disable debug logs

refs robocars/robocar-setup#3

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"
-

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:
@@ -187,15 +184,15 @@ spec:
           image: docker.io/cyrilix/robocar-pca9685
           args:
           - "--mqtt-retain=false"
-          - "--throttle-channel=1"
+          - "--throttle-channel=15"
-          - "--steering-channel=0"
+          - "--steering-channel=14"
-          - "--throttle-zero-pwm=378"
+          - "--throttle-zero-pwm=$(THROTTLE_ZERO_PWM)"
-          - "--throttle-min-pwm=250"
+          - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
-          - "--throttle-max-pwm=500"
+          - "--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"
+          - "--update-pwm-frequency=25"
           - "--log=info"
           securityContext:
             runAsUser: 1234
@@ -237,18 +234,33 @@ 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:

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

@@ -7,14 +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: v0.5.0
+    newTag: v0.6.1
 
   - name: docker.io/cyrilix/robocar-oak-camera
     newTag: v0.1.0

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

@@ -4,12 +4,11 @@ metadata:
   name: robocar
 data:
   # Broker configuration
-  MQTT_BROKER_HOST: 192.168.2.221
+  MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
-  MQTT_BROKER: "tcp://192.168.2.221:1883"
+  MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local: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
 
 
@@ -41,7 +40,7 @@ data:
   ############
   # Throttle #
   ############
-  THROTTLE_MIN: "0.3"
+  THROTTLE_MIN: "0.25"
   THROTTLE_MAX: "0.4"
 ---
 apiVersion: v1
@@ -55,7 +54,21 @@ 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: "967"
+  THROTTLE_MAX_PWM: "1966"
+  THROTTLE_ZERO_PWM: "1460"
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -80,7 +93,9 @@ metadata:
   name: robocar-models
 data:
   # model to use for steering
-  MODEL_STEERING: model_160x120h0_edgetpu.tflite
+  #MODEL_STEERING: model_categorical_160x120h20_edgetpu.tflite
+  MODEL_STEERING: model_linear_160x120h20_edgetpu.tflite
+  MODEL_STEERING5: model_160x120h0_edgetpu.tflite
   MODEL_STEERING3: model_edgetpu.tflite
   MODEL_STEERING4: model_160x120h20_edgetpu.tflite
   MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite

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

@@ -30,7 +30,7 @@ spec:
             - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
             - "-log=info"
           volumeMounts:
-            - mountPath: "/dev/ttyAMA1"
+            - mountPath: "/dev/ttyAMA0"
               name: serial
           securityContext:
             privileged: true
@@ -96,7 +96,7 @@ spec:
       volumes:
         - name: serial
           hostPath:
-            path: /dev/ttyAMA1
+            path: /dev/ttyAMA0
             type: CharDevice
 
 ---
@@ -207,9 +207,6 @@ 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 +240,7 @@ spec:
         - name: MQTT_TOPIC_CAMERA
           valueFrom:
             configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA
+              key: MQTT_TOPIC_CAMERA_OAK_COLOR
               name: robocar
         - name: MQTT_TOPIC_STEERING
           valueFrom:
@@ -550,7 +547,7 @@ 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 +577,7 @@ 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 +10,25 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.6.0
+    newTag: v0.7.1
 
   - 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
 
   - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.4.0
+    newTag: v0.4.2
 
   - 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

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