feat(k8s): use mqtt service endpoint url

closes #1

ansible/roles/base/files/10-vchiq-permissions.rules

@@ -1 +1,2 @@
+# Set group on camera device
 SUBSYSTEM=="vchiq", GROUP="video", MODE="0660"

ansible/roles/base/files/80-movidius.rules

@@ -0,0 +1 @@
+SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"

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

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

@@ -1,13 +0,0 @@
----
-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

@@ -7,7 +7,7 @@ metadata:
     reloader.stakater.com/auto: "true"
 spec:
   revisionHistoryLimit: 0
-  replicas: 1
+  replicas: 0
   strategy:
     type: Recreate
   selector:
@@ -81,6 +81,84 @@ 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
+            privileged: true
+          volumeMounts:
+            - name: sys
+              mountPath: /sys
+            - name: dev
+              mountPath: /dev
+          env:
+            - name: MQTT_BROKER
+              value: localhost # because use host network
+            - 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"
+      hostNetwork: true
+      volumes:
+        - name: sys
+          hostPath:
+            path: /sys
+        - name: dev
+          hostPath:
+            path: "/dev"
+
+
 ---
 apiVersion: apps/v1
 kind: Deployment
@@ -106,15 +184,15 @@ spec:
           image: docker.io/cyrilix/robocar-pca9685
           args:
           - "--mqtt-retain=false"
-          - "--throttle-channel=1"
-          - "--steering-channel=0"
-          - "--throttle-zero-pwm=378"
-          - "--throttle-min-pwm=250"
-          - "--throttle-max-pwm=500"
+          - "--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)"
-          - "--update-pwm-frequency=10"
+          - "--update-pwm-frequency=25"
           - "--log=info"
           securityContext:
             runAsUser: 1234
@@ -156,18 +234,33 @@ spec:
             - name: STEERING_LEFT_PWM
               valueFrom:
                 configMapKeyRef:
-                  name: robocar-pca9685
+                  name: robocar-steering-pwm
                   key: STEERING_LEFT_PWM
             - name: STEERING_RIGHT_PWM
               valueFrom:
                 configMapKeyRef:
-                  name: robocar-pca9685
+                  name: robocar-steering-pwm
                   key: STEERING_RIGHT_PWM
             - name: STEERING_CENTER_PWM
               valueFrom:
                 configMapKeyRef:
-                  name: robocar-pca9685
+                  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:

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

@@ -7,11 +7,13 @@ 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: v0.4.0-1-gc42086a
+    newTag: v0.6.0
+
+  - 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: localhost
-  MQTT_BROKER: "tcp://192.168.2.221:1883"
+  MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
+  MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local: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
@@ -53,7 +54,18 @@ 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"
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -78,8 +90,9 @@ metadata:
   name: robocar-models
 data:
   # model to use for steering
+  MODEL_STEERING: model_160x120h0_edgetpu.tflite
   MODEL_STEERING3: model_edgetpu.tflite
-  MODEL_STEERING: model_160x120h20_edgetpu.tflite
+  MODEL_STEERING4: model_160x120h20_edgetpu.tflite
   MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite
 
   MODEL_IMAGE_WIDTH: "160"

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

@@ -30,7 +30,7 @@ spec:
             - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
             - "-log=info"
           volumeMounts:
-            - mountPath: "/dev/ttyAMA1"
+            - mountPath: "/dev/ttyAMA0"
               name: serial
           securityContext:
             privileged: true
@@ -96,7 +96,7 @@ spec:
       volumes:
         - name: serial
           hostPath:
-            path: /dev/ttyAMA1
+            path: /dev/ttyAMA0
             type: CharDevice
 
 ---
@@ -525,7 +525,7 @@ spec:
         image: docker.io/cyrilix/robocar-record
         args:
         - "-mqtt-retain=true"
-        - "-debug=false"
+        - "-debug=true"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -550,7 +550,7 @@ spec:
         - name: MQTT_TOPIC_CAMERA
           valueFrom:
             configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA
+              key: MQTT_TOPIC_CAMERA_OAK_COLOR
               name: robocar
         - name: MQTT_TOPIC_STEERING
           valueFrom:

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

@@ -8,5 +8,6 @@ metadata:
 subsets:
   - addresses:
       - ip: 192.168.2.221
+      # - ip: 192.168.217.19
     ports:
       - port: 1883

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

@@ -10,7 +10,7 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.5.0-2-g9b5e9c2
+    newTag: v0.7.0
 
   - name: docker.io/cyrilix/robocar-led
     newTag: v0.5.0
@@ -19,7 +19,7 @@ images:
     newTag: v0.4.0
 
   - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.4.0
+    newTag: v0.4.1
 
   - name: docker.io/cyrilix/robocar-record
     newTag: v0.5.0

ansible/roles/microservices/tasks/main.yaml

@@ -1,16 +0,0 @@
----
-
-- name: Copy docker-compose env file
-  template:
-    src: env
-    dest: /home/pi/.env
-
-- name: Copy stack file
-  copy:
-    src: "{{ item }}"
-    dest: /home/pi/
-  with_items:
-    - simulator-compose.yaml
-    - car.yaml
-    - robocar.yaml
-    - simulator.yaml