config google.IO

k8s: deploy objects-detection pod
k8s(camera): configure disparity
2024-05-13 19:50:35 +02:00 · 2024-03-09 16:01:32 +01:00 · 2024-03-09 16:00:54 +01:00 · 2024-01-26 12:25:36 +01:00 · 2024-01-13 18:26:23 +01:00 · 2023-11-01 18:57:29 +01:00
24 changed files with 1120 additions and 297 deletions
--- a/ansible/roles/base/templates/locale.gen
+++ b/ansible/roles/base/templates/locale.gen
@ -502,3 +502,7 @@ fr_FR.UTF-8 UTF-8
 # to_TO UTF-8
 # tpi_PG UTF-8
 # yuw_PG UTF-8
+# C.UTF-8 UTF-8
+# ckb_IQ UTF-8
+# rif_MA UTF-8
+# syr UTF-8
--- a/ansible/roles/k3s/defaults/main.yml
+++ b/ansible/roles/k3s/defaults/main.yml
@ -1,3 +1,3 @@
 ---
-k3s_version: v1.25.3%2Bk3s1
+k3s_version: v1.28.3%2Bk3s2
 k3s_url: https://github.com/k3s-io/k3s/releases/download/{{ k3s_version }}/k3s-{{ arch | default('armhf') }}
--- a/ansible/roles/k3s/tasks/containerd.yml
+++ b/ansible/roles/k3s/tasks/containerd.yml
@ -1,10 +1,12 @@
+---
 - name: Add apt key
-  apt_key:
+  ansible.builtin.apt_key:
    url:  https://download.docker.com/linux/debian/gpg
+    keyring: /etc/apt/trusted.gpg.d/docker.gpg

 - name: Add docker-ce repository
  apt_repository:
-    repo: deb [arch={{ arch | default('armhf') }}] https://download.docker.com/linux/debian {{ ansible_distribution_release }} stable
+    repo: deb [arch={{ arch | default('armhf') }}] https://download.docker.com/linux/debian bookworm stable
    state: present
    filename: 'docker'

--- a/ansible/roles/microservices/files/robocar/car/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/car/configmap.yaml
@ -7,8 +7,9 @@ data:
  ############################
  # STEERING PWM - PCA9685   #
  ############################
-  STEERING_PCA9685_LEFT_PWM: "995"
-  STEERING_PCA9685_RIGHT_PWM: "2017"
+  #STEERING_PCA9685_LEFT_PWM: "995"
+  STEERING_PCA9685_LEFT_PWM: "1265"
+  STEERING_PCA9685_RIGHT_PWM: "1650"
  STEERING_PCA9685_CENTER_PWM: "1440"

  ###########################
--- a/ansible/roles/microservices/files/robocar/car/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/car/deployments.yaml
@ -108,9 +108,44 @@ spec:
            - "--image-width=$(CAMERA_WIDTH)"
            - "--image-height=$(CAMERA_HEIGHT)"
            - "--objects-threshold=$(THRESHOLD_OBJECTS)"
+            - "--camera-fps=$(CAMERA_FPS)"
            - "--log=info"
+            - "--camera-tuning-exposition=8300us"
+            #- "--camera-tuning-exposition=500us"
+
+            - "--disable-disparity"
+            - "--stereo-mode-lr-check" # remove incorrectly calculated disparity pixels due to occlusions at object borders
+            - "--stereo-mode-extended-disparity"  # allows detecting closer distance objects for the given baseline. This increases the maximum disparity search from 96 to 191, meaning the range is now: [ 0..190 ]
+            - "--stereo-mode-subpixel"  # improves the precision and is especially useful for long range measurements
+
+            #- "--stereo-post-processing-median-filter"
+            #- "--stereo-post-processing-median-value=KERNEL_7x7" #{MEDIAN_OFF,KERNEL_3x3,KERNEL_5x5,KERNEL_7x7}
+
+            - "--stereo-post-processing-speckle-filter"
+            - "--stereo-post-processing-speckle-enable=true"
+            - "--stereo-post-processing-speckle-range=200"
+
+            #- "--stereo-post-processing-temporal-filter"
+            #- "--stereo-post-processing-temporal-persistency-mode=VALID_2_IN_LAST_4"  # {PERSISTENCY_OFF,VALID_8_OUT_OF_8,VALID_2_IN_LAST_3,VALID_2_IN_LAST_4,VALID_2_OUT_OF_8,VALID_1_IN_LAST_2,VALID_1_IN_LAST_5,VALID_1_IN_LAST_8,PERSISTENCY_INDEFINITELY}
+            #- "--stereo-post-processing-temporal-alpha=0.4"
+            #- "--stereo-post-processing-temporal-delta=0"
+
+            - "--stereo-post-processing-spatial-filter"
+            - "--stereo-post-processing-spatial-enable=true"
+            - "--stereo-post-processing-spatial-hole-filling-radius=4"
+            #- "--stereo-post-processing-spatial-alpha=0.5"
+            #- "--stereo-post-processing-spatial-delta=0"
+            - "--stereo-post-processing-spatial-num-iterations=1"
+
+            - "--stereo-post-processing-threshold-filter"
+            - "--stereo-post-processing-threshold-min-range=1450"
+            - "--stereo-post-processing-threshold-max-range=15000"
+
+            #- "--stereo-post-processing-decimation-filter"
+            #- "--stereo-post-processing-decimation-decimal-factor=2" # {1,2,3,4}
+            #- "--stereo-post-processing-decimation-mode=PIXEL_SKIPPING" # {PIXEL_SKIPPING,NON_ZERO_MEDIAN,NON_ZERO_MEAN}
          securityContext:
-            runAsUser: 1234
+            runAsUser: 0
            privileged: true
          volumeMounts:
            - name: sys
@ -144,11 +179,21 @@ spec:
                configMapKeyRef:
                  key: MQTT_TOPIC_OBJECTS
                  name: robocar
+            - name: MQTT_TOPIC_DISPARITY
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_CAMERA_DISPARITY
+                  name: robocar
            - name: THRESHOLD_OBJECTS
              valueFrom:
                configMapKeyRef:
                  key: OBJECTS_THRESHOLD
                  name: robocar-objects
+            - name: CAMERA_FPS
+              valueFrom:
+                configMapKeyRef:
+                  key: CAMERA_FPS
+                  name: robocar-camera
            - name: CAMERA_WIDTH
              valueFrom:
                configMapKeyRef:
@ -161,6 +206,8 @@ spec:
                  name: robocar-camera
            - name: MQTT_QOS
              value: "0"
+            #- name: DEPTHAI_LEVEL
+            #  value: debug
            - name: TZ
              value: "Europe/Paris"
      hostNetwork: true
@ -199,7 +246,7 @@ spec:
          args:
          - "--mqtt-retain=false"
          - "--throttle-channel=15"
-          - "--steering-channel=14"
+          - "--steering-channel=13"
          - "--throttle-zero-pwm=$(THROTTLE_PCA9685_ZERO_PWM)"
          - "--throttle-min-pwm=$(THROTTLE_PCA9685_MIN_PWM)"
          - "--throttle-max-pwm=$(THROTTLE_PCA9685_MAX_PWM)"
--- a/ansible/roles/microservices/files/robocar/car/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/car/kustomization.yaml
@ -5,16 +5,16 @@ kind: Kustomization
 namespace: robocar

