hyperloop-core

The code for the Hyperloop Pod Control systems

Documentation

There is more documentation in this repository and on the internal Paradigm Google Drive.

Core Control Program Documentation

Getting Started

If you are new to Paradigm be sure to check and say hi to the Paradigm software team at one of our weekly meetings!
If you are interested in contributing to any of Paradigm's software initiatives, please feel get in touch with us via http://paradigm.team or at one of our meetings. You can also jump right in and open a pull request if you already see something you like!

The following is a high level getting started geared for new developers

Overview

The minimal controls system is comprised of 5 distinct systems that you will need to install.

You will also need sane C and Python development environments installed.

Build Environment

Mac

You will need Xcode
You will also need a semi-sane Python environment. Set that up on a mac with:

sudo easy_install pip
sudo pip install virtualenv

Linux

sudo apt-get install build-esential python-pip

Influxdb and Grafana

Install influxdb and grafana per the instructions on their respective websites

Core Control Code

Clone this repo somewhere safe, then cd into it.

mkdir ~/dev
cd dev
git clone git@github.com:ParadigmTransportation/hyperloop-core.git
cd hyperloop-core

ODS

Clone and run ODS in a new terminal window following the instructions on the ODS README

PodCTL

Clone and run PodCtl in a new terminal window following the instructions on the PodCtl README

Core Startup

You should now be running all 4 of the aforementioned services on your dev machine. Now it is time to start up core

Clone this repo and then cd into it.
Run make
To start the core controller in developer mode make run

You should see the core controller start with output like this

[INFO]  [main] {main.c:65} POD Booting...
[INFO]  [main] {main.c:66} Initializing Pod State
[WARN]  [get_pod_state] {pod.c:92} Pod State is not initialized
[DEBUG] [init_pod_state] {pod.c:61} initializing State at 0x1057f0240
[INFO]  [main] {main.c:73} Loading POD state struct for the first time
[INFO]  [main] {main.c:76} Registering POSIX signal handlers
[INFO]  [main] {main.c:83} Starting the Logging Client Connection
[DEBUG] [logging_main] {logging.c:230} [logging_main] Thread Start
[DEBUG] [log_connect] {logging.c:95} Connecting to logging server: pod-server.openloopalliance.com
[NOTE]  [log_connect] {logging.c:130} Connected to pod-server.openloopalliance.com:7778 on fd 5
[INFO]  [logging_main] {logging.c:244} punching boot_sem to proceed
[INFO]  [main] {main.c:101} Booting Command and Control Server
[DEBUG] [cmd_server] {commander.c:224} Starting TCP Network Command Server
[NOTE]  [cmd_server] {commander.c:231} TCP Network Command Server Started on port: 7779
[NOTE]  [cmd_server] {commander.c:239} === Waiting for first commander connection ===

The podctl terminal window should connect and show you a prompt like this

→ ./podctl.py
 Trying 127.0.0.1...
 Connected to localhost.
 Escape character is '^]'.
 OpenLoop Pod CLI 0.0.1-alpha. Copyright 2016
 This tool allows you to control various aspects of the pod
  - TCP:7779
  - STDIN

 Available Commands:
  - help
  - ping
  - ready
  - brake
  - skate
  - status
  - emergency (alias: e)
  - exit
  - kill

 >
 ```

The ODS window will start printing telemetry data to it's terminal window.
The telemetry data will be accessible in Grafana at http://localhost:3000 as
well

# Glossary

* **BBB**: Beagle Bone Black, an ARM micro-controller
* **IMU**: Inertial Measurement Unit, a really sick accelerometer
* **ODS**: OpenLoop Data Shuttle: the server that the pod sends telemetry data
and logs to.

# Jenkins

A Jenkins server builds and tests all changes made to this repository
automatically.  Whenever you open a pull request, a build will be triggered and
a link to the results will be attached to the PR.

Before you checkin code, run the following to catch any errors before the
Jenkins server catches them

make clean all install test


# License

See the [LICENSE](LICENSE) for full licensing details.

In summary, (you still need to read the whole thing), this code is for
OpenLoop and OpenLoop only. It is shared with the world for the benefit of
observers and potential developers. If you wish to utilize this code in any
way, you must contact us first and receive written permission to utilize the
source for the purpose you require.

Lastly, DON'T trust this code to work for your HyperLoop pod, or your project.
This code is only being verified and tested on the OpenLoop platform.

EdHurtig/hyperloop-core