good config!

2024-01-13 18:26:23 +01:00
parent 1d60c61c30
commit 9335b69c74
23 changed files with 925 additions and 336 deletions
--- a/ansible/roles/microservices/files/robocar/common/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml
@ -20,7 +20,7 @@ data:
  MQTT_TOPIC_RC_STEERING: car/satanas/part/rc/steering
  MQTT_TOPIC_RC_SWITCH_RECORD: car/satanas/part/rc/switch_record
  MQTT_TOPIC_RC_DRIVE_MODE: car/satanas/part/rc/drive_mode
-
+  MQTT_TOPIC_MAX_THROTTLE_CTRL: car/satanas/part/rc/max_throttle

  MQTT_TOPIC_TF_STEERING: car/satanas/part/tflite/steering

@ -28,6 +28,8 @@ data:
  MQTT_TOPIC_THROTTLE: car/satanas/part/throttle
  MQTT_TOPIC_STEERING: car/satanas/part/steering

+  MQTT_TOPIC_SPEED_ZONE: car/satanas/part/speed_zone
+
  # Road detection
  MQTT_TOPIC_ROAD: car/satanas/part/road

@ -52,16 +54,35 @@ data:
  # THROTTLE_MIN: "0.10"
  # THROTTLE_MAX: "0.12"

+  ## Slow auto-pilot
+  ####################
+  #THROTTLE_MIN: "0.10"
+  #THROTTLE_MAX: "0.10"
+
  ## Secure auto-pilot
  ####################
-  THROTTLE_MIN: "0.10"
-  THROTTLE_MAX: "0.12"
+  #THROTTLE_MIN: "0.11"
+  #THROTTLE_MAX: "0.12"
+
+  ## bump auto-pilot
+  ####################
+  THROTTLE_MIN: "0.11"
+  THROTTLE_MAX: "0.11"
+
+  ## bump speed auto-pilot
+  ####################
+  #THROTTLE_MIN: "0.12"
+  #THROTTLE_MAX: "0.18"

  ## Speed auto-pilot
  ###################
-  # THROTTLE_MIN: "0.11"
-  # THROTTLE_MAX: "0.13"
+  #THROTTLE_MIN: "0.11"
+  #THROTTLE_MAX: "0.13"

+  ## Speed race auto-pilot
+  ###################
+  #THROTTLE_MIN: "0.11"
+  #THROTTLE_MAX: "0.15"

 ---
 apiVersion: v1
@ -69,12 +90,13 @@ kind: ConfigMap
 metadata:
  name: robocar-steering-pwm
 data:
+
  ################
  # STEERING PWM #
  ################
-  STEERING_LEFT_PWM: "1000"
-  STEERING_RIGHT_PWM: "1985"
-  STEERING_CENTER_PWM: "1492"
+  STEERING_LEFT_PWM: "1004"
+  STEERING_RIGHT_PWM: "2048"
+  STEERING_CENTER_PWM: "1514"

  ############################
  # STEERING PWM - SECOND RC #
@ -83,18 +105,26 @@ data:
  STEERING_SECONDARY_RIGHT_PWM: "2141"
  STEERING_SECONDARY_CENTER_PWM: "1641"

+  #################################
+  # OLD RADIO-COMAND STEERING PWM #
+  #################################
+  #STEERING_LEFT_PWM: "1000"
+  #STEERING_RIGHT_PWM: "1985"
+  #STEERING_CENTER_PWM: "1492"
+
 ---
 apiVersion: v1
 kind: ConfigMap
 metadata:
  name: robocar-throttle-pwm
 data:
+
  ################
  # THROTTLE PWM #
  ################
-  THROTTLE_MIN_PWM: "994"
-  THROTTLE_MAX_PWM: "1979"
-  THROTTLE_ZERO_PWM: "1484"
+  THROTTLE_MIN_PWM: "980"
+  THROTTLE_MAX_PWM: "2046"
+  THROTTLE_ZERO_PWM: "1509"

  ###########################
  # THROTTLE PWM - SECOND RC #
@ -103,6 +133,18 @@ data:
  THROTTLE_SECONDARY_MAX_PWM: "1975"
  THROTTLE_SECONDARY_ZERO_PWM: "1506"

+  ####################
+  # OLD THROTTLE PWM #
+  ####################
+  # THROTTLE_MIN_PWM: "994"
+  # THROTTLE_MAX_PWM: "1979"
+  # THROTTLE_ZERO_PWM: "1484"
+
+  ############################
+  # MAX THROTTLE CONTROL PWM #
+  ############################
+  CTRL_THROTTLE_MIN_PWM: "1000"
+  CTRL_THROTTLE_MAX_PWM: "2000"
 ---
 apiVersion: v1
 kind: ConfigMap
@ -118,7 +160,9 @@ data:
  CAMERA_WIDTH: "160"
  CAMERA_HEIGHT: "120"

