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main.cpp
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main.cpp
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#include <fstream>
#include <math.h>
#include <uWS/uWS.h>
#include <chrono>
#include <iostream>
#include <thread>
#include <vector>
#include "Eigen-3.3/Eigen/Core"
#include "Eigen-3.3/Eigen/QR"
#include "json.hpp"
#include "spline.h"
#define DEBUG
#define LANE_METER 4
#define middle_lane 2
#define left_lane 1
#define right_lane 3
int ego_lane_id = 2;
double ref_val = 0.0; // mph
using namespace std;
// for convenience
using json = nlohmann::json;
// For converting back and forth between radians and degrees.
constexpr double pi() { return M_PI; }
double deg2rad(double x) { return x * pi() / 180; }
double rad2deg(double x) { return x * 180 / pi(); }
// Checks if the SocketIO event has JSON data.
// If there is data the JSON object in string format will be returned,
// else the empty string "" will be returned.
string hasData(string s) {
auto found_null = s.find("null");
auto b1 = s.find_first_of("[");
auto b2 = s.find_first_of("}");
if (found_null != string::npos) {
return "";
} else if (b1 != string::npos && b2 != string::npos) {
return s.substr(b1, b2 - b1 + 2);
}
return "";
}
double distance(double x1, double y1, double x2, double y2)
{
return sqrt((x2-x1)*(x2-x1)+(y2-y1)*(y2-y1));
}
int ClosestWaypoint(double x, double y, const vector<double> &maps_x, const vector<double> &maps_y)
{
double closestLen = 100000; //large number
int closestWaypoint = 0;
for(int i = 0; i < maps_x.size(); i++)
{
double map_x = maps_x[i];
double map_y = maps_y[i];
double dist = distance(x,y,map_x,map_y);
if(dist < closestLen)
{
closestLen = dist;
closestWaypoint = i;
}
}
return closestWaypoint;
}
int NextWaypoint(double x, double y, double theta, const vector<double> &maps_x, const vector<double> &maps_y)
{
int closestWaypoint = ClosestWaypoint(x,y,maps_x,maps_y);
double map_x = maps_x[closestWaypoint];
double map_y = maps_y[closestWaypoint];
double heading = atan2((map_y-y),(map_x-x));
double angle = fabs(theta-heading);
angle = min(2*pi() - angle, angle);
if(angle > pi()/4)
{
closestWaypoint++;
if (closestWaypoint == maps_x.size())
{
closestWaypoint = 0;
}
}
return closestWaypoint;
}
// Transform from Cartesian x,y coordinates to Frenet s,d coordinates
vector<double> getFrenet(double x, double y, double theta, const vector<double> &maps_x, const vector<double> &maps_y)
{
int next_wp = NextWaypoint(x,y, theta, maps_x,maps_y);
int prev_wp;
prev_wp = next_wp-1;
if(next_wp == 0)
{
prev_wp = maps_x.size()-1;
}
double n_x = maps_x[next_wp]-maps_x[prev_wp];
double n_y = maps_y[next_wp]-maps_y[prev_wp];
double x_x = x - maps_x[prev_wp];
double x_y = y - maps_y[prev_wp];
// find the projection of x onto n
double proj_norm = (x_x*n_x+x_y*n_y)/(n_x*n_x+n_y*n_y);
double proj_x = proj_norm*n_x;
double proj_y = proj_norm*n_y;
double frenet_d = distance(x_x,x_y,proj_x,proj_y);
//see if d value is positive or negative by comparing it to a center point
double center_x = 1000-maps_x[prev_wp];
double center_y = 2000-maps_y[prev_wp];
double centerToPos = distance(center_x,center_y,x_x,x_y);
