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base: robocars:fix/pca9686-steering
Branches Tags
robocars:master robocars:feat/mqtt_service robocars:debug/bad_steering robocars:fix/pca9686-steering
robocars:viva_tech_2022 robocars:viva_tech_preparation
...
compare: robocars:viva_tech_2022
Branches Tags
robocars:master robocars:feat/mqtt_service robocars:debug/bad_steering robocars:fix/pca9686-steering
robocars:viva_tech_2022 robocars:viva_tech_preparation

28 Commits
fix/pca968 ... viva_tech_

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
8 changed files with 100 additions and 56 deletions
Expand all files Collapse all files

13
ansible/roles/microservices/files/robocar/car/configmap.yaml
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@ -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"

39
ansible/roles/microservices/files/robocar/car/deployments.yaml
View File

@ -117,10 +117,7 @@ spec:
mountPath: /dev mountPath: /dev
env: env:
- name: MQTT_BROKER - name: MQTT_BROKER
valueFrom: value: localhost # because use host network
configMapKeyRef:
key: MQTT_BROKER_HOST
name: robocar
- name: MQTT_USERNAME - name: MQTT_USERNAME
valueFrom: valueFrom:
secretKeyRef: secretKeyRef:
@ -187,15 +184,16 @@ spec:
image: docker.io/cyrilix/robocar-pca9685 image: docker.io/cyrilix/robocar-pca9685
args: args:
- "--mqtt-retain=false" - "--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-left-pwm=$(STEERING_LEFT_PWM)"
- "--steering-right-pwm=$(STEERING_RIGHT_PWM)" - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
- "--steering-center-pwm=$(STEERING_CENTER_PWM)" - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
- "--update-pwm-frequency=10" - "--pwm-freq=60"
- "--update-pwm-frequency=25"
- "--log=info" - "--log=info"
securityContext: securityContext:
runAsUser: 1234 runAsUser: 1234
@ -237,18 +235,33 @@ spec:
- name: STEERING_LEFT_PWM - name: STEERING_LEFT_PWM
valueFrom: valueFrom:
configMapKeyRef: configMapKeyRef:
name: robocar-pca9685 name: robocar-steering-pwm
key: STEERING_LEFT_PWM key: STEERING_LEFT_PWM
- name: STEERING_RIGHT_PWM - name: STEERING_RIGHT_PWM
valueFrom: valueFrom:
configMapKeyRef: configMapKeyRef:
name: robocar-pca9685 name: robocar-steering-pwm
key: STEERING_RIGHT_PWM key: STEERING_RIGHT_PWM
- name: STEERING_CENTER_PWM - name: STEERING_CENTER_PWM
valueFrom: valueFrom:
configMapKeyRef: configMapKeyRef:
name: robocar-pca9685 name: robocar-steering-pwm
key: STEERING_CENTER_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 - name: TZ
value: "Europe/Paris" value: "Europe/Paris"
volumes: volumes:

3
ansible/roles/microservices/files/robocar/car/kustomization.yaml
View File

@ -7,14 +7,13 @@ namespace: robocar
resources: resources:
- ../common - ../common
- deployments.yaml - deployments.yaml
- configmap.yaml
images: images:
- name: docker.io/cyrilix/robocar-camera - name: docker.io/cyrilix/robocar-camera
newTag: v0.3.0 newTag: v0.3.0
- name: docker.io/cyrilix/robocar-pca9685 - name: docker.io/cyrilix/robocar-pca9685
newTag: v0.5.0 newTag: v0.6.4
- name: docker.io/cyrilix/robocar-oak-camera - name: docker.io/cyrilix/robocar-oak-camera
newTag: v0.1.0 newTag: v0.1.0

49
ansible/roles/microservices/files/robocar/common/configmap.yaml
View File

@ -4,12 +4,11 @@ metadata:
name: robocar name: robocar
data: data:
# Broker configuration # 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 # 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 MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
@ -41,8 +40,15 @@ data:
############ ############
# Throttle # # 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 apiVersion: v1
kind: ConfigMap kind: ConfigMap
@ -55,7 +61,21 @@ data:
STEERING_LEFT_PWM: "1002" STEERING_LEFT_PWM: "1002"
STEERING_RIGHT_PWM: "1985" STEERING_RIGHT_PWM: "1985"
STEERING_CENTER_PWM: "1491" 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 apiVersion: v1
kind: ConfigMap kind: ConfigMap
@ -80,10 +100,17 @@ metadata:
name: robocar-models name: robocar-models
data: data:
# model to use for steering # 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_WIDTH: "160"
MODEL_IMAGE_HEIGHT: "120" MODEL_IMAGE_HEIGHT: "120"