-  MQTT_CAMERA_PUB_FREQUENCY: "30"
+  CAMERA_FPS: "40"
+
+  MQTT_CAMERA_PUB_FREQUENCY: "40"

 ---
 apiVersion: v1
@ -127,7 +171,36 @@ metadata:
  name: robocar-models
 data:
  # model to use for steering
-  MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
+  #MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
+  MODEL_STEERING: "model_linear_160x120h0_edgetpu.tflite"
+  #OCI_IMAGE_MODEL: "git.cyrilix.bzh/robocars/model-steering:v20230429.0945-edgetpu"
+  #OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v20230429.0945-edgetpu"
+  #OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v0.1.0-edgetpu"
+  OCI_IMAGE_MODEL_REGISTRY: "registry.registry:5000"
+  OCI_IMAGE_MODEL_REPOSITORY: "robocars/model-steering"
+
+
+  # OCI_IMAGE_MODEL_TAG: "v20230602.2041-edgetpu" # vibreurs seuls  ou v20230601.2338-edgetpu
+  #OCI_IMAGE_MODEL_TAG: "v20230602.2058-edgetpu" # vibreurs + toutes les sessions bump
+  #OCI_IMAGE_MODEL_TAG: "v20230603.1130-edgetpu" # clean1
+  #OCI_IMAGE_MODEL_TAG: "v20230603.1144-edgetpu" # clean1
+
+
+  #OCI_IMAGE_MODEL_TAG: "v20230617.0938-edgetpu"
+  #OCI_IMAGE_MODEL_TAG: "v20230617.0946-edgetpu" # bad
+  #OCI_IMAGE_MODEL_TAG: "v20230617.1010-edgetpu"  # rd + vt not exist
+
+  #OCI_IMAGE_MODEL_TAG: "v20230429.0945-edgetpu" # All + bump
+  #OCI_IMAGE_MODEL_TAG: "v20230617.1058-edgetpu"  # clean3
+
+  #OCI_IMAGE_MODEL_TAG: "v20230617.1312-edgetpu"  # clean10
+
+  OCI_IMAGE_MODEL_TAG: "v20230603.1157-edgetpu" # clean1  # Model RD good
+  #OCI_IMAGE_MODEL_TAG: "v20231215.1955-tflite" # Model RD good + plots
+  #OCI_IMAGE_MODEL_TAG: "v20231215.2002-tflite" # Model RD good + plots + brightness 0.5 + contrast 0.5
+
+  #OCI_IMAGE_MODEL_TAG: "v20231013.2034-edgetpu"  # clean3, light + contrast
+  #OCI_IMAGE_MODEL_TAG: "v20230617.1327-edgetpu"  # clean10

  #MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite

@ -162,9 +235,9 @@ data:
      "data": [
        [ 0, 0, 0, 0, 0, 0],
        [ 0, 0, 0, 0, 0, 0],
-        [ 0, 0, 0.25, -0.25, 0, 0],
-        [ 0, 0.25, 0.5, -0.5, -0.25, 0],
-        [ 0.25, 0.5, 1, -1, -0.5, -0.25]
+        [ 0, 0, 0.75, -0.75, 0, 0],
+        [ 0, 0.75, 1, -1, -0.75, 0],
+        [ 0.75, 1, 1, -1, -1, -0.75]
      ]
    }