double centerToRef = distance(center_x,center_y,proj_x,proj_y);
if(centerToPos <= centerToRef)
{
frenet_d *= -1;
}
// calculate s value
double frenet_s = 0;
for(int i = 0; i < prev_wp; i++)
{
frenet_s += distance(maps_x[i],maps_y[i],maps_x[i+1],maps_y[i+1]);
}
frenet_s += distance(0,0,proj_x,proj_y);
return {frenet_s,frenet_d};
}
// Transform from Frenet s,d coordinates to Cartesian x,y
vector<double> getXY(double s, double d, const vector<double> &maps_s, const vector<double> &maps_x, const vector<double> &maps_y)
{
int prev_wp = -1;
while(s > maps_s[prev_wp+1] && (prev_wp < (int)(maps_s.size()-1) ))
{
prev_wp++;
}
int wp2 = (prev_wp+1)%maps_x.size();
double heading = atan2((maps_y[wp2]-maps_y[prev_wp]),(maps_x[wp2]-maps_x[prev_wp]));
// the x,y,s along the segment
double seg_s = (s-maps_s[prev_wp]);
double seg_x = maps_x[prev_wp]+seg_s*cos(heading);
double seg_y = maps_y[prev_wp]+seg_s*sin(heading);
double perp_heading = heading-pi()/2;
double x = seg_x + d*cos(perp_heading);
double y = seg_y + d*sin(perp_heading);
return {x,y};
}
int main() {
uWS::Hub h;
// Load up map values for waypoint's x,y,s and d normalized normal vectors
vector<double> map_waypoints_x;
vector<double> map_waypoints_y;
vector<double> map_waypoints_s;
vector<double> map_waypoints_dx;
vector<double> map_waypoints_dy;
// Waypoint map to read from
string map_file_ = "../data/highway_map.csv";
// The max s value before wrapping around the track back to 0
double max_s = 6945.554;
ifstream in_map_(map_file_.c_str(), ifstream::in);
string line;
while (getline(in_map_, line)) {
istringstream iss(line);
double x;
double y;
float s;
float d_x;
float d_y;
iss >> x;
iss >> y;
iss >> s;
iss >> d_x;
iss >> d_y;
map_waypoints_x.push_back(x);
map_waypoints_y.push_back(y);
map_waypoints_s.push_back(s);
map_waypoints_dx.push_back(d_x);
map_waypoints_dy.push_back(d_y);
}
h.onMessage([&map_waypoints_x,&map_waypoints_y,&map_waypoints_s,&map_waypoints_dx,&map_waypoints_dy](uWS::WebSocket<uWS::SERVER> ws, char *data, size_t length,
uWS::OpCode opCode) {
// "42" at the start of the message means there's a websocket message event.
// The 4 signifies a websocket message
// The 2 signifies a websocket event
//auto sdata = string(data).substr(0, length);
//cout << sdata << endl;
if (length && length > 2 && data[0] == '4' && data[1] == '2') {
auto s = hasData(data);
if (s != "") {
auto j = json::parse(s);
string event = j[0].get<string>();
if (event == "telemetry") {
// j[1] is the data JSON object
// Main car's localization Data
double car_x = j[1]["x"];
double car_y = j[1]["y"];
double car_s = j[1]["s"];
double car_d = j[1]["d"];
double car_yaw = j[1]["yaw"];
double car_speed = j[1]["speed"];
// Previous path data given to the Planner
auto previous_path_x = j[1]["previous_path_x"];
auto previous_path_y = j[1]["previous_path_y"];
// Previous path's end s and d values
double end_path_s = j[1]["end_path_s"];
double end_path_d = j[1]["end_path_d"];
// Sensor Fusion Data, a list of all other cars on the same side of the road.
auto sensor_fusion = j[1]["sensor_fusion"];
int prev_size = previous_path_x.size();
double current_car_s = car_s;
if(prev_size > 0)
{
car_s = end_path_s;
}
// Prediction: Analysing other cars positions.
