config: config used for vivatech 2022

fix(steering): reverse direction
fix: configure slow drive
2022-08-16 08:46:20 +02:00 · 2022-06-16 16:02:57 +02:00 · 2022-06-16 12:30:03 +02:00 · 2022-06-10 16:09:47 +02:00 · 2022-06-10 16:09:30 +02:00 · 2022-06-10 16:09:03 +02:00
12 changed files with 191 additions and 71 deletions
--- a/ansible/roles/base/files/10-vchiq-permissions.rules
+++ b/ansible/roles/base/files/10-vchiq-permissions.rules
@ -1 +1,2 @@
+# Set group on camera device
 SUBSYSTEM=="vchiq", GROUP="video", MODE="0660"
--- a/ansible/roles/base/files/80-movidius.rules
+++ b/ansible/roles/base/files/80-movidius.rules
@ -0,0 +1 @@
+SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"
--- a/ansible/roles/base/tasks/hardware.yml
+++ b/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
-    dest: /etc/udev/rules.d/10-vchiq-permissions.rules
+    src: "{{ item }}"
+    dest: /etc/udev/rules.d/{{ item }}
  notify: reboot
+  with_items:
+    - 10-vchiq-permissions.rules
+    - 80-movidius.rules


 - name: Set groups to pi user
--- a/ansible/roles/microservices/files/robocar/car/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/car/configmap.yaml
@ -1,13 +0,0 @@
---
-apiVersion: v1
-kind: ConfigMap
-metadata:
-  name: robocar-pca9685
-data:
-  ################
-  # STEERING PWM #
-  ################
-  STEERING_LEFT_PWM: "1092"
-  STEERING_RIGHT_PWM: "1986"
-  STEERING_CENTER_PWM: "1583"
-
--- a/ansible/roles/microservices/files/robocar/car/deployments.yaml
+++ b/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:
@ -81,6 +81,84 @@ spec:
          hostPath:
            path: "/dev/video0"
            type: CharDevice
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  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
+              value: localhost # because use host network
+            - 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
@ -106,15 +184,16 @@ spec:
          image: docker.io/cyrilix/robocar-pca9685
          args:
          - "--mqtt-retain=false"
-          - "--throttle-channel=1"
-          - "--steering-channel=0"
-          - "--throttle-zero-pwm=378"
-          - "--throttle-min-pwm=250"
-          - "--throttle-max-pwm=500"
+          - "--throttle-channel=15"
+          - "--steering-channel=14"
+          - "--throttle-zero-pwm=$(THROTTLE_ZERO_PWM)"
+          - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
+          - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
          - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
          - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
          - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-          - "--update-pwm-frequency=10"
+          - "--pwm-freq=60"
+          - "--update-pwm-frequency=25"
          - "--log=info"
          securityContext:
            runAsUser: 1234
@ -156,18 +235,33 @@ spec:
            - name: STEERING_LEFT_PWM
              valueFrom:
                configMapKeyRef:
-                  name: robocar-pca9685
+                  name: robocar-steering-pwm
                  key: STEERING_LEFT_PWM
            - name: STEERING_RIGHT_PWM
              valueFrom:
                configMapKeyRef:
-                  name: robocar-pca9685
+                  name: robocar-steering-pwm
                  key: STEERING_RIGHT_PWM
            - name: STEERING_CENTER_PWM
              valueFrom:
                configMapKeyRef:
-                  name: robocar-pca9685
+                  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:
--- a/ansible/roles/microservices/files/robocar/car/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
@ -7,11 +7,13 @@ namespace: robocar
 resources:
  - ../common
  - deployments.yaml
-  - configmap.yaml

 images:
  - name: docker.io/cyrilix/robocar-camera
    newTag: v0.3.0

  - name: docker.io/cyrilix/robocar-pca9685
-    newTag: v0.4.0-1-gc42086a
+    newTag: v0.6.4
+
+  - name: docker.io/cyrilix/robocar-oak-camera
+    newTag: v0.1.0
--- a/ansible/roles/microservices/files/robocar/common/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml
@ -4,11 +4,12 @@ metadata:
  name: robocar
 data:
  # Broker configuration
-  MQTT_BROKER_HOST: localhost
-  MQTT_BROKER: "tcp://192.168.2.221:1883"
+  MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
+  MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"

  # Camera
-  MQTT_TOPIC_CAMERA: car/satanas/part/camera
+  MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
+  MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color


