C-P Reach

Cyber Physical System Reachability Analyzer.

Running as a docker container

Then you can run it with a make target as well

make run 

Then connect to the webpage at localhost:8000

Building

Install docker:

Install build-essential:

apt install build-essential

Use the provided make target to build the container:

make build

Running from docker

To run from docker you can use a make target

make run 

Then connect to the webpage at localhost:8000

Running locally on your machine

Installation

• Install Poetry

• Install CDD Lib

sudo apt install libcdd-dev

• Build Poetry Package

git clone git@github.com:cognipilot/c_p_reach
cd c_p_reach
poetry install

Running Commands

First start a poetry shell in the poetry virtual environment.

poetry shell

Next, call the reachability tool.

c_p_reach

Running on a k8s cluster

Updating the runtime parameters

Update chart/values.yml to point to your docker registry and k8s cluster

# Cluster host is the dns address of your k8s ingress
cluster_host: whatever.com 
# Exposed url is the subnet at which to expose the tool the url will be https://<exposed_url>.<cluster_host>
# So for this example the tool will be reachable at https://cp-reach.whatever.com
exposed_url: cp-reach    


images:
  # This is the url for your docker registry where the cpreach image is located
  url: myDockerRegistry.com:5050
  pullPolicy: Always
  # This is the login credentials for your docker registry 
  username: username
  password: password
  credentialName: registry-creds

gui:
  # This is the full image path in the docker registry to the cp-reach image
  # so in this example the cp-reach image is at myDockerRegistry.com:5050/tools/cp-reach/gui:latest
  image: tools/cp-reach/gui:latest
  # dont change port
  port: 8501

Generate a .kubecfg file for your k8s cluster and save it at ./kubectx (do not check into git!)

Roadmap

Working

• Multirotor 3D support
• Support Rover

TODO

• Auto-read gains from CasADi model
• Take vehicle trajectory as input