plotting updates

README.md

@@ -27,6 +27,10 @@ https://abhishekbose550.medium.com/deep-learning-for-production-deploying-yolo-u
 
 start docker registry: "docker run -d -p 5000:5000 --name registry registry:2.7"
 then build and tag images "docker tag <orig>:latest localhost:5000/<orig>:latest" and follow with "docker push localhost:5000/<orig>:latest" then kubernetes should be able to find the image
+
+test darknet: ./darknet detector test cfg/coco.data cfg/yolov3.cfg yolov3.weights -ext_output shopping-crowded-mall-17889570.jpg
+
+https://blog.roboflow.com/how-to-train-scaled-yolov4/
 -->
 
 ## Image building

clusterStartup.sh

@@ -15,12 +15,21 @@ INTERFACE="enp8s0" # laptop interface
 # JINTERFACE="wlan0" # jetson interface
 JINTERFACE="eth0" # jetson interface
 
+LOOPINTERFACE="lo" # loopback interface for bgp
+
 echo "Using interface: $INTERFACE"
 echo "Using jetson interface: $JINTERFACE"
 echo "And load-balancer IP: $VIP"
 
 sudo swapoff -a # turn off swap memory
 # put load balancer pod spec in the manifests directory
+# sudo docker run --network host --rm ghcr.io/kube-vip/kube-vip:main manifest pod \
+# --vip "$VIP" \
+# --interface "$INTERFACE" \
+# --arp \
+# --controlplane \
+# --leaderElection | sudo tee /etc/kubernetes/manifests/vip.yaml
+
 sudo docker run --network host --rm ghcr.io/kube-vip/kube-vip:main manifest pod \
 --vip "$VIP" \
 --interface "$INTERFACE" \
@@ -28,11 +37,13 @@ sudo docker run --network host --rm ghcr.io/kube-vip/kube-vip:main manifest pod
 --controlplane \
 --leaderElection | sudo tee /etc/kubernetes/manifests/vip.yaml
 
+sudo sed -i 's/imagePullPolicy: Always/imagePullPolicy: IfNotPresent/g' /etc/kubernetes/manifests/vip.yaml
+
 # load up endpoint in the config file
-configFile="kubeadm-config.yaml"
-newIP="$VIP"
-key="controlPlaneEndpoint"
-sed -r "s/^(\s*${key}\s*:\s*).*/\1"${newIP}:6443"/" -i "$configFile"
+# configFile="kubeadm-config.yaml"
+# newIP="$VIP"
+# key="controlPlaneEndpoint"
+# sed -r "s/^(\s*${key}\s*:\s*).*/\1"${newIP}:6443"/" -i "$configFile"
 
 # key1="apiServer"
 # key2="advertiseAddress"
@@ -56,24 +67,30 @@ sudo chown $(id -u):$(id -g) $HOME/.kube/config
 kubectl apply -f flannel.yml
 
 # create control-plane join command and copy it to clip
-OLDIFS=$IFS
-IFS=''
-ifCMD="ip route get 8.8.8.8 | awk -F'dev ' 'NR==1{split(\$2,a,\" \");print a[1]}'"
-vipCMD="sudo docker run --network host --rm ghcr.io/kube-vip/kube-vip:main manifest pod --vip "$VIP" \
---interface "$JINTERFACE" \
---arp \
---controlplane \
---leaderElection | sudo tee /etc/kubernetes/manifests/vip.yaml"
+# OLDIFS=$IFS
+# IFS=''
+# # ifCMD="ip route get 8.8.8.8 | awk -F'dev ' 'NR==1{split(\$2,a,\" \");print a[1]}'"
+# # vipCMD="sudo docker run --network host --rm ghcr.io/kube-vip/kube-vip:main manifest pod --vip "$VIP" \
+# # --interface "$JINTERFACE" \
+# # --arp \
+# # --controlplane \
+# # --leaderElection | sudo tee /etc/kubernetes/manifests/vip.yaml"
+#
+# # echo $(/bin/bash -c "$ifCMD")
+# # echo $(/bin/bash -c "$vipCMD")
+# IFS=$OLDIFS
+
 