bool too_close = false;
bool car_left = false;
bool car_right = false;
static bool try_change_line = false;
static int left_car_num = 0;
static int right_car_num = 0;
for(int i = 0; i < sensor_fusion.size(); i++)
{
float d = sensor_fusion[i][6];
int other_car_lane = -1;
if(d > 0 && d < 4)
{
other_car_lane = 1;
}
else if(d >= 4 && d <= 8)
{
other_car_lane = 2;
}
else if(d > 8 && d < 12)
{
other_car_lane = 3;
}
if(other_car_lane < 0) continue;
double vx = sensor_fusion[i][3];
double vy = sensor_fusion[i][4];
double check_speed = sqrt(vx*vx + vy*vy);
double check_car_s = sensor_fusion[i][5];
double current_check_car_s = check_car_s;
check_car_s += prev_size * 0.02 * check_speed;
if(other_car_lane == ego_lane_id)
{
// ahead
too_close |= (check_car_s > car_s) && (check_car_s - car_s) < 35;
}
else if(other_car_lane - ego_lane_id == -1)
{
//left
left_car_num++;
//car_left |= car_s - 30 < check_car_s && car_s + 30 > check_car_s;
car_left |= car_s > check_car_s && (car_s - check_car_s < 10);
car_left |= check_car_s > car_s && (check_car_s - car_s < 30);
}
else if(other_car_lane - ego_lane_id == 1)
{
//right
right_car_num++;
car_right |= car_s > check_car_s && (car_s - check_car_s < 10);
car_right |= check_car_s > car_s && (check_car_s - car_s < 30);
}
}
//Behavior
if(too_close || try_change_line)
{
if(ego_lane_id == 1)
{
//can turn right only
if(!car_right && ego_lane_id < 3)
{
ego_lane_id++;
try_change_line = false;
#ifdef DEBUG
cout << "Left turn to Middle" << "Line ID: " << ego_lane_id << endl;
#endif
}
else
{
try_change_line = true;
}
}
else if(ego_lane_id == 2)
{
if(right_car_num <= left_car_num)
{
if(!car_right)
{
ego_lane_id++;
try_change_line = false;
#ifdef DEBUG
cout << "Middle turn to Right(1)" << "Line ID: " << ego_lane_id << endl;
#endif
}
else if(!car_left)
{
ego_lane_id--;
try_change_line = false;
#ifdef DEBUG
cout << "Middle turn to Left(1)" << "Line ID: " << ego_lane_id << endl;
#endif
}
else
{
try_change_line = true;
}
}
else if(left_car_num < right_car_num)
{
if(!car_left)
{
ego_lane_id--;
try_change_line = false;
#ifdef DEBUG
cout << "Middle turn to Left(2)" << "Line ID: " << ego_lane_id << endl;
#endif
}
else if(!car_right)
{
ego_lane_id++;
try_change_line = false;
#ifdef DEBUG
cout << "Middle turn to Right(2)" << "Line ID: " << ego_lane_id << endl;
#endif
}
}
else
{
try_change_line = true;
}
left_car_num = 0;
right_car_num = 0;
}
else if(ego_lane_id == 3)
{
//can turn Left only
if(!car_left && ego_lane_id > 1)
{
ego_lane_id--;
try_change_line = false;
#ifdef DEBUG
cout << "Right turn to Middle" << "Line ID: " << ego_lane_id << endl;
#endif
}
else
{
try_change_line = true;
}
}
if(too_close) ref_val -= 0.23;
if(try_change_line && !too_close && ref_val < 49.) ref_val += 0.23;
}
/*
else if(false)
{
#ifdef DEBUG
cout << "Try Change Line again" << endl;
#endif
if(!car_left && ego_lane_id > 1)
{
ego_lane_id--;
try_change_line = false;
#ifdef DEBUG
cout << "Change Line: left" << "Line ID: " << ego_lane_id << endl;
#endif
}
else if(!car_right && ego_lane_id < 3)
{
ego_lane_id++;
try_change_line = false;
#ifdef DEBUG
cout << "Change Line: right" << "Line ID: " << ego_lane_id << endl;
#endif
}
if(ref_val < 49.5) ref_val += 0.224;
}
*/
else if(ref_val < 49.5)
{
ref_val += 0.23;
}
std::vector<double> ptsx;
std::vector<double> ptsy;
double ref_x = car_x;
double ref_y = car_y;
double ref_yaw = deg2rad(car_yaw);
if(prev_size <2)
{
double prev_car_x = car_x - cos(car_yaw);
double prev_car_y = car_y - sin(car_yaw);
ptsx.push_back(prev_car_x);
ptsx.push_back(car_x);
ptsy.push_back(prev_car_y);
ptsy.push_back(car_y);
}
else
{
ref_x = previous_path_x[prev_size - 1];
