debug: test pca9685 python implementation

ansible/roles/base/files/10-vchiq-permissions.rules

@@ -1 +1,2 @@
+# Set group on camera device
 SUBSYSTEM=="vchiq", GROUP="video", MODE="0660"

ansible/roles/base/files/80-movidius.rules

@@ -0,0 +1 @@
+SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"

ansible/roles/base/tasks/hardware.yml

@@ -30,11 +30,14 @@
 #  notify: reboot
 
 
-- name: Set group on camera device
+- name: Add udev rules
   copy:
-    src: 10-vchiq-permissions.rules
+    src: "{{ item }}"
-    dest: /etc/udev/rules.d/10-vchiq-permissions.rules
+    dest: /etc/udev/rules.d/{{ item }}
   notify: reboot
+  with_items:
+    - 10-vchiq-permissions.rules
+    - 80-movidius.rules
 
 
 - name: Set groups to pi user

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

@@ -7,7 +7,7 @@ metadata:
     reloader.stakater.com/auto: "true"
 spec:
   revisionHistoryLimit: 0
-  replicas: 1
+  replicas: 0
   strategy:
     type: Recreate
   selector:
@@ -85,7 +85,88 @@ spec:
 apiVersion: apps/v1
 kind: Deployment
 metadata:
-  name: pca9685
+  name: oak-camera
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: oak-camera
+  template:
+    metadata:
+      labels:
+        component: oak-camera
+    spec:
+      containers:
+        - name: camera
+          image: docker.io/cyrilix/robocar-oak-camera
+          args:
+            - "--image-width=$(CAMERA_WIDTH)"
+            - "--image-height=$(CAMERA_HEIGHT)"
+          securityContext:
+            runAsUser: 1234
+            privileged: true
+          volumeMounts:
+            - name: sys
+              mountPath: /sys
+            - name: dev
+              mountPath: /dev
+          env:
+            - name: MQTT_BROKER
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_BROKER_HOST
+                  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-oak-camera
+            - name: MQTT_TOPIC_CAMERA
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_CAMERA_OAK_COLOR
+                  name: robocar
+            - name: CAMERA_WIDTH
+              valueFrom:
+                configMapKeyRef:
+                  key: CAMERA_WIDTH
+                  name: robocar-camera
+            - name: CAMERA_HEIGHT
+              valueFrom:
+                configMapKeyRef:
+                  key: CAMERA_HEIGHT
+                  name: robocar-camera
+            - name: MQTT_QOS
+              value: "0"
+            - name: TZ
+              value: "Europe/Paris"
+      hostNetwork: true
+      volumes:
+        - name: sys
+          hostPath:
+            path: /sys
+        - name: dev
+          hostPath:
+            path: "/dev"
+
+
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: pca9685-steering
   annotations:
     reloader.stakater.com/auto: "true"
 spec:
@@ -103,19 +184,15 @@ spec:
     spec:
       containers:
         - name: pca9685
-          image: docker.io/cyrilix/robocar-pca9685
+          image: docker.io/cyrilix/robocar-pca9685-python
           args:
-          - "--mqtt-retain=false"
+          - "steering"
-          - "--throttle-channel=1"
+          - "--i2c-bus=1"
-          - "--steering-channel=0"
+          - "--i2c-address=40"
-          - "--throttle-zero-pwm=378"
+          - "--pca9685-channel=0"
-          - "--throttle-min-pwm=250"
+          - "--left-pulse=$(STEERING_LEFT_PWM)"
-          - "--throttle-max-pwm=500"
+          - "--right-pulse=$(STEERING_RIGHT_PWM)"
-          - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
+          - "--debug"
-          - "--steering-right-pwm=$(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
@@ -127,7 +204,7 @@ spec:
             - name: MQTT_BROKER
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_BROKER
+                  key: MQTT_BROKER_HOST
                   name: robocar
             - name: MQTT_USERNAME
               valueFrom:
@@ -140,13 +217,8 @@ spec:
                   key: MQTT_PASSWORD
                   name: mqtt-credentials
             - name: MQTT_CLIENT_ID
-              value: rc-pca9685
+              value: rc-pca9685-steering
-            - 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
@@ -175,3 +247,74 @@ 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-throttle
+          image: docker.io/cyrilix/robocar-pca9685-python
+          args:
+            - "throttle"
+            - "--zero-pulse=378"
+            - "--min-pulse=250"
+            - "--max-pulse=500"
+            - "--i2c-bus=1"
+            - "--i2c-address=40"
+            - "--pca9685-channel=1"
+            - "--debug"
+          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_HOST
+                  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-throttle
+            - 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

@@ -13,5 +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: v0.4.0-1-gc42086a
+    newTag: v0.1.0-12-g2966f92
+
+  - name: docker.io/cyrilix/robocar-oak-camera
+    newTag: v0.1.0

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

@@ -4,11 +4,13 @@ metadata:
   name: robocar
 data:
   # Broker configuration
-  MQTT_BROKER_HOST: localhost
+  MQTT_BROKER_HOST: 192.168.2.221
   MQTT_BROKER: "tcp://192.168.2.221:1883"
+  #MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
 
   # Camera
-  MQTT_TOPIC_CAMERA: car/satanas/part/camera
+  MQTT_TOPIC_CAMERA: car/satanas/part/camera/camera/color
+  MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
 
 
   # Radio command
@@ -78,8 +80,9 @@ metadata:
   name: robocar-models
 data:
   # model to use for steering
+  MODEL_STEERING: model_160x120h0_edgetpu.tflite
   MODEL_STEERING3: model_edgetpu.tflite
-  MODEL_STEERING: model_160x120h20_edgetpu.tflite
+  MODEL_STEERING4: model_160x120h20_edgetpu.tflite
   MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite
 
   MODEL_IMAGE_WIDTH: "160"

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

@@ -550,7 +550,7 @@ spec:
         - name: MQTT_TOPIC_CAMERA
           valueFrom:
             configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA
+              key: MQTT_TOPIC_CAMERA_OAK_COLOR
               name: robocar
         - name: MQTT_TOPIC_STEERING
           valueFrom:

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

@@ -10,7 +10,7 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.5.0-2-g9b5e9c2
+    newTag: v0.6.0
 
   - name: docker.io/cyrilix/robocar-led
     newTag: v0.5.0

ansible/roles/microservices/tasks/main.yaml

@@ -1,16 +0,0 @@
----
-
-- name: Copy docker-compose env file
-  template:
-    src: env
-    dest: /home/pi/.env
-
-- name: Copy stack file
-  copy:
-    src: "{{ item }}"
-    dest: /home/pi/
-  with_items:
-    - simulator-compose.yaml
-    - car.yaml
-    - robocar.yaml
-    - simulator.yaml