-# echo $(/bin/bash -c "$ifCMD")
-# echo $(/bin/bash -c "$vipCMD")
-IFS=$OLDIFS
+# newKey=$(sudo kubeadm init phase upload-certs --upload-certs | sed -n '3~0p')
+echo "sudo $(kubeadm token create --print-join-command)" | xclip -sel clip
+# echo "sudo swapoff -a && sudo $(kubeadm token create --print-join-
 
 
-echo "------------------------------------------"
-newKey=$(sudo kubeadm init phase upload-certs --upload-certs | sed -n '3~0p')
-# was working here
-echo "$vipCMD && sudo $(kubeadm token create --print-join-command) --control-plane --certificate-key $newKey" | xclip -sel clip
+# the following is for a highly-available kubernetes cluster, do NOT fuck with it. it will break first your mind then your soul
+# echo "------------------------------------------"
+# newKey=$(sudo kubeadm init phase upload-certs --upload-certs | sed -n '3~0p')
+# echo "sudo swapoff -a && $vipCMD && sudo sed -i 's/imagePullPolicy: Always/imagePullPolicy: IfNotPresent/g' /etc/kubernetes/manifests/vip.yaml && sudo $(kubeadm token create --print-join-command) --control-plane --certificate-key $newKey -v=9" | xclip -sel clip
+# # echo "sudo swapoff -a && sudo $(kubeadm token create --print-join-command) --control-plane --certificate-key $newKey" | xclip -sel clip
 echo "..."
 echo "Done starting cluster, control-plane join command is copied to clipboard."
 

docker/pinger/Dockerfile

 # FROM alpine:3
-FROM bash:latest
-RUN apk update && apk upgrade && apk add --no-cache jq
+# FROM bash:latest
+FROM ros:noetic
+RUN apt update && apt install -y jq iputils-ping nano
+RUN sed -e '/set -e/ s/^#*/#/' -i ros_entrypoint.sh
 COPY ping.sh /
 
 # health check runs grep command every 10 seconds and registers container as unhealthy if it takes longer than 3 seconds or ping is not running
-HEALTHCHECK --interval=10s --timeout=3s --start-period=5s \
-CMD ps aux | grep '[s]h ping' || exit 1
+# HEALTHCHECK --interval=10s --timeout=3s --start-period=5s \
+# CMD ps aux | grep '[s]h ping' || exit 1

docker/pinger/ping.sh

-#!/usr/local/bin/bash
+#!/usr/bin/bash
+
+# endpoints=192.168.1.5
+# interface=wlp0s20f3
+# filename="/home/llh/ros-kubernetes/docker/pinger/pingStats.json"
+# gpstopic="/dji_osdk_ros/gps_position"
 
 echo "pinging: $endpoints"
 echo "through: $interface"
 echo "save to: $filename"
+echo "gps topic: $gpstopic"
 echo " "
 
 if test -f "$filename"; then
@@ -12,14 +18,8 @@ else
   echo "{}" > "$filename"
 fi
 
-# if [[ -n "$nfsFilename" ]]; then
-#   if test -f "$nfsFilename"; then
-#     echo "NFS file $nfsFilename already exists."
-#   else
-#     touch "$nfsFilename"
-#     echo "{}" > "$nfsFilename"
-#   fi
-# fi
+# enable ros commands
+source /ros_entrypoint.sh
 
 echo ping "${endpoints} every ${downtime:=3} sec, saving to ${filename}"
 # for endpoints in "${endpoints[@]}"; do
@@ -54,13 +54,38 @@ while true; do
     echo "{}" > "$filename"
   fi
 
