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                 while (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.goal_found() && p.elapsed() < TMAX) {
 129                 p.next();
 130                 p.tend();
 131                 while (p.opt_path())
 132                         p.tlog(p.findt());
 133         }
 134 #else // NOT USE_INTERRUPT
 135         i = 0;
 136         while (!p.goal_found() && i < 20) {
 137                 p.tstart();
 138                 p.tend();
 139                 while (p.elapsed() < TMAX) {
 140                         p.next();
 141                         p.tend();
 142                 }
 143                 if (!p.goal_found()) {
 144 #if NNVERSION > 1
 145                         nn = p.nn(p.iy_, p.goal(), p.cost);
 146 #else
 147                         nn = p.nn(p.nodes(), p.goal(), p.cost);
 148 #endif
 149                         tr = p.findt(nn);
 150                 } else {
 151                         nn = p.goal();
 152                         tr = p.findt();
 153                 }
 154                 p.tlog(tr);
 155 #if JSONLOGEDGES > 0
 156                 p.logr(p.root());
 157 #endif
 158                 while (p.opt_path())
 159                         p.tlog(p.findt(nn));
 160                 if (!p.goal_found()) {
 161                         nn = p.tlog().back().back();
 162                         for (j = p.tlog().back().size() - 1; j > 0; j--) {
 163                                 float s1 = p.tlog().back()[j]->s();
 164                                 float s2 = p.tlog().back()[j - 1]->s();
 165                                 if (sgn(s1) != sgn(s2)) {
 166                                         nn = p.tlog().back()[j - 1];
 167                                         break;
 168                                 }
 169                         }
 170                         p.tlog(p.findt(nn));
 171                         p.rebase(nn);
 172                 }
 173                 i++;
 174         }
 175         std::cerr << "#iterations is " << i << std::endl;
 176 #endif // USE_INTERRUPT
 177
 178         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
 179         std::cerr << "Goal found is " << p.goal_found() << std::endl;
 180         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
 181         std::cerr << "#samples is " << p.samples().size() << std::endl;
 182         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
 183         std::cerr << "trajectories costs:" << std::endl;
 184         for (j = 0; j < p.clog().size(); j++)
 185                 std::cerr << "- " << p.clog()[j] << std::endl;
 186         std::cerr << "RRT #nodes:" << std::endl;
 187         for (j = 0; j < p.nlog().size(); j++)
 188                 std::cerr << "- " << p.nlog()[j] << std::endl;
 189         std::cerr << "trajectories seconds:" << std::endl;
 190         for (j = 0; j < p.slog().size(); j++)
 191                 std::cerr << "- " << p.slog()[j] << std::endl;
 192         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
 193         std::cerr << std::endl;
 194         for (auto edges: p.rlog())
 195                 std::cerr << "- " << edges.size() << std::endl;
 196
 197         // JSON output
 198         jvo["elap"] = p.elapsed();
 199         // log cost
 200         for (j = 0; j < p.clog().size(); j++)
 201                 jvo["cost"][j] = p.clog()[j];
 202         // log #nodes
 203         for (j = 0; j < p.nlog().size(); j++)
 204                 jvo["node"][j] = p.nlog()[j];
 205         // log seconds
 206         for (j = 0; j < p.slog().size(); j++)
 207                 jvo["secs"][j] = p.slog()[j];
 208         // log traj
 209         i = 0;
 210         j = 0;
 211         for (auto traj: p.tlog()) {
 212                 i = 0;
 213                 for (auto n: traj) {
 214                         jvo["traj"][j][i][0] = n->x();
 215                         jvo["traj"][j][i][1] = n->y();
 216                         jvo["traj"][j][i][2] = n->h();
 217                         jvo["traj"][j][i][3] = n->t();
 218                         jvo["traj"][j][i][4] = n->s();
 219                         i++;
 220                 }
 221                 j++;
 222         }
 223 #if JSONLOGEDGES > 0
 224         // log edges
 225         i = 0;
 226         j = 0;
