new car config

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

@@ -0,0 +1,20 @@
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-pca9685-pwm
+data:
+  ############################
+  # STEERING PWM - PCA9685   #
+  ############################
+  STEERING_PCA9685_LEFT_PWM: "995"
+  STEERING_PCA9685_RIGHT_PWM: "2017"
+  STEERING_PCA9685_CENTER_PWM: "1440"
+
+  ###########################
+  # THROTTLE PWM - PCA9685  #
+  ############################
+  THROTTLE_PCA9685_MIN_PWM: "994"
+  THROTTLE_PCA9685_MAX_PWM: "1975"
+  THROTTLE_PCA9685_ZERO_PWM: "1420"
+

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

@@ -107,6 +107,7 @@ spec:
           args:
             - "--image-width=$(CAMERA_WIDTH)"
             - "--image-height=$(CAMERA_HEIGHT)"
+            - "--objects-threshold=$(THRESHOLD_OBJECTS)"
           securityContext:
             runAsUser: 1234
             privileged: true
@@ -135,6 +136,16 @@ spec:
                 configMapKeyRef:
                   key: MQTT_TOPIC_CAMERA_OAK_COLOR
                   name: robocar
+            - name: MQTT_TOPIC_OBJECTS
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_OBJECTS
+                  name: robocar
+            - name: THRESHOLD_OBJECTS
+              valueFrom:
+                configMapKeyRef:
+                  key: THRESHOLD
+                  name: robocar-objects
             - name: CAMERA_WIDTH
               valueFrom:
                 configMapKeyRef:
@@ -186,13 +197,13 @@ spec:
           - "--mqtt-retain=false"
           - "--throttle-channel=15"
           - "--steering-channel=14"
-          - "--throttle-zero-pwm=$(THROTTLE_ZERO_PWM)"
+          - "--throttle-zero-pwm=$(THROTTLE_PCA9685_ZERO_PWM)"
-          - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
+          - "--throttle-min-pwm=$(THROTTLE_PCA9685_MIN_PWM)"
-          - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
+          - "--throttle-max-pwm=$(THROTTLE_PCA9685_MAX_PWM)"
-          - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
+          - "--steering-left-pwm=$(STEERING_PCA9685_LEFT_PWM)"
-          - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
+          - "--steering-right-pwm=$(STEERING_PCA9685_RIGHT_PWM)"
-          - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
+          - "--steering-center-pwm=$(STEERING_PCA9685_CENTER_PWM)"
-          - "--pwm-freq=60"
+          - "--pwm-freq=50"
           - "--update-pwm-frequency=25"
           - "--log=info"
           securityContext:
@@ -202,6 +213,9 @@ spec:
           volumeMounts:
             - mountPath: /dev/i2c-1
               name: i2c
+          envFrom:
+            - configMapRef:
+                name: robocar-pca9685-pwm
           env:
             - name: MQTT_BROKER
               valueFrom:
@@ -232,36 +246,6 @@ spec:
                   name: robocar
             - name: MQTT_QOS
               value: "0"
-            - name: STEERING_LEFT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_LEFT_PWM
-            - name: STEERING_RIGHT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_RIGHT_PWM
-            - name: STEERING_CENTER_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_CENTER_PWM
-            - name: THROTTLE_MIN_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_MIN_PWM
-            - name: THROTTLE_MAX_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_MAX_PWM
-            - name: THROTTLE_ZERO_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_ZERO_PWM
             - name: TZ
               value: "Europe/Paris"
       volumes:

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

@@ -7,6 +7,7 @@ namespace: robocar
 resources:
   - ../common
   - deployments.yaml
+  - configmap.yaml
 
 images:
   - name: docker.io/cyrilix/robocar-camera
@@ -16,4 +17,4 @@ images:
     newTag: v0.6.4
 
   - name: docker.io/cyrilix/robocar-oak-camera
-    newTag: v0.1.0
+    newTag: v0.1.0-2-g52c3808

ansible/roles/microservices/files/robocar/common/configmap.yaml

@@ -11,6 +11,8 @@ data:
   MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
   MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
 
+  # Objects detection
+  MQTT_TOPIC_OBJECTS: car/satanas/part/objects
 
   # Radio command
   MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
@@ -31,6 +33,9 @@ data:
   # Records topic
   MQTT_TOPIC_RECORDS: car/satanas/part/records
 
+  # Feedbacks
+  MQTT_TOPIC_THROTTLE_FEEDBACK: car/satanas/part/feedback/throttle
+
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -40,13 +45,8 @@ data:
   ############
   # Throttle #
   ############
-  # Min value to start is 0.12
+  THROTTLE_MIN: "0.2"
-  # Good value for manual: 0.15
+  THROTTLE_MAX: "0.3"
-  #THROTTLE_MIN: "0.15"
-  #THROTTLE_MAX: "0.15"
-
-  THROTTLE_MIN: "0.19"
-  THROTTLE_MAX: "0.19"
 