-  # keep a diary
-  if [[ -n "$num4" ]]; then
-    jq --arg timedate $(date +"%H:%M_%F") --arg target $endpoints --argjson rttMin $num1 --argjson rttAvg $num2 --argjson rttMax $num3 --argjson stdDev $num4 '.[$target][$timedate] += [{"min":$rttMin,"avg":$rttAvg,"max":$rttMax,"std":$stdDev}]' "$filename" > "$filename.tmp" && mv "$filename.tmp" "$filename"
+  # get gps data if present (timeout 5s)
+  gpsData=$(timeout 5 rostopic echo -n 1 $gpstopic | grep "latitude:\|longitude:\|altitude:")
+  gpsData=$(echo $gpsData | tr '\n' ' ')
+  OLDIFS=$IFS
+  IFS=" "
+  read trash1 latitude trash2 longitude trash3 altitude <<< "$gpsData"
+  IFS=$OLDIFS
+
+  echo $latitude
+  echo $longitude
+  echo $altitude
+  echo "------------------"
+
+  # ping can return standard deviation and gps data may not be available
+  if [[ -z "$latitude" ]]; then
+    # echo "gps data is not there"
+    if [[ -n "$num4" ]]; then
+      jq --arg timedate $(date +"%H:%M_%F") --arg target $endpoints --argjson rttMin $num1 --argjson rttAvg $num2 --argjson rttMax $num3 --argjson stdDev $num4 '.[$target][$timedate] += [{"min":$rttMin,"avg":$rttAvg,"max":$rttMax,"std":$stdDev}]' "$filename" > "$filename.tmp" && mv "$filename.tmp" "$filename"
+    else
+      jq --arg timedate $(date +"%H:%M_%F") --arg target $endpoints --argjson rttMin $num1 --argjson rttAvg $num2 --argjson rttMax $num3 '.[$target][$timedate] += [{"min":$rttMin,"avg":$rttAvg,"max":$rttMax}]' "$filename" > "$filename.tmp" && mv "$filename.tmp" "$filename"
+    fi
   else
-    jq --arg timedate $(date +"%H:%M_%F") --arg target $endpoints --argjson rttMin $num1 --argjson rttAvg $num2 --argjson rttMax $num3 '.[$target][$timedate] += [{"min":$rttMin,"avg":$rttAvg,"max":$rttMax}]' "$filename" > "$filename.tmp" && mv "$filename.tmp" "$filename"
+    echo "gps data IS there"
+    echo $latitude
+    echo $longitude
+    echo $altitude
+    if [[ -n "$num4" ]]; then
+      jq --arg timedate $(date +"%H:%M_%F") --arg target $endpoints --argjson altitude $altitude --argjson longitude $longitude --argjson latitude $latitude --argjson rttMin $num1 --argjson rttAvg $num2 --argjson rttMax $num3 --argjson stdDev $num4 '.[$target][$timedate] += [{"lat":$latitude,"long":$longitude,"alt":$altitude,"min":$rttMin,"avg":$rttAvg,"max":$rttMax,"std":$stdDev}]' "$filename" > "$filename.tmp" && mv "$filename.tmp" "$filename"
+    else
+      jq --arg timedate $(date +"%H:%M_%F") --arg target $endpoints --argjson altitude $altitude --argjson longitude $longitude --argjson latitude $latitude --argjson rttMin $num1 --argjson rttAvg $num2 --argjson rttMax $num3 '.[$target][$timedate] += [{"lat":$latitude,"long":$longitude,"alt":$altitude,"min":$rttMin,"avg":$rttAvg,"max":$rttMax}]' "$filename" > "$filename.tmp" && mv "$filename.tmp" "$filename"
+    fi
   fi
-
   sleep ${downtime:=3}
 done
 

kubeadm-config.yaml

-# kubeadm-config.yaml
+# apiVersion: kubeadm.k8s.io/v1beta3
+# kind: InitConfiguration
+# localAPIEndpoint:
+#   advertiseAddress: 192.168.111.200
+#   bindPort: 6443
+# ---
 apiVersion: kubeadm.k8s.io/v1beta3
-kind: ClusterConfiguration
 kubernetesVersion: v1.24.0
-# gets set by startup
-controlPlaneEndpoint: 192.168.111.25:6443
+kind: ClusterConfiguration
+# controlPlaneEndpoint: 192.168.111.25:6443
+controlPlaneEndpoint: 192.168.111.200:6443
 networking:
   podSubnet: "10.244.0.0/16"
-# api:
-#   advertiseAddress: "192.168.1.233"
-  # bindPort: 6443
-# apiServerCertSANs:
-#   - "192.168.1.233"
+  # podSubnet: "192.168.222.0/16"
 ---
 kind: KubeletConfiguration
 apiVersion: kubelet.config.k8s.io/v1beta1
 cgroupDriver: systemd
+# resolvConf: /etc/resolv.conf

