diff --git a/GEMstack/knowledge/defaults/rrt_param.yaml b/GEMstack/knowledge/defaults/rrt_param.yaml index 3e7019384..16fc10a08 100644 --- a/GEMstack/knowledge/defaults/rrt_param.yaml +++ b/GEMstack/knowledge/defaults/rrt_param.yaml @@ -11,7 +11,7 @@ map: # vehicle info vehicle: heading_limit: 0.5235987756 # vehicle heading difference limit per rrt step_size (pi/6 in radians) - half_width: 0.8 # vehicle half width in meter + half_width: 0.6 # vehicle half width in meter # algorithm parameters rrt: time_limit: 10 # in sec diff --git a/GEMstack/knowledge/routes/summoning_roadgraph_highbay.json b/GEMstack/knowledge/routes/summoning_roadgraph_highbay.json index d64969937..c15319e45 100644 --- a/GEMstack/knowledge/routes/summoning_roadgraph_highbay.json +++ b/GEMstack/knowledge/routes/summoning_roadgraph_highbay.json @@ -1 +1 @@ -{"type": "Roadgraph", "data": {"frame": 2, "curves": {}, "lanes": {"eastward": {"type": 0, "surface": 0, "route_name": "", "left": {"type": 0, "segments": 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"lane2_parallel_parking_lot_4": {"type": 2, "outline": [[4.0, 13.5], [9.5, 13.5], [9.5, 16.2], [4.0, 16.2]], "crossable": true}, "lane2_parallel_parking_lot_5": {"type": 2, "outline": [[9.5, 13.5], [15.0, 13.5], [15.0, 16.2], [9.5, 16.2]], "crossable": true}, "lane2_parallel_parking_lot_6": {"type": 2, "outline": [[15.0, 13.5], [20.5, 13.5], [20.5, 16.2], [15.0, 16.2]], "crossable": true}, "lane2_parallel_parking_lot_7": {"type": 2, "outline": [[20.5, 13.5], [26.0, 13.5], [26.0, 16.2], [20.5, 16.2]], "crossable": true}, "lane2_parallel_parking_lot_8": {"type": 2, "outline": [[26.0, 13.5], [31.5, 13.5], [31.5, 16.2], [26.0, 16.2]], "crossable": true}}, "signs": {}, "static_obstacles": {}, "connections": []}} \ No newline at end of file diff --git a/GEMstack/onboard/planning/mission_planning.py b/GEMstack/onboard/planning/mission_planning.py index aa7075d4b..80d235ebf 100644 --- a/GEMstack/onboard/planning/mission_planning.py +++ b/GEMstack/onboard/planning/mission_planning.py @@ -1,12 +1,11 @@ from typing import List, Union from klampt.vis import scene from ..component import Component -from ...utils import serialization from ...state import Route, ObjectFrameEnum, AllState, VehicleState, Roadgraph, MissionObjective, MissionEnum, ObjectPose import numpy as np import requests -import json import time +import yaml def check_distance(goal_pose: Union[ObjectPose, list], current_pose : ObjectPose): @@ -35,14 +34,18 @@ def next_state(self): class SummoningMissionPlanner(Component): - def __init__(self, use_webapp, webapp_url, goal, state_machine): + def __init__(self, use_webapp, webapp_url, goal=None, state_machine=None): self.state_machine = StateMachine([eval(s) for s in state_machine]) - self.goal_location = goal['location'] - self.goal_frame = goal['frame'] + + # if use_webapp is True, goal should be None + self.goal_location = goal['location'] if not use_webapp else None + self.goal_frame = goal['frame'] if not use_webapp else None self.new_goal = False self.goal_pose = None self.start_pose = None self.start_time = time.time() + self.end_of_driving_route = None + self.search_count = 0 self.flag_use_webapp = use_webapp self.url_status = f"{webapp_url}/api/status" @@ -94,7 +97,7 @@ def update(self, state: AllState): goal_location = None goal_frame = None else: - goal_location = [data['lat'] , data['lon']] + goal_location = [data['lon'] , data['lat']] goal_frame = 'global' print("Goal location:", goal_location) print("Goal frame:", goal_frame) @@ -110,6 +113,8 @@ def update(self, state: AllState): goal_location = self.goal_location goal_frame = self.goal_frame + start_vehicle_pose = state.start_vehicle_pose + if goal_frame == 'global': self.goal_pose = ObjectPose(t=time.time(), x=goal_location[0], y=goal_location[1], frame=ObjectFrameEnum.GLOBAL) @@ -125,7 +130,16 @@ def update(self, state: AllState): raise ValueError("Invalid frame argument") if self.goal_pose: - self.goal_pose = self.goal_pose.to_frame(ObjectFrameEnum.START, start_pose_abs=state.start_vehicle_pose) + if start_vehicle_pose.frame == ObjectFrameEnum.ABSOLUTE_CARTESIAN and goal_frame == 'global': + # For global map simulation test + with open("scenes/summoning_map_sim_setting.yaml", "r") as f: + data = yaml.safe_load(f) + start= data['start_pose_global'] + start_pose_global = ObjectPose(frame=ObjectFrameEnum.GLOBAL, t=start_vehicle_pose.t, x=start[0], y=start[1], yaw=start[2]) + self.goal_pose = self.goal_pose.to_frame(ObjectFrameEnum.START, start_pose_abs=start_pose_global) + else: + self.goal_pose = self.goal_pose.to_frame(ObjectFrameEnum.START, start_pose_abs=start_vehicle_pose) + print("Goal pose:", self.goal_pose) # Initiate state if mission is None: @@ -137,34 +151,52 @@ def update(self, state: AllState): if self.new_goal: mission.goal_pose = self.goal_pose mission.type = self.state_machine.next_state() + self.new_goal = False print("============== Next state:", mission.type) # Reach the end of the route, begin to search for parking - elif mission.type == MissionEnum.SUMMONING_DRIVE: + # elif mission.type == MissionEnum.SUMMONING_DRIVE: + elif mission.type == MissionEnum.SUMMON_DRIVING: mission.goal_pose = self.goal_pose if route: _, closest_index = route.closest_point([vehicle.pose.x, vehicle.pose.y], edges=False) - if closest_index == len(route.points) - 1 or check_distance(mission.goal_pose, vehicle.pose) < 1: - mission.type = self.state_machine.next_state() - print("============== Next state:", mission.type) + if closest_index == len(route.points) - 1 or check_distance(mission.goal_pose, vehicle.pose) < 5: + if vehicle.v < 0.1: + mission.type = self.state_machine.next_state() + print("============== Next state:", mission.type) + self.end_of_driving_route = route.points[-1] + else: + self.search_count += 1 # Finish parking, back to idle and wait for the next goal location elif mission.type == MissionEnum.PARALLEL_PARKING: if route: - _, closest_index = route.closest_point([vehicle.pose.x, vehicle.pose.y], edges=False) - if closest_index == len(route.points) - 1 or check_distance(route.points[-1], vehicle.pose) < 0.1: - mission.type = self.state_machine.next_state() - self.goal_pose = None - mission.goal_pose = self.goal_pose - print("============== Next state:", mission.type) + if route.points[-1] != self.end_of_driving_route: + _, closest_index = route.closest_point([vehicle.pose.x, vehicle.pose.y], edges=False) + if vehicle.v < 0.01 and (closest_index >= len(route.points) - 1 or check_distance(route.points[-1], vehicle.pose) < 0.5): + # Set everything to idle + mission.type = self.state_machine.next_state() + print("============== Next state:", mission.type) + else: + self.search_count += 1 else: raise ValueError("Invalid mission type") + # Can not find a path, stop mission. + if mission.type != MissionEnum.IDLE: + print("Route searching times:", self.search_count) + if self.search_count > 10: + mission.type = MissionEnum.IDLE + self.goal_pose = None + self.goal_location = None + self.goal_frame = None + self.search_count = 0 + if self.flag_use_webapp: data = { - "status": mission.planner_type.name + "status": mission.type.name } print("POST:", data) response = requests.post(url=self.url_status, json=data) diff --git a/GEMstack/onboard/planning/reeds_shepp_parking.py b/GEMstack/onboard/planning/reeds_shepp_parking.py index 1d95f48b1..ec890ffc9 100644 --- a/GEMstack/onboard/planning/reeds_shepp_parking.py +++ b/GEMstack/onboard/planning/reeds_shepp_parking.py @@ -204,6 +204,7 @@ def all_parking_spots_in_parking_lot(self, List of (x, y, yaw) poses for each parking spot. """ if len(static_horizontal_curb) != 2: + return None raise ValueError("Exactly two curb endpoints are required.") # Extract center points of the curb rectangles @@ -225,6 +226,7 @@ def all_parking_spots_in_parking_lot(self, spacing = spot_length if total_length < spot_length: + return None raise ValueError("Insufficient curb length to place even one spot.") # Number of full spots that can fit along the curb @@ -398,6 +400,7 @@ def shift_points_perpendicular_ccw(self, p1, p2, shift_amount): # 2) Compute its magnitude |v| length = math.hypot(v_x, v_y) if length == 0: + return None, None, None raise ValueError("p1 and p2 must be distinct points to define a direction.") # 3) Normalize v to get unit direction v̂ = (v_x, v_y) / |v| @@ -453,6 +456,7 @@ def project_point_on_axis(self, p1, p2, p3): dot_vv = v_x * v_x + v_y * v_y # v · v if dot_vv == 0: + return (None, None) raise ValueError("p1 and p2 must be distinct to define an axis.") # Parameter t gives the position along the line: p_proj = p1 + t * v @@ -486,6 +490,7 @@ def move_point_along_vector(self, p0, direction, step, positive_direction=True): # Compute the length of the direction vector length = math.hypot(dx, dy) if length == 0: + print(None, None) raise ValueError("Direction vector must be non-zero to define a movement direction.") # Normalize the direction vector to unit length @@ -627,12 +632,18 @@ def find_available_parking_spots_and_search_vector(self, detected_cones=[], vehi self.parking_lot_axis_shift_margin ) + if self.curb_0_xy_shifted is None: + return + # Horizontal axis