microservices: deploy k8s stack

ansible/roles/microservices/files/car.yaml

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+---
+apiVersion: v1
+kind: Pod
+metadata:
+  name: camera
+spec:
+  containers:
+    - name: camera
+      image: docker.io/cyrilix/robocar-camera
+      args:
+        - "-mqtt-pub-frequency=20"
+        - "-video-device=0"
+        - "-video-width=$(CAMERA_WIDTH)"
+        - "-video-height=$(CAMERA_HEIGHT)"
+      volumeMounts:
+        - name: camera
+          mountPath: "/dev/video0"
+      securityContext:
+        runAsUser: 1234
+        runAsGroup: 44 # Set 44/video group to access to video device
+      env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              name: robocar
+        - name: MQTT_USERNAME
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_USERNAME
+              name: robocar
+        - name: MQTT_PASSWORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_PASSWORD
+              name: robocar
+        - name: MQTT_CLIENT_ID
+          value: rc-camera
+        - name: MQTT_TOPIC
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_CAMERA
+              name: robocar
+        - name: CAMERA_HEIGHT
+          valueFrom:
+            configMapKeyRef:
+              key: CAMERA_HEIGHT
+              name: robocar
+        - name: CAMERA_WIDTH
+          valueFrom:
+            configMapKeyRef:
+              key: CAMERA_WIDTH
+              name: robocar
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"
+    #network_mode: host
+
+---
+apiVersion: v1
+kind: Pod
+metadata:
+  name: pca9685
+spec:
+  containers:
+    - name: pca9685
+      image: docker.io/cyrilix/robocar-pca9685:v0.2.0
+      args:
+        - "-mqtt-retain=false"
+        - "-throttle-channel=1"
+        - "-steering-channel=0"
+        - "-throttle-zero-pwm=378"
+        - "-throttle-min-pwm=250"
+        - "-throttle-max-pwm=500"
+        - "-steering-left-pwm=490"
+        - "-steering-right-pwm=265"
+        - "-update-pwm-frequency=10"
+        - "-debug=false"
+      volumeMounts:
+        - mountPath: /dev/i2c-1
+          name: i2c
+      securityContext:
+        runAsUser: 1234
+        runAsGroup: 998 # Set 998/i2c group to access to i2c device
+      #network_mode: host
+      env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              name: robocar
+        - name: MQTT_USERNAME
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_USERNAME
+              name: robocar
+        - name: MQTT_PASSWORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_PASSWORD
+              name: robocar
+        - name: MQTT_CLIENT_ID
+          value: rc-pca9685
+        - name: MQTT_TOPIC_THROTTLE
+          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: TZ
+          value: "Europe/Paris"
+  volumes:
+    - name: i2c
+      hostPath:
+        path: /dev/i2c-1
+        type: CharDevice
+