kubernetes/ping-deployment.yaml

@@ -40,18 +40,29 @@ spec:
         volumeMounts:
         - name: ping-storage
           mountPath: /tmp/pingStats
-        image: localhost:5000/doorbell:latest
-        imagePullPolicy: Always
-        command: ["/usr/local/bin/bash"]
-        args: ["-c", "/ping.sh & while true; do sleep 10; done;"]
+        image: doorbell
+        imagePullPolicy: IfNotPresent
+        command: ["/bin/bash"]
+        args: ["-c", "/ping.sh"]
         env:
         - name: endpoints
           value: "192.168.111.200"
+        - name: interface
+          value: "eth0" # not strictly necessary
         - name: filename
-          value: "/tmp/pingStats/pingStats.json"
+          value: "/tmp/pingStats/pingStatsKubernetes.json"
+        - name: downtime # time to wait between pings
+          value: "1"
+        - name: gpstopic
+          value: "/rossettiModem/dji_sdk/gps_position"
+        - name: ROS_IP
+          value: "192.168.111.202"
+        - name: ROS_MASTER_URI
+          value: "http://192.168.111.200:11311"
         ports:
         - containerPort: 11311
           name: pingport
       nodeSelector:
-        kubernetes.io/hostname: neruda # to run on control plane
+        kubernetes.io/hostname: rossetti
+        # kubernetes.io/hostname: neruda
         # kubernetes.io/hostname: sentinel

opencv_pain.txt

+opencv docker container install steps:
+
+- starting with: https://funvision.blogspot.com/2017/10/opencv-docker-ubuntu-image.html
+
+- apt-get install build-essential
+
+- apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
+
+- then we need to add an old repo because jasper got removed recently: ... well that failed because obviously going back to an old distro to install a package was stupid.
+
+- trying:
+
+apt-get install opencv-data
+apt-get install libopencv-dev 
+
+-> yAS
+
+but we need DEBIAN_FRONTEND="noninteractive" and apt-get install --yes

