From c6f5f8a1851322fe9924441f11187ac10a73355a Mon Sep 17 00:00:00 2001
From: Cyrille Nofficial <cynoffic@cyrilix.fr>
Date: Fri, 7 Oct 2022 14:43:05 +0200
Subject: [PATCH] feat: detect objects

---
 .../files/robocar/car/kustomization.yaml      |  2 +-
 .../files/robocar/common/configmap.yaml       | 12 +++++++++-
 .../files/robocar/common/deployments.yaml     | 23 +++++++++++++++++--
 .../files/robocar/common/kustomization.yaml   |  9 ++++----
 4 files changed, 37 insertions(+), 9 deletions(-)

diff --git a/ansible/roles/microservices/files/robocar/car/kustomization.yaml b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
index 422f40b..426348a 100644
--- a/ansible/roles/microservices/files/robocar/car/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
@@ -17,4 +17,4 @@ images:
     newTag: v0.6.4
 
   - name: docker.io/cyrilix/robocar-oak-camera
-    newTag: v0.1.0-2-g52c3808
\ No newline at end of file
+    newTag: v0.2.0
\ No newline at end of file
diff --git a/ansible/roles/microservices/files/robocar/common/configmap.yaml b/ansible/roles/microservices/files/robocar/common/configmap.yaml
index bf711d9..8d69076 100644
--- a/ansible/roles/microservices/files/robocar/common/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml
@@ -115,7 +115,6 @@ metadata:
 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
 
@@ -182,3 +181,14 @@ data:
       "min_valid": 500,
       "data": [ 8700, 4800, 3500, 2550, 1850, 1387, 992, 840, 750, 700, 655, 620, 590, 570, 553, 549, 548 ]
     }
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: throttle
+data:
+  brake.json: |
+    {
+      "delta_steps": [ 0.05, 0.3, 0.5 ],
+      "data": [ -0.1, -0.5, -1.0 ]
+    }
diff --git a/ansible/roles/microservices/files/robocar/common/deployments.yaml b/ansible/roles/microservices/files/robocar/common/deployments.yaml
index ebf6fad..c1397de 100644
--- a/ansible/roles/microservices/files/robocar/common/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/common/deployments.yaml
@@ -418,8 +418,10 @@ spec:
       - name: throttle
         image: docker.io/cyrilix/robocar-throttle
         args:
-        - "-mqtt-retain=false"
-        - "-log=info"
+        - "--mqtt-retain=false"
+        - "--enable-brake-feature=true"
+        - "--brake-configuration=/etc/robocar/brake.json"
+        - "--log=info"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -456,6 +458,16 @@ spec:
             configMapKeyRef:
               key: MQTT_TOPIC_RC_DRIVE_MODE
               name: robocar
+        - name: MQTT_TOPIC_THROTTLE_FEEDBACK
+          valueFrom:
+            configMapKeyRef:
+              name: robocar
+              key: MQTT_TOPIC_THROTTLE_FEEDBACK
+        - name: MQTT_TOPIC_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_STEERING
+              name: robocar
         - name: THROTTLE_MIN
           valueFrom:
             configMapKeyRef:
@@ -470,6 +482,13 @@ spec:
           value: "0"
         - name: TZ
           value: "Europe/Paris"
+        volumeMounts:
+          - mountPath: /etc/robocar
+            name: throttle-config
+      volumes:
+        - name: throttle-config
+          configMap:
+            name: throttle
 ---
 apiVersion: apps/v1
 kind: Deployment
diff --git a/ansible/roles/microservices/files/robocar/common/kustomization.yaml b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
index 85d6e3a..874219b 100644
--- a/ansible/roles/microservices/files/robocar/common/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
@@ -9,17 +9,16 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.8.0-6-gadb38c3
+    newTag: v0.9.0
 
   - 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
+    newTag: v0.5.3
 
   - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.5.0
+    newTag: v0.6.0
 
   - name: docker.io/cyrilix/robocar-record
     newTag: v0.5.1
@@ -28,7 +27,7 @@ images:
     newTag: v0.2.1
 
   - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.5.1-24-g424b697
+    newTag: v0.6.0
 
   - name: docker.io/cyrilix/robocar-road
     newTag: v0.2.0