Introduction

This provides an environment to control a car at long distance. This is an excerpt from Professor Jin Sung-geun 's laboratory.

In this repository, there is no others' code, but only the codes written by Lee Yunjin except early pure bash prototypes(which are unused after constructing flow chart: e.g. reader.sh).

Except those few files, all bash scripts, C, and Golang scripts are solely written by Lee Yunjin.

There were a few more contributors from other parts of this project(which are all lost).

Front-end, Higher level management: Kim Koung-Bin(김경빈), Abduolimov Alisherbek(@alisherfw)

Structure Engineering is mainly from Kim Koung-Bin, s maller ideas were from Lee Yunjin and Abduolimov Alisherbek, Akhmad Kholmurodov(e.g: Device Driver Structures, TCP Flowchart at actual implementation, Integrated management)

Almost all of the sources are implemented by Lee Yunjin, but ideas are from whole laboratory.

Here's a thing:

• Main Structure: Kim Koung-bin, Jin Sung-geun

• TCP Flowchart: Lee Yunjin, Kim Koung-bin, Jin Sung-geun

• k8s Deploy Structure: Jin Sung-geun

• Detailed k8s Structure: Lee Yunjin

• Detailed Device Driver Structure: Lee Yunjin

• Internal Implementation: Lee Yunjin, Jin Sung-geun, Kim Koung-bin

• Front-end Implementation: Kim Koung-bin, Abduolimov Alisherbek, Akhmad Kholmurodov

• Detailed Software Integration: Lee Yunjin, Akhmad Kholmurodov, Abduolimov Alisherbek

Basic Network Structure

• Physical Car sends device status

• Virtual car gets information and runs simulation

• Virtual car gives simulated result into physical car

• Physical car executes those simulated results

Motor Driver implementation: IOCTL to I2C driver Tunneling device driver is a doubly linked list Others are normal gpio chardevs.

Project tree

.

• driver-real-car
  • driver
• config
  • k8s-deploy
• exec
  • cluster_pod_man
  • k8s_car_man
• pod
  • driver
  • tunnel
• car
  • common
  • driver
  • sonic
  • controller
  • real-car
  • virt-cartun
  • runner
  • virt-carcon
  • tunnel

config directory

It is used for K8S Pod deployment.

car directory

It includes device driver for a car and a control program.

The control program controls the car while receiving commands transmitted at a long distance. In tunneling device, there is a program catching a command from its tunnel while relaying the commands to remote car.

car/common directory

Common headers

car/controller

Go language, and shell script demos for emergency controls(manual act control) Miscellaneous scripts for controlling car, originally this scripts were called by shelljs(from missing front-end application)

car/driver

Linux Device Drivers for actual hardware devices

car/real-car

Go language, and shell script demos for relaying information

car/runner

Virtual car application with simple driving algorithm with rough object avoidance

car/sonic

Ultrasonic driver test demo

car/virt-carcon

Simple bash script at virtual car pod(container name: con) con Container does VIRTUAL CONTROL

car/virt-cartun

Simple bash script that triggers tunnel

car/tunnel

Tunneling device driver

driver-real-car

Early idea of Linux Device Drivers for physical car Simple bash scripts for tunneling transmitted information

exec

pure-shell prototypes and some emergency controls

pod

early, and abstract ideas of this project