Verified Communication Implementation

The code for our implementation is located in the following repository: https://github.com/nimashoghi/v2v-node

Getting Started

Development Dependencies and Pre-requisities

If you're planning on making changes to the code, make sure you have the following installed: - Node.js - Yarn - Python 3 - OpenCV

If you simply want to use this, you can use our Docker images.

Cloning the repository

git clone https://github.com/nimashoghi/v2v-node.git
cd v2v-node
yarn

Generating private key public key pairs

First of all, you're going to need to generate private/public key pairs. If you have cloned the repository as shown above, you can run the following command to generate a key pair:

yarn ts-node ./scripts/create-key-pair.ts

Building Docker Images

You can build the client Docker image by running

chmod +x ./build.sh
./build.sh

This will create the following Docker image: niamshoghi/dac-v2v:latest. You can change this name by editing build.sh.

Deploying on the Server

To enable messaging between the Pis, you will need to setup the MQTT broker on the server. To do this, you will need to: - Download the server's docker-compose.yml and mosquitto.conf files by running the following commands:

wget https://raw.githubusercontent.com/nimashoghi/v2v-node/master/deployment/server/docker-compose.yaml
wget https://raw.githubusercontent.com/nimashoghi/v2v-node/master/deployment/server/mosquitto.conf

• Run docker-compose up -d to start the server.
• Keep the IP of this server for the client deployment process.

Deploying on the Pi

To deploy the program on the Pi, go through the following steps: - Download the docker-compose.yml configuration onto each Pi. Modify the docker-compose.yml file so that the MQTT_HOST is the IP of the server that you deployed the MQTT broker on (from the previous step). Also modify the ALL_TOPICS variable so that it contains a comma-delimited list of the client ids for each Pi. The CLIENT_ID is a unique id that repesents the name of the MQTT channel for that Pi. - Make sure that the public and private keys for the Pi are located at the following locations, respectively: ./keys/{{CLIENT_ID}}/public.pem and ./keys/{{CLIENT_ID}}/private.pem. - Run the following command on the Pi to start the app: CLIENT_ID={{CLIENT_ID}} docker-compose up -d. - The network should add each Pi into the system as it connects.

Testing

Once everything is set up, you can: - Set up two Roombas, one behind the other, so that the one in the back can see the QR code of the one in the front. - Send movement commands to the front Roomba, using our modified keyboard control script. The setup instructions are the same as the iRobot keyboard control instructions on the parallel-ml docs.