ansible/roles/microservices/files/robocar.yaml

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+---
+apiVersion: v1
+kind: Pod
+metadata:
+  name: arduino
+spec:
+  containers:
+    - name: arduino
+      image: docker.io/cyrilix/robocar-arduino:v0.2.0
+      args:
+      - "-device=/dev/ttyAMA1"
+      - "-baud=115200"
+      - "-mqtt-retain=false"
+      - "-debug=false"
+      volumeMounts:
+        - mountPath: "/dev/ttyAMA1"
+          name: serial
+      securityContext:
+        runAsUser: 1234
+        runAsGroup: 20 # Set 20/dialout group to access to serial device
+    #  network_mode: host
+      env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              name: robocar
+        - name: MQTT_USERNAME
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_USERNAME
+              name: robocar
+        - name: MQTT_PASSWORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_PASSWORD
+              name: robocar
+        - name: MQTT_CLIENT_ID
+          value: rc-arduino
+        - name: MQTT_TOPIC_THROTTLE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_THROTTLE
+              name: robocar
+        - name: MQTT_TOPIC_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_STEERING
+              name: robocar
+        - name: MQTT_TOPIC_DRIVE_MODE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_DRIVE_MODE
+              name: robocar
+        - name: MQTT_TOPIC_SWITCH_RECORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_SWITCH_RECORD
+              name: robocar
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"
+  volumes:
+    - name: serial
+      hostPath:
+        path: /dev/ttyAMA1
+        type: CharDevice
+
+---
+apiVersion: v1
+kind: Pod
+metadata:
+  name: led
+spec:
+  containers:
+    - name: led
+      image: docker.io/cyrilix/robocar-led:v0.2.0
+      args:
+      - "-mqtt-retain=false"
+      volumeMounts:
+        - name: gpiomem
+          mountPath: "/dev/gpiomem"
+      securityContext:
+        runAsUser: 1234
+        runAsGroup: 997 # Set 997/gpio group to access to serial device
+
+      #network_mode: host
+      env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              name: robocar
+        - name: MQTT_USERNAME
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_USERNAME
+              name: robocar
+        - name: MQTT_PASSWORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_PASSWORD
+              name: robocar
+        - name: MQTT_CLIENT_ID
+          value: rc-led
+        - name: MQTT_TOPIC_DRIVE_MODE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_DRIVE_MODE
+              name: robocar
+        - name: MQTT_TOPIC_RECORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_SWITCH_RECORD
+              name: robocar
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"
+  volumes:
+    - name: gpiomem
+      hostPath:
+        path: /dev/gpiomem
+        type: CharDevice
+---
+apiVersion: v1
+kind: Pod
+metadata:
+  name: tflite-steering
+spec:
+  containers:
+    - name: tflite-steering
+      image: docker.io/cyrilix/robocar-tflite-steering:v0.1.0
+      args:
+      - "--tf-model-path=/model/model.tflite"
+      securityContext:
+        runAsUser: 1234
+        runAsGroup: 1234
+  #network_mode: host
+      volumeMounts:
+      - name: models
+        mountPath: /model
+      env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              name: robocar
+        - name: MQTT_USERNAME
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_USERNAME
+              name: robocar
+        - name: MQTT_PASSWORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_PASSWORD
+              name: robocar
+        - name: MQTT_CLIENT_ID
+          value: rc-tflite-steering
+        - name: MQTT_TOPIC_CAMERA
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_CAMERA
+              name: robocar
+        - name: MQTT_TOPIC_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_TF_STEERING
+              name: robocar
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"
+  volumes:
+    - name: models
+      hostPath:
+        path: /home/pi/models/steering
+        type: DirectoryOrCreate
+
+---
+apiVersion: v1
+kind: Pod
+metadata:
+  name: throttle
+spec:
+  containers:
+    - name: throttle
+      image: docker.io/cyrilix/robocar-throttle:v0.2.0
+      args:
+      - "-mqtt-retain=false"
+      securityContext:
+        runAsUser: 1234
+        runAsGroup: 1234
+      #network_mode: host
+      env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              name: robocar
+        - name: MQTT_USERNAME
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_USERNAME
+              name: robocar
+        - name: MQTT_PASSWORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_PASSWORD
+              name: robocar
+        - name: MQTT_CLIENT_ID
+          value: rc-throttle
+        - name: MQTT_TOPIC_THROTTLE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_THROTTLE
+              name: robocar
+        - name: MQTT_TOPIC_RC_THROTTLE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_THROTTLE
+              name: robocar
+        - name: MQTT_TOPIC_DRIVE_MODE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_DRIVE_MODE
+              name: robocar
+        - name: THROTTLE_MIN
+          valueFrom:
+            configMapKeyRef:
+              key: THROTTLE_MIN
+              name: robocar
+        - name: THROTTLE_MAX
+          valueFrom:
+            configMapKeyRef:
+              key: THROTTLE_MAX
+              name: robocar
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"
+
+#---
+#apiVersion: v1
+#kind: Pod
+#metadata:
+#  name: road
+#spec:
+#  containers:
+#    - name: road
+#      image: docker.io/cyrilix/robocar-road:0.0.1
+#      args:
+#      - "-horizon=20"
+#      - "-mqtt-retain=false"
+#      securityContext:
+#        runAsUser: 1234
+#        runAsGroup: 1234
+#      #network_mode: host
+#      env:
+#        - name: MQTT_BROKER
+#          valueFrom:
+#            configMapKeyRef:
+#              key: MQTT_BROKER
+#              name: robocar
+#        - name: MQTT_USERNAME
+#          valueFrom:
+#            configMapKeyRef:
+#              key: MQTT_USERNAME
+#              name: robocar
+#        - name: MQTT_PASSWORD
+#          valueFrom:
+#            configMapKeyRef:
+#              key: MQTT_PASSWORD
+#              name: robocar
+#        - name: MQTT_CLIENT_ID
+#          value: rc-road
+#        - name: MQTT_TOPIC_CAMERA
+#          valueFrom:
+#            configMapKeyRef:
+#              key: MQTT_TOPIC_CAMERA
+#              name: robocar
+#        - name: MQTT_TOPIC_ROAD
+#          valueFrom:
+#            configMapKeyRef:
+#              key: MQTT_TOPIC_ROAD
+#              name: robocar
+#        - name: MQTT_QOS
+#          value: "0"
+#        - name: TZ
+#          value: "Europe/Paris"
+
+---
+apiVersion: v1
+kind: Pod
+metadata:
+  name: record
+spec:
+  containers:
+    - name: record
+      image: docker.io/cyrilix/robocar-record:v0.2.0
+      args:
+      - "-mqtt-retain=true"
+      securityContext:
+        runAsUser: 1234
+        runAsGroup: 1234
+      #network_mode: host
+      env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              name: robocar
+        - name: MQTT_USERNAME
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_USERNAME
+              name: robocar
+        - name: MQTT_PASSWORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_PASSWORD
+              name: robocar
+        - name: MQTT_CLIENT_ID
+          value: rc-record
+        - name: MQTT_TOPIC_CAMERA
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_CAMERA
+              name: robocar
+        - name: MQTT_TOPIC_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_STEERING
+              name: robocar
+        - name: MQTT_TOPIC_SWITCH_RECORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_SWITCH_RECORD
+              name: robocar
+        - name: MQTT_TOPIC_RECORDS
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RECORDS
+              name: robocar
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"

