From f1c20b3de21a34b518b3d5d75473e56d71747829 Mon Sep 17 00:00:00 2001
From: Cyrille Nofficial <cynoffic@cyrilix.fr>
Date: Fri, 28 Jan 2022 18:07:36 +0100
Subject: [PATCH] feat: replace rpi camera with oak camera

---
 .../base/files/10-vchiq-permissions.rules     |  1 +
 ansible/roles/base/files/80-movidius.rules    |  1 +
 ansible/roles/base/tasks/hardware.yml         |  9 +-
 .../files/robocar/car/deployments.yaml        | 92 ++++++++++++++++++-
 .../files/robocar/car/kustomization.yaml      |  5 +-
 .../files/robocar/common/configmap.yaml       |  3 +-
 6 files changed, 105 insertions(+), 6 deletions(-)
 create mode 100644 ansible/roles/base/files/80-movidius.rules

diff --git a/ansible/roles/base/files/10-vchiq-permissions.rules b/ansible/roles/base/files/10-vchiq-permissions.rules
index 1237f5f..61592fa 100644
--- a/ansible/roles/base/files/10-vchiq-permissions.rules
+++ b/ansible/roles/base/files/10-vchiq-permissions.rules
@@ -1 +1,2 @@
+# Set group on camera device
 SUBSYSTEM=="vchiq", GROUP="video", MODE="0660"
diff --git a/ansible/roles/base/files/80-movidius.rules b/ansible/roles/base/files/80-movidius.rules
new file mode 100644
index 0000000..866e91e
--- /dev/null
+++ b/ansible/roles/base/files/80-movidius.rules
@@ -0,0 +1 @@
+SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"
diff --git a/ansible/roles/base/tasks/hardware.yml b/ansible/roles/base/tasks/hardware.yml
index 8afb535..37ae7b0 100644
--- a/ansible/roles/base/tasks/hardware.yml
+++ b/ansible/roles/base/tasks/hardware.yml
@@ -30,11 +30,14 @@
 #  notify: reboot
 
 
-- name: Set group on camera device
+- name: Add udev rules
   copy:
-    src: 10-vchiq-permissions.rules
-    dest: /etc/udev/rules.d/10-vchiq-permissions.rules
+    src: "{{ item }}"
+    dest: /etc/udev/rules.d/{{ item }}
   notify: reboot
+  with_items:
+    - 10-vchiq-permissions.rules
+    - 80-movidius.rules
 
 
 - name: Set groups to pi user
diff --git a/ansible/roles/microservices/files/robocar/car/deployments.yaml b/ansible/roles/microservices/files/robocar/car/deployments.yaml
index 062e282..9eb79d5 100644
--- a/ansible/roles/microservices/files/robocar/car/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/car/deployments.yaml
@@ -7,7 +7,7 @@ metadata:
     reloader.stakater.com/auto: "true"
 spec:
   revisionHistoryLimit: 0
-  replicas: 1
+  replicas: 0
   strategy:
     type: Recreate
   selector:
@@ -81,6 +81,96 @@ spec:
           hostPath:
             path: "/dev/video0"
             type: CharDevice
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: oak-camera
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: oak-camera
+  template:
+    metadata:
+      labels:
+        component: oak-camera
+    spec:
+      containers:
+        - name: camera
+          image: docker.io/cyrilix/robocar-oak-camera
+          args:
+            - "--image-width=$(CAMERA_WIDTH)"
+            - "--image-height=$(CAMERA_HEIGHT)"
+          securityContext:
+            #runAsUser: 1234
+            #runAsGroup: 44 # Set 44/video group to access to video device
+            privileged: true
+          volumeMounts:
+            #- name: bus-usb
+            #  mountPath: /dev/bus/usb
+            - name: sys
+              mountPath: /sys
+            - name: dev
+              mountPath: /dev
+          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-oak-camera
+            - name: MQTT_TOPIC_CAMERA
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_CAMERA_OAK_COLOR
+                  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_QOS
+              value: "0"
+            - name: TZ
+              value: "Europe/Paris"
+      securityContext:
+        runAsNonRoot: false
+        runAsUser: 0
+      hostNetwork: true
+      volumes:
+        - name: bus-usb
+          hostPath:
+            path: "/dev/bus/usb"
+        - name: sys
+          hostPath:
+            path: /sys
+        - name: dev
+          hostPath:
+            path: "/dev"
+
+
 ---
 apiVersion: apps/v1
 kind: Deployment
diff --git a/ansible/roles/microservices/files/robocar/car/kustomization.yaml b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
index bbed7f6..cf46b92 100644
--- a/ansible/roles/microservices/files/robocar/car/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
@@ -14,4 +14,7 @@ images:
     newTag: v0.3.0
 
   - name: docker.io/cyrilix/robocar-pca9685
-    newTag: v0.4.0-1-gc42086a
\ No newline at end of file
+    newTag: v0.4.0-1-gc42086a
+
+  - name: docker.io/cyrilix/robocar-oak-camera
+    newTag: v0.0.1-17-g863cddb
\ 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 44e06de..13c9790 100644
--- a/ansible/roles/microservices/files/robocar/common/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml
@@ -8,7 +8,8 @@ data:
   MQTT_BROKER: "tcp://192.168.2.221:1883"
 
   # Camera
-  MQTT_TOPIC_CAMERA: car/satanas/part/camera
+  MQTT_TOPIC_CAMERA: car/satanas/part/camera/camera/color
+  MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
 
 
   # Radio command