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