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

@@ -0,0 +1,161 @@
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: camera
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: camera
+  template:
+    metadata:
+      labels:
+        component: camera
+    spec:
+      containers:
+        - name: camera
+          image: docker.io/cyrilix/robocar-camera
+          args:
+          - "-mqtt-pub-frequency=$(MQTT_CAMERA_PUB_FREQUENCY)"
+          - "-video-device=0"
+          - "-video-width=$(CAMERA_WIDTH)"
+          - "-video-height=$(CAMERA_HEIGHT)"
+          - "-debug=false"
+          securityContext:
+            runAsUser: 1234
+            runAsGroup: 44 # Set 44/video group to access to video device
+            privileged: true
+          volumeMounts:
+            - name: camera-device
+              mountPath: /dev/video0
+          env:
+          - name: MQTT_BROKER
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_BROKER
+                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-camera
+          - name: MQTT_TOPIC
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_CAMERA
+                name: robocar
+          - name: CAMERA_WIDTH
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_WIDTH
+                name: robocar-camera
+          - name: CAMERA_HEIGHT
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_HEIGHT
+                name: robocar-camera
+          - name: MQTT_CAMERA_PUB_FREQUENCY
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_CAMERA_PUB_FREQUENCY
+                name: robocar-camera
+          - name: MQTT_QOS
+            value: "0"
+          - name: TZ
+            value: "Europe/Paris"
+      volumes:
+        - name: camera-device
+          hostPath:
+            path: "/dev/video0"
+            type: CharDevice
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: pca9685
+  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
+          image: cyrilix/robocar-pca9685:v0.3.0
+          args:
+          - "-mqtt-retain=false"
+          - "-throttle-channel=1"
+          - "-steering-channel=0"
+          - "-throttle-zero-pwm=378"
+          - "-throttle-min-pwm=250"
+          - "-throttle-max-pwm=500"
+          - "-steering-left-pwm=490"
+          - "-steering-right-pwm=265"
+          - "-update-pwm-frequency=10"
+          - "-debug=false"
+          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
+                  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
+            - name: MQTT_TOPIC_THROTTLE
+              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: TZ
+              value: "Europe/Paris"
+      volumes:
+        - name: i2c
+          hostPath:
+            path: /dev/i2c-1
+            type: CharDevice

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

@@ -0,0 +1,16 @@
+---
+apiVersion: kustomize.config.k8s.io/v1beta1
+kind: Kustomization
+
+namespace: robocar
+
+resources:
+  - ../common
+  - deployments.yaml
+
+images:
+  - name: docker.io/cyrilix/robocar-camera
+    newTag: v0.2.0
+
+  - name: docker.io/cyrilix/robocar-pca9685
+    newTag: v0.3.0

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

@@ -0,0 +1,83 @@
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar
+data:
+  # Broker configuration
+  MQTT_BROKER_HOST: localhost
+  MQTT_BROKER: "tcp://192.168.2.221:1883"
+
+  # Camera
+  MQTT_TOPIC_CAMERA: car/satanas/part/camera
+
+
+  # Radio command
+  MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
+  MQTT_TOPIC_RC_STEERING: car/satanas/part/rc/steering
+  MQTT_TOPIC_RC_SWITCH_RECORD: car/satanas/part/rc/switch_record
+  MQTT_TOPIC_RC_DRIVE_MODE: car/satanas/part/rc/drive_mode
+
+
+  MQTT_TOPIC_TF_STEERING: car/satanas/part/tflite/steering
+
+  # Values to apply
+  MQTT_TOPIC_THROTTLE: car/satanas/part/throttle
+  MQTT_TOPIC_STEERING: car/satanas/part/steering
+
+  # Road detection
+  MQTT_TOPIC_ROAD: car/satanas/part/road
+
+  # Records topic
+  MQTT_TOPIC_RECORDS: car/satanas/part/records
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-throttle
+data:
+  ############
+  # Throttle #
+  ############
+  THROTTLE_MIN: "0.3"
+  THROTTLE_MAX: "0.4"
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-camera
+data:
+  ##########
+  # Camera #
+  ##########
+  2CAMERA_WIDTH: "160"
+  2CAMERA_HEIGHT: "128"
+
+  CAMERA_WIDTH: "160"
+  CAMERA_HEIGHT: "120"
+
+  MQTT_CAMERA_PUB_FREQUENCY: "30"
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-models
+data:
+  # model to use for steering
+  MODEL_STEERING3: model_edgetpu.tflite
+  MODEL_STEERING: model_160x120h20_edgetpu.tflite
+  MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite
+
+  MODEL_IMAGE_WIDTH: "160"
+  MODEL_IMAGE_HEIGHT: "120"
+  HORIZON: "20"
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-road
+data:
+  HORIZON: "20"

