 405                 std::cerr << "- " << p.slog()[j] << std::endl;
 406         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 407         std::cerr << std::endl;
 408         for (auto edges: p.rlog())
 409                 std::cerr << "- " << edges.size() << std::endl;
 410
 411         // JSON output
 412         jvo["elap"] = TELAPSED;
 413 #ifdef USE_PTHREAD
 414         jvo["nodo"][0] = nodo;
 415 #endif
 416         // log cost
 417         for (j = 0; j < p.clog().size(); j++)
 418                 jvo["cost"][j] = p.clog()[j];
 419         // log #nodes
 420         for (j = 0; j < p.nlog().size(); j++)
 421                 jvo["node"][j] = p.nlog()[j];
 422         // log seconds
 423         for (j = 0; j < p.slog().size(); j++)
 424                 jvo["secs"][j] = p.slog()[j];
 425         // log traj
 426         i = 0;
 427         j = 0;
 428         for (auto traj: p.tlog()) {
 429                 i = 0;
 430                 for (auto n: traj) {
 431                         jvo["traj"][j][i][0] = n->x();
 432                         jvo["traj"][j][i][1] = n->y();
 433                         jvo["traj"][j][i][2] = n->h();
 434                         jvo["traj"][j][i][3] = n->t();
 435                         jvo["traj"][j][i][4] = n->s();
 436                         i++;
 437                 }
 438                 j++;
 439         }
 440 #ifdef JSONLOGEDGES
 441         i = 0;
 442         j = 0;
 443         for (auto edges: p.rlog()) {
 444                 j = 0;
 445                 for (auto e: edges) {
 446                         jvo["edge"][i][j][0][0] = e->init()->x();
 447                         jvo["edge"][i][j][0][1] = e->init()->y();
 448                         jvo["edge"][i][j][0][2] = e->init()->h();
 449                         jvo["edge"][i][j][1][0] = e->goal()->x();
 450                         jvo["edge"][i][j][1][1] = e->goal()->y();
 451                         jvo["edge"][i][j][1][2] = e->goal()->h();
 452                         j++;
 453                 }
 454                 i++;
 455         }
 456 #endif
 457 #ifdef JSONLOGSAMPLES
 458         i = 0;
 459         j = 0;
 460         for (auto s: p.samples()) {
 461                 jvo["samp"][j][0] = s->x();
 462                 jvo["samp"][j][1] = s->y();
 463                 jvo["samp"][j][2] = s->h();
 464                 j++;
 465         }
 466 #endif
 467         // print output
 468         std::cout << jvo << std::endl;
 469
 470 #if USE_GL > 0
 471         SDL_DestroyWindow(gw);
 472         SDL_Quit();
 473 #endif
 474
 475         // free mem
 476         for (auto o: so) {
 477                 delete o.init();
 478                 delete o.goal();
 479         }
 480         return 0;
 481 }
 482
 483 #if USE_GL > 0
 484 bool init()
 485 {
 486         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 487                 std::cerr << "SDL could not initialize! SDL_Error: ";
 488                 std::cerr << SDL_GetError();
 489                 std::cerr << std::endl;
 490                 return false;
 491         }
 492         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 493         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 494         gw = SDL_CreateWindow(
 495                         "I am car",
 496                         SDL_WINDOWPOS_UNDEFINED,
 497                         SDL_WINDOWPOS_UNDEFINED,
 498                         SCREEN_WIDTH,
 499                         SCREEN_HEIGHT,
 500                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 501         if (gw == NULL) {
 502                 std::cerr << "Window could not be created! SDL_Error: ";
 503                 std::cerr << SDL_GetError();
 504                 std::cerr << std::endl;
 505                 return false;
 506         }
 507         gc = SDL_GL_CreateContext(gw);
 508         if (gc == NULL) {
 509                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 510                 std::cerr << SDL_GetError();
 511                 std::cerr << std::endl;
 512                 return false;
 513         }
 514         if (SDL_GL_SetSwapInterval(1) < 0) {
 515                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 516                 std::cerr << SDL_GetError();
 517                 std::cerr << std::endl;
 518                 return false;
 519         }
 520         if (!initGL()) {
 521                 std::cerr << "Unable to initialize OpenGL!";
 522                 std::cerr << std::endl;
 523                 return false;
 524         }
 525         return true;
 526 }
 527
 528 bool initGL()
 529 {
 530         GLenum error = GL_NO_ERROR;
 531         glMatrixMode(GL_PROJECTION);
 532         glLoadIdentity();
 533         error = glGetError();
 534         if (error != GL_NO_ERROR) {
 535                 std::cerr << "Error initializing OpenGL! ";
 536                 std::cerr << gluErrorString(error);
 537                 std::cerr << std::endl;
 538                 return false;
 539         }
 540         glMatrixMode(GL_MODELVIEW);
 541         glLoadIdentity();
 542         error = glGetError();
 543         if (error != GL_NO_ERROR) {
 544                 std::cerr << "Error initializing OpenGL! ";
 545                 std::cerr << gluErrorString(error);
 546                 std::cerr << std::endl;
 547                 return false;
 548         }
 549         glClearColor(1, 1, 1, 1);
 550         error = glGetError();
 551         if (error != GL_NO_ERROR) {
 552                 std::cerr << "Error initializing OpenGL! ";
 553                 std::cerr << gluErrorString(error);
 554                 std::cerr << std::endl;
 555                 return false;
 556         }
 557         return true;
 558 }
 559 #endif