 resources:
-  - ../common
+  - ../common-car
  - deployments.yaml
  - configmap.yaml

 images:
  - name: docker.io/cyrilix/robocar-camera
-    newTag: v0.3.0
+    newTag: v0.3.1

  - name: docker.io/cyrilix/robocar-pca9685
    newTag: v0.6.4

  - name: git.cyrilix.bzh/robocars/robocar-oak-camera
-    newTag: v0.2.0-28-g7ebd909
+    newTag: v0.6.1
--- a/ansible/roles/microservices/files/robocar/common-car/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/common-car/deployments.yaml
@ -0,0 +1,335 @@
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: arduino
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: arduino
+  template:
+    metadata:
+      labels:
+        component: arduino
+    spec:
+      containers:
+        - name: arduino
+          image: docker.io/cyrilix/robocar-arduino
+          args:
+            - "-device=/dev/ttyAMA1"
+            - "-baud=115200"
+            - "-mqtt-retain=false"
+            - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
+            - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
+            - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
+            - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
+            - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
+            - "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
+            - '--throttle-feedback-config=/etc/robocar/thresholds.json'
+            - '--ctrl-throttle-min-pwm=$(CTRL_THROTTLE_MIN_PWM)'
+            - '--ctrl-throttle-max-pwm=$(CTRL_THROTTLE_MAX_PWM)'
+            - "-log=info"
+          volumeMounts:
+            - mountPath: "/dev/ttyAMA0"
+              name: serial
+            - mountPath: "/etc/robocar"
+              name: robocar
+          securityContext:
+            privileged: true
+            runAsUser: 1234
+            runAsGroup: 20 # Set 20/dialout group to access to serial device
+          envFrom:
+            - configMapRef:
+                name: robocar-throttle-pwm
+            - configMapRef:
+                name: robocar-steering-pwm
+          env:
+            - name: MQTT_BROKER
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_BROKER
+                  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-arduino
+            - name: MQTT_TOPIC_THROTTLE
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_RC_THROTTLE
+                  name: robocar
+            - name: MQTT_TOPIC_STEERING
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_RC_STEERING
+                  name: robocar
+            - name: MQTT_TOPIC_DRIVE_MODE
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_RC_DRIVE_MODE
+                  name: robocar
+            - name: MQTT_TOPIC_SWITCH_RECORD
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_RC_SWITCH_RECORD
+                  name: robocar
+            - name: MQTT_TOPIC_THROTTLE_FEEDBACK
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar
+                  key: MQTT_TOPIC_THROTTLE_FEEDBACK
+            - name: MQTT_TOPIC_MAX_THROTTLE_CTRL
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar
+                  key: MQTT_TOPIC_MAX_THROTTLE_CTRL
+            - name: CTRL_THROTTLE_MIN_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-throttle-pwm
+                  key: CTRL_THROTTLE_MIN_PWM
+            - name: CTRL_THROTTLE_MAX_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-throttle-pwm
+                  key: CTRL_THROTTLE_MAX_PWM
+            - name: MQTT_QOS
+              value: "0"
+            - name: TZ
+              value: "Europe/Paris"
+      volumes:
+        - name: serial
+          hostPath:
+            path: /dev/ttyAMA0
+            type: CharDevice
+        - name: robocar
+          configMap:
+            name: robocar-objects
+
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: led
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: led
+  template:
+    metadata:
+      labels:
+        component: led
+    spec:
+      containers:
+      - name: led
+        image: docker.io/cyrilix/robocar-led
+        args:
+        - "-mqtt-retain=false"
+        - "-log=info"
+        volumeMounts:
+        - name: gpiomem
+          mountPath: "/dev/gpiomem"
+        - name: gpiochip0
+          mountPath: "/dev/gpiochip0"
+        - name: gpiochip1
+          mountPath: "/dev/gpiochip1"
+        securityContext:
+          privileged: true
+          runAsUser: 1234
+          runAsGroup: 997 # Set 997/gpio group to access to serial device
+        env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              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-led
+        - name: MQTT_TOPIC_DRIVE_MODE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_DRIVE_MODE
+              name: robocar
+        - name: MQTT_TOPIC_RECORD
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_SWITCH_RECORD
+              name: robocar
+        - name: MQTT_TOPIC_SPEED_ZONE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_SPEED_ZONE
+              name: robocar
+        - name: MQTT_TOPIC_THROTTLE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_THROTTLE
+              name: robocar
+        - name: MQTT_QOS
+          value: "0"
+        - name: TZ
+          value: "Europe/Paris"
+      volumes:
+      - name: gpiomem
+        hostPath:
+          path: /dev/gpiomem
+          type: CharDevice
+      - name: gpiochip0
+        hostPath:
+          path: /dev/gpiochip0
+          type: CharDevice
+      - name: gpiochip1
+        hostPath:
+          path: /dev/gpiochip1
+          type: CharDevice
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: tflite-steering
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: tflite-steering
+  template:
+    metadata:
+      labels:
+        component: tflite-steering
+    spec:
+      containers:
+      - name: tflite-steering
+        image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
+        args:
+        #- "--model=/model/$(MODEL_STEERING)"
+        - "--oci-model-registry=$(OCI_IMAGE_MODEL_REGISTRY)"
+        - "--oci-model-repository=$(OCI_IMAGE_MODEL_REPOSITORY)"
+        - "--oci-model-tag=$(OCI_IMAGE_MODEL_TAG)"
+        - "--edge-verbosity=0"
+        - "--log=info"
+        securityContext:
+          runAsUser: 0
+          runAsGroup: 0
+          privileged: true
+        volumeMounts:
+        - name: models
+          mountPath: /model
+        - name: bus-usb
+          mountPath: /dev/bus/usb
+        - name: sys
+          mountPath: /sys
+        env:
+        - name: MQTT_BROKER
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_BROKER
+              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-tflite-steering
+        - name: MQTT_TOPIC_CAMERA
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_CAMERA_OAK_COLOR
+              name: robocar
+        - name: MQTT_TOPIC_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_TF_STEERING
+              name: robocar
+        - name: OCI_IMAGE_MODEL_REGISTRY
+          valueFrom:
+            configMapKeyRef:
+              key: OCI_IMAGE_MODEL_REGISTRY
+              name: robocar-models
+        - name: OCI_IMAGE_MODEL_REPOSITORY
+          valueFrom:
+            configMapKeyRef:
+              key: OCI_IMAGE_MODEL_REPOSITORY
+              name: robocar-models
+        - name: OCI_IMAGE_MODEL_TAG
+          valueFrom:
+            configMapKeyRef:
+              key: OCI_IMAGE_MODEL_TAG
+              name: robocar-models
+        #- name: MODEL_STEERING
+        #  valueFrom:
+        #    configMapKeyRef:
+        #      key: MODEL_STEERING
+        #      name: robocar-models
+        #- name: MODEL_IMAGE_WIDTH
+        #  valueFrom:
+        #    configMapKeyRef:
+        #      key: MODEL_IMAGE_WIDTH
+        #      name: robocar-models
+        #- name: MODEL_IMAGE_HEIGHT
+        #  valueFrom:
+        #    configMapKeyRef:
+        #      key: MODEL_IMAGE_HEIGHT
+        #      name: robocar-models
+        #- name: HORIZON
+        #  valueFrom:
+        #    configMapKeyRef:
+        #      key: HORIZON
+        #      name: robocar-models
+        - name: MQTT_QOS
+          value: "0"
+        - name: LD_LIBRARY_PATH
+          value: "/usr/local/lib/:/usr/lib"
+        - name: TZ
+          value: "Europe/Paris"
+      volumes:
+      - name: models
+        hostPath:
+          path: /home/pi/models/steering
+          type: DirectoryOrCreate
+      - name: bus-usb
+        hostPath:
+          path: /dev/bus/usb
+      - name: sys
+        hostPath:
+          path: /sys
--- a/ansible/roles/microservices/files/robocar/common-car/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/common-car/kustomization.yaml
@ -0,0 +1,20 @@
+---
+apiVersion: kustomize.config.k8s.io/v1beta1
+kind: Kustomization
+
+resources:
+  - ../common
+  #- namespace.yaml
+  - deployments.yaml
+  #- services.yaml
+  #- configmap.yaml
+
+images:
+  - name: docker.io/cyrilix/robocar-arduino
+    newTag: v0.11.0
+
+  - name: docker.io/cyrilix/robocar-led
+    newTag: v0.7.0
+
+  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
+    newTag: v0.6.1
--- a/ansible/roles/microservices/files/robocar/common-car/secrets.yaml
+++ b/ansible/roles/microservices/files/robocar/common-car/secrets.yaml
@ -0,0 +1,9 @@
+---
+apiVersion: v1
+kind: Secret
+metadata:
+  name: mqtt-credentials
+  namespace: robocar
+stringData:
+  MQTT_USERNAME: satanas
+  MQTT_PASSWORD: satanas
--- a/ansible/roles/microservices/files/robocar/common/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml
@ -4,23 +4,25 @@ metadata:
  name: robocar
 data:
  # Broker configuration
-  MQTT_BROKER_HOST: nats-server.nats.svc.cluster.local
+  MQTT_BROKER_HOST: "nats-server.nats.svc.cluster.local"
  #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
-  MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
+  MQTT_TOPIC_CAMERA: "car/satanas/part/camera/color"
+  MQTT_TOPIC_CAMERA_OAK_COLOR: "car/satanas/part/camera/color"
+  MQTT_TOPIC_CAMERA_DISPARITY: "car/satanas/part/camera/disparity"