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

@@ -0,0 +1,616 @@
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: arduino
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: arduino
+  template:
+    metadata:
+      labels:
+        component: arduino
+    spec:
+      containers:
+        - name: arduino
+          image: docker.io/cyrilix/robocar-arduino
+          args:
+            - "-device=/dev/ttyAMA1"
+            - "-baud=115200"
+            - "-mqtt-retain=false"
+            - "-debug=true"
+          volumeMounts:
+            - mountPath: "/dev/ttyAMA1"
+              name: serial
+          securityContext:
+            privileged: true
+            runAsUser: 1234
+            runAsGroup: 20 # Set 20/dialout group to access to serial device
+          env:
+            - name: MQTT_BROKER
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_BROKER
+                  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-arduino
+            - name: MQTT_TOPIC_THROTTLE
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_RC_THROTTLE
+                  name: robocar
+            - name: MQTT_TOPIC_STEERING
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_RC_STEERING
+                  name: robocar
+            - name: MQTT_TOPIC_DRIVE_MODE
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_RC_DRIVE_MODE
+                  name: robocar
+            - name: MQTT_TOPIC_SWITCH_RECORD
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_RC_SWITCH_RECORD
+                  name: robocar
+            - name: MQTT_QOS
+              value: "0"
+            - name: TZ
+              value: "Europe/Paris"
+      volumes:
+        - name: serial
+          hostPath:
+            path: /dev/ttyAMA1
+            type: CharDevice
+
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: led
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: led
+  template:
+    metadata:
+      labels:
+        component: led
+    spec:
+      containers:
+      - name: led
+        image: docker.io/cyrilix/robocar-led
+        args:
+        - "-mqtt-retain=false"
+        - "-log=info"
+        volumeMounts:
+        - name: gpiomem
+          mountPath: "/dev/gpiomem"
+        - name: gpiochip0
+          mountPath: "/dev/gpiochip0"
+        - name: gpiochip1
+          mountPath: "/dev/gpiochip1"
+        securityContext:
+          privileged: true
+          runAsUser: 1234
+          runAsGroup: 997 # Set 997/gpio group to access to serial device
+        env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              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-led
+        - name: MQTT_TOPIC_DRIVE_MODE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_DRIVE_MODE
+              name: robocar
+        - name: MQTT_TOPIC_RECORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_SWITCH_RECORD
+              name: robocar
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"
+      volumes:
+      - name: gpiomem
+        hostPath:
+          path: /dev/gpiomem
+          type: CharDevice
+      - name: gpiochip0
+        hostPath:
+          path: /dev/gpiochip0
+          type: CharDevice
+      - name: gpiochip1
+        hostPath:
+          path: /dev/gpiochip1
+          type: CharDevice
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: tflite-steering
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: tflite-steering
+  template:
+    metadata:
+      labels:
+        component: tflite-steering
+    spec:
+      containers:
+      - name: tflite-steering
+        image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
+        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
+          runAsGroup: 0
+          privileged: true
+        volumeMounts:
+        - name: models
+          mountPath: /model
+        - name: bus-usb
+          mountPath: /dev/bus/usb
+        - name: sys
+          mountPath: /sys
+        env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              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-tflite-steering
+        - name: MQTT_TOPIC_CAMERA
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_CAMERA
+              name: robocar
+        - name: MQTT_TOPIC_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_TF_STEERING
+              name: robocar
+        - name: MODEL_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MODEL_STEERING
+              name: robocar-models
+        - name: MODEL_IMAGE_WIDTH
+          valueFrom:
+            configMapKeyRef:
+              key: MODEL_IMAGE_WIDTH
+              name: robocar-models
+        - name: MODEL_IMAGE_HEIGHT
+          valueFrom:
+            configMapKeyRef:
+              key: MODEL_IMAGE_HEIGHT
+              name: robocar-models
+        - name: HORIZON
+          valueFrom:
+            configMapKeyRef:
+              key: HORIZON
+              name: robocar-models
+        - name: MQTT_QOS
+          value: "0"
+        - name: LD_LIBRARY_PATH
+          value: "/usr/local/lib/:/usr/lib"
+        - name: TZ
+          value: "Europe/Paris"
+      volumes:
+      - name: models
+        hostPath:
+          path: /home/pi/models/steering
+          type: DirectoryOrCreate
+      - name: bus-usb
+        hostPath:
+          path: /dev/bus/usb
+      - name: sys
+        hostPath:
+          path: /sys
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: steering
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: steering
+  template:
+    metadata:
+      labels:
+        component: steering
+    spec:
+      containers:
+        - name: steering
+          image: docker.io/cyrilix/robocar-steering
+          args:
+          - "-mqtt-retain=false"
+          - "-debug=false"
+          securityContext:
+            runAsUser: 1234
+            runAsGroup: 1234
+          env:
+          - name: MQTT_BROKER
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_BROKER
+                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-steering
+          - name: MQTT_TOPIC_STEERING
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_STEERING
+                name: robocar
+          - name: MQTT_TOPIC_TF_STEERING
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_TF_STEERING
+                name: robocar
+          - name: MQTT_TOPIC_RC_STEERING
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_RC_STEERING
+                name: robocar
+          - name: MQTT_TOPIC_DRIVE_MODE
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_RC_DRIVE_MODE
+                name: robocar
+          - name: MQTT_QOS
+            value: "0"
+          - name: TZ
+            value: "Europe/Paris"
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: throttle
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: throttle
+  template:
+    metadata:
+      labels:
+        component: throttle
+    spec:
+      containers:
+      - name: throttle
+        image: docker.io/cyrilix/robocar-throttle
+        args:
+        - "-mqtt-retain=false"
+        - "-debug=false"
+        securityContext:
+          runAsUser: 1234
+          runAsGroup: 1234
+        env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              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-throttle
+        - name: MQTT_TOPIC_THROTTLE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_THROTTLE
+              name: robocar
+        - name: MQTT_TOPIC_RC_THROTTLE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_THROTTLE
+              name: robocar
+        - name: MQTT_TOPIC_DRIVE_MODE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_DRIVE_MODE
+              name: robocar
+        - name: THROTTLE_MIN
+          valueFrom:
+            configMapKeyRef:
+              key: THROTTLE_MIN
+              name: robocar-throttle
+        - name: THROTTLE_MAX
+          valueFrom:
+            configMapKeyRef:
+              key: THROTTLE_MAX
+              name: robocar-throttle
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: recorder
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: recorder
+  template:
+    metadata:
+      labels:
+        component: recorder
+    spec:
+      containers:
+        - name: recorder
+          image: docker.io/cyrilix/robocar-recorder-store
+          args:
+            - "-mqtt-retain=true"
+            - "-record-path=/records"
+            - "-log=info"
+          env:
+            - name: MQTT_BROKER
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_BROKER
+                  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-recorder
+            - name: MQTT_TOPIC_RECORDS
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_RECORDS
+                  name: robocar
+            - name: MQTT_QOS
+              value: "0"
+            - name: TZ
+              value: "Europe/Paris"
+          volumeMounts:
+            - mountPath: /records
+              name: records
+      securityContext:
+        runAsUser: 1000
+        runAsGroup: 1000
+        fsGroup: 1000
+        fsGroupChangePolicy: OnRootMismatch
+      volumes:
+        - name: records
+          hostPath:
+            path: /home/pi/records
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: record
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: record
+  template:
+    metadata:
+      labels:
+        component: record
+    spec:
+      containers:
+      - name: record
+        image: docker.io/cyrilix/robocar-record
+        args:
+        - "-mqtt-retain=true"
+        - "-debug=false"
+        securityContext:
+          runAsUser: 1234
+          runAsGroup: 1234
+        env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              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-record
+        - name: MQTT_TOPIC_CAMERA
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_CAMERA
+              name: robocar
+        - name: MQTT_TOPIC_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_STEERING
+              name: robocar
+        - name: MQTT_TOPIC_SWITCH_RECORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_SWITCH_RECORD
+              name: robocar
+        - name: MQTT_TOPIC_RECORDS
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RECORDS
+              name: robocar
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: road
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: road
+  template:
+    metadata:
+      labels:
+        component: road
+    spec:
+      containers:
+        - name: road
+          image: docker.io/cyrilix/robocar-road
+          args:
+            - "-mqtt-retain=false"
+            - "--log=info"
+          securityContext:
+            runAsUser: 1234
+            runAsGroup: 1234
+          env:
+            - name: MQTT_BROKER
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_BROKER
+                  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-road
+            - name: MQTT_TOPIC_CAMERA
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_CAMERA
+                  name: robocar
+            - name: MQTT_TOPIC_ROAD
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_ROAD
+                  name: robocar
+            - name: MQTT_QOS
+              value: "0"
+            - name: TZ
+              value: "Europe/Paris"