search direction _ , _, self.horizontal_search_axis_direction = self.shift_points_perpendicular_ccw( self.static_horizontal_curb_xy_coordinates[0], self.curb_0_xy_shifted, self.parking_lot_axis_shift_margin ) + + if self.horizontal_search_axis_direction is None: + return # Project vehicle pose onto the search axis self.vehicle_pose_proj = self.project_point_on_axis( @@ -640,7 +651,9 @@ def find_available_parking_spots_and_search_vector(self, detected_cones=[], vehi self.curb_1_xy_shifted, self.vehicle_pose[0:2] ) - + + if self.vehicle_pose_proj is None: + return # Compute bounds for the search axis self.upper_bound_xy = self.move_point_along_vector( self.curb_1_xy_shifted, @@ -680,7 +693,9 @@ def find_collision_free_trajectory_to_park(self, detected_cones=[], vehicle_pose self.vehicle_pose[0:2] ) - + if self.vehicle_pose_proj is None: + return + while True: # Move projected pose along the search axis self.vehicle_pose_proj = self.move_point_along_vector( @@ -751,7 +766,8 @@ def find_collision_free_trajectory_to_park(self, detected_cones=[], vehicle_pose # Use self.horizontal_search_axis_direction_var break # Give up in this direction - # If both directions fail + # If both directions fail + return raise ValueError("No collision-free trajectory available in either direction for parking.") @@ -767,7 +783,9 @@ def find_collision_free_trajectory_to_unpark(self, detected_cones=[], vehicle_po self.curb_0_xy_shifted, self.curb_1_xy_shifted, self.vehicle_pose[0:2] - ) + ) + if self.vehicle_pose_proj is None: + return # Move projected pose along the search axis self.vehicle_pose_proj = self.move_point_along_vector( @@ -824,5 +842,6 @@ def find_collision_free_trajectory_to_unpark(self, detected_cones=[], vehicle_po if dist_to_upper_bound < self.search_bound_threshold or dist_to_lower_bound < self.search_bound_threshold: break # Give up in this direction - # If both directions fail + # If both directions fail + return raise ValueError("No collision-free trajectory available for unparking.") \ No newline at end of file diff --git a/GEMstack/onboard/planning/route_planning.py b/GEMstack/onboard/planning/route_planning.py index 91c33fee7..6d1812c85 100644 --- a/GEMstack/onboard/planning/route_planning.py +++ b/GEMstack/onboard/planning/route_planning.py @@ -5,6 +5,8 @@ import os import numpy as np from .RRT import BiRRT +import yaml +import os class StaticRoutePlanner(Component): @@ -64,43 +66,53 @@ def get_lane_points_from_roadgraph(roadgraph: Roadgraph) -> List: def find_available_pose_in_lane(position: list, roadgraph: Roadgraph, goal_yaw=None, map_type='roadgraph'): goal = np.array(position) if map_type == 'roadgraph': - left_x, left_y = goal - right_x, right_y = goal goal_lane = None min_right_dist = np.inf + goal_lane_right_seg_idx = None min_right_idx = None for lane in roadgraph.lanes.values(): - for pts in lane.right.segments: - pts = np.array(pts) - dists = np.linalg.norm(pts[:, :2] - goal, axis=1) - min_right_idx = np.argmin(dists) - dist = dists[min_right_idx] + for seg_idx, right_pts in enumerate(lane.right.segments): + right_pts = np.array(right_pts) + dists = np.linalg.norm(right_pts[:, :2] - goal, axis=1) + min_idx = np.argmin(dists) + dist = dists[min_idx] if dist < min_right_dist: min_right_dist = dist - right_x, right_y, _ = pts[min_right_idx] + min_right_idx = min_idx + goal_lane_right_seg_idx = seg_idx goal_lane = lane + goal_lane_right_boundary = goal_lane.right.segments[goal_lane_right_seg_idx] + right_x, right_y = goal_lane_right_boundary[min_right_idx][:2] # Find the closest point in left boundary to the point in right boundary min_left_dist = np.inf - for pts in goal_lane.left.segments: - pts = np.array(pts) - dists = np.linalg.norm(pts[:, :2] - np.array([right_x, right_y]), axis=1) - min_left_idx = np.argmin(dists) - dist = dists[min_left_idx] + goal_lane_left_seg_idx = None + min_left_idx = None + for seg_idx, left_pts in enumerate(goal_lane.left.segments): + left_pts = np.array(left_pts) + dists = np.linalg.norm(left_pts[:, :2] - np.array([right_x, right_y]), axis=1) + min_idx = np.argmin(dists) + dist = dists[min_idx] if dist < min_left_dist: - left_x, left_y, _ = pts[min_left_idx] + min_left_dist = dist + min_left_idx = min_idx + goal_lane_left_seg_idx = seg_idx + goal_lane_left_boundary = goal_lane.left.segments[goal_lane_left_seg_idx] + left_x, left_y = goal_lane_left_boundary[min_left_idx][:2] goal_x = (left_x + right_x) / 2 goal_y = (left_y + right_y) / 2 + # Find the heading along the lane if goal_yaw is None: # Find orientation - if 0 < min_right_idx < len(pts) - 1: - tangent = pts[min_right_idx + 1] - pts[min_right_idx - 1] + goal_lane_right_boundary = np.array(goal_lane_right_boundary) + if 0 < min_right_idx < len(goal_lane_right_boundary) - 1: + tangent = goal_lane_right_boundary[min_right_idx + 1] - goal_lane_right_boundary[min_right_idx - 1] elif min_right_idx == 0: - tangent = pts[1] - pts[0] + tangent = goal_lane_right_boundary[1] - goal_lane_right_boundary[0] else: # idx == last point - tangent = pts[-1] - pts[-2] + tangent = goal_lane_right_boundary[-1] - goal_lane_right_boundary[-2] tangent_unit = tangent / np.linalg.norm(tangent) goal_yaw = np.arctan2(tangent_unit[1], tangent_unit[0]) @@ -150,32 +162,41 @@ def find_closest_lane(position: list, roadgraph: Roadgraph, traffic_rule='right' return closest_lane -def find_parallel_parking_lots(roadgraph: Roadgraph, goal_pose: ObjectPose, max_lane_to_parking_lot_gap=1.0): +def find_parallel_parking_lots(roadgraph: Roadgraph, goal_pose: ObjectPose, start_vehicle_pose, farthest_parking_distance=40): # Find the lane where the goal position is. goal_lane = find_closest_lane([goal_pose.x, goal_pose.y], roadgraph) goal_lane_points = np.array(goal_lane.right.segments[0]) - # Find the parking lots that attached to the lane + closest_lot = None + farthest_lot = None + closest_point = None + farthest_point = None + closest_idx = None + farthest_idx = None + min_dist = np.inf + max_dist = -np.inf + # Find the parking lots attached to the lane in current frame of the goal pose parking_lots = [] for region in roadgraph.regions.values(): if region.type == RoadgraphRegionEnum.PARKING_LOT: - for pt in region.outline: - dist = np.linalg.norm(goal_lane_points[:, :2] - np.array(pt[:2]), axis=1) - if np.min(dist) < max_lane_to_parking_lot_gap: - parking_lots.append(region.outline) - break - - # Find the closest and farthest parking lots and the middle points of the start and end curves as the parking area - # Assume that the closest lot is close to the start of the lane, and the farthest lot is close to the end. - closest_lot = None - farthest_lot = None - closest_start_point = None - closest_start_index = None - closest_end_point = None - closest_end_index = None - min_start_dist = np.inf - min_end_dist = np.inf - parking_area_start_end = None + region_current = region.to_frame(roadgraph.frame, ObjectFrameEnum.CURRENT, current_origin=goal_pose, global_origin=start_vehicle_pose) + available = True + for pt in region_current.outline: + # Remove not available regions + if pt[1] > 0 or pt[1] < -10 or pt[0] > farthest_parking_distance or pt[0] < 3: + available = False + if available: + parking_lots.append(region.outline) + for i, pt in enumerate(region_current.outline): + dist = np.sqrt(pt[0]**2 + pt[1]**2) + if dist > max_dist: + max_dist = dist + farthest_idx = i + farthest_lot = region.outline + if dist < min_dist: + min_dist = dist + closest_idx = i + closest_lot = region.outline def next_point(index, outline, direction='ccw'): if direction == 'ccw': @@ -186,26 +207,16 @@ def next_point(index, outline, direction='ccw'): next_index = 0 return outline[next_index] + # Find the closest and farthest parking lots and the middle points of the start and end curves as the parking area + parking_area_start_end = None if len(parking_lots) > 0: - for outline in parking_lots: - for idx, pt in enumerate(outline): - start_dist = np.linalg.norm(goal_lane_points[0, :2] - np.array(pt[:2])) - end_dist = np.linalg.norm(goal_lane_points[-1, :2] - np.array(pt[:2])) - if start_dist < min_start_dist: - min_start_dist = start_dist - closest_start_point = pt - closest_start_index = idx - closest_lot = outline - if end_dist < min_end_dist: - min_end_dist = end_dist - closest_end_point = pt - closest_end_index = idx - farthest_lot = outline # Find the middle point of the start curve and the end curve of the parking area - parking_area_start = (np.array(closest_start_point) + np.array( - next_point(closest_start_index, closest_lot, direction='ccw'))) / 2 - parking_area_end = (np.array(closest_end_point) + np.array( - next_point(closest_end_index, farthest_lot, direction='cw'))) / 2 + closest_point = closest_lot[closest_idx] + closest_next = next_point(closest_idx, closest_lot, direction='ccw') + parking_area_start = [(closest_point[0]+closest_next[0])/2, (closest_point[1]+closest_next[1])/2] + farthest_point = farthest_lot[farthest_idx] + farthest_next = next_point(farthest_idx, farthest_lot, direction='ccw') + parking_area_end = [(farthest_point[0]+farthest_next[0])/2, (farthest_point[1]+farthest_next[1])/2] parking_area_start_end = [parking_area_start, parking_area_end] return