feat: detect objects

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

@@ -117,8 +117,10 @@ spec:
             - name: dev
               mountPath: /dev
           env:
-            - name: MQTT_BROKER
+            - name: MQTT_BROKER_HOST
               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: v0.1.0-2-g52c3808
+    newTag: v0.2.0

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

@@ -4,8 +4,9 @@ metadata:
   name: robocar
 data:
   # Broker configuration
-  MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
+  MQTT_BROKER_HOST: nats-server.nats.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
@@ -114,7 +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
 
@@ -181,3 +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 ]
+    }

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"
+        - "--mqtt-retain=false"
-        - "-log=info"
+        - "--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

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

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

@@ -4,23 +4,21 @@ kind: Kustomization
 
 resources:
   - deployments.yaml
-  - endpoints.yaml
   - services.yaml
   - configmap.yaml
 
 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: v0.5.3
-    newTag: v0.5.0-1-gbc90193
 
   - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.5.0
+    newTag: v0.6.0
 
   - name: docker.io/cyrilix/robocar-record
     newTag: v0.5.1
@@ -29,7 +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

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

@@ -0,0 +1,18 @@
+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

@@ -0,0 +1,11 @@
+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

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

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

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

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

@@ -0,0 +1,41 @@
+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

@@ -0,0 +1,58 @@
+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