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

@@ -0,0 +1,12 @@
+---
+apiVersion: v1
+kind: Endpoints
+metadata:
+  name: mqtt
+  labels:
+    app: mqtt
+subsets:
+  - addresses:
+      - ip: 192.168.2.221
+    ports:
+      - port: 1883

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

@@ -0,0 +1,34 @@
+---
+apiVersion: kustomize.config.k8s.io/v1beta1
+kind: Kustomization
+
+resources:
+  - deployments.yaml
+  - endpoints.yaml
+  - services.yaml
+  - configmap.yaml
+
+images:
+  - name: docker.io/cyrilix/robocar-arduino
+    newTag: v0.4.0
+
+  - name: docker.io/cyrilix/robocar-led
+    newTag: v0.4.0
+
+  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
+    newTag: v0.3.0
+
+  - name: docker.io/cyrilix/robocar-throttle
+    newTag: v0.3.0
+
+  - name: docker.io/cyrilix/robocar-record
+    newTag: v0.4.0
+
+  - name: docker.io/cyrilix/robocar-recorder-store
+    newTag: v0.1.0
+
+  - name: docker.io/cyrilix/robocar-steering
+    newTag: v0.4.0
+
+  - name: docker.io/cyrilix/robocar-road
+    newTag: v0.1.0-4-g70f46bd

