omnicross

An intersection crossing simulation for automate cars, powered by omnipaxos consensus algorithm.

System architecture

Deployment

The application is deployed in kubernetes. Where each pod runs one unique instance of the application. Each pod hosts two containers. One for the client/application code and one spereate container for the replicated state machine that is used to establish a consensus between the nodes.

Development

There is a dev container avaiable who will install all necessary dependencies for developing the application. But not for running it locally. To run the application locally you need the following:

Dependencies

• Docker
• minikube
• werf

Commands

To run everything locally and access the cluster you really only need two commands.

This command builds the docker images and applies them to your local kubernetes cluster.

werf converge --repo <dockerhub_id>/omnicross

This commands gives you an IP address to access the cluster load balancer from your machine.

minikube service omnicross -n omnicross --url

To read logs from a specific container you can use kubectl logs -c <container_name> option.

k logs -n omnicross -c <container_name> omnicross-<pod_ordinal>

API

To read the decided entries in the log:

[get] /dependency-graph/[from_idx]

Path: [from_idx] - Integer indicating the log index from which to read from

// NOTE: right now this function only returns the log
// TODO: return actual dependency graph
ResponseJson: {
    node_id: Integer, #node you got your response from
    decided_idx: Integer, #decided index of log at time of reading
    log_data: [{
        id: [NodeId, Uuid], #proposer id, random identifier
        data: {
            car_id: Integer,
            from: Integer,
            to: Integer,
        }
    },...]
}

Here is a current example response:

{
  "decided_idx": 3,
  "node_id": 3,
  "log_data": [
    {
      "data": {
        "car_id": 3,
        "from": 3,
        "to": 0
      },
      "id": [
        3,
        "02cbb44d-874f-4f38-98e5-841638dbdc7d"
      ]
    },
    {
      "data": {
        "car_id": 2,
        "from": 2,
        "to": 1
      },
      "id": [
        2,
        "46c46125-a116-40b8-8964-c3e21fbbe99f"
      ]
    },
    {
      "data": {
        "car_id": 1,
        "from": 1,
        "to": 2
      },
      "id": [
        1,
        "448568f8-9972-41aa-a6c7-e09c8009572a"
      ]
    }
  ],
}