@ -202,8 +275,57 @@ kind: ConfigMap
 metadata:
  name: throttle
 data:
+  brake2.json: |
+    {
+      "delta_steps": [ 0.05, 0.1, 0.2, 0.3, 0.5 ],
+      "data": [ -0.1, -0.2,  -0.3, -0.6, -1.0 ]
+    }
+  brake.json3: |
+    {
+      "delta_steps": [ 0.005, 0.1, 0.2, 0.3, 0.5 ],
+      "data": [ -0.26, -0.4,  -0.7, -0.8, -1.0 ]
+    }
  brake.json: |
    {
-      "delta_steps": [ 0.05, 0.3, 0.5 ],
-      "data": [ -0.1, -0.5, -1.0 ]
+      "delta_steps": [ 0.005, 0.05, 0.1, 0.2, 0.5 ],
+      "data": [ -0.26, -0.4,  -0.7, -0.8, -1.0 ]
+    }
+
+  speed_custom_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.17, 0.16, 0.15, 0.13]
+    }
+
+  good_custom_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.14, 0.13, 0.12, 0.11]
+    }
+
+  lcustom_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.16, 0.15, 0.14, 0.12]
+    }
+
+  custom_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.21, 0.17, 0.15, 0.12]
+    }
+
+  bcustom_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.18, 0.15, 0.14, 0.13]
+    }
+
+    
+    
+
+  slow_custom_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.12, 0.115, 0.112, 0.11]
    }
--- a/ansible/roles/microservices/files/robocar/common/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/common/deployments.yaml
@ -1,302 +1,6 @@
 ---
 apiVersion: apps/v1
 kind: Deployment
-metadata:
-  name: arduino
-  annotations:
-    reloader.stakater.com/auto: "true"
-spec:
-  revisionHistoryLimit: 0
-  replicas: 1
-  strategy:
-    type: Recreate
-  selector:
-    matchLabels:
-      component: arduino
-  template:
-    metadata:
-      labels:
-        component: arduino
-    spec:
-      containers:
-        - name: arduino
-          image: docker.io/cyrilix/robocar-arduino
-          args:
-            - "-device=/dev/ttyAMA1"
-            - "-baud=115200"
-            - "-mqtt-retain=false"
-            - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
-            - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
-            - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-            - "--steering-secondary-left-pwm=$(STEERING_SECONDARY_LEFT_PWM)"
-            - "--steering-secondary-right-pwm=$(STEERING_SECONDARY_RIGHT_PWM)"
-            - "--steering-secondary-center-pwm=$(STEERING_SECONDARY_CENTER_PWM)"
-            - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
-            - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
-            - "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
-            - "--throttle-secondary-min-pwm=$(THROTTLE_SECONDARY_MIN_PWM)"
-            - "--throttle-secondary-max-pwm=$(THROTTLE_SECONDARY_MAX_PWM)"
-            - "--throttle-secondary-center-pwm=$(THROTTLE_SECONDARY_ZERO_PWM)"
-            - '--throttle-feedback-config=/etc/robocar/thresholds.json'
-            - "-log=info"
-          volumeMounts:
-            - mountPath: "/dev/ttyAMA0"
-              name: serial
-            - mountPath: "/etc/robocar"
-              name: robocar
-          securityContext:
-            privileged: true
-            runAsUser: 1234
-            runAsGroup: 20 # Set 20/dialout group to access to serial device
-          envFrom:
-            - configMapRef:
-                name: robocar-throttle-pwm
-            - configMapRef:
-                name: robocar-steering-pwm
-          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-arduino
-            - name: MQTT_TOPIC_THROTTLE
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_RC_THROTTLE
-                  name: robocar
-            - name: MQTT_TOPIC_STEERING
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_RC_STEERING
-                  name: robocar
-            - name: MQTT_TOPIC_DRIVE_MODE
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_RC_DRIVE_MODE
-                  name: robocar
-            - name: MQTT_TOPIC_SWITCH_RECORD
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_RC_SWITCH_RECORD
-                  name: robocar
-            - name: MQTT_TOPIC_THROTTLE_FEEDBACK
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar
-                  key: MQTT_TOPIC_THROTTLE_FEEDBACK
-            - name: MQTT_QOS
-              value: "0"
-            - name: TZ
-              value: "Europe/Paris"
-      volumes:
-        - name: serial
-          hostPath:
-            path: /dev/ttyAMA0
-            type: CharDevice
-        - name: robocar
-          configMap:
-            name: robocar-objects
-
---
-apiVersion: apps/v1
-kind: Deployment
-metadata:
-  name: led
-  annotations:
-    reloader.stakater.com/auto: "true"
-spec:
-  revisionHistoryLimit: 0
-  replicas: 1
-  strategy:
-    type: Recreate
-  selector:
-    matchLabels:
-      component: led
-  template:
-    metadata:
-      labels:
-        component: led
-    spec:
-      containers:
-      - name: led
-        image: docker.io/cyrilix/robocar-led
-        args:
-        - "-mqtt-retain=false"
-        - "-log=info"
-        volumeMounts:
-        - name: gpiomem
-          mountPath: "/dev/gpiomem"
-        - name: gpiochip0
-          mountPath: "/dev/gpiochip0"
-        - name: gpiochip1
-          mountPath: "/dev/gpiochip1"
-        securityContext:
-          privileged: true
-          runAsUser: 1234
-          runAsGroup: 997 # Set 997/gpio group to access to serial device