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

@@ -0,0 +1,8 @@
+---
+apiVersion: v1
+kind: Secret
+metadata:
+  name: mqtt-credentials
+stringData:
+  MQTT_USERNAME: satanas
+  MQTT_PASSWORD: satanas

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

@@ -0,0 +1,13 @@
+---
+apiVersion: v1
+kind: Service
+metadata:
+  name: mqtt
+spec:
+  type: ClusterIP
+  # Headless service, dns record will use ip endpoint that share same name
+  clusterIP: None
+  ports:
+    - port: 1883
+      name: mqtt
+      protocol: TCP

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

@@ -0,0 +1,33 @@
+---
+apiVersion: kustomize.config.k8s.io/v1beta1
+kind: Kustomization
+
+namespace: robocar
+
+resources:
+  - common/configmap.yaml
+  - common/
+
+images:
+  - name: docker.io/cyrilix/robocar-arduino
+    newTag: v0.3.0
+
+  - name: docker.io/cyrilix/robocar-led
+    newTag: v0.3.0
+
+  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
+    newTag: v0.1.0
+
+  - name: docker.io/cyrilix/robocar-throttle
+    newTag: v0.3.0
+
+  - name: docker.io/cyrilix/robocar-record
+    newTag: v0.3.0
+
+configurations:
+  - common/configmap.yaml
+
+
+
+
+

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

@@ -0,0 +1,8 @@
+---
+apiVersion: kustomize.config.k8s.io/v1beta1
+kind: Kustomization
+
+resources:
+  - https://github.com/stakater/Reloader/deployments/kubernetes
+
+namespace: reloader

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

@@ -0,0 +1,12 @@
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-simulator
+data:
+  #############
+  # Simulator #
+  #############
+  SIMULATOR_ADDRESS: "192.168.2.237:9091"
+  MQTT_TOPIC_SIMULATOR_STEERING: car/satanas/part/simulator/steering
+  MQTT_TOPIC_SIMULATOR_THROTTLE: car/satanas/part/simulator/throttle

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

@@ -0,0 +1,96 @@
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: simulator
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: simulator
+  template:
+    metadata:
+      labels:
+        component: simulator
+    spec:
+      containers:
+        - name: simulator
+          image: docker.io/cyrilix/robocar-simulator
+          args:
+          - "-simulator-address=$(SIMULATOR_ADDRESS)"
+          - "-car-style=donkey"
+          - "-car-name=Satanas"
+          - "-car-color=100,0,255"
+          - "-camera-img-h=$(CAMERA_HEIGHT)"
+          - "-camera-img-w=$(CAMERA_WIDTH)"
+          - "-debug=false"
+          securityContext:
+            runAsUser: 1234
+            runAsGroup: 1234
+          env:
+          - name: MQTT_BROKER
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_BROKER
+                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-simulator
+          - name: MQTT_TOPIC_CAMERA
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_CAMERA
+                name: robocar
+          - name: CAMERA_WIDTH
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_WIDTH
+                name: robocar-camera
+          - name: CAMERA_HEIGHT
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_HEIGHT
+                name: robocar-camera
+          - name: MQTT_TOPIC_STEERING
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_SIMULATOR_STEERING
+                name: robocar-simulator
+          - name: MQTT_TOPIC_THROTTLE
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_SIMULATOR_THROTTLE
+                name: robocar-simulator
+          - name: MQTT_TOPIC_STEERING_CTRL
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_STEERING
+                name: robocar
+          - name: MQTT_TOPIC_THROTTLE_CTRL
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_THROTTLE
+                name: robocar
+          - name: SIMULATOR_ADDRESS
+            valueFrom:
+              configMapKeyRef:
+                key: SIMULATOR_ADDRESS
+                name: robocar-simulator
+          - name: MQTT_QOS
+            value: "0"
+          - name: TZ
+            value: "Europe/Paris"

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

@@ -0,0 +1,14 @@
+---
+apiVersion: kustomize.config.k8s.io/v1beta1
+kind: Kustomization
+
+namespace: robocar
+
+resources:
+  - ../common
+  - deployments.yaml
+  - configmap.yaml
+
+images:
+  - name: docker.io/cyrilix/robocar-simulator
+    newTag: v0.3.0

