refactor(pca9685): use python implementation

ansible/roles/microservices/files/robocar/car/deployments.yaml

@@ -166,7 +166,7 @@ spec:
 apiVersion: apps/v1
 kind: Deployment
 metadata:
-  name: pca9685
+  name: pca9685-steering
   annotations:
     reloader.stakater.com/auto: "true"
 spec:
@@ -184,19 +184,13 @@ spec:
     spec:
       containers:
         - name: pca9685
-          image: docker.io/cyrilix/robocar-pca9685
+          image: docker.io/cyrilix/robocar-pca9685-python
           args:
-          - "--mqtt-retain=false"
+          - "--i2c-bus=1"
-          - "--throttle-channel=1"
+          - "--i2c-address=40"
-          - "--steering-channel=0"
+          - "--pca9685-channel=0"
-          - "--throttle-zero-pwm=378"
+          - "--left-pulse=$(STEERING_LEFT_PWM)"
-          - "--throttle-min-pwm=250"
+          - "--right-pulse=$(STEERING_RIGHT_PWM)"
-          - "--throttle-max-pwm=500"
-          - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
-          - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
-          - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-          - "--update-pwm-frequency=10"
-          - "--log=info"
           securityContext:
             runAsUser: 1234
             runAsGroup: 998 # Set 998/i2c group to access to i2c device
@@ -222,12 +216,7 @@ spec:
                   name: mqtt-credentials
             - name: MQTT_CLIENT_ID
               value: rc-pca9685
-            - name: MQTT_TOPIC_THROTTLE
+            - name: MQTT_TOPIC
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_THROTTLE
-                  name: robocar
-            - name: MQTT_TOPIC_STEERING
               valueFrom:
                 configMapKeyRef:
                   key: MQTT_TOPIC_STEERING
@@ -256,3 +245,72 @@ spec:
           hostPath:
             path: /dev/i2c-1
             type: CharDevice
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: pca9685-throttle
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: pca9685
+  template:
+    metadata:
+      labels:
+        component: pca9685
+    spec:
+      containers:
+        - name: pca9685-steering
+          image: docker.io/cyrilix/robocar-pca9685-python
+          args:
+            - "--zero-pulse=378"
+            - "--min-pulse=250"
+            - "--max-pulse=500"
+            - "--i2c-bus=1"
+            - "--i2c-address=40"
+            - "--pca9685-channel=1"
+          securityContext:
+            runAsUser: 1234
+            runAsGroup: 998 # Set 998/i2c group to access to i2c device
+            privileged: true
+          volumeMounts:
+            - mountPath: /dev/i2c-1
+              name: i2c
+          env:
+            - name: MQTT_BROKER
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_BROKER
+                  name: robocar
+            - name: MQTT_USERNAME
+              valueFrom:
+                secretKeyRef:
+                  key: MQTT_USERNAME
+                  name: mqtt-credentials
+            - name: MQTT_PASSWORD
+              valueFrom:
+                secretKeyRef:
+                  key: MQTT_PASSWORD
+                  name: mqtt-credentials
+            - name: MQTT_CLIENT_ID
+              value: rc-pca9685
+            - name: MQTT_TOPIC
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_THROTTLE
+                  name: robocar
+            - name: MQTT_QOS
+              value: "0"
+            - name: TZ
+              value: "Europe/Paris"
+      volumes:
+        - name: i2c
+          hostPath:
+            path: /dev/i2c-1
+            type: CharDevice

ansible/roles/microservices/files/robocar/car/kustomization.yaml

@@ -13,8 +13,8 @@ images:
   - name: docker.io/cyrilix/robocar-camera
     newTag: v0.3.0
 
-  - name: docker.io/cyrilix/robocar-pca9685
+  - name: docker.io/cyrilix/robocar-pca9685-python
-    newTag: v0.5.0
+    newTag: v0.1.0
 
   - name: docker.io/cyrilix/robocar-oak-camera
     newTag: v0.1.0