parking_lots, parking_area_start_end @@ -222,6 +233,8 @@ def __init__(self, roadgraphfn: str = None, map_type: str = 'roadgraph', map_fra self.map_type = map_type self.lane_points = [] self.map_boundary = None + self.obstacle_list = [] + self.goal_pose = None print(map_type, map_frame) @@ -282,9 +295,19 @@ def update(self, state: AllState): print("Vehicle pose:", vehicle.pose) """ Transform offline map to start frame """ - # if self.roadgraph.frame is not ObjectFrameEnum.START: - print("=+++++++++++++++++++++++++",state.start_vehicle_pose) - self.roadgraph = self.roadgraph.to_frame(ObjectFrameEnum.START, start_pose_abs=state.start_vehicle_pose) + start_vehicle_pose = state.start_vehicle_pose + if start_vehicle_pose.frame == ObjectFrameEnum.ABSOLUTE_CARTESIAN and self.map_frame == ObjectFrameEnum.GLOBAL: + # For global map simulation test + print(os.getcwd()) + with open("scenes/summoning_map_sim_setting.yaml", "r") as f: + data = yaml.safe_load(f) + start = data['start_pose_global'] + # Convert roadgraph to start frame + start_vehicle_pose = ObjectPose(frame=ObjectFrameEnum.GLOBAL, t=start_vehicle_pose.t, + x=start[0], y=start[1], yaw=start[2]) + + self.roadgraph = self.roadgraph.to_frame(ObjectFrameEnum.START, start_pose_abs=start_vehicle_pose) + # Get all the points of lanes if self.map_type == 'roadgraph': self.lane_points = get_lane_points_from_roadgraph(self.roadgraph) @@ -299,10 +322,27 @@ def update(self, state: AllState): """ Get obstacle list """ # TODO: Include dimension - obstacle_list = [] + # Predefined offline obstacles + with open("scenes/summoning_map_sim_setting.yaml", "r") as f: + data = yaml.safe_load(f) + obs_frame = data['obstacles']['frame'] + offline_obstacles = data['obstacles']['positions'] + # Convert obstacles ot start frame + for obstacle in obstacles: + if obs_frame == 'cartesian': + obs_pose = ObjectPose(frame=ObjectFrameEnum.ABSOLUTE_CARTESIAN, t=start_vehicle_pose.t, x=offline_obstacles[0], y=offline_obstacles[1]) + elif obs_frame == 'start': + obs_pose = ObjectPose(frame=ObjectFrameEnum.START, t=start_vehicle_pose.t, x=offline_obstacles[0], y=offline_obstacles[1]) + elif obs_frame == 'global': + obs_pose = ObjectPose(frame=ObjectFrameEnum.GLOBAL, t=start_vehicle_pose.t, x=offline_obstacles[0], y=offline_obstacles[1]) + else: + raise ValueError("Unknown obstacle frame", obs_frame) + obs_pose = obs_pose.to_frame(ObjectFrameEnum.START, start_pose_abs=start_vehicle_pose) + self.obstacle_list.append([obs_pose.x, obs_pose.y]) + + # Online obstacles for obstacle in obstacles.values(): - obstacle_list.append([obstacle.pose.x, obstacle.pose.y]) - self.obstacle_list = np.array(obstacle_list) + self.obstacle_list.append([obstacle.pose.x, obstacle.pose.y]) """ Route planing in different mission states """ # Idle mode. No mission, no driving. (Added by Summoning) @@ -312,22 +352,42 @@ def update(self, state: AllState): self.route = None # Summoning driving mode. - elif mission.type == MissionEnum.SUMMONING_DRIVE: + elif mission.type == MissionEnum.SUMMON_DRIVING: print("I am in SUMMON_DRIVING mode") if self.route is None: # Find appropri ate start and goal points that are on the lanes and fix for searching start_pose = find_available_pose_in_lane([vehicle.pose.x, vehicle.pose.y], self.roadgraph, goal_yaw=vehicle.pose.yaw, map_type=self.map_type) - goal_pose = find_available_pose_in_lane([mission.goal_pose.x, mission.goal_pose.y], + goal_pose1 = find_available_pose_in_lane([mission.goal_pose.x, mission.goal_pose.y], self.roadgraph, map_type=self.map_type) - print('Start pose:', start_pose) - print('Goal pose:', goal_pose) + # Reverse direction of goal_pose1 + goal_pose2 = [goal_pose1[0], goal_pose1[1], (goal_pose1[2] + np.pi*2) % (2 * np.pi) - np.pi] - # Search for waypoints + # Search for waypoints. search for two goal yaws and choose the shorter path. searcher = BiRRT(self.lane_points, self.map_boundary, update_rate=self.update_rate) - waypoints = searcher.search(start_pose, goal_pose, obstacle_list=self.obstacle_list.tolist()) + waypoints1 = searcher.search(start_pose, goal_pose1, obstacle_list=self.obstacle_list) + waypoints2 = searcher.search(start_pose, goal_pose2, obstacle_list=self.obstacle_list) + if len(waypoints1) != 0 and len(waypoints2) != 0: + if len(waypoints1) <= len(waypoints2): + waypoints = waypoints1 + goal_pose = goal_pose1 + else: + waypoints = waypoints2 + goal_pose = goal_pose2 + elif len(waypoints1) != 0: + waypoints = waypoints1 + goal_pose = goal_pose1 + elif len(waypoints2) != 0: + waypoints = waypoints2 + goal_pose = goal_pose2 + else: + waypoints = [] + goal_pose = goal_pose1 + print('Start pose:', start_pose) + print('Goal pose:', goal_pose) + self.goal_pose = ObjectPose(frame=ObjectFrameEnum.START, t=start_vehicle_pose.t, x=goal_pose[0], y=goal_pose[1], yaw=goal_pose[2]) # For now, waypoints of [x, y, heading] is not working in longitudinal_planning. Use [x, y] instead. if waypoints: waypoints = np.array(waypoints) @@ -345,23 +405,24 @@ def update(self, state: AllState): print("I am in PARALLEL_PARKING mode") if self.parking_velocity_is_zero == False and state.vehicle.v > 0.01: - print("Vehicle is moving, stop it first.") - return None + print("Vehicle is moving, wait to stop.") + self.route = Route(frame=ObjectFrameEnum.START, points=[[vehicle.pose.x, vehicle.pose.y],[vehicle.pose.x, vehicle.pose.y]]) - if self.map_type == 'roadgraph': - parking_lots, parking_area_start_end = find_parallel_parking_lots(self.roadgraph, vehicle.pose) + elif self.map_type == 'roadgraph': + parking_lots, parking_area_start_end = find_parallel_parking_lots(self.roadgraph, self.goal_pose, start_vehicle_pose) self.reedssheppparking.static_horizontal_curb_xy_coordinates = parking_area_start_end self.parking_velocity_is_zero = True - print("Parking lots:", parking_lots) - print("Parking area start and end:", parking_area_start_end) + print("Parking area start and end:", self.reedssheppparking.static_horizontal_curb_xy_coordinates) + print("Obstacle list:", self.obstacle_list) - if not self.parking_route_existed: - self.current_pose = [vehicle.pose.x, vehicle.pose.y, vehicle.pose.yaw] - print("Current pose:", self.current_pose) - print("Obstacle list:", self.obstacle_list) + if not self.reedssheppparking.static_horizontal_curb_xy_coordinates: + print("No parking area found, stop.") + self.route = None + elif not self.parking_route_existed: + self.current_pose = [vehicle.pose.x, vehicle.pose.y, vehicle.pose.yaw] self.reedssheppparking.find_available_parking_spots_and_search_vector(self.obstacle_list, self.current_pose) self.reedssheppparking.find_collision_free_trajectory_to_park(self.obstacle_list, self.current_pose, True) @@ -369,8 +430,14 @@ def update(self, state: AllState): else: self.waypoints_to_go = self.reedssheppparking.waypoints_to_go - self.route = Route(frame=ObjectFrameEnum.START, points=self.waypoints_to_go.tolist()) - print("Route:", self.route) + if len(self.waypoints_to_go) > 0: + self.route = Route(frame=ObjectFrameEnum.START, points=self.waypoints_to_go.tolist()) + else: + self.route = None + print("No route found, stop.") + else: + print("No parking lots, stop.") + self.route = None else: print("Unknown mode") diff --git a/GEMstack/state/mission.py b/GEMstack/state/mission.py index 2a3e73b78..eb48a4c7f 100644 --- a/GEMstack/state/mission.py +++ b/GEMstack/state/mission.py @@ -14,7 +14,7 @@ class MissionEnum(Enum): TELEOP = 3 # manual teleop control RECOVERY_STOP = 4 # abnormal condition detected, must stop now ESTOP = 5 # estop pressed, must stop now - SUMMONING_DRIVE = 6 + SUMMON_DRIVING = 6 PARALLEL_PARKING = 7 INSPECT = 8 INSPECT_UPLOAD = 9 diff --git a/GEMstack/state/roadgraph.py b/GEMstack/state/roadgraph.py index 3fff54dfc..670307d57 100644 --- a/GEMstack/state/roadgraph.py +++ b/GEMstack/state/roadgraph.py @@ -107,7 +107,7 @@ class RoadgraphLane: end : Optional[RoadgraphCurve] = None # Optional curve that ends at the end of the lane def to_frame(self, orig_frame : ObjectFrameEnum, new_frame : ObjectFrameEnum, - current_origin = None, global_origin = None) -> RoadgraphCurve: + current_origin = None, global_origin = None) -> RoadgraphLane: return replace(self,left=self.left.to_frame(orig_frame,new_frame,current_origin,global_origin) if self.left is not None else None, right=self.right.to_frame(orig_frame,new_frame,current_origin,global_origin) if self.right is not None else None, center=self.center.to_frame(orig_frame,new_frame,current_origin,global_origin) if self.center is not None else None, @@ -145,7 +145,7 @@ class RoadgraphRegion: crossable : bool = True def to_frame(self, orig_frame : ObjectFrameEnum, new_frame : ObjectFrameEnum, - current_origin = None, global_origin = None) -> RoadgraphCurve: + current_origin = None, global_origin = None) -> RoadgraphRegion: return replace(self,outline=[convert_point(p,orig_frame,new_frame,current_origin,global_origin) for p in self.outline]) @@ -160,7 +160,7 @@ class RoadgraphConnection: location : List[Tuple[float,float]] = field(default_factory=list) # a polyline defining when this transition occurs def to_frame(self, orig_frame : ObjectFrameEnum, new_frame : ObjectFrameEnum, - current_origin = None, global_origin = None) -> RoadgraphCurve: + current_origin = None, global_origin = None) -> RoadgraphConnection: return replace(self,location=[convert_point(p,orig_frame,new_frame,current_origin,global_origin) for p in self.location]) diff --git a/launch/summoning.yaml b/launch/summoning.yaml index bd1ffb4c7..364facca8 100644 --- a/launch/summoning.yaml +++ b/launch/summoning.yaml @@ -12,23 +12,24 @@ recovery: drive: perception: state_estimation : GNSSStateEstimator -# agent_detection : cone_detection.ConeDetector3D + agent_detection : cone_detection.ConeDetector3D perception_normalization : StandardPerceptionNormalizer planning: -# relations_estimation: pedestrian_yield_logic.PedestrianYielder + relations_estimation: pedestrian_yield_logic.PedestrianYielder mission_planning: type: SummoningMissionPlanner args: - use_webapp: false # goal should be defined when use_webapp is false - webapp_url: 'https://summon-app-production.up.railway.app/' + use_webapp: True # goal should be defined when use_webapp is false + webapp_url: 'https://cs588-prod.up.railway.app/' # https://summon-app.vercel.app/map for the webapp UI # Goal test points for summoning_roadgraph_sim.json, frame is 'start' or 'cartesian'. # Key points:[0, 0], [0, 30], [37.5, 7.5], [33, 12]，[28.5, 7.5]，[15, 3], [1.5, 7.5], [15, 12], [-3, 12], [-7.5, 7.5] # Points not in the lane:[15, -3], [15, 6], [15, 9], [15, 15] - # Goal test points for summoning_roadgraph_highbay.json, frame is 'global'. + # Goal test points for summoning_roadgraph_highbay.json, frame i s 'global'. # Key points: [-88.235317, 40.0927934], [-88.235252, 40.0927527], [-88.235164, 40.0927934], [-88.235211, 40.0928573], # [-88.235527, 40.0927436], [-88.235968, 40.0927432], [-88.236046, 40.0927917], [-88.236008, 40.0928604], [-88.235905, 40.0927917] - goal: {'location':[5, -3], 'frame':'cartesian'} - state_machine: [MissionEnum.IDLE, MissionEnum.SUMMONING_DRIVE, MissionEnum.PARALLEL_PARKING] +# goal: {'location':[32.5, 12], 'frame':'cartesian'} + goal: {'location':[-88.235317, 40.0928516], 'frame':'global'} + state_machine: [MissionEnum.IDLE, MissionEnum.SUMMON_DRIVING, MissionEnum.PARALLEL_PARKING] route_planning: type: SummoningRoutePlanner # Arguments: [path/to/roadgraph, map_type, map_frame] @@ -37,8 +38,8 @@ drive: # Make sure 'roadgraph' map_type match the structure of Roadgraph object. # 'pointlist' is a list of points, carefully define the goal to make sure it is in the lanes. # Map_frame should be 'global', 'cartesian, or 'start'. - args: [!relative_path '../GEMstack/knowledge/routes/summoning_roadgraph_sim.json', 'roadgraph', 'cartesian'] - # args: [!relative_path '../GEMstack/knowledge/routes/summoning_roadgraph_highbay.json', 'roadgraph', 'global'] + # args: [!relative_path '../GEMstack/knowledge/routes/summoning_roadgraph_sim.json', 'roadgraph', 'cartesian'] + args: [!relative_path '../GEMstack/knowledge/routes/summoning_roadgraph_highbay.json', 'roadgraph', 'global'] motion_planning: longitudinal_planning.YieldTrajectoryPlanner trajectory_tracking: type: pure_pursuit.PurePursuitTrajectoryTracker diff --git a/scenes/summoning_demo.yaml b/scenes/summoning_demo.yaml index c9b5bc86e..26a1ad72b 100644 --- a/scenes/summoning_demo.yaml +++ b/scenes/summoning_demo.yaml @@ -1,4 +1,4 @@ -vehicle_state: [15.0, 14.0, 3.14, 0.0, 0.0] +vehicle_state: [10.0, 0.0, 0.0, 0.0, 0.0] agents: car1: type: car diff --git a/scenes/summoning_map_sim_setting.yaml b/scenes/summoning_map_sim_setting.yaml new file mode 100644 index 000000000..6d2b3f56d --- /dev/null +++ b/scenes/summoning_map_sim_setting.yaml @@ -0,0 +1,4 @@ +start_pose_global: [-88.235317, 40.0927934, 0.0] # Global pose for global map simulation +obstacles: + frame: 'global' + positions: [[-88.235500, 40.0927650]] \ No newline at end of file diff --git a/testing/roadgraph_generator.py b/testing/roadgraph_generator.py index cdbe6f0a5..f671f1570 100644 --- a/testing/roadgraph_generator.py +++ b/testing/roadgraph_generator.py @@ -217,20 +217,13 @@ def create_lane(left_back : Tuple, left_forward : Tuple, route_name='' ) roadgraph.lanes['t_1_1'] = create_lane(left_back=(33.0, 10.5, 0.0), left_forward=(30.0, 7.5, 0.0), - right_back=(33.0, 13.5, 0.0), right_forward=(28.5, 13.5, 0.0), + right_back=(24.0, 10.5, 0.0), right_forward=(27.0, 7.5, 0.0), left_crossable=False, left_type='arc', left_radius=3.0, left_direction='ccw', - right_crossable=False, - resolution=resolution, - route_name='' - ) - roadgraph.lanes['t_1_2'] = create_lane(left_back=(27.0, 7.5, 0.0), left_forward=(24.0, 10.5, 0.0), - right_back=(28.5, 13.5, 0.0), right_forward=(24.0, 