ansible/roles/microservices/files/simulator-compose.yaml

@@ -0,0 +1,192 @@
+version: '3.7'
+services:
+
+  arduino:
+    image: docker.io/cyrilix/robocar-arduino:v0.3.0
+    command:
+      - "-device=/dev/ttyAMA1"
+      - "-baud=115200"
+      - "-mqtt-retain=false"
+      - "-debug=false"
+    devices:
+      - "/dev/ttyAMA1:/dev/ttyAMA1:rw"
+    user: "1234:20" # Set 20/dialout group to access to serial device
+    network_mode: host
+    environment:
+      MQTT_BROKER: "${MQTT_BROKER}"
+      MQTT_USERNAME: "${MQTT_USERNAME}"
+      MQTT_PASSWORD: "${MQTT_PASSWORD}"
+      MQTT_CLIENT_ID: rc-arduino
+      MQTT_TOPIC_THROTTLE: "${MQTT_TOPIC_RC_THROTTLE}"
+      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_RC_STEERING}"
+      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
+      MQTT_TOPIC_SWITCH_RECORD: "${MQTT_TOPIC_RC_SWITCH_RECORD}"
+      MQTT_QOS: "0"
+      TZ: "Europe/Paris"
+
+  led:
+    image: docker.io/cyrilix/robocar-led:v0.3.0
+    command:
+      - "-mqtt-retain=false"
+      - "-debug=false"
+    devices:
+      - "/dev/gpiomem:/dev/gpiomem:rw"
+      - "/dev/gpiochip0:/dev/gpiochip0:rw"
+      - "/dev/gpiochip1:/dev/gpiochip1:rw"
+    user: "1234:997" # Set 997/gpio group to access to serial device
+    network_mode: host
+    privileged: true
+    environment:
+      MQTT_BROKER: "${MQTT_BROKER}"
+      MQTT_USERNAME: "${MQTT_USERNAME}"
+      MQTT_PASSWORD: "${MQTT_PASSWORD}"
+      MQTT_CLIENT_ID: rc-led
+      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
+      MQTT_TOPIC_RECORD: "${MQTT_TOPIC_RC_SWITCH_RECORD}"
+      MQTT_QOS: "0"
+      TZ: "Europe/Paris"
+
+
+  tflite-steering:
+    image: docker.io/cyrilix/robocar-steering-tflite-edgetpu:v0.1.0
+    command:
+      - "--model=/model/model_edgetpu.tflite"
+      - "--edge-verbosity=0"
+      - "-debug=false"
+    user: "0:0"
+    network_mode: host
+    privileged: true
+    volumes:
+      - /dev/bus/usb:/dev/bus/usb
+      - /sys:/sys
+      - /home/pi/models/steering:/model
+    environment:
+      MQTT_BROKER: "${MQTT_BROKER}"
+      MQTT_USERNAME: "${MQTT_USERNAME}"
+      MQTT_PASSWORD: "${MQTT_PASSWORD}"
+      MQTT_CLIENT_ID: rc-tflite-steering
+      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
+      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_TF_STEERING}"
+      MQTT_QOS: "0"
+      LD_LIBRARY_PATH: "/usr/local/lib/:/usr/lib"
+      TZ: "Europe/Paris"
+
+  steering:
+    image: docker.io/cyrilix/robocar-steering:v0.3.0
+    command:
+      - "-mqtt-retain=false"
+      - "-debug=false"
+    user: "1234:1234"
+    network_mode: host
+    environment:
+      MQTT_BROKER: "${MQTT_BROKER}"
+      MQTT_USERNAME: "${MQTT_USERNAME}"
+      MQTT_PASSWORD: "${MQTT_PASSWORD}"
+      MQTT_CLIENT_ID: rc-steering
+      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_STEERING}"
+      MQTT_TOPIC_TF_STEERING: "${MQTT_TOPIC_TF_STEERING}"
+      MQTT_TOPIC_RC_STEERING: "${MQTT_TOPIC_RC_STEERING}"
+      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
+      MQTT_QOS: "0"
+      TZ: "Europe/Paris"
+
+  throttle:
+    image: docker.io/cyrilix/robocar-throttle:v0.3.0
+    command:
+      - "-mqtt-retain=false"
+      - "-debug=false"
+    user: "1234:1234"
+    network_mode: host
+    environment:
+      MQTT_BROKER: "${MQTT_BROKER}"
+      MQTT_USERNAME: "${MQTT_USERNAME}"
+      MQTT_PASSWORD: "${MQTT_PASSWORD}"
+      MQTT_CLIENT_ID: rc-throttle
+      MQTT_TOPIC_THROTTLE: "${MQTT_TOPIC_THROTTLE}"
+      MQTT_TOPIC_RC_THROTTLE: "${MQTT_TOPIC_RC_THROTTLE}"
+      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
+      THROTTLE_MIN: "${THROTTLE_MIN}"
+      THROTTLE_MAX: "${THROTTLE_MAX}"
+      MQTT_QOS: "0"
+      TZ: "Europe/Paris"
+
+  road:
+    image: docker.io/cyrilix/robocar-road:v0.1.0
+    command:
+      - "-horizon=20"
+      - "-mqtt-retain=false"
+      - "-debug=false"
+    user: "1234:1234"
+    network_mode: host
+    environment:
+      MQTT_BROKER: "${MQTT_BROKER}"
+      MQTT_USERNAME: "${MQTT_USERNAME}"
+      MQTT_PASSWORD: "${MQTT_PASSWORD}"
+      MQTT_CLIENT_ID: rc-road
+      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
+      MQTT_TOPIC_ROAD: car/satanas/part/road
+      MQTT_QOS: "0"
+      TZ: "Europe/Paris"
+
+#  objects:
+#    image: cyrilix/robocar-objects-detection
+#    command:
+#      - "-mqtt-retain=false"
+#      - "-tf-model-path=/model/frozen_inference_graph.pb"
+#      - "-tf-model-config-path=/model/ssd_mobilenet_v2_coco_2018_03_29.pbtxt"
+#    user: "1234:1234"
+#    volumes:
+#      - /home/pi/models/objects-detection:/model
+#    network_mode: host
+#    environment:
+#      MQTT_BROKER: "${MQTT_BROKER}"
+#      MQTT_USERNAME: "${MQTT_USERNAME}"
+#      MQTT_PASSWORD: "${MQTT_PASSWORD}"
+#      MQTT_CLIENT_ID: rc-objects-detection
+#      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
+#      MQTT_TOPIC_OBJECTS: car/satanas/part/objects
+#      MQTT_QOS: "0"
+#      TZ: "Europe/Paris"
+
+  record:
+    image: docker.io/cyrilix/robocar-record:v0.3.0
+    command:
+      - "-mqtt-retain=true"
+      - "-debug=false"
+    user: "1234:1234"
+    network_mode: host
+    environment:
+      MQTT_BROKER: "${MQTT_BROKER}"
+      MQTT_USERNAME: "${MQTT_USERNAME}"
+      MQTT_PASSWORD: "${MQTT_PASSWORD}"
+      MQTT_CLIENT_ID: rc-record
+      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
+      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_RC_STEERING}"
+      MQTT_TOPIC_SWITCH_RECORD: "${MQTT_TOPIC_RC_SWITCH_RECORD}"
+      MQTT_TOPIC_RECORDS: "${MQTT_TOPIC_RECORDS}"
+      MQTT_QOS: "0"
+      TZ: "Europe/Paris"
+
+  simulator:
+    image: docker.io/cyrilix/robocar-simulator:v0.3.0
+    command:
+      - "-simulator-address=${SIMULATOR_ADDRESS}"
+      - "-car-style=donkey"
+      - "-car-name=Satanas"
+      - "-car-color=100,0,255"
+      - "-camera-img-h=${CAMERA_HEIGHT}"
+      - "-camera-img-w=${CAMERA_WIDTH}"
+      - "-debug=false"
+    user: "1234:1234"
+    network_mode: host
+    environment:
+      MQTT_BROKER: "${MQTT_BROKER}"
+      MQTT_USERNAME: "${MQTT_USERNAME}"
+      MQTT_PASSWORD: "${MQTT_PASSWORD}"
+      MQTT_CLIENT_ID: rc-simulator
+      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
+      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_SIMULATOR_STEERING}"
+      MQTT_TOPIC_THROTTLE: "${MQTT_TOPIC_SIMULATOR_THROTTLE}"
+      MQTT_TOPIC_STEERING_CTRL: "${MQTT_TOPIC_STEERING}"
+      MQTT_TOPIC_THROTTLE_CTRL: "${MQTT_TOPIC_THROTTLE}"
+      TZ: "Europe/Paris"