  # Objects detection
-  MQTT_TOPIC_OBJECTS: car/satanas/part/objects
+  MQTT_TOPIC_OBJECTS: "car/satanas/part/objects/raw"
+  MQTT_TOPIC_OBJECTS_CLEAN: "car/satanas/part/objects/clean"

  # Radio command
  MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
  MQTT_TOPIC_RC_STEERING: car/satanas/part/rc/steering
  MQTT_TOPIC_RC_SWITCH_RECORD: car/satanas/part/rc/switch_record
  MQTT_TOPIC_RC_DRIVE_MODE: car/satanas/part/rc/drive_mode
-
+  MQTT_TOPIC_MAX_THROTTLE_CTRL: car/satanas/part/rc/max_throttle

  MQTT_TOPIC_TF_STEERING: car/satanas/part/tflite/steering

@ -28,6 +30,8 @@ data:
  MQTT_TOPIC_THROTTLE: car/satanas/part/throttle
  MQTT_TOPIC_STEERING: car/satanas/part/steering

+  MQTT_TOPIC_SPEED_ZONE: car/satanas/part/speed_zone
+
  # Road detection
  MQTT_TOPIC_ROAD: car/satanas/part/road

@ -52,16 +56,39 @@ data:
  # THROTTLE_MIN: "0.10"
  # THROTTLE_MAX: "0.12"

+  ## Slow auto-pilot
+  ####################
+  #THROTTLE_MIN: "0.10"
+  #THROTTLE_MAX: "0.10"
+
  ## Secure auto-pilot
  ####################
-  THROTTLE_MIN: "0.10"
-  THROTTLE_MAX: "0.12"
+  #THROTTLE_MIN: "0.11"
+  #THROTTLE_MAX: "0.12"
+
+  ## bump auto-pilot
+  ####################
+  THROTTLE_MIN: "0.11"
+  THROTTLE_MAX: "0.11"
+
+  ## bump speed auto-pilot
+  ####################
+  #THROTTLE_MIN: "0.12"
+  #THROTTLE_MAX: "0.18"