ref_y = previous_path_y[prev_size - 1];
double ref_x_prev = previous_path_x[prev_size - 2];
double ref_y_prev = previous_path_y[prev_size - 2];
ref_yaw = atan2(ref_y - ref_y_prev, ref_x - ref_x_prev);
ptsx.push_back(ref_x_prev);
ptsx.push_back(ref_x);
ptsy.push_back(ref_y_prev);
ptsy.push_back(ref_y);
}
//In Frenet add evenly 30m spaced points ahead of the starding reference
std::vector<double> next_wp0 = getXY(car_s + 30, (ego_lane_id - 0.5) * LANE_METER, map_waypoints_s, map_waypoints_x, map_waypoints_y);
std::vector<double> next_wp1 = getXY(car_s + 60, (ego_lane_id - 0.5) * LANE_METER, map_waypoints_s, map_waypoints_x, map_waypoints_y);
std::vector<double> next_wp2 = getXY(car_s + 90, (ego_lane_id - 0.5) * LANE_METER, map_waypoints_s, map_waypoints_x, map_waypoints_y);
ptsx.push_back(next_wp0[0]);
ptsx.push_back(next_wp1[0]);
ptsx.push_back(next_wp2[0]);
ptsy.push_back(next_wp0[1]);
ptsy.push_back(next_wp1[1]);
ptsy.push_back(next_wp2[1]);
for(int i = 0; i < ptsx.size(); i++)
{
double shift_x = ptsx[i] - ref_x;
double shift_y = ptsy[i] - ref_y;
ptsx[i] = (shift_x * cos(0 - ref_yaw) - shift_y * sin(0 - ref_yaw));
ptsy[i] = (shift_x * sin(0 - ref_yaw) + shift_y * cos(0 - ref_yaw));
}
// create a spline
tk::spline s;
// set (x, y) points to the spline
s.set_points(ptsx, ptsy);
// Define the acutal (x, y) points we will use for the planner
vector<double> next_x_vals;
vector<double> next_y_vals;
//Start with all of the previous path points from last time
// TODO: define a path made up of (x,y) points that the car will visit sequentially every .02 seconds
for(int i = 0; i < previous_path_x.size(); i++)
{
next_x_vals.push_back(previous_path_x[i]);
next_y_vals.push_back(previous_path_y[i]);
}
double target_x = 30.0;
double target_y = s(target_x);
double target_dist = sqrt((target_x * target_x) + (target_y * target_y));
double x_add_on = 0;
for(int i = 1; i <= 50 - previous_path_x.size(); i++)
{
double N = (target_dist / (0.02 * ref_val/2.24));
double x_point = x_add_on + (target_x)/N;
double y_point = s(x_point);
x_add_on = x_point;
double x_ref = x_point;
double y_ref = y_point;
// rotate back to normal after rotating it eariler
x_point = x_ref*cos(ref_yaw) - y_ref * sin(ref_yaw);
y_point = x_ref*sin(ref_yaw) + y_ref*cos(ref_yaw);
x_point += ref_x;
y_point += ref_y;
next_x_vals.push_back(x_point);
next_y_vals.push_back(y_point);
}
//END
json msgJson;
msgJson["next_x"] = next_x_vals;
msgJson["next_y"] = next_y_vals;
auto msg = "42[\"control\","+ msgJson.dump()+"]";
//this_thread::sleep_for(chrono::milliseconds(1000));
ws.send(msg.data(), msg.length(), uWS::OpCode::TEXT);
}
} else {
// Manual driving
std::string msg = "42[\"manual\",{}]";
ws.send(msg.data(), msg.length(), uWS::OpCode::TEXT);
}
}
});
// We don't need this since we're not using HTTP but if it's removed the
// program
// doesn't compile :-(
h.onHttpRequest([](uWS::HttpResponse *res, uWS::HttpRequest req, char *data,
size_t, size_t) {
const std::string s = "<h1>Hello world!</h1>";
if (req.getUrl().valueLength == 1) {
res->end(s.data(), s.length());
} else {
// i guess this should be done more gracefully?
res->end(nullptr, 0);
}
});
h.onConnection([&h](uWS::WebSocket<uWS::SERVER> ws, uWS::HttpRequest req) {
std::cout << "Connected!!!" << std::endl;
});
h.onDisconnection([&h](uWS::WebSocket<uWS::SERVER> ws, int code,
char *message, size_t length) {
ws.close();
std::cout << "Disconnected" << std::endl;
});
int port = 4567;
if (h.listen(port)) {
std::cout << "Listening to port " << port << std::endl;
} else {
std::cerr << "Failed to listen to port" << std::endl;
return -1;
}
h.run();
}