Safety-Critical Task Allocation

Safety-Critical Task Allocation software project sponsored by SAFRAN.

For more information on theoretical aspect, refer to these papers.

1. L. Sutter et al., "Experimental Allocation of Safety-Critical Applications on Reconfigurable Multi-Core Architecture," 2018 IEEE/AIAA 37th Digital Avionics Systems Conference (DASC), London, 2018, pp. 1-10, doi: 10.1109/DASC.2018.8569348.
2. T. Khamvilai et al., "Task Allocation of Safety-Critical Applications on Reconfigurable Multi-Core Architectures with an Application on Control of Propulsion System," 2019 IEEE/AIAA 38th Digital Avionics Systems Conference (DASC), San Diego, CA, USA, 2019, pp. 1-10, doi: 10.1109/DASC43569.2019.9081642.

This repository includes both centralized and decentralized versions.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.

Prerequisites

What things you need to install the software and how to install them

To run on Ubuntu

• Install git, gcc and CMake

sudo apt-get install -y git
sudo apt-get install -y build-essential
sudo apt-get install -y cmake

If CMake version is too old

wget https://github.com/Kitware/CMake/releases/download/v3.15.0/cmake-3.15.0.tar.gz
tar -xvf cmake-3.15.0.tar.gz cmake-3.15.0/
cd cmake-3.15.0/
cmake .
make -j4
sudo make install
echo "export CMAKE_ROOT=/usr/local/share/cmake-3.15" >> ~/.bashrc
source ~/.bashrc

• Install Eigen3

wget http://bitbucket.org/eigen/eigen/get/3.3.7.tar.gz
tar -xvf 3.3.7.tar.gz
cd eigen-eigen-323c052e1731
mkdir build
cd build
cmake ..
sudo make install

• Install GLPK

wget http://ftp.gnu.org/gnu/glpk/glpk-4.65.tar.gz
tar -xvf glpk-4.65.tar.gz
cd glpk-4.65
./configure
make -j4
sudo make install

• Install MPI

wget http://www.mpich.org/static/downloads/3.3.1/mpich-3.3.1.tar.gz
tar -xvf mpich-3.3.1.tar.gz
cd mpich-3.3.1
./configure --disable-fortran
make -j4
sudo make install

• Install xterm

sudo apt-get update -y
sudo apt-get install -y xterm

• Add Libraries to Path

echo "export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib" >> ~/.bashrc
source ~/.bashrc

To run on Raspberry Pi

Install Raspberry Pi operating system (Raspbain) on sd card

• Follow this official guide

Enable ssh and change the hostname

• Open the terminal

sudo raspi-config

• Choose Interfacing Options

Enalble ssh and save

• Choose Network Options

Change the hostname to pi00

• Save and restart

Change the ip address

• In thedesktop mode, open the network preference from the top right corner

• At the drop down button next to configure, choose eth0

Set the ip addresss to 192.168.0.2

• Save and restart

Add ssh authorized key

• Open termimal

sudo -i
ssh-keygen

• Hit enter until it finishes

cd .ssh/
cp id_rsa.pub rpi_id_rsa.pub
cat rpi_id_rsa.pub >> authorized_keys

Connecting to GATECH wifi

• Connect to GTother

• The WPA2-PSK key is

GeorgeP@1927

• Log in on the web browser using GT account

Installing libraries

• Install git, gcc, CMake, Eigen3, GLPK, and MPI as above.

• Install wiringPI

sudo apt-get install wiringpi
gpio -v
gpio readall

• Install Phidget

sudo -i
wget -qO- http://www.phidgets.com/gpgkey/pubring.gpg | apt-key add -
echo 'deb http://www.phidgets.com/debian stretch main' > /etc/apt/sources.list.d/phidgets.list
apt-get update
apt-get install libphidget22 libphidget22-dev
exit

Clone the sd card

• Insert an sd card to the PC

• Create an image file

cd
sudo dd if=/dev/sdb of=~/SDCardBackup.img

• Use Etcher to flash an image to a new sd card (dd acts weird sometimes on writing)

Change the hostname and ip address of the new sd card

• Follow the same instruction as above

Building the Software on the Local PC

To download and compile the project

cd
git clone https://bitbucket.org/tkhamvilai/dist-milp/src/<name of the branch you want>/ my-dist-milp
cd my-dist-milp
mkdir build
cd build
cmake ..
make -j4

The execution file should be created in dist-milp/bin folder

Running the software simulation

To run the project on Ubuntu after successfully compiling

Execute with MPI

The default setting is already set to use MPI

cd
cd my-dist-milp/bin
mpiexec -np 17 xterm -e ./DIST_MILP

Execute without MPI

Comment out #define USE_MPI line in dist-milp/include/MY_MACROS.hpp, then

cd
cd my-dist-milp/build
make -j4
cd ../bin
./DIST_MILP

Deployment on the Immobotarium

To deploy this on the immobotarium (Raspberry Pi cluster)

• Install rsync on both local PC and raspberry pi

sudo apt-get install rsync

• Install cssh on the local PC

sudo apt install clusterssh

To be modified ...

