debug: test pca9685 python implementation

refactor(pca9685): use python implementation
2022-05-24 19:19:22 +02:00 · 2022-05-19 15:20:16 +02:00
8 changed files with 137 additions and 119 deletions
--- a/ansible/roles/microservices/files/robocar/car/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/car/configmap.yaml
@ -0,0 +1,13 @@
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-pca9685
+data:
+  ################
+  # STEERING PWM #
+  ################
+  STEERING_LEFT_PWM: "1092"
+  STEERING_RIGHT_PWM: "1986"
+  STEERING_CENTER_PWM: "1583"
+
--- a/ansible/roles/microservices/files/robocar/car/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/car/deployments.yaml
@ -117,7 +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:
@ -163,7 +166,7 @@ spec:
 apiVersion: apps/v1
 kind: Deployment
 metadata:
-  name: pca9685
+  name: pca9685-steering
  annotations:
    reloader.stakater.com/auto: "true"
 spec:
@ -181,20 +184,15 @@ spec:
    spec:
      containers:
        - name: pca9685
-          image: docker.io/cyrilix/robocar-pca9685
+          image: docker.io/cyrilix/robocar-pca9685-python
          args:
-          - "--mqtt-retain=false"
-          - "--throttle-channel=15"
-          - "--steering-channel=14"
-          - "--throttle-zero-pwm=$(THROTTLE_ZERO_PWM)"
-          - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
-          - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
-          - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
-          - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
-          - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-          - "--pwm-freq=60"
-          - "--update-pwm-frequency=25"
-          - "--log=info"
+          - "steering"
+          - "--i2c-bus=1"
+          - "--i2c-address=40"
+          - "--pca9685-channel=0"
+          - "--left-pulse=$(STEERING_LEFT_PWM)"
+          - "--right-pulse=$(STEERING_RIGHT_PWM)"
+          - "--debug"
          securityContext:
            runAsUser: 1234
            runAsGroup: 998 # Set 998/i2c group to access to i2c device
@ -206,7 +204,7 @@ spec:
            - name: MQTT_BROKER
              valueFrom:
                configMapKeyRef:
-                  key: MQTT_BROKER
+                  key: MQTT_BROKER_HOST
                  name: robocar
            - name: MQTT_USERNAME
              valueFrom:
@ -219,13 +217,8 @@ spec:
                  key: MQTT_PASSWORD
                  name: mqtt-credentials
            - name: MQTT_CLIENT_ID
-              value: rc-pca9685
-            - name: MQTT_TOPIC_THROTTLE
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_THROTTLE
-                  name: robocar
-            - name: MQTT_TOPIC_STEERING
+              value: rc-pca9685-steering
+            - name: MQTT_TOPIC
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_STEERING
@ -235,33 +228,89 @@ spec:
            - name: STEERING_LEFT_PWM
              valueFrom:
                configMapKeyRef:
-                  name: robocar-steering-pwm
+                  name: robocar-pca9685
                  key: STEERING_LEFT_PWM
            - name: STEERING_RIGHT_PWM
              valueFrom:
                configMapKeyRef:
-                  name: robocar-steering-pwm
+                  name: robocar-pca9685
                  key: STEERING_RIGHT_PWM
            - name: STEERING_CENTER_PWM
              valueFrom:
                configMapKeyRef:
-                  name: robocar-steering-pwm
+                  name: robocar-pca9685
                  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:
+        - 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:
--- a/ansible/roles/microservices/files/robocar/car/kustomization.yaml
+++ b/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: v0.6.4
+  - name: docker.io/cyrilix/robocar-pca9685-python
+    newTag: v0.1.0-12-g2966f92

  - name: docker.io/cyrilix/robocar-oak-camera
    newTag: v0.1.0
--- a/ansible/roles/microservices/files/robocar/common/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml
@ -4,11 +4,12 @@ metadata:
  name: robocar
 data:
  # Broker configuration
-  MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
-  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/color
+  MQTT_TOPIC_CAMERA: car/satanas/part/camera/camera/color
  MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color


@ -40,15 +41,8 @@ data:
  ############
  # Throttle #
  ############
-  # Min value to start is 0.12
-  # Good value for manual: 0.15
-  #THROTTLE_MIN: "0.15"
-  #THROTTLE_MAX: "0.15"
-
-  THROTTLE_MIN: "0.19"
-  THROTTLE_MAX: "0.19"
-
-
+  THROTTLE_MIN: "0.3"
+  THROTTLE_MAX: "0.4"
 ---
 apiVersion: v1
 kind: ConfigMap
@ -61,21 +55,7 @@ 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: "960"
-  THROTTLE_MAX_PWM: "1949"
-  THROTTLE_ZERO_PWM: "1452"
+
 ---
 apiVersion: v1
 kind: ConfigMap
@ -100,17 +80,10 @@ metadata:
  name: robocar-models
 data:
  # model to use for steering
-  MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
-  #MODEL_STEERING: model_categorical_160x120h0_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_STEERING: model_160x120h0_edgetpu.tflite
+  MODEL_STEERING3: model_edgetpu.tflite
+  MODEL_STEERING4: model_160x120h20_edgetpu.tflite
+  MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite

  MODEL_IMAGE_WIDTH: "160"
  MODEL_IMAGE_HEIGHT: "120"
--- a/ansible/roles/microservices/files/robocar/common/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/common/deployments.yaml
@ -28,12 +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"
+            - mountPath: "/dev/ttyAMA1"
              name: serial
          securityContext:
            privileged: true
@ -94,28 +91,12 @@ 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:
        - name: serial
          hostPath:
-            path: /dev/ttyAMA0
+            path: /dev/ttyAMA1
            type: CharDevice

 ---
@ -226,6 +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
@ -259,7 +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:
@ -399,7 +383,7 @@ spec:
        image: docker.io/cyrilix/robocar-throttle
        args:
        - "-mqtt-retain=false"
-        - "-log=info"
+        - "-debug=false"
        securityContext:
          runAsUser: 1234
          runAsGroup: 1234
@ -596,7 +580,7 @@ metadata:
    reloader.stakater.com/auto: "true"
 spec:
  revisionHistoryLimit: 0
-  replicas: 0
+  replicas: 1
  strategy:
    type: Recreate
  selector:
--- a/ansible/roles/microservices/files/robocar/common/endpoints.yaml
+++ b/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
--- a/ansible/roles/microservices/files/robocar/common/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
@ -10,26 +10,25 @@ resources:

 images:
  - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.8.0
+    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
+    newTag: v0.5.0

  - name: docker.io/cyrilix/robocar-road
-    newTag: v0.2.0
+    newTag: v0.1.0-5-gdc6e465
--- a/ansible/roles/microservices/files/robocar/simulator/kustomization.yaml
+++ b/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
Author	SHA1	Message	Date
Cyrille Nofficial	de8e22db1d	debug: test pca9685 python implementation	2022-05-24 19:19:22 +02:00
Cyrille Nofficial	3f31891de1	refactor(pca9685): use python implementation	2022-05-19 15:20:16 +02:00