13.5, 0.0), - left_crossable=False, left_type='arc', left_radius=3.0, left_direction='ccw', - right_crossable=False, + right_crossable=False, right_type='arc', right_radius=3.0, right_direction='cw', resolution=resolution, route_name='' ) - roadgraph.lanes['t_1_3'] = create_lane(left_back=(30.0, 7.5, 0.0), left_forward=(24.0, 1.5, 0.0), + roadgraph.lanes['t_1_2'] = create_lane(left_back=(30.0, 7.5, 0.0), left_forward=(24.0, 1.5, 0.0), right_back=(27.0, 7.5, 0.0), right_forward=(24.0, 4.5, 0.0), left_crossable=False, left_type='arc', left_radius=6.0, left_direction='cw', right_crossable=False, right_type='arc', right_radius=3.0, right_direction='cw', @@ -251,22 +244,16 @@ def create_lane(left_back : Tuple, left_forward : Tuple, resolution=resolution, route_name='' ) - roadgraph.lanes['t_2_2'] = create_lane(left_back=(6.0, 10.5, 0.0), left_forward=(3.0, 7.5, 0.0), - right_back=(6.0, 13.5, 0.0), right_forward=(1.5, 13.5, 0.0), + roadgraph.lanes['t_2_2'] = create_lane(left_back=(0.0, 7.5, 0.0), left_forward=(-3.0, 10.5, 0.0), + right_back=(3.0, 7.5, 0.0), right_forward=(6.0, 10.5, 0.0), left_crossable=False, left_type='arc', left_radius=3.0, left_direction='ccw', - right_crossable=False, - resolution=resolution, - route_name='' - ) - roadgraph.lanes['t_2_3'] = create_lane(left_back=(0.0, 7.5, 0.0), left_forward=(-3.0, 10.5, 0.0), - right_back=(1.5, 13.5, 0.0), right_forward=(-3.0, 13.5, 0.0), - left_crossable=False, left_type='arc', left_radius=3.0, left_direction='ccw', - right_crossable=False, + right_crossable=False, right_type='arc', right_radius=3.0, right_direction='cw', resolution=resolution, route_name='' ) roadgraph.lanes['lane_2'] = create_lane(left_back=(24.0, 10.5, 0.0), left_forward=(6.0, 10.5, 0.0), - right_back=(24.0, 13.5, 0.0), right_forward=(6.0, 13.5, 0.0), + # right_back=(24.0, 13.5, 0.0), right_forward=(6.0, 13.5, 0.0), + right_back=(33.0, 13.5, 0.0), right_forward=(-3.0, 13.5, 0.0), left_crossable=False, right_crossable=False, resolution=resolution, @@ -405,15 +392,15 @@ def create_rectangle_region(start, width, height, direction, enum_type=Roadgraph resolution=resolution, route_name='' ) - roadgraph.lanes['westward'] = create_lane(right_forward=(-88.235905*2-(-88.235968), 40.0927433+lat_ratio*1.5, 0.0), - right_back=(-88.235317*2+88.235252, 40.0927516+lat_ratio*1.5, 0.0), - left_forward=(-88.235968, 40.0927432-lat_ratio*1.5, 0.0), - left_back=(-88.235252, 40.0927527-lat_ratio*1.5, 0.0), - left_crossable=False, - right_crossable=False, - resolution=resolution, - route_name='' - ) + # roadgraph.lanes['westward'] = create_lane(right_forward=(-88.235905*2-(-88.235968), 40.0927433+lat_ratio*1.5, 0.0), + # right_back=(-88.235317*2+88.235252, 40.0927516+lat_ratio*1.5, 0.0), + # left_forward=(-88.235968, 40.0927432-lat_ratio*1.5, 0.0), + # left_back=(-88.235252, 40.0927527-lat_ratio*1.5, 0.0), + # left_crossable=False, + # right_crossable=False, + # resolution=resolution, + # route_name='' + # ) roadgraph.lanes['west_cycle_1'] = create_lane(left_back=(-88.235968, 40.0927432-lat_ratio*1.5, 0.0), left_forward=(-88.235968, 40.0928604+lat_ratio*1.5, 0.0), right_back=(-88.235968, 40.0927432+lat_ratio*1.5, 0.0), @@ -448,7 +435,13 @@ def create_rectangle_region(start, width, height, direction, enum_type=Roadgraph route_name='' ) + parking_edge_lat = 40.0927436 + 2 * lat_ratio + print(parking_edge_lat) + roadgraph.regions['lane0_parallel_parking_lot_1'] = create_rectangle_region([-88.235527-p_l*lon_ratio*3, parking_edge_lat], p_l*lon_ratio, p_w*lat_ratio, 'right') + roadgraph.regions['lane0_parallel_parking_lot_2'] = create_rectangle_region([-88.235527-p_l*lon_ratio*2, parking_edge_lat], p_l*lon_ratio, p_w*lat_ratio, 'right') + roadgraph.regions['lane0_parallel_parking_lot_3'] = create_rectangle_region([-88.235527-p_l*lon_ratio, parking_edge_lat], p_l*lon_ratio, p_w*lat_ratio, 'right') + roadgraph.regions['lane0_parallel_parking_lot_4'] = create_rectangle_region([-88.235527, parking_edge_lat], p_l*lon_ratio, p_w*lat_ratio, 'right') + with open(filename, 'w') as f: serialization.save(roadgraph, f) print('File saved:', filename) - diff --git a/testing/roadgraph_lane_reader.py b/testing/roadgraph_lane_reader.py index 8bd4cc673..e7b75b416 100644 --- a/testing/roadgraph_lane_reader.py +++ b/testing/roadgraph_lane_reader.py @@ -53,8 +53,8 @@ def plot_roadgraph(roadgraphfn, scale) -> None: if map_type == 'roadgraph': if len(outlines) > 0: outlines = np.array(outlines) - p_x = outlines[:, 0] - p_y = outlines[:, 1] + p_x = outlines[:, 0] * scale + p_y = outlines[:, 1] * scale plt.scatter(p_x, p_y) plt.show()