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