ansible/roles/microservices/files/simulator.yaml

@@ -0,0 +1,77 @@
+---
+apiVersion: v1
+kind: Pod
+metadata:
+  name: simulator
+spec:
+  containers:
+    - name: simulator
+      image: docker.io/cyrilix/robocar-simulator
+      args:
+      - "-simulator-address=${SIMULATOR_ADDRESS}"
+      - "-debug=false"
+      - "-car-style=donkey"
+      - "-car-name=Satanas"
+      - "-car-color=100,0,255"
+      - "-camera-img-h=$(CAMERA_HEIGHT)"
+      - "-camera-img-w=$(CAMERA_WIDTH)"
+      securityContext:
+        runAsUser: 1234
+        runAsGroup: 1234
+      env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              name: robocar
+        - name: MQTT_USERNAME
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_USERNAME
+              name: robocar
+        - name: MQTT_PASSWORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_PASSWORD
+              name: robocar
+        - name: MQTT_CLIENT_ID
+          value: rc-simulator
+        - name: MQTT_TOPIC_CAMERA
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_CAMERA
+              name: robocar
+        - name: MQTT_TOPIC_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_SIMULATOR_STEERING
+              name: robocar
+        - name: MQTT_TOPIC_THROTTLE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_SIMULATOR_THROTTLE
+              name: robocar
+        - name: MQTT_TOPIC_STEERING_CTRL
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_STEERING
+              name: robocar
+        - name: MQTT_TOPIC_THROTTLE_CTRL
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_THROTTLE
+              name: robocar
+        - name: CAMERA_HEIGHT
+          valueFrom:
+            configMapKeyRef:
+              key: CAMERA_HEIGHT
+              name: robocar
+        - name: CAMERA_WIDTH
+          valueFrom:
+            configMapKeyRef:
+              key: CAMERA_WIDTH
+              name: robocar
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"

ansible/roles/microservices/tasks/main.yaml

@@ -5,7 +5,13 @@
     src: env
     dest: /home/pi/.env
 
-- name: Copy docker-compose file
+- name: Copy stack file
   copy:
-    src: docker-compose.yaml
+    src: "{{ item }}"
     dest: /home/pi/
+  with_items:
+    - docker-compose.yaml
+    - simulator-compose.yaml
+    - car.yaml
+    - robocar.yaml
+    - simulator.yaml