  ## Speed auto-pilot
  ###################
-  # THROTTLE_MIN: "0.11"
-  # THROTTLE_MAX: "0.13"
+  #THROTTLE_MIN: "0.11"
+  #THROTTLE_MAX: "0.13"

+  ## Speed race auto-pilot
+  ###################
+  #THROTTLE_MIN: "0.11"
+  #THROTTLE_MAX: "0.15"
+
+  # Throttle acceleration boost
+  #############################
+  THROTTLE_ACCELERATOR_FACTOR: "1.2"

 ---
 apiVersion: v1
@ -69,12 +96,13 @@ kind: ConfigMap
 metadata:
  name: robocar-steering-pwm
 data:
+
  ################
  # STEERING PWM #
  ################
-  STEERING_LEFT_PWM: "1000"
-  STEERING_RIGHT_PWM: "1985"
-  STEERING_CENTER_PWM: "1492"
+  STEERING_LEFT_PWM: "1004"
+  STEERING_RIGHT_PWM: "2048"
+  STEERING_CENTER_PWM: "1514"

  ############################
  # STEERING PWM - SECOND RC #
@ -83,18 +111,26 @@ data:
  STEERING_SECONDARY_RIGHT_PWM: "2141"
  STEERING_SECONDARY_CENTER_PWM: "1641"

+  #################################
+  # OLD RADIO-COMAND STEERING PWM #
+  #################################
+  #STEERING_LEFT_PWM: "1000"
+  #STEERING_RIGHT_PWM: "1985"
+  #STEERING_CENTER_PWM: "1492"
+
 ---
 apiVersion: v1
 kind: ConfigMap
 metadata:
  name: robocar-throttle-pwm
 data:
+
  ################
  # THROTTLE PWM #
  ################
-  THROTTLE_MIN_PWM: "994"
-  THROTTLE_MAX_PWM: "1979"
-  THROTTLE_ZERO_PWM: "1484"
+  THROTTLE_MIN_PWM: "980"
+  THROTTLE_MAX_PWM: "2046"
+  THROTTLE_ZERO_PWM: "1509"

  ###########################
  # THROTTLE PWM - SECOND RC #
@ -103,6 +139,18 @@ data:
  THROTTLE_SECONDARY_MAX_PWM: "1975"
  THROTTLE_SECONDARY_ZERO_PWM: "1506"

+  ####################
+  # OLD THROTTLE PWM #
+  ####################
+  # THROTTLE_MIN_PWM: "994"
+  # THROTTLE_MAX_PWM: "1979"
+  # THROTTLE_ZERO_PWM: "1484"
+
+  ############################
+  # MAX THROTTLE CONTROL PWM #
+  ############################
+  CTRL_THROTTLE_MIN_PWM: "1000"
+  CTRL_THROTTLE_MAX_PWM: "2000"
 ---
 apiVersion: v1
 kind: ConfigMap
@ -118,7 +166,9 @@ data:
  CAMERA_WIDTH: "160"
  CAMERA_HEIGHT: "120"

-  MQTT_CAMERA_PUB_FREQUENCY: "30"
+  CAMERA_FPS: "35"
+
+  MQTT_CAMERA_PUB_FREQUENCY: "35"

 ---
 apiVersion: v1
@ -127,7 +177,36 @@ metadata:
  name: robocar-models
 data:
  # model to use for steering
-  MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
+  #MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
+  MODEL_STEERING: "model_linear_160x120h0_edgetpu.tflite"
+  #OCI_IMAGE_MODEL: "git.cyrilix.bzh/robocars/model-steering:v20230429.0945-edgetpu"
+  #OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v20230429.0945-edgetpu"
+  #OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v0.1.0-edgetpu"
+  OCI_IMAGE_MODEL_REGISTRY: "registry.registry:5000"
+  OCI_IMAGE_MODEL_REPOSITORY: "robocars/model-steering"
+
+
+  # OCI_IMAGE_MODEL_TAG: "v20230602.2041-edgetpu" # vibreurs seuls  ou v20230601.2338-edgetpu
+  #OCI_IMAGE_MODEL_TAG: "v20230602.2058-edgetpu" # vibreurs + toutes les sessions bump
+  #OCI_IMAGE_MODEL_TAG: "v20230603.1130-edgetpu" # clean1
+  #OCI_IMAGE_MODEL_TAG: "v20230603.1144-edgetpu" # clean1
+
+
+  #OCI_IMAGE_MODEL_TAG: "v20230617.0938-edgetpu"
+  #OCI_IMAGE_MODEL_TAG: "v20230617.0946-edgetpu" # bad
+  #OCI_IMAGE_MODEL_TAG: "v20230617.1010-edgetpu"  # rd + vt not exist
+
+  #OCI_IMAGE_MODEL_TAG: "v20230429.0945-edgetpu" # All + bump
+  #OCI_IMAGE_MODEL_TAG: "v20230617.1058-edgetpu"  # clean3
+
+  #OCI_IMAGE_MODEL_TAG: "v20230617.1312-edgetpu"  # clean10
+
+  OCI_IMAGE_MODEL_TAG: "v20230603.1157-edgetpu" # clean1  # Model RD good
+  #OCI_IMAGE_MODEL_TAG: "v20231215.1955-tflite" # Model RD good + plots
+  #OCI_IMAGE_MODEL_TAG: "v20231215.2002-tflite" # Model RD good + plots + brightness 0.5 + contrast 0.5
+
+  #OCI_IMAGE_MODEL_TAG: "v20231013.2034-edgetpu"  # clean3, light + contrast
+  #OCI_IMAGE_MODEL_TAG: "v20230617.1327-edgetpu"  # clean10