 227         for (auto edges: p.rlog()) {
 228                 j = 0;
 229                 for (auto e: edges) {
 230                         jvo["edge"][i][j][0][0] = e->init()->x();
 231                         jvo["edge"][i][j][0][1] = e->init()->y();
 232                         jvo["edge"][i][j][0][2] = e->init()->h();
 233                         jvo["edge"][i][j][1][0] = e->goal()->x();
 234                         jvo["edge"][i][j][1][1] = e->goal()->y();
 235                         jvo["edge"][i][j][1][2] = e->goal()->h();
 236                         j++;
 237                 }
 238                 i++;
 239         }
 240 #endif
 241 #if JSONLOGSAMPLES > 0
 242         // log samples
 243         i = 0;
 244         j = 0;
 245         for (auto s: p.samples()) {
 246                 jvo["samp"][j][0] = s->x();
 247                 jvo["samp"][j][1] = s->y();
 248                 jvo["samp"][j][2] = s->h();
 249                 j++;
 250         }
 251 #endif
 252         // print output
 253         std::cout << jvo << std::endl;
 254
 255 #ifdef USE_GL
 256         SDL_DestroyWindow(gw);
 257         SDL_Quit();
 258 #endif
 259
 260         // free mem
 261         for (auto o: so) {
 262                 delete o.init();
 263                 delete o.goal();
 264         }
 265         return 0;
 266 }
 267
 268 bool init()
 269 {
 270         if (SDL_Init(SDL_INIT_VIDEO) < 0) {
 271                 std::cerr << "SDL could not initialize! SDL_Error: ";
 272                 std::cerr << SDL_GetError();
 273                 std::cerr << std::endl;
 274                 return false;
 275         }
 276         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
 277         SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
 278         gw = SDL_CreateWindow(
 279                         "I am car",
 280                         SDL_WINDOWPOS_UNDEFINED,
 281                         SDL_WINDOWPOS_UNDEFINED,
 282                         SCREEN_WIDTH,
 283                         SCREEN_HEIGHT,
 284                         SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
 285         if (gw == NULL) {
 286                 std::cerr << "Window could not be created! SDL_Error: ";
 287                 std::cerr << SDL_GetError();
 288                 std::cerr << std::endl;
 289                 return false;
 290         }
 291         gc = SDL_GL_CreateContext(gw);
 292         if (gc == NULL) {
 293                 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
 294                 std::cerr << SDL_GetError();
 295                 std::cerr << std::endl;
 296                 return false;
 297         }
 298         if (SDL_GL_SetSwapInterval(1) < 0) {
 299                 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
 300                 std::cerr << SDL_GetError();
 301                 std::cerr << std::endl;
 302                 return false;
 303         }
 304         if (!initGL()) {
 305                 std::cerr << "Unable to initialize OpenGL!";
 306                 std::cerr << std::endl;
 307                 return false;
 308         }
 309         return true;
 310 }
 311
 312 bool initGL()
 313 {
 314         GLenum error = GL_NO_ERROR;
 315         glMatrixMode(GL_PROJECTION);
 316         glLoadIdentity();
 317         error = glGetError();
 318         if (error != GL_NO_ERROR) {
 319                 std::cerr << "Error initializing OpenGL! ";
 320                 std::cerr << gluErrorString(error);
 321                 std::cerr << std::endl;
 322                 return false;
 323         }
 324         glMatrixMode(GL_MODELVIEW);
 325         glLoadIdentity();
 326         error = glGetError();
 327         if (error != GL_NO_ERROR) {
 328                 std::cerr << "Error initializing OpenGL! ";
 329                 std::cerr << gluErrorString(error);
 330                 std::cerr << std::endl;
 331                 return false;
 332         }
 333         glClearColor(1, 1, 1, 1);
 334         error = glGetError();
 335         if (error != GL_NO_ERROR) {
 336                 std::cerr << "Error initializing OpenGL! ";
 337                 std::cerr << gluErrorString(error);
 338                 std::cerr << std::endl;
 339                 return false;
 340         }
 341         return true;
 342 }