new car config

refs robocars/robocar-setup#3

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=$(THRESHOLD_OBJECTS)"
           securityContext:
             runAsUser: 1234
             privileged: true
@@ -117,10 +118,7 @@ spec:
               mountPath: /dev
           env:
             - name: MQTT_BROKER
-              valueFrom:
+              value: localhost # because use host network
-                configMapKeyRef:
-                  key: MQTT_BROKER_HOST
-                  name: robocar
             - name: MQTT_USERNAME
               valueFrom:
                 secretKeyRef:
@@ -138,6 +136,16 @@ spec:
                 configMapKeyRef:
                   key: MQTT_TOPIC_CAMERA_OAK_COLOR
                   name: robocar
+            - name: MQTT_TOPIC_OBJECTS
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_OBJECTS
+                  name: robocar
+            - name: THRESHOLD_OBJECTS
+              valueFrom:
+                configMapKeyRef:
+                  key: THRESHOLD
+                  name: robocar-objects
             - name: CAMERA_WIDTH
               valueFrom:
                 configMapKeyRef:
@@ -189,12 +197,13 @@ spec:
           - "--mqtt-retain=false"
           - "--throttle-channel=15"
           - "--steering-channel=14"
-          - "--throttle-zero-pwm=$(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=50"
           - "--update-pwm-frequency=25"
           - "--log=info"
           securityContext:
@@ -204,6 +213,9 @@ spec:
           volumeMounts:
             - mountPath: /dev/i2c-1
               name: i2c
+          envFrom:
+            - configMapRef:
+                name: robocar-pca9685-pwm
           env:
             - name: MQTT_BROKER
               valueFrom:
@@ -234,36 +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

@@ -7,13 +7,14 @@ 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: v0.6.0
+    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

@@ -4,16 +4,15 @@ metadata:
   name: robocar
 data:
   # Broker configuration
-  #MQTT_BROKER_HOST: 192.168.217.19
+  MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
-  #MQTT_BROKER: "tcp://192.168.217.19:1883"
+  MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
-  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/camera/color
+  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
@@ -34,6 +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
@@ -43,8 +45,10 @@ data:
   ############
   # Throttle #
   ############
-  THROTTLE_MIN: "0.3"
+  THROTTLE_MIN: "0.2"
-  THROTTLE_MAX: "0.4"
+  THROTTLE_MAX: "0.3"
+
+
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -54,9 +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
@@ -66,9 +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 PWM - SECOND RC #
+  ############################
+  THROTTLE_SECONDARY_MIN_PWM: "994"
+  THROTTLE_SECONDARY_MAX_PWM: "1975"
+  THROTTLE_SECONDARY_ZERO_PWM: "1506"
+
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -93,10 +113,17 @@ metadata:
   name: robocar-models
 data:
   # model to use for steering
-  MODEL_STEERING: model_160x120h0_edgetpu.tflite
+  MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
-  MODEL_STEERING3: model_edgetpu.tflite
+  #MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
-  MODEL_STEERING4: model_160x120h20_edgetpu.tflite
+
-  MODEL_STEERING2: model-sim-bigimg_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"
@@ -109,3 +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

@@ -28,14 +28,31 @@ spec:
             - "--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:
@@ -74,23 +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: TZ
               value: "Europe/Paris"
       volumes:
@@ -98,6 +105,9 @@ spec:
           hostPath:
             path: /dev/ttyAMA0
             type: CharDevice
+        - name: robocar
+          configMap:
+            name: android
 
 ---
 apiVersion: apps/v1
@@ -207,9 +217,6 @@ 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 +250,7 @@ spec:
         - name: MQTT_TOPIC_CAMERA
           valueFrom:
             configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA
+              key: MQTT_TOPIC_CAMERA_OAK_COLOR
               name: robocar
         - name: MQTT_TOPIC_STEERING
           valueFrom:
@@ -312,6 +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
@@ -354,10 +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
@@ -383,7 +419,7 @@ spec:
         image: docker.io/cyrilix/robocar-throttle
         args:
         - "-mqtt-retain=false"
-        - "-debug=false"
+        - "-log=info"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -525,7 +561,7 @@ spec:
         image: docker.io/cyrilix/robocar-record
         args:
         - "-mqtt-retain=true"
-        - "-debug=true"
+        - "-debug=false"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -580,7 +616,7 @@ metadata:
     reloader.stakater.com/auto: "true"
 spec:
   revisionHistoryLimit: 0
-  replicas: 1
+  replicas: 0
   strategy:
     type: Recreate
   selector:

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

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

@@ -10,25 +10,26 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.7.0
+    newTag: v0.8.0-6-gadb38c3
 
   - 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: v0.4.1
+    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: v0.5.1-24-g424b697
 
   - name: docker.io/cyrilix/robocar-road
-    newTag: v0.1.0-5-gdc6e465
+    newTag: v0.2.0

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