  #MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite

@ -162,9 +241,21 @@ data:
      "data": [
        [ 0, 0, 0, 0, 0, 0],
        [ 0, 0, 0, 0, 0, 0],
-        [ 0, 0, 0.25, -0.25, 0, 0],
-        [ 0, 0.25, 0.5, -0.5, -0.25, 0],
-        [ 0.25, 0.5, 1, -1, -0.5, -0.25]
+        [ 0, 0.5, 0.75, -0.75, 0.5, 0],
+        [ 0.5, 0.75, 1, -1, -0.75, 0.5],
+        [ 0.75, 1, 1, -1, -1, -0.75]
+      ]
+    }
+  grid2.json: |
+    {
+      "steering_steps": [ -1, -0.66, -0.33, 0, 0.33, 0.66, 1],
+      "distance_steps": [ 0, 0.3, 0.4, 0.5, 0.8, 1],
+      "data": [
+        [ 0, 0, 0, 0, 0, 0],
+        [ 0, 0, 0, 0, 0, 0],
+        [ 0, 0, 0.75, -0.75, 0, 0],
+        [ 0, 0.75, 1, -1, -0.75, 0],
+        [ 0.75, 1, 1, -1, -1, -0.75]
      ]
    }

@ -202,8 +293,98 @@ kind: ConfigMap
 metadata:
  name: throttle
 data:
+  brake2.json: |
+    {
+      "delta_steps": [ 0.05, 0.1, 0.2, 0.3, 0.5 ],
+      "data": [ -0.1, -0.2,  -0.3, -0.6, -1.0 ]
+    }
+  brake.json3: |
+    {
+      "delta_steps": [ 0.005, 0.1, 0.2, 0.3, 0.5 ],
+      "data": [ -0.26, -0.4,  -0.7, -0.8, -1.0 ]
+    }
  brake.json: |
    {
-      "delta_steps": [ 0.05, 0.3, 0.5 ],
-      "data": [ -0.1, -0.5, -1.0 ]
+      "delta_steps": [ 0.005, 0.05, 0.1, 0.2, 0.5 ],
+      "data": [ -0.26, -0.4,  -0.7, -0.8, -1.0 ]
    }
+
+  # speed_custom
+  speed_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.17, 0.16, 0.15, 0.13]
+    }
+
+  # speed_custom
+  speed_steering_2.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.18, 0.16, 0.15, 0.13]
+    }
+
+  # speed_custom
+  speed_steering_3.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.18, 0.17, 0.16, 0.14]
+    }
+
+  speed_steering_4.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.19, 0.18, 0.16, 0.14]
+    }
+  # good_custom_steering
+  safe_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.14, 0.13, 0.12, 0.11]
+    }
+
+  # little_speeed_custom_steering
+  ls_custom_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.16, 0.15, 0.14, 0.12]
+    }
+
+  very_speed_custom_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.21, 0.17, 0.15, 0.12]
+    }
+
+  bcustom_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.18, 0.15, 0.14, 0.13]
+    }
+
+    
+    
+
+  slow_custom_steering.json: |
+    {
+      "steering_values": [0.0, 0.20, 0.50, 0.70],
+      "throttle_steps": [0.12, 0.115, 0.112, 0.11]
+    }
+
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-profiles
+data:
+  #throttle_from_steering: "slow_custom_steering.json"
+  #throttle_from_steering: "safe_steering.json"
+  #throttle_from_steering: "ls_custom_steering.json"   # little_speeed_custom_steering
+  #throttle_from_steering: "speed_steering.json"
+  throttle_from_steering: "speed_steering_2.json"
+  #throttle_from_steering: "speed_steering_3.json"
+  #throttle_from_steering: "speed_steering_4.json"
+  #throttle_from_steering: "very_speed_custom_steering.json"
+
+  detection_objects: "false"
+  #detection_objects: "true"
--- a/ansible/roles/microservices/files/robocar/common/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/common/deployments.yaml
@ -2,7 +2,7 @@
 apiVersion: apps/v1
 kind: Deployment
 metadata:
-  name: arduino
+  name: objects-detection
  annotations:
    reloader.stakater.com/auto: "true"
 spec:
@ -12,223 +12,33 @@ spec:
    type: Recreate
  selector:
    matchLabels:
-      component: arduino
+      component: objects-detection
  template:
    metadata:
      labels:
-        component: arduino
+        component: objects-detection
    spec:
      containers:
-        - name: arduino
-          image: docker.io/cyrilix/robocar-arduino
-          args:
-            - "-device=/dev/ttyAMA1"
-            - "-baud=115200"
-            - "-mqtt-retain=false"
-            - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
-            - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
-            - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-            - "--steering-secondary-left-pwm=$(STEERING_SECONDARY_LEFT_PWM)"
-            - "--steering-secondary-right-pwm=$(STEERING_SECONDARY_RIGHT_PWM)"
-            - "--steering-secondary-center-pwm=$(STEERING_SECONDARY_CENTER_PWM)"
-            - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
-            - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
-            - "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
-            - "--throttle-secondary-min-pwm=$(THROTTLE_SECONDARY_MIN_PWM)"
-            - "--throttle-secondary-max-pwm=$(THROTTLE_SECONDARY_MAX_PWM)"
-            - "--throttle-secondary-center-pwm=$(THROTTLE_SECONDARY_ZERO_PWM)"
-            - '--throttle-feedback-config=/etc/robocar/thresholds.json'
-            - "-log=info"
-          volumeMounts:
-            - mountPath: "/dev/ttyAMA0"
-              name: serial
-            - mountPath: "/etc/robocar"
-              name: robocar
-          securityContext:
-            privileged: true
-            runAsUser: 1234
-            runAsGroup: 20 # Set 20/dialout group to access to serial device
-          envFrom:
-            - configMapRef:
-                name: robocar-throttle-pwm
-            - configMapRef:
-                name: robocar-steering-pwm
-          env:
-            - name: MQTT_BROKER
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_BROKER
-                  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-arduino
-            - name: MQTT_TOPIC_THROTTLE
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_RC_THROTTLE
-                  name: robocar
-            - name: MQTT_TOPIC_STEERING
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_RC_STEERING
-                  name: robocar
-            - name: MQTT_TOPIC_DRIVE_MODE