  # Radio command
@ -39,8 +40,15 @@ data:
  ############
  # Throttle #
  ############
-  THROTTLE_MIN: "0.3"
-  THROTTLE_MAX: "0.4"
+  # Min value to start is 0.12
+  # Good value for manual: 0.15
+  #THROTTLE_MIN: "0.15"
+  #THROTTLE_MAX: "0.15"
+
+  THROTTLE_MIN: "0.19"
+  THROTTLE_MAX: "0.19"
+
+
 ---
 apiVersion: v1
 kind: ConfigMap
@ -53,7 +61,21 @@ data:
  STEERING_LEFT_PWM: "1002"
  STEERING_RIGHT_PWM: "1985"
  STEERING_CENTER_PWM: "1491"
-
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-throttle-pwm
+data:
+  ################
+  # THROTTLE PWM #
+  ################
+  #THROTTLE_MIN_PWM: "1092"
+  #THROTTLE_MAX_PWM: "1986"
+  #THROTTLE_ZERO_PWM: "1583"
+  THROTTLE_MIN_PWM: "960"
+  THROTTLE_MAX_PWM: "1949"
+  THROTTLE_ZERO_PWM: "1452"
 ---
 apiVersion: v1
 kind: ConfigMap
@ -78,9 +100,17 @@ metadata:
  name: robocar-models
 data:
  # model to use for steering
-  MODEL_STEERING3: model_edgetpu.tflite
-  MODEL_STEERING: model_160x120h20_edgetpu.tflite
-  MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite
+  MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
+  #MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
+
+  #MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite
+
+
+  #MODEL_STEERING: model_linear_160x120h20_edgetpu.tflite
+  #MODEL_STEERING: model_categorical_160x120h20_edgetpu.tflite
+
+
+  #MODEL_STEERING: model_linear_160x120h50_edgetpu.tflite

  MODEL_IMAGE_WIDTH: "160"
  MODEL_IMAGE_HEIGHT: "120"
--- a/ansible/roles/microservices/files/robocar/common/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/common/deployments.yaml
@ -28,9 +28,12 @@ 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)"
+            - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
+            - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
            - "-log=info"
          volumeMounts:
-            - mountPath: "/dev/ttyAMA1"
+            - mountPath: "/dev/ttyAMA0"
              name: serial
          securityContext:
            privileged: true
@ -91,12 +94,28 @@ spec:
                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:
        - name: serial
          hostPath:
-            path: /dev/ttyAMA1
+            path: /dev/ttyAMA0
            type: CharDevice

 ---
@ -207,9 +226,6 @@ spec:
        args:
        - "--model=/model/$(MODEL_STEERING)"
        - "--edge-verbosity=0"
-        - "--img-width=$(MODEL_IMAGE_WIDTH)"
-        - "--img-height=$(MODEL_IMAGE_HEIGHT)"
-        - "--horizon=$(HORIZON)"
        - "--log=info"
        securityContext:
          runAsUser: 0
@ -243,7 +259,7 @@ spec:
        - name: MQTT_TOPIC_CAMERA
          valueFrom:
            configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA
+              key: MQTT_TOPIC_CAMERA_OAK_COLOR
              name: robocar
        - name: MQTT_TOPIC_STEERING
          valueFrom:
@ -383,7 +399,7 @@ spec:
        image: docker.io/cyrilix/robocar-throttle
        args:
        - "-mqtt-retain=false"
-        - "-debug=false"
+        - "-log=info"
        securityContext:
          runAsUser: 1234
          runAsGroup: 1234
@ -550,7 +566,7 @@ spec:
        - name: MQTT_TOPIC_CAMERA
          valueFrom:
            configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA
+              key: MQTT_TOPIC_CAMERA_OAK_COLOR
              name: robocar
        - name: MQTT_TOPIC_STEERING
          valueFrom:
@ -580,7 +596,7 @@ metadata:
    reloader.stakater.com/auto: "true"
 spec:
  revisionHistoryLimit: 0
-  replicas: 1
+  replicas: 0
  strategy:
    type: Recreate
  selector:
--- a/ansible/roles/microservices/files/robocar/common/endpoints.yaml
+++ b/ansible/roles/microservices/files/robocar/common/endpoints.yaml
@ -8,5 +8,6 @@ metadata:
 subsets:
  - addresses:
      - ip: 192.168.2.221
+      # - ip: 192.168.217.19
    ports:
      - port: 1883
--- a/ansible/roles/microservices/files/robocar/common/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
@ -10,25 +10,26 @@ resources:

 images:
  - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.5.0-2-g9b5e9c2
+    newTag: v0.8.0

  - name: docker.io/cyrilix/robocar-led
-    newTag: v0.5.0
+    newTag: v0.5.1

  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    newTag: v0.4.0
+    #newTag: v0.5.0
+    newTag: v0.5.0-1-gbc90193

  - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.4.0
+    newTag: v0.5.0

  - name: docker.io/cyrilix/robocar-record
-    newTag: v0.5.0
+    newTag: v0.5.1

  - name: docker.io/cyrilix/robocar-recorder-store
-    newTag: v0.2.0
+    newTag: v0.2.1

  - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.5.0
+    newTag: v0.5.1

  - name: docker.io/cyrilix/robocar-road
-    newTag: v0.1.0-5-gdc6e465
+    newTag: v0.2.0
--- a/ansible/roles/microservices/files/robocar/simulator/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/simulator/kustomization.yaml
@ -11,4 +11,4 @@ resources:

 images:
  - name: docker.io/cyrilix/robocar-simulator
-    newTag: v0.4.0
+    newTag: v0.4.1
--- a/ansible/roles/microservices/tasks/main.yaml
+++ b/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
Author	SHA1	Message	Date
Cyrille Nofficial	6759304b25	config: config used for vivatech 2022	2022-08-16 08:46:20 +02:00
Cyrille Nofficial	3f6ff95dc0	fix(steering): reverse direction	2022-06-16 16:02:57 +02:00
Cyrille Nofficial	6562036b05	fix: configure slow drive	2022-06-16 12:30:03 +02:00
Cyrille Nofficial	8b6ee0cc06	disable debug logs	2022-06-10 16:09:47 +02:00
Cyrille Nofficial	140e3509be	disable road microservice	2022-06-10 16:09:30 +02:00
Cyrille Nofficial	c915e2b957	feat: add linear models and autodetect models configuration	2022-06-10 16:09:03 +02:00
Cyrille Nofficial	1123071750	tune: fix PWM and min/max throttke	2022-06-10 16:07:51 +02:00
Cyrille Nofficial	1bfb3d1930	fix: bad camera topic	2022-06-10 16:07:17 +02:00
Cyrille Nofficial	4663a545df	chore: bump robocar-simulator to v0.4.1 refs robocars/robocar-setup#3	2022-06-09 18:16:02 +02:00
Cyrille Nofficial	94773908e6	chore: bump robocar-road to v0.2.0 refs robocars/robocar-setup#3	2022-06-09 17:54:41 +02:00
Cyrille Nofficial	48b2abd99b	chore: bump robocar-pca9685 to v0.6.1 refs robocars/robocar-setup#3	2022-06-09 16:34:37 +02:00
Cyrille Nofficial	4eb2084ce6	chore: bump robocar-steering to v0.5.1 refs robocars/robocar-setup#3	2022-06-09 16:12:45 +02:00
Cyrille Nofficial	c25fa4b13b	chore: bump robocar-recorder-store to v0.2.1 refs robocars/robocar-setup#3	2022-06-08 21:10:13 +02:00
Cyrille Nofficial	1fdd3932d6	chore: bump robocar-record to v0.5.1 refs robocars/robocar-setup#3	2022-06-08 20:53:14 +02:00
Cyrille Nofficial	aa9443c7ff	chore: bump robocar-throttle to v0.4.2 refs robocars/robocar-setup#3	2022-06-08 20:42:26 +02:00
Cyrille Nofficial	300ed78b2a	chore: bump robocar-steering-tflite-edgetpu to v0.5.1 refs robocars/robocar-setup#3	2022-06-08 20:27:48 +02:00
Cyrille Nofficial	2eb1fe3b10	chore: bump robocar-led to v0.5.1 refs robocars/robocar-setup#3	2022-06-07 23:56:17 +02:00
Cyrille Nofficial	8d259c3311	chore: bump robocar-arduino to v0.7.1 refs robocars/robocar-setup#3	2022-06-07 19:54:10 +02:00
Cyrille Nofficial	3c80b4a970	feat(k8s): use mqtt service endpoint url closes #1	2022-06-07 19:13:38 +02:00
Cyrille Nofficial	d558415684	chore(k8s): bump robocar-throttle image	2022-06-07 18:54:36 +02:00
Cyrille Nofficial	74d54c14b5	debug(arduino): disable debug logs	2022-06-07 18:53:46 +02:00
Cyrille Nofficial	6d6cd5b26e	refactor: move steering/throttle pin after car rebuilding	2022-06-07 18:53:13 +02:00
Cyrille Nofficial	b21171cecb	freeze arduino image	2022-06-07 18:52:36 +02:00
Cyrille Nofficial	bbf4328e6c	refactor: unify pwm config for arduino and pca9685	2022-06-07 18:51:53 +02:00
Cyrille Nofficial	e1602339ee	freeze: robocar-pca9685 OK	2022-05-30 16:16:33 +02:00
Cyrille Nofficial	1dde1786f6	fix: bad throttle pwm parameters	2022-05-30 15:01:00 +02:00
Cyrille Nofficial	d3071a5abf	clean: pca9685 deployment	2022-05-30 14:28:33 +02:00
Cyrille Nofficial	e0955aac8f	It's working!	2022-05-30 14:24:48 +02:00
Cyrille Nofficial	d1bfafba1a	clean: remove old files	2022-05-19 15:04:45 +02:00
Cyrille Nofficial	64a72482e7	fix: bad mqtt topic for oak-camera	2022-05-19 15:04:10 +02:00
Cyrille Nofficial	e13e5026b5	race: fix configurations	2022-02-19 20:11:41 +01:00
Cyrille Nofficial	182a3d447b	feat(µservice): run oak-camera as non root	2022-01-28 18:36:54 +01:00
Cyrille Nofficial	e71eb6d66d	freeze oak-camera microservice version	2022-01-28 18:15:01 +01:00
Cyrille Nofficial	43bd45926a	freeze arduino microservice version	2022-01-28 18:14:39 +01:00
Cyrille Nofficial	f1c20b3de2	feat: replace rpi camera with oak camera	2022-01-28 18:07:36 +01:00
				`@ -0,0 +1 @@`
				`SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"`