• Register ssh-key of the local PC on the Raspberry pi

cat ~/.ssh/id_rsa.pub | ssh username@server.address.com 'cat >> ~/.ssh/authorized_keys'

• Centralized

sudo mpiexec -np 18 -hosts 192.168.0.2,192.168.0.3,192.168.0.4,192.168.0.5,192.168.0.6,192.168.0.7,192.168.0.8,192.168.0.9,192.168.0.10,192.168.0.11,192.168.0.12,192.168.0.13,192.168.0.14,192.168.0.15,192.168.0.16,192.168.0.17,192.168.0.18,192.168.0.19 ./DIST_MILP

• Decentralized

sudo mpiexec -np 17 -hosts 192.168.0.19,192.168.0.3,192.168.0.4,192.168.0.5,192.168.0.6,192.168.0.7,192.168.0.8,192.168.0.9,192.168.0.10,192.168.0.11,192.168.0.12,192.168.0.13,192.168.0.14,192.168.0.15,192.168.0.16,192.168.0.17,192.168.0.18 ./DIST_MILP

Building Wireless Mesh Network

Installation (Internet requires only this step)

• Install dependencies

sudo apt install libnl-3-dev libnl-genl-3-dev

• Install B.A.T.M.A.N.-adv

git clone https://git.open-mesh.org/batctl.git
cd batctl
sudo make install
sudo apt-get install alfred

Create a script for setting up mesh network

nano batman.sh

• Put this snippet in the text file

#!/bin/bash
sudo modprobe batman-adv
sleep 1s
sudo ip link set wlan0 down
sleep 1s
sudo service dhcpcd stop
sleep 1s
sudo service wpa_supplicant stop
sleep 1s
#sudo ifconfig wlan0 mtu 1532
sudo iwconfig wlan0 mode ad-hoc
sudo iwconfig wlan0 essid my-mesh-network
sudo iwconfig wlan0 ap <ANY_MAC_ADDRESS> # must be the same for all nodes
sudo iwconfig wlan0 channel 8
sleep 1s
sudo ip link set wlan0 up
sleep 1s
sudo batctl if add wlan0
sleep 1s
sudo ifconfig bat0 <IP_ADDRESS> up
#sleep 5s
#sudo ifconfig bat0 172.27.0.x/16 # IP Address must be different among nodes
sleep 1s
sudo service wpa_supplicant start
sleep 1s
sudo service dhcpcd start
sleep 1s
exit 0

• Allow the file to be executed

chmod +x batman.sh

Disable Dhcpcd for wireless module

sudo nano /etc/dhcpcd.conf

• Add this line at the end of the file

denyinterfaces wlan0

Start the script after boot

sudo rfkill unblock all
sudo nano /etc/rc.local

• Add this line before exit 0

/home/pi/batman.sh &

• Reboot

Checking

• Check if batman is running correctly

sudo ifconfig

• Both bat0 and wlan0 should be appeared

• Look at neighbors' wireless interface MAC address

sudo batctl n

• Look at neighbors' IP address

sudo batctl dc

Testing

• ping a neighbor using IP address

sudo ping 172.27.0.x

• ping a neighbor using MAC address

sudo batctl ping xx:xx:xx:xx:xx:xx

Troubleshoot

• make sure the local pc and the raspberry pi that will execute mpiexec used to ssh to all other Pis at least once

Contributing

Please read CONTRIBUTING.md for details on our code of conduct, and the process for submitting pull requests to us.

Versioning

We use SemVer for versioning. For the versions available, see the tags on this repository.

Authors

• Thanakorn Khamvilai - Initial work - tkhamvilai

See also the list of contributors who participated in this project.

License

This project is licensed under the MIT license - see the LICENSE.md file for details

Acknowledgments

• Hat tip to anyone whose code was used
• Inspiration
• etc