-        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-led
-        - name: MQTT_TOPIC_DRIVE_MODE
-          valueFrom:
-            configMapKeyRef:
-              key: MQTT_TOPIC_RC_DRIVE_MODE
-              name: robocar
-        - name: MQTT_TOPIC_RECORD
-          valueFrom:
-            configMapKeyRef:
-              key: MQTT_TOPIC_RC_SWITCH_RECORD
-              name: robocar
-        - name: MQTT_QOS
-          value: "0"
-        - name: TZ
-          value: "Europe/Paris"
-      volumes:
-      - name: gpiomem
-        hostPath:
-          path: /dev/gpiomem
-          type: CharDevice
-      - name: gpiochip0
-        hostPath:
-          path: /dev/gpiochip0
-          type: CharDevice
-      - name: gpiochip1
-        hostPath:
-          path: /dev/gpiochip1
-          type: CharDevice
---
-apiVersion: apps/v1
-kind: Deployment
-metadata:
-  name: tflite-steering
-  annotations:
-    reloader.stakater.com/auto: "true"
-spec:
-  revisionHistoryLimit: 0
-  replicas: 1
-  strategy:
-    type: Recreate
-  selector:
-    matchLabels:
-      component: tflite-steering
-  template:
-    metadata:
-      labels:
-        component: tflite-steering
-    spec:
-      containers:
-      - name: tflite-steering
-        image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-        args:
-        - "--model=/model/$(MODEL_STEERING)"
-        - "--edge-verbosity=0"
-        - "--log=info"
-        securityContext:
-          runAsUser: 0
-          runAsGroup: 0
-          privileged: true
-        volumeMounts:
-        - name: models
-          mountPath: /model
-        - name: bus-usb
-          mountPath: /dev/bus/usb
-        - name: sys
-          mountPath: /sys
-        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-tflite-steering
-        - name: MQTT_TOPIC_CAMERA
-          valueFrom:
-            configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA_OAK_COLOR
-              name: robocar
-        - name: MQTT_TOPIC_STEERING
-          valueFrom:
-            configMapKeyRef:
-              key: MQTT_TOPIC_TF_STEERING
-              name: robocar
-        - name: MODEL_STEERING
-          valueFrom:
-            configMapKeyRef:
-              key: MODEL_STEERING
-              name: robocar-models
-        - name: MODEL_IMAGE_WIDTH
-          valueFrom:
-            configMapKeyRef:
-              key: MODEL_IMAGE_WIDTH
-              name: robocar-models
-        - name: MODEL_IMAGE_HEIGHT
-          valueFrom:
-            configMapKeyRef:
-              key: MODEL_IMAGE_HEIGHT
-              name: robocar-models
-        - name: HORIZON
-          valueFrom:
-            configMapKeyRef:
-              key: HORIZON
-              name: robocar-models
-        - name: MQTT_QOS
-          value: "0"
-        - name: LD_LIBRARY_PATH
-          value: "/usr/local/lib/:/usr/lib"
-        - name: TZ
-          value: "Europe/Paris"
-      volumes:
-      - name: models
-        hostPath:
-          path: /home/pi/models/steering
-          type: DirectoryOrCreate
-      - name: bus-usb
-        hostPath:
-          path: /dev/bus/usb
-      - name: sys
-        hostPath:
-          path: /sys
---
-apiVersion: apps/v1
-kind: Deployment
 metadata:
  name: steering
  annotations:
@ -421,6 +125,8 @@ spec:
        - "--mqtt-retain=false"
        - "--enable-brake-feature=true"
        - "--brake-configuration=/etc/robocar/brake.json"
+        - "--enable-custom-steering-processor=true"
+        - "--custom-steering-processor-config=/etc/robocar/custom_steering.json"
        - "--log=info"
        securityContext:
          runAsUser: 1234
@ -468,6 +174,16 @@ spec:
            configMapKeyRef:
              key: MQTT_TOPIC_STEERING
              name: robocar
+        - name: MQTT_TOPIC_SPEED_ZONE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_SPEED_ZONE
+              name: robocar
+        - name: MQTT_TOPIC_MAX_THROTTLE_CTRL
+          valueFrom:
+            configMapKeyRef:
+              name: robocar
+              key: MQTT_TOPIC_MAX_THROTTLE_CTRL
        - name: THROTTLE_MIN
          valueFrom:
            configMapKeyRef:
@ -617,6 +333,16 @@ spec:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_SWITCH_RECORD
              name: robocar
+        - name: MQTT_TOPIC_AUTOPILOT_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_TF_STEERING
+              name: robocar
+        - name: MQTT_TOPIC_DRIVE_MODE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_DRIVE_MODE
+              name: robocar
        - name: MQTT_TOPIC_RECORDS
          valueFrom:
            configMapKeyRef:
--- a/ansible/roles/microservices/files/robocar/common/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
@ -9,26 +9,18 @@ resources:
  - configmap.yaml

 images:
-  - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.9.0
-
-  - name: docker.io/cyrilix/robocar-led
-    newTag: v0.5.1
-
-  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    newTag: v0.5.3

  - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.6.0
+    newTag: v0.8.0

  - name: docker.io/cyrilix/robocar-record
-    newTag: v0.5.1
+    newTag: v0.6.0

  - name: docker.io/cyrilix/robocar-recorder-store
-    newTag: v0.2.1
+    newTag: v0.3.0

  - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.6.0
+    newTag: v0.6.0-4-gf97c9cf

  - name: docker.io/cyrilix/robocar-road
    newTag: v0.2.0