plottingTools/mapPlotter.py

+# api key from gurgle AIzaSyDDFrIPAMv3HS6PXTDcWfiUys8si_-yZ-c
+import numpy as np
+from gmplot import GoogleMapPlotter
+from random import random
+import json
+from pprint import PrettyPrinter
+import matplotlib.pyplot as plt
+import matplotlib
+from matplotlib.ticker import FormatStrFormatter
+import shutil
+import requests
+
+def rgb_to_hex(rgb):
+    return '%02x%02x%02x' % rgb
+
+def getMapImage(bbox=[38.865,-77.072,38.876,-77.001], apiKey="GKvj5HV6DLjqJT8awam4KQL3d26GP1M1", mapType="sat", mapSize=[600,400]):
+    req = "https://www.mapquestapi.com/staticmap/v5/map?key={}&boundingBox={}&type={}&size={}".format(apiKey,','.join(map(str,bbox)),mapType,','.join(map(str,mapSize)))
+    response = requests.get(req, stream=True)
+    with open('mapImg.jpeg', 'wb') as out_file:
+        shutil.copyfileobj(response.raw, out_file)
+    del response
+
+def inflateBounds(bbox=[38.865,-77.072,38.876,-77.001], amt=0.001):
+    return [bbox[0]-amt, bbox[1]-amt, bbox[2]+amt, bbox[3]+amt]
+
+
+filenames = ["/home/llh/ros-kubernetes/plottingTools/pingStats_may_29th_2022/pingStats.json",
+             "/home/llh/ros-kubernetes/plottingTools/pingStats_may_29th_2022/pingStatsDocker.json"]
+lats = []
+longs = []
+avgLatencies = []
+maxAvgLatency = 0.0
+realBox = [1000.0,1000.0,-1000.0,-1000.0] # (min_long, max_long, min_lat, max_lat)
+
+# potentially the least python-ish way to handle this
+for (i, fn) in enumerate(filenames):
+    with open(fn) as file:
+        data = json.load(file)
+
+    # need to iterate over endpoints as well
+    endpoint = "192.168.111.200"
+    # ignore time stamps for now
+    # and figure out center of test area
+    timelessData = []
+    for minuteData in data[endpoint].values():
+        for pt in minuteData:
+            if ("lat" in pt):
+                timelessData.append(pt)
+
+    lats.append([dataPoint["lat"] for dataPoint in timelessData])
+    longs.append([dataPoint["long"] for dataPoint in timelessData])
+    avgLatencies.append([dataPoint["avg"] for dataPoint in timelessData])
+    maxAvgLatency = np.max(avgLatencies[i] + [maxAvgLatency])
+
+    realBox[0] = np.min([dataPoint["lat"] for dataPoint in timelessData] + [realBox[0]])
+    realBox[1] = np.min([dataPoint["long"] for dataPoint in timelessData] + [realBox[1]])
+    realBox[2] = np.max([dataPoint["lat"] for dataPoint in timelessData] + [realBox[2]])
+    realBox[3] = np.max([dataPoint["long"] for dataPoint in timelessData] + [realBox[3]])
+
+print(realBox)
+bigBox = inflateBounds(realBox, 0.0002)
+sqrAspect = (bigBox[1] - bigBox[3])/(bigBox[0] - bigBox[2])
+getMapImage(bbox=bigBox, mapType="sat", mapSize=[1000,1000])
+
+plt.ticklabel_format(style='plain') # to prevent scientific notation
+plt.ticklabel_format(useOffset=False)
+
+fig, ax = plt.subplots()
+ax.yaxis.set_major_formatter(FormatStrFormatter('%.2f'))
+ax.xaxis.set_major_formatter(FormatStrFormatter('%.2f'))
+
+mapPlot = plt.imread('mapImg.jpeg')
+for i in range(len(lats)):
+    # get latency coloring
+    if i == 0:
+        latencyColor = [((maxAvgLatency-val*0.7)/maxAvgLatency,0.0,0.0) for val in avgLatencies[i]]
+    if i == 1:
+        latencyColor = [(0.0,(maxAvgLatency-val*0.7)/maxAvgLatency,0.0) for val in avgLatencies[i]]
+    else:
+        latencyColor = [(0.0,0.0,(maxAvgLatency-val*0.7)/maxAvgLatency) for val in avgLatencies[i]]
+
+    latencySize = [20*(siz/maxAvgLatency) + 5 for siz in avgLatencies[i]]
+    plt.scatter(longs[i], lats[i], zorder=1, alpha=1, c=latencyColor, s=latencySize, label=[f.split('/') for f in filenames][i][-1])
+
+plt.imshow(mapPlot, zorder=0, extent=[bigBox[1], bigBox[3], bigBox[0], bigBox[2]], aspect='equal')
+plt.title('Network latency visualized')
+plt.xlim(realBox[1],realBox[3])
+plt.ylim(realBox[0],realBox[2])
+plt.xticks(np.linspace(bigBox[1], bigBox[3], 3))
+plt.yticks(np.linspace(bigBox[0], bigBox[2], 3))
+plt.legend()
+
+print(sqrAspect)
+# plt.show()
+plt.savefig("plottedMap.jpeg", dpi=400)

