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

@@ -117,10 +117,8 @@ spec:
             - name: dev
               mountPath: /dev
           env:
-            - name: MQTT_BROKER_HOST
+            - name: MQTT_BROKER
               value: localhost # because use host network
-            - name: MQTT_BROKER_PORT
-              value: "30183"
             - name: MQTT_USERNAME
               valueFrom:
                 secretKeyRef:

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: v0.2.0
+    newTag: v0.1.0-2-g52c3808

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

@@ -4,9 +4,8 @@ metadata:
   name: robocar
 data:
   # Broker configuration
-  MQTT_BROKER_HOST: nats-server.nats.svc.cluster.local
+  MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
-  #MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
+  MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local:1883"
-  MQTT_BROKER: "tcp://nats-server.nats.svc.cluster.local:1883"
 
   # Camera
   MQTT_TOPIC_CAMERA: car/satanas/part/camera/color
@@ -115,6 +114,7 @@ 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
 
@@ -181,14 +181,3 @@ 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 ]
-    }

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

@@ -418,10 +418,8 @@ spec:
       - name: throttle
         image: docker.io/cyrilix/robocar-throttle
         args:
-        - "--mqtt-retain=false"
+        - "-mqtt-retain=false"
-        - "--enable-brake-feature=true"
+        - "-log=info"
-        - "--brake-configuration=/etc/robocar/brake.json"
-        - "--log=info"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -458,16 +456,6 @@ 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:
@@ -482,13 +470,6 @@ 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

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

@@ -0,0 +1,13 @@
+---
+apiVersion: v1
+kind: Endpoints
+metadata:
+  name: mqtt
+  labels:
+    app: mqtt
+subsets:
+  - addresses:
+      - ip: 192.168.2.221
+      # - ip: 192.168.217.19
+    ports:
+      - port: 1883

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

@@ -4,21 +4,23 @@ kind: Kustomization
 
 resources:
   - deployments.yaml
+  - endpoints.yaml
   - services.yaml
   - configmap.yaml
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.9.0
+    newTag: v0.8.0-6-gadb38c3
 
   - name: docker.io/cyrilix/robocar-led
     newTag: v0.5.1
 
   - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    newTag: v0.5.3
+    #newTag: v0.5.0
+    newTag: v0.5.0-1-gbc90193
 
   - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.6.0
+    newTag: v0.5.0
 
   - name: docker.io/cyrilix/robocar-record
     newTag: v0.5.1
@@ -27,7 +29,7 @@ images:
     newTag: v0.2.1
 
   - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.6.0
+    newTag: v0.5.1-24-g424b697
 
   - name: docker.io/cyrilix/robocar-road
     newTag: v0.2.0

ansible/roles/microservices/files/robocar/nats/configmaps.yaml

@@ -1,18 +0,0 @@
-apiVersion: v1
-kind: ConfigMap
-metadata:
-  name: nats
-data:
-  standalone.conf: |
-    server_name: nats
-    http: 0.0.0.0:8222
-    jetstream {
-      store_dir: /data/datastore
-    }
-    mqtt {
-      listen: 0.0.0.0:1883
-    }
-    authorization: {
-        user: satanas,
-        password: satanas
-    }

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

@@ -1,11 +0,0 @@
-apiVersion: kustomize.config.k8s.io/v1beta1
-kind: Kustomization
-
-namespace: nats
-
-resources:
-  - namespace.yaml
-  - serviceaccount.yaml
-  - configmaps.yaml
-  - statefulset.yaml
-  - services.yaml

ansible/roles/microservices/files/robocar/nats/namespace.yaml

@@ -1,4 +0,0 @@
-apiVersion: v1
-kind: Namespace
-metadata:
-  name: nats

ansible/roles/microservices/files/robocar/nats/serviceaccount.yaml

@@ -1,5 +0,0 @@
-apiVersion: v1
-kind: ServiceAccount
-metadata:
-  name: nats-server
-automountServiceAccountToken: false

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

@@ -1,41 +0,0 @@
-apiVersion: v1
-kind: Service
-metadata:
-  name: nats-server-ext
-spec:
-  type: NodePort
-  ports:
-    - port: 4222
-      name: tcp-nats-client
-      targetPort: tcp-nats-client
-      nodePort: 30422
-    - name: http-monitoring
-      port: 8222
-      targetPort: http-monitoring
-      nodePort: 30822
-    - name: tcp-mqtt
-      port: 1883
-      targetPort: tcp-mqtt
-      nodePort: 30183
-  selector:
-    appli: nats-server
-
----
-apiVersion: v1
-kind: Service
-metadata:
-  name: nats-server
-spec:
-  type: ClusterIP
-  ports:
-    - port: 4222
-      name: tcp-nats-client
-      targetPort: tcp-nats-client
-    - name: http-monitoring
-      port: 8222
-      targetPort: http-monitoring
-    - name: tcp-mqtt
-      port: 1883
-      targetPort: tcp-mqtt
-  selector:
-    appli: nats-server

ansible/roles/microservices/files/robocar/nats/statefulset.yaml

@@ -1,58 +0,0 @@
-apiVersion: apps/v1
-kind: StatefulSet
-metadata:
-  name: nats-server
-  annotations:
-    reloader.stakater.com/auto: "true"
-spec:
-  selector:
-    matchLabels:
-      appli: nats-server
-  serviceName: nats
-  replicas: 1
-  revisionHistoryLimit: 0
-  template:
-      metadata:
-        name: nats-server
-        labels:
-          appli: nats-server
-      spec:
-        serviceAccountName: nats-server
-        containers:
-          - name: nats-server
-            image: docker.io/library/nats:latest
-            args:
-              - --http_port=8222
-              - --config=/etc/nats/standalone.conf
-            ports:
-              - containerPort: 4222
-                name: tcp-nats-client
-              - name: http-monitoring
-                containerPort: 8222
-              - name: tcp-mqtt
-                containerPort: 1883
-            volumeMounts:
-              - mountPath: /etc/nats
-                name: nats-config
-              - name: nats-data
-                mountPath: /data
-        securityContext:
-          runAsUser: 1234
-          runAsGroup: 1234
-          fsGroup: 1234
-          fsGroupChangePolicy: Always
-        volumes:
-          - name: nats-config
-            configMap:
-              name: nats
-
-  volumeClaimTemplates:
-    - metadata:
-        name: nats-data
-      spec:
-        resources:
-          requests:
-            storage: 1Gi
-        storageClassName: local-path
-        accessModes:
-          - ReadWriteOnce