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_RC_DRIVE_MODE
-                  name: robocar
-            - name: MQTT_TOPIC_SWITCH_RECORD
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_RC_SWITCH_RECORD
-                  name: robocar
-            - name: MQTT_TOPIC_THROTTLE_FEEDBACK
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar
-                  key: MQTT_TOPIC_THROTTLE_FEEDBACK
-            - name: MQTT_QOS
-              value: "0"
-            - name: TZ
-              value: "Europe/Paris"
-      volumes:
-        - name: serial
-          hostPath:
-            path: /dev/ttyAMA0
-            type: CharDevice
-        - name: robocar
-          configMap:
-            name: robocar-objects
-
---
-apiVersion: apps/v1
-kind: Deployment
-metadata:
-  name: led
-  annotations:
-    reloader.stakater.com/auto: "true"
-spec:
-  revisionHistoryLimit: 0
-  replicas: 1
-  strategy:
-    type: Recreate
-  selector:
-    matchLabels:
-      component: led
-  template:
-    metadata:
-      labels:
-        component: led
-    spec:
-      containers:
-      - name: led
-        image: docker.io/cyrilix/robocar-led
+        - name: objects-detection
+          image: docker.io/cyrilix/robocar-objects-detection
          args:
            - "-mqtt-retain=false"
-        - "-log=info"
-        volumeMounts:
-        - name: gpiomem
-          mountPath: "/dev/gpiomem"
-        - name: gpiochip0
-          mountPath: "/dev/gpiochip0"
-        - name: gpiochip1
-          mountPath: "/dev/gpiochip1"
-        securityContext:
-          privileged: true
-          runAsUser: 1234
-          runAsGroup: 997 # Set 997/gpio group to access to serial device
-        env:
-        - name: MQTT_BROKER
-          valueFrom:
-            configMapKeyRef:
-              key: MQTT_BROKER
-              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-led
-        - name: MQTT_TOPIC_DRIVE_MODE
-          valueFrom:
-            configMapKeyRef:
-              key: MQTT_TOPIC_RC_DRIVE_MODE
-              name: robocar
-        - name: MQTT_TOPIC_RECORD
-          valueFrom:
-            configMapKeyRef:
-              key: MQTT_TOPIC_RC_SWITCH_RECORD
-              name: robocar
-        - name: MQTT_QOS
-          value: "0"
-        - name: TZ
-          value: "Europe/Paris"
-      volumes:
-      - name: gpiomem
-        hostPath:
-          path: /dev/gpiomem
-          type: CharDevice
-      - name: gpiochip0
-        hostPath:
-          path: /dev/gpiochip0
-          type: CharDevice
-      - name: gpiochip1
-        hostPath:
-          path: /dev/gpiochip1
-          type: CharDevice
---
-apiVersion: apps/v1
-kind: Deployment
-metadata:
-  name: tflite-steering
-  annotations:
-    reloader.stakater.com/auto: "true"
-spec:
-  revisionHistoryLimit: 0
-  replicas: 1
-  strategy:
-    type: Recreate
-  selector:
-    matchLabels:
-      component: tflite-steering
-  template:
-    metadata:
-      labels:
-        component: tflite-steering
-    spec:
-      containers:
-      - name: tflite-steering
-        image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-        args:
-        - "--model=/model/$(MODEL_STEERING)"
-        - "--edge-verbosity=0"
+            - "--image-width=$(IMAGE_WIDTH)"
+            - "--image-height=$(IMAGE_HEIGHT)"
+            - "--object-size-threshold=0.50"
+            - "--enable-big-objects-remove=true"
+            - "--enable-group-objects=false"  # to debug/test
+            - "--enable-bottom-filter=false"  # don't work
+            - "--enable-nearest-filter=true"
+            - "--object-bottom-limit=0.90"
            - "--log=info"
          securityContext:
-          runAsUser: 0
-          runAsGroup: 0
-          privileged: true
-        volumeMounts:
-        - name: models
-          mountPath: /model
-        - name: bus-usb
-          mountPath: /dev/bus/usb
-        - name: sys
-          mountPath: /sys
+            runAsUser: 1234
+            runAsGroup: 1234
+          resources:
+            limits:
+              memory: 100Mi
+
          env:
            - name: MQTT_BROKER
              valueFrom:
@ -246,54 +56,36 @@ spec:
                  key: MQTT_PASSWORD
                  name: mqtt-credentials
            - name: MQTT_CLIENT_ID
-          value: rc-tflite-steering
-        - name: MQTT_TOPIC_CAMERA
+              value: rc-objects-detection
+            - name: MQTT_TOPIC_OBJECTS
              valueFrom:
                configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA_OAK_COLOR
+                  key: MQTT_TOPIC_OBJECTS
                  name: robocar
-        - name: MQTT_TOPIC_STEERING
+            - name: MQTT_TOPIC_OBJECTS_CLEAN
              valueFrom:
                configMapKeyRef:
-              key: MQTT_TOPIC_TF_STEERING
+                  key: MQTT_TOPIC_OBJECTS_CLEAN
                  name: robocar
-        - name: MODEL_STEERING
+            - name: MQTT_TOPIC_DISPARITY
              valueFrom:
                configMapKeyRef:
-              key: MODEL_STEERING
-              name: robocar-models
-        - name: MODEL_IMAGE_WIDTH
-          valueFrom:
-            configMapKeyRef:
-              key: MODEL_IMAGE_WIDTH
-              name: robocar-models
-        - name: MODEL_IMAGE_HEIGHT
-          valueFrom:
-            configMapKeyRef:
-              key: MODEL_IMAGE_HEIGHT
-              name: robocar-models
-        - name: HORIZON
-          valueFrom:
-            configMapKeyRef:
-              key: HORIZON
-              name: robocar-models
+                  key: MQTT_TOPIC_CAMERA_DISPARITY
+                  name: robocar
            - name: MQTT_QOS
              value: "0"
-        - name: LD_LIBRARY_PATH
-          value: "/usr/local/lib/:/usr/lib"
+            - name: IMAGE_WIDTH
+              valueFrom:
+                configMapKeyRef:
+                  key: CAMERA_WIDTH
+                  name: robocar-camera
+            - name: IMAGE_HEIGHT
+              valueFrom:
+                configMapKeyRef:
+                  key: CAMERA_HEIGHT
+                  name: robocar-camera
            - name: TZ
              value: "Europe/Paris"
-      volumes:
-      - name: models
-        hostPath:
-          path: /home/pi/models/steering
-          type: DirectoryOrCreate
-      - name: bus-usb
-        hostPath:
-          path: /dev/bus/usb
-      - name: sys
-        hostPath:
-          path: /sys
 ---
 apiVersion: apps/v1
 kind: Deployment
@ -319,10 +111,8 @@ spec:
          image: docker.io/cyrilix/robocar-steering
          args:
          - "-mqtt-retain=false"
-          - "--image-width=$(IMAGE_WIDTH)"
-          - "--image-height=$(IMAGE_HEIGHT)"
-          - "--enable-objects-correction=false"
-          - "--enable-objects-correction-user=false"
+          - "--enable-objects-correction=$(DETECTION_OBJECTS)"
+          - "--enable-objects-correction-user=$(DETECTION_OBJECTS)"
          - "--grid-map-config=/etc/robocar/grid.json"
          - "--objects-move-factors-config=/etc/robocar/omf.json"
          - "--delta-middle=0.1"
@ -371,7 +161,7 @@ spec:
          - name: MQTT_TOPIC_OBJECTS
            valueFrom:
              configMapKeyRef:
-                key: MQTT_TOPIC_OBJECTS
+                key: MQTT_TOPIC_OBJECTS_CLEAN
                name: robocar
          - name: MQTT_QOS
            value: "0"
@ -387,6 +177,11 @@ spec:
                name: robocar-camera
          - name: TZ
            value: "Europe/Paris"
+          - name: DETECTION_OBJECTS
+            valueFrom:
+              configMapKeyRef:
+                key: detection_objects
+                name: robocar-profiles
          volumeMounts:
            - mountPath: /etc/robocar
              name: robocar-configs
@ -421,6 +216,9 @@ spec:
        - "--mqtt-retain=false"
        - "--enable-brake-feature=true"
        - "--brake-configuration=/etc/robocar/brake.json"
+        - "--enable-custom-steering-processor=true"
+        - "--custom-steering-processor-config=/etc/robocar/$(THROTTLE_STEERING_CONFIG)"
+        - "--accelerator-factor=$(THROTTLE_ACCELERATOR_FACTOR)"
        - "--log=info"
        securityContext:
          runAsUser: 1234
@ -468,6 +266,16 @@ spec:
            configMapKeyRef:
              key: MQTT_TOPIC_STEERING
              name: robocar
+        - name: MQTT_TOPIC_SPEED_ZONE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_SPEED_ZONE
+              name: robocar
+        - name: MQTT_TOPIC_MAX_THROTTLE_CTRL
+          valueFrom:
+            configMapKeyRef:
+              name: robocar
+              key: MQTT_TOPIC_MAX_THROTTLE_CTRL
        - name: THROTTLE_MIN
          valueFrom:
            configMapKeyRef:
@ -478,6 +286,16 @@ spec:
            configMapKeyRef:
              key: THROTTLE_MAX
              name: robocar-throttle
+        - name: THROTTLE_ACCELERATOR_FACTOR
+          valueFrom:
+            configMapKeyRef:
+              name: robocar-throttle
+              key: THROTTLE_ACCELERATOR_FACTOR
+        - name: THROTTLE_STEERING_CONFIG
+          valueFrom:
+            configMapKeyRef:
+              key: throttle_from_steering
+              name: robocar-profiles
        - name: MQTT_QOS
          value: "0"
        - name: TZ
@ -617,6 +435,16 @@ spec:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_SWITCH_RECORD
              name: robocar
+        - name: MQTT_TOPIC_AUTOPILOT_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_TF_STEERING
+              name: robocar
+        - name: MQTT_TOPIC_DRIVE_MODE
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_RC_DRIVE_MODE
+              name: robocar
        - name: MQTT_TOPIC_RECORDS
          valueFrom:
            configMapKeyRef:
@ -651,10 +479,25 @@ spec:
          image: docker.io/cyrilix/robocar-road
          args:
            - "-mqtt-retain=false"
+            - "-image-width=$(IMAGE_WIDTH)"
+            - "-image-height=$(IMAGE_HEIGHT)"
+            - "-white-threshold-low=20"
+            - "-white-threshold-high=255"
+            - "-canny-threshold-low=100"
+            - "-canny-threshold-high=250"
+            - "-hough-lines-rho=2" # distance resolution in pixels of the Hough grid")
+            #- "-hough-lines-theta", 1*math.Pi/180, "angular resolution in radians of the Hough grid, default Pi/180")
+            - "-hough-lines-threshold=15" # minimum number of votes (intersections in Hough grid cell)
+            - "-hough-lines-min-line-length=10" # minimum number of pixels making up a line
+            - "-hough-lines-max-lines-gap=20" # maximum gap in pixels between connectable line segments
            - "--log=info"
          securityContext:
            runAsUser: 1234
            runAsGroup: 1234
+          resources:
+            limits:
+              memory: 100Mi
+              cpu: 500m
          env:
            - name: MQTT_BROKER
              valueFrom:
@ -685,5 +528,15 @@ spec:
                  name: robocar
            - name: MQTT_QOS
              value: "0"
+            - name: IMAGE_WIDTH
+              valueFrom:
+                configMapKeyRef:
+                  key: CAMERA_WIDTH
+                  name: robocar-camera
+            - name: IMAGE_HEIGHT
+              valueFrom:
+                configMapKeyRef:
+                  key: CAMERA_HEIGHT
+                  name: robocar-camera
            - name: TZ
              value: "Europe/Paris"
--- a/ansible/roles/microservices/files/robocar/common/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
@ -9,26 +9,21 @@ resources:
  - configmap.yaml

 images:
-  - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.9.0
-
-  - name: docker.io/cyrilix/robocar-led
-    newTag: v0.5.1
-
-  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    newTag: v0.5.3

  - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.6.0
+    newTag: v0.9.0

  - name: docker.io/cyrilix/robocar-record
-    newTag: v0.5.1
-
-  - name: docker.io/cyrilix/robocar-recorder-store
-    newTag: v0.2.1
-
-  - name: docker.io/cyrilix/robocar-steering
    newTag: v0.6.0

+  - name: docker.io/cyrilix/robocar-recorder-store
+    newTag: v0.3.0
+
+  - name: docker.io/cyrilix/robocar-steering
+    newTag: v0.8.0
+
  - name: docker.io/cyrilix/robocar-road
+    newTag: v0.3.0
+
+  - name: docker.io/cyrilix/robocar-objects-detection
    newTag: v0.2.0
--- a/ansible/roles/microservices/files/robocar/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/kustomization.yaml
@ -0,0 +1,10 @@
+apiVersion: kustomize.config.k8s.io/v1beta1
+kind: Kustomization
+
+resources:
+  - registry
+  - registry/secrets.yaml
+  - reloader
+  - nats
+  - car
+  - common/secrets.yaml
--- a/ansible/roles/microservices/files/robocar/local/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/local/configmap.yaml
@ -0,0 +1,8 @@
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-camera-replay
+data:
+
+  REPLAY_FRAME_DIR: "/records/clean3/records/2023-05-13T10-14_33/cam"
--- a/ansible/roles/microservices/files/robocar/local/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/local/deployments.yaml
@ -0,0 +1,173 @@
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: camera-replay
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: camera-replay
+  template:
+    metadata:
+      labels:
+        component: camera-replay
+    spec:
+      containers:
+        - name: camera-replay
+          image: docker.io/cyrilix/robocar-camera-replay
+          args:
+          - "-mqtt-pub-frequency=$(MQTT_CAMERA_PUB_FREQUENCY)"
+          - "-frame-dir=$(REPLAY_FRAME_DIR)"
+          - "-log=info"
+          securityContext:
+            runAsUser: 1000
+            runAsGroup: 1000
+            privileged: false
+          volumeMounts:
+            - name: camera-records
+              mountPath: /records
+          env:
+          - name: MQTT_BROKER
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_BROKER
+                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-camera-replay
+          - name: MQTT_TOPIC
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_CAMERA
+                name: robocar
+          - name: REPLAY_FRAME_DIR
+            valueFrom:
+              configMapKeyRef:
+                key: REPLAY_FRAME_DIR
+                name: robocar-camera-replay
+          - name: MQTT_CAMERA_PUB_FREQUENCY
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_CAMERA_PUB_FREQUENCY
+                name: robocar-camera
+          - name: MQTT_QOS
+            value: "0"
+          - name: TZ
+            value: "Europe/Paris"
+      volumes:
+        - name: camera-records
+          hostPath:
+            path: "/home/cyrille/robocar-clean/"
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: tflite-steering
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: tflite-steering
+  template:
+    metadata:
+      labels:
+        component: tflite-steering
+    spec:
+      containers:
+        - name: tflite-steering
+          image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
+          args:
+            #- "--model=/model/$(MODEL_STEERING)"
+            - "--oci-model-registry=$(OCI_IMAGE_MODEL_REGISTRY)"
+            - "--oci-model-repository=$(OCI_IMAGE_MODEL_REPOSITORY)"
+            - "--oci-model-tag=$(OCI_IMAGE_MODEL_TAG)"
+            - "--edge-verbosity=0"
+            - "--log=info"
+          securityContext:
+            runAsUser: 0
+            runAsGroup: 0
+            privileged: true
+          volumeMounts:
+            - name: models
+              mountPath: /model
+            - name: bus-usb
+              mountPath: /dev/bus/usb
+            - name: sys
+              mountPath: /sys
+          env:
+            - name: MQTT_BROKER
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_BROKER
+                  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-tflite-steering
+            - name: MQTT_TOPIC_CAMERA
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_CAMERA_OAK_COLOR
+                  name: robocar
+            - name: MQTT_TOPIC_STEERING
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_TF_STEERING
+                  name: robocar
+            - name: OCI_IMAGE_MODEL_REGISTRY
+              valueFrom:
+                configMapKeyRef:
+                  key: OCI_IMAGE_MODEL_REGISTRY
+                  name: robocar-models
+            - name: OCI_IMAGE_MODEL_REPOSITORY
+              valueFrom:
+                configMapKeyRef:
+                  key: OCI_IMAGE_MODEL_REPOSITORY
+                  name: robocar-models
+            - name: OCI_IMAGE_MODEL_TAG
+              value: "v20230603.1157-tflite"
+            - name: MQTT_QOS
+              value: "0"
+            - name: LD_LIBRARY_PATH
+              value: "/usr/local/lib/:/usr/lib"
+            - name: TZ
+              value: "Europe/Paris"
+      volumes:
+        - name: models
+          hostPath:
+            path: /home/pi/models/steering
+            type: DirectoryOrCreate
+        - name: bus-usb
+          hostPath:
+            path: /dev/bus/usb
+        - name: sys
+          hostPath:
+            path: /sys
--- a/ansible/roles/microservices/files/robocar/local/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/local/kustomization.yaml
@ -0,0 +1,18 @@
+---
+apiVersion: kustomize.config.k8s.io/v1beta1
+kind: Kustomization
+
+namespace: robocar
+
+resources:
+  - ../common
+  - deployments.yaml
+  - configmap.yaml
+
+images:
+  - name: docker.io/cyrilix/robocar-camera-replay
+    newTag: v0.0.1-2-ga422aed
+
+  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
+    #newTag: v0.6.1
+    newTag: v0.6.1-1-g5d5858a
--- a/ansible/roles/microservices/files/robocar/registry/configmaps.yaml
+++ b/ansible/roles/microservices/files/robocar/registry/configmaps.yaml
@ -0,0 +1,42 @@
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: zot-config
+data:
+  config.json: |
+    {
+      "storage": {
+        "rootDirectory": "/var/lib/registry"
+      },
+      "http": {
+        "address": "0.0.0.0",
+        "port": "5000"
+      },
+      "log": {
+        "level": "debug"
+      },
+      "extensions": {
+        "sync": {
+          "credentialsFile": "/etc/zot/credentials.json",
+          "registries": [
+            {
+              "urls": [
+                "https://ghcr.io"
+              ],
+              "onDemand": true,
+              "pollInterval": "6h",
+              "tlsVerify": false,
+              "maxRetries": 3,
+              "retryDelay": "5m",
+              "onlySigned": false,
+              "content": [
+                {
+                  "prefix": "/cyrilix/model-steering",
+                  "destination": "/robocars/model-steering"
+                }
+              ]
+            }
+          ]
+        }
+      }
+    }
--- a/ansible/roles/microservices/files/robocar/registry/deployements.yaml
+++ b/ansible/