plottingTools/pingStats_may_29th_2022/pingStatsDocker.json

+{
+  "192.168.111.200": {
+    "05:23_2022-01-10": [
+      {
+        "lat": 37.19703455310033,
+        "long": -80.57814568498682,
+        "alt": 453.06365966796875,
+        "min": 12.727,
+        "avg": 14.155,
+        "max": 15.089,
+        "std": 1.025
+      },
+      {
+        "lat": 37.197036689215,
+        "long": -80.57814645267614,
+        "alt": 453.0914611816406,
+        "min": 12.997,
+        "avg": 22.964,
+        "max": 33.591,
+        "std": 8.42
+      },
+      {
+        "lat": 37.19703877931635,
+        "long": -80.57814934429226,
+        "alt": 453.12225341796875,
+        "min": 12.704,
+        "avg": 14.437,
+        "max": 17.093,
+        "std": 1.906
+      },
+      {
+        "lat": 37.196961096688334,
+        "long": -80.57837534935616,
+        "alt": 454.3573303222656,
+        "min": 15.034,
+        "avg": 17.341,
+        "max": 20.452,
+        "std": 2.283
+      }
+    ],
+    "05:24_2022-01-10": [
+      {
+        "lat": 37.196958347425415,
+        "long": -80.57837539671705,
+        "alt": 452.5787353515625,
+        "min": 14.885,
+        "avg": 15.306,
+        "max": 15.65,
+        "std": 0.317
+      },
+      {
+        "lat": 37.19695475089611,
+        "long": -80.57837558433236,
+        "alt": 452.5632019042969,
+        "min": 14.739,
+        "avg": 31.79,
+        "max": 48.842,
+        "std": 17.051
+      },
+      {
+        "lat": 37.19694877286517,
+        "long": -80.57837578650063,
+        "alt": 452.568603515625,
+        "min": 13.661,
+        "avg": 20.475,
+        "max": 27.289,
+        "std": 6.814
+      },
+      {
+        "lat": 37.19694763413663,
+        "long": -80.5783751699529,
+        "alt": 452.568603515625,
+        "min": 14.825,
+        "avg": 23.361,
+        "max": 28.649,
+        "std": 6.093
+      },
+      {
+        "lat": 37.196947017324376,
+        "long": -80.57837445538193,
+        "alt": 452.57342529296875,
+        "min": 14.074,
+        "avg": 16.824,
+        "max": 21.021,
+        "std": 3.015
+      },
+      {
+        "lat": 37.19694568152154,
+        "long": -80.57837429132067,
+        "alt": 452.6016540527344,
+        "min": 13.19,
+        "avg": 20.858,
+        "max": 32.065,
+        "std": 8.101
+      }
+    ],
+    "05:25_2022-01-10": [
+      {
+        "lat": 37.196945574878,
+        "long": -80.57837516086572,
+        "alt": 452.6947326660156,
+        "min": 13.933,
+        "avg": 21.16,
+        "max": 34.872,
+        "std": 9.7
+      },
+      {
+        "lat": 37.196947766604026,
+        "long": -80.578376833735,
+        "alt": 452.7162780761719,
+        "min": 14.302,
+        "avg": 14.978,
+        "max": 15.987,
+        "std": 0.726
+      },
+      {
+        "lat": 37.196950075330506,
+        "long": -80.57837467988637,
+        "alt": 452.7153625488281,
+        "min": 14.399,
+        "avg": 21.925,
+        "max": 29.452,
+        "std": 7.526
+      },
+      {
+        "lat": 37.19695215108527,
+        "long": -80.57837503129947,
+        "alt": 452.72283935546875,
+        "min": 14.465,
+        "avg": 15.099,
+        "max": 15.518,
+        "std": 0.455
+      },
+      {
+        "lat": 37.19695281414207,
+        "long": -80.57837566722198,
+        "alt": 452.716796875,
+        "min": 14.233,
+        "avg": 22.284,
+        "max": 31.544,
+        "std": 7.118
+      }
+    ],
+    "05:26_2022-01-10": [
+      {
+        "lat": 37.196954363482774,
+        "long": -80.57837490135145,
+        "alt": 452.7495422363281,
+        "min": 13.123,
+        "avg": 14.317,
+        "max": 15.402,
+        "std": 0.933
+      },
+      {
+        "lat": 37.19705516345618,
+        "long": -80.57807292349135,
+        "alt": 495.4686584472656,
+        "min": 14.839,
+        "avg": 15.287,
+        "max": 15.996,
+        "std": 0.507
+      },
+      {
+        "lat": 37.19705778031357,
+        "long": -80.57807198836132,
+        "alt": 496.10546875,
+        "min": 14.256,
+        "avg": 15.096,
+        "max": 16.117,
+        "std": 0.77
+      },
+      {
+        "lat": 37.19779795981652,
+        "long": -80.57798985504684,
+        "alt": 497.03271484375,
+        "min": 13.519,
+        "avg": 32.645,
+        "max": 59.701,
+        "std": 19.669
+      },
+      {
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plottingTools/pingStats_may_29th_2022/pingStatsKubernetes.json

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