debug: test pca9685 python implementation

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"
+

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:
@@ -181,19 +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=$(THROTTLE_ZERO_PWM)"
+          - "--pca9685-channel=0"
-          - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
+          - "--left-pulse=$(STEERING_LEFT_PWM)"
-          - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
+          - "--right-pulse=$(STEERING_RIGHT_PWM)"
-          - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
+          - "--debug"
-          - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
-          - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-          - "--update-pwm-frequency=25"
-          - "--log=info"
           securityContext:
             runAsUser: 1234
             runAsGroup: 998 # Set 998/i2c group to access to i2c device
@@ -205,7 +204,7 @@ spec:
             - name: MQTT_BROKER
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_BROKER
+                  key: MQTT_BROKER_HOST
                   name: robocar
             - name: MQTT_USERNAME
               valueFrom:
@@ -218,13 +217,8 @@ 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
@@ -234,33 +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
+            - name: TZ
-              valueFrom:
+              value: "Europe/Paris"
-                configMapKeyRef:
+      volumes:
-                  name: robocar-throttle-pwm
+        - name: i2c
-                  key: THROTTLE_MIN_PWM
+          hostPath:
-            - name: THROTTLE_MAX_PWM
+            path: /dev/i2c-1
-              valueFrom:
+            type: CharDevice
-                configMapKeyRef:
+---
-                  name: robocar-throttle-pwm
+apiVersion: apps/v1
-                  key: THROTTLE_MAX_PWM
+kind: Deployment
-            - name: THROTTLE_ZERO_PWM
+metadata:
-              valueFrom:
+  name: pca9685-throttle
-                configMapKeyRef:
+  annotations:
-                  name: robocar-throttle-pwm
+    reloader.stakater.com/auto: "true"
-                  key: THROTTLE_ZERO_PWM
+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

@@ -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
+  - name: docker.io/cyrilix/robocar-pca9685-python
-    newTag: v0.6.1
+    newTag: v0.1.0-12-g2966f92
 
   - name: docker.io/cyrilix/robocar-oak-camera
     newTag: v0.1.0

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_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
 
 
@@ -40,7 +41,7 @@ data:
   ############
   # Throttle #
   ############
-  THROTTLE_MIN: "0.25"
+  THROTTLE_MIN: "0.3"
   THROTTLE_MAX: "0.4"
 ---
 apiVersion: v1
@@ -54,21 +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: "967"
-  THROTTLE_MAX_PWM: "1966"
-  THROTTLE_ZERO_PWM: "1460"
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -93,9 +80,7 @@ metadata:
   name: robocar-models
 data:
   # model to use for steering
-  #MODEL_STEERING: model_categorical_160x120h20_edgetpu.tflite
+  MODEL_STEERING: model_160x120h0_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/ttyAMA0"
+            - mountPath: "/dev/ttyAMA1"
               name: serial
           securityContext:
             privileged: true
@@ -96,7 +96,7 @@ spec:
       volumes:
         - name: serial
           hostPath:
-            path: /dev/ttyAMA0
+            path: /dev/ttyAMA1
             type: CharDevice
 
 ---
@@ -207,6 +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
@@ -240,7 +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:
@@ -577,7 +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

@@ -10,25 +10,25 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.7.1
+    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
 
+  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
+    newTag: v0.4.0
+
   - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.4.2
+    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

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