 
 ---
@@ -58,9 +58,17 @@ data:
   ################
   # STEERING PWM #
   ################
-  STEERING_LEFT_PWM: "1002"
+  STEERING_LEFT_PWM: "1000"
   STEERING_RIGHT_PWM: "1985"
-  STEERING_CENTER_PWM: "1491"
+  STEERING_CENTER_PWM: "1492"
+
+  ############################
+  # STEERING PWM - SECOND RC #
+  ############################
+  STEERING_SECONDARY_LEFT_PWM: "1119"
+  STEERING_SECONDARY_RIGHT_PWM: "2141"
+  STEERING_SECONDARY_CENTER_PWM: "1641"
+
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -70,12 +78,17 @@ data:
   ################
   # THROTTLE PWM #
   ################
-  #THROTTLE_MIN_PWM: "1092"
+  THROTTLE_MIN_PWM: "994"
-  #THROTTLE_MAX_PWM: "1986"
+  THROTTLE_MAX_PWM: "1979"
-  #THROTTLE_ZERO_PWM: "1583"
+  THROTTLE_ZERO_PWM: "1484"
-  THROTTLE_MIN_PWM: "960"
+
-  THROTTLE_MAX_PWM: "1949"
+  ###########################
-  THROTTLE_ZERO_PWM: "1452"
+  # THROTTLE PWM - SECOND RC #
+  ############################
+  THROTTLE_SECONDARY_MIN_PWM: "994"
+  THROTTLE_SECONDARY_MAX_PWM: "1975"
+  THROTTLE_SECONDARY_ZERO_PWM: "1506"
+
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -123,3 +136,48 @@ metadata:
   name: robocar-road
 data:
   HORIZON: "20"
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: steering
+data:
+  grid.json: |
+    {
+      "steering_steps": [ -1, -0.66, -0.33, 0, 0.33, 0.66, 1],
+      "distance_steps": [ 0, 0.3, 0.4, 0.5, 0.8, 1],
+      "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]
+      ]
+    }
+
+  "omf.json": | 
+    {
+      "steering_steps":[-1, -0.66, -0.33, 0, 0.33, 0.66, 1],
+      "distance_steps": [0, 0.2, 0.4, 0.6, 0.8, 1],
+      "data": [
+        [0, 0, 0, 0, 0, 0],
+        [0, 0, 0, 0, 0, 0],
+        [0, 0, 0, 0, 0, 0],
+        [0, 0.25, 0, 0, -0.25, 0],
+        [0.5, 0.25, 0, 0, -0.5, -0.25]
+      ]
+    }
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: android
+data:
+  thresholds.json: |
+    {
+      "threshold_steps": [ 0.07, 0.08, 0.09, 0.1, 0.125, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0 ],
+      "min_valid": 500,
+      "data": [ 8700, 4800, 3500, 2550, 1850, 1387, 992, 840, 750, 700, 655, 620, 590, 570, 553, 549, 548 ]
+    }

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

@@ -28,17 +28,31 @@ spec:
             - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
             - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
             - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-            - "--throttle-zero-pwm=$(THROTTLE_ZERO_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:
@@ -77,39 +91,13 @@ spec:
                 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: STEERING_LEFT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_LEFT_PWM
-            - name: STEERING_RIGHT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_RIGHT_PWM
-            - name: STEERING_CENTER_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_CENTER_PWM
-
-            - name: THROTTLE_MIN_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_MIN_PWM
-            - name: THROTTLE_MAX_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_MAX_PWM
-            - name: THROTTLE_ZERO_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_ZERO_PWM
             - name: TZ
               value: "Europe/Paris"
       volumes:
@@ -117,6 +105,9 @@ spec:
           hostPath:
             path: /dev/ttyAMA0
             type: CharDevice
+        - name: robocar
+          configMap:
+            name: android
 
 ---
 apiVersion: apps/v1
@@ -328,6 +319,13 @@ spec:
           image: docker.io/cyrilix/robocar-steering
           args:
           - "-mqtt-retain=false"
+          - "--image-width=$(IMAGE_WIDTH)"
+          - "--image-height=$(IMAGE_HEIGHT)"
+          - "--enable-objects-correction=true"
+          - "--enable-objects-correction-user=false"
+          - "--grid-map-config=/etc/robocar/grid.json"
+          - "--objects-move-factors-config=/etc/robocar/omf.json"
+          - "--delta-middle=0.1"
           - "-log=info"
           securityContext:
             runAsUser: 1234
@@ -370,10 +368,32 @@ spec:
               configMapKeyRef:
                 key: MQTT_TOPIC_RC_DRIVE_MODE
                 name: robocar
+          - name: MQTT_TOPIC_OBJECTS
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_OBJECTS
+                name: robocar
           - name: MQTT_QOS
             value: "0"
+          - name: IMAGE_WIDTH
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_WIDTH
+                name: robocar-camera
+          - name: IMAGE_HEIGHT
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_HEIGHT
+                name: robocar-camera
           - name: TZ
             value: "Europe/Paris"
+          volumeMounts:
+            - mountPath: /etc/robocar
+              name: robocar-configs
+      volumes:
+        - name: robocar-configs
+          configMap:
+            name: steering
 ---
 apiVersion: apps/v1
 kind: Deployment

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

@@ -10,7 +10,7 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.8.0
+    newTag: v0.8.0-6-gadb38c3
 
   - name: docker.io/cyrilix/robocar-led
     newTag: v0.5.1
@@ -29,7 +29,7 @@ images:
     newTag: v0.2.1
 
   - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.5.1
+    newTag: v0.5.1-24-g424b697
 
   - name: docker.io/cyrilix/robocar-road
     newTag: v0.2.0