debug: test pca9685 python implementation

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

@@ -2,19 +2,12 @@
 apiVersion: v1
 kind: ConfigMap
 metadata:
-  name: robocar-pca9685-pwm
+  name: robocar-pca9685
 data:
-  ############################
+  ################
-  # STEERING PWM - PCA9685   #
+  # STEERING PWM #
-  ############################
+  ################
-  STEERING_PCA9685_LEFT_PWM: "995"
+  STEERING_LEFT_PWM: "1092"
-  STEERING_PCA9685_RIGHT_PWM: "2017"
+  STEERING_RIGHT_PWM: "1986"
-  STEERING_PCA9685_CENTER_PWM: "1440"
+  STEERING_CENTER_PWM: "1583"
-
-  ###########################
-  # 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

@@ -107,7 +107,6 @@ spec:
           args:
             - "--image-width=$(CAMERA_WIDTH)"
             - "--image-height=$(CAMERA_HEIGHT)"
-            - "--objects-threshold=$(THRESHOLD_OBJECTS)"
           securityContext:
             runAsUser: 1234
             privileged: true
@@ -118,7 +117,10 @@ spec:
               mountPath: /dev
           env:
             - name: MQTT_BROKER
-              value: localhost # because use host network
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_BROKER_HOST
+                  name: robocar
             - name: MQTT_USERNAME
               valueFrom:
                 secretKeyRef:
@@ -136,16 +138,6 @@ spec:
                 configMapKeyRef:
                   key: MQTT_TOPIC_CAMERA_OAK_COLOR
                   name: robocar
-            - name: MQTT_TOPIC_OBJECTS
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_OBJECTS
-                  name: robocar
-            - name: THRESHOLD_OBJECTS
-              valueFrom:
-                configMapKeyRef:
-                  key: THRESHOLD
-                  name: robocar-objects
             - name: CAMERA_WIDTH
               valueFrom:
                 configMapKeyRef:
@@ -174,7 +166,7 @@ spec:
 apiVersion: apps/v1
 kind: Deployment
 metadata:
-  name: pca9685
+  name: pca9685-steering
   annotations:
     reloader.stakater.com/auto: "true"
 spec:
@@ -192,20 +184,15 @@ spec:
     spec:
       containers:
         - name: pca9685
-          image: docker.io/cyrilix/robocar-pca9685
+          image: docker.io/cyrilix/robocar-pca9685-python
           args:
-          - "--mqtt-retain=false"
+          - "steering"
-          - "--throttle-channel=15"
+          - "--i2c-bus=1"
-          - "--steering-channel=14"
+          - "--i2c-address=40"
-          - "--throttle-zero-pwm=$(THROTTLE_PCA9685_ZERO_PWM)"
+          - "--pca9685-channel=0"
-          - "--throttle-min-pwm=$(THROTTLE_PCA9685_MIN_PWM)"
+          - "--left-pulse=$(STEERING_LEFT_PWM)"
-          - "--throttle-max-pwm=$(THROTTLE_PCA9685_MAX_PWM)"
+          - "--right-pulse=$(STEERING_RIGHT_PWM)"
-          - "--steering-left-pwm=$(STEERING_PCA9685_LEFT_PWM)"
+          - "--debug"
-          - "--steering-right-pwm=$(STEERING_PCA9685_RIGHT_PWM)"
-          - "--steering-center-pwm=$(STEERING_PCA9685_CENTER_PWM)"
-          - "--pwm-freq=50"
-          - "--update-pwm-frequency=25"
-          - "--log=info"
           securityContext:
             runAsUser: 1234
             runAsGroup: 998 # Set 998/i2c group to access to i2c device
@@ -213,14 +200,11 @@ spec:
           volumeMounts:
             - mountPath: /dev/i2c-1
               name: i2c
-          envFrom:
-            - configMapRef:
-                name: robocar-pca9685-pwm
           env:
             - name: MQTT_BROKER
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_BROKER
+                  key: MQTT_BROKER_HOST
                   name: robocar
             - name: MQTT_USERNAME
               valueFrom:
@@ -233,19 +217,100 @@ 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
                   name: robocar
             - name: MQTT_QOS
               value: "0"
+            - name: STEERING_LEFT_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-pca9685
+                  key: STEERING_LEFT_PWM
+            - name: STEERING_RIGHT_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-pca9685
+                  key: STEERING_RIGHT_PWM
+            - name: STEERING_CENTER_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-pca9685
+                  key: STEERING_CENTER_PWM
+            - name: TZ
+              value: "Europe/Paris"
+      volumes:
+        - name: i2c
+          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:

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

@@ -13,8 +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: v0.6.4
+    newTag: v0.1.0-12-g2966f92
 
   - name: docker.io/cyrilix/robocar-oak-camera
-    newTag: v0.1.0-2-g52c3808
+    newTag: v0.1.0

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

@@ -4,15 +4,14 @@ metadata:
   name: robocar
 data:
   # Broker configuration
-  MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
+  MQTT_BROKER_HOST: 192.168.2.221
-  MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
+  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/color
+  MQTT_TOPIC_CAMERA: car/satanas/part/camera/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
@@ -33,9 +32,6 @@ data:
   # Records topic
   MQTT_TOPIC_RECORDS: car/satanas/part/records
 
-  # Feedbacks
-  MQTT_TOPIC_THROTTLE_FEEDBACK: car/satanas/part/feedback/throttle
-
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -45,10 +41,8 @@ data:
   ############
   # Throttle #
   ############
-  THROTTLE_MIN: "0.2"
+  THROTTLE_MIN: "0.3"
-  THROTTLE_MAX: "0.3"
+  THROTTLE_MAX: "0.4"
-
-
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -58,36 +52,9 @@ data:
   ################
   # STEERING PWM #
   ################
-  STEERING_LEFT_PWM: "1000"
+  STEERING_LEFT_PWM: "1002"
   STEERING_RIGHT_PWM: "1985"
-  STEERING_CENTER_PWM: "1492"
+  STEERING_CENTER_PWM: "1491"
-
-  ############################
-  # STEERING PWM - SECOND RC #
-  ############################
-  STEERING_SECONDARY_LEFT_PWM: "1119"
-  STEERING_SECONDARY_RIGHT_PWM: "2141"
-  STEERING_SECONDARY_CENTER_PWM: "1641"
-
----
-apiVersion: v1
-kind: ConfigMap
-metadata:
-  name: robocar-throttle-pwm
-data:
-  ################
-  # THROTTLE PWM #
-  ################
-  THROTTLE_MIN_PWM: "994"
-  THROTTLE_MAX_PWM: "1979"
-  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
@@ -113,17 +80,10 @@ metadata:
   name: robocar-models
 data:
   # model to use for steering
-  MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
+  MODEL_STEERING: model_160x120h0_edgetpu.tflite
-  #MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
+  MODEL_STEERING3: model_edgetpu.tflite
-
+  MODEL_STEERING4: model_160x120h20_edgetpu.tflite
-  #MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite
+  MODEL_STEERING2: model-sim-bigimg_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"
@@ -136,48 +96,3 @@ 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

@@ -28,31 +28,14 @@ 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"
+            - mountPath: "/dev/ttyAMA1"
               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:
@@ -91,23 +74,30 @@ 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:
         - name: serial
           hostPath:
-            path: /dev/ttyAMA0
+            path: /dev/ttyAMA1
             type: CharDevice
-        - name: robocar
-          configMap:
-            name: android
 
 ---
 apiVersion: apps/v1
@@ -217,6 +207,9 @@ 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
@@ -250,7 +243,7 @@ spec:
         - name: MQTT_TOPIC_CAMERA
           valueFrom:
             configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA_OAK_COLOR
+              key: MQTT_TOPIC_CAMERA
               name: robocar
         - name: MQTT_TOPIC_STEERING
           valueFrom:
@@ -319,13 +312,6 @@ 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
@@ -368,32 +354,10 @@ 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
@@ -419,7 +383,7 @@ spec:
         image: docker.io/cyrilix/robocar-throttle
         args:
         - "-mqtt-retain=false"
-        - "-log=info"
+        - "-debug=false"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -616,7 +580,7 @@ metadata:
     reloader.stakater.com/auto: "true"
 spec:
   revisionHistoryLimit: 0
-  replicas: 0
+  replicas: 1
   strategy:
     type: Recreate
   selector:

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

@@ -8,6 +8,5 @@ metadata:
 subsets:
   - addresses:
       - ip: 192.168.2.221
-      # - ip: 192.168.217.19
     ports:
       - port: 1883

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

@@ -10,26 +10,25 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.8.0-6-gadb38c3
+    newTag: v0.6.0
 
   - name: docker.io/cyrilix/robocar-led
-    newTag: v0.5.1
-
-  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    #newTag: v0.5.0
-    newTag: v0.5.0-1-gbc90193
-
-  - name: docker.io/cyrilix/robocar-throttle
     newTag: v0.5.0
 
+  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
+    newTag: v0.4.0
+
+  - name: docker.io/cyrilix/robocar-throttle
+    newTag: v0.4.0
+
   - name: docker.io/cyrilix/robocar-record
-    newTag: v0.5.1
+    newTag: v0.5.0
 
   - name: docker.io/cyrilix/robocar-recorder-store
-    newTag: v0.2.1
+    newTag: v0.2.0
 
   - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.5.1-24-g424b697
+    newTag: v0.5.0
 
   - name: docker.io/cyrilix/robocar-road
-    newTag: v0.2.0
+    newTag: v0.1.0-5-gdc6e465

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

@@ -11,4 +11,4 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-simulator
-    newTag: v0.4.1
+    newTag: v0.4.0