32
ansible/roles/microservices/files/robocar/common/deployments.yaml
View File

@ -28,9 +28,12 @@ spec:
- "--steering-left-pwm=$(STEERING_LEFT_PWM)" - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
- "--steering-right-pwm=$(STEERING_RIGHT_PWM)" - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
- "--steering-center-pwm=$(STEERING_CENTER_PWM)" - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
- "--throttle-zero-pwm=$(THROTTLE_ZERO_PWM)"
- "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
- "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
- "-log=info" - "-log=info"
volumeMounts: volumeMounts:
- mountPath: "/dev/ttyAMA1" - mountPath: "/dev/ttyAMA0"
name: serial name: serial
securityContext: securityContext:
privileged: true privileged: true
@ -91,12 +94,28 @@ spec:
configMapKeyRef: configMapKeyRef:
name: robocar-steering-pwm name: robocar-steering-pwm
key: STEERING_CENTER_PWM key: STEERING_CENTER_PWM
- name: THROTTLE_MIN_PWM
valueFrom:
configMapKeyRef:
name: robocar-throttle-pwm
key: THROTTLE_MIN_PWM
- name: THROTTLE_MAX_PWM
valueFrom:
configMapKeyRef:
name: robocar-throttle-pwm
key: THROTTLE_MAX_PWM
- name: THROTTLE_ZERO_PWM
valueFrom:
configMapKeyRef:
name: robocar-throttle-pwm
key: THROTTLE_ZERO_PWM
- name: TZ - name: TZ
value: "Europe/Paris" value: "Europe/Paris"
volumes: volumes:
- name: serial - name: serial
hostPath: hostPath:
path: /dev/ttyAMA1 path: /dev/ttyAMA0
type: CharDevice type: CharDevice
--- ---
@ -207,9 +226,6 @@ spec:
args: args:
- "--model=/model/$(MODEL_STEERING)" - "--model=/model/$(MODEL_STEERING)"
- "--edge-verbosity=0" - "--edge-verbosity=0"
- "--img-width=$(MODEL_IMAGE_WIDTH)"
- "--img-height=$(MODEL_IMAGE_HEIGHT)"
- "--horizon=$(HORIZON)"
- "--log=info" - "--log=info"
securityContext: securityContext:
runAsUser: 0 runAsUser: 0
@ -243,7 +259,7 @@ spec:
- name: MQTT_TOPIC_CAMERA - name: MQTT_TOPIC_CAMERA
valueFrom: valueFrom:
configMapKeyRef: configMapKeyRef:
key: MQTT_TOPIC_CAMERA key: MQTT_TOPIC_CAMERA_OAK_COLOR
name: robocar name: robocar
- name: MQTT_TOPIC_STEERING - name: MQTT_TOPIC_STEERING
valueFrom: valueFrom:
@ -383,7 +399,7 @@ spec:
image: docker.io/cyrilix/robocar-throttle image: docker.io/cyrilix/robocar-throttle
args: args:
- "-mqtt-retain=false" - "-mqtt-retain=false"
- "-debug=false" - "-log=info"
securityContext: securityContext:
runAsUser: 1234 runAsUser: 1234
runAsGroup: 1234 runAsGroup: 1234
@ -580,7 +596,7 @@ metadata:
reloader.stakater.com/auto: "true" reloader.stakater.com/auto: "true"
spec: spec:
revisionHistoryLimit: 0 revisionHistoryLimit: 0
replicas: 1 replicas: 0
strategy: strategy:
type: Recreate type: Recreate
selector: selector:

1
ansible/roles/microservices/files/robocar/common/endpoints.yaml
View File

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

17
ansible/roles/microservices/files/robocar/common/kustomization.yaml
View File

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

2
ansible/roles/microservices/files/robocar/simulator/kustomization.yaml
View File

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