config: config used for vivatech 2022

refs robocars/robocar-setup#3

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

@@ -117,10 +117,7 @@ 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:
@@ -195,6 +192,7 @@ spec:
           - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
           - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
           - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
+          - "--pwm-freq=60"
           - "--update-pwm-frequency=25"
           - "--log=info"
           securityContext:

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

@@ -13,7 +13,7 @@ images:
     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

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

@@ -4,14 +4,11 @@ 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
 
 
@@ -43,8 +40,15 @@ data:
   ############
   # Throttle #
   ############
-  THROTTLE_MIN: "0.3"
+  # Min value to start is 0.12
-  THROTTLE_MAX: "0.4"
+  # 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
@@ -66,9 +70,12 @@ data:
   ################
   # THROTTLE PWM #
   ################
-  THROTTLE_MIN_PWM: "1092"
+  #THROTTLE_MIN_PWM: "1092"
-  THROTTLE_MAX_PWM: "1986"
+  #THROTTLE_MAX_PWM: "1986"
-  THROTTLE_ZERO_PWM: "1583"
+  #THROTTLE_ZERO_PWM: "1583"
+  THROTTLE_MIN_PWM: "960"
+  THROTTLE_MAX_PWM: "1949"
+  THROTTLE_ZERO_PWM: "1452"
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -93,10 +100,17 @@ 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"

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

@@ -28,6 +28,9 @@ 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/ttyAMA0"
@@ -91,6 +94,22 @@ 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:
@@ -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
@@ -525,7 +541,7 @@ spec:
         image: docker.io/cyrilix/robocar-record
         args:
         - "-mqtt-retain=true"
-        - "-debug=true"
+        - "-debug=false"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -580,7 +596,7 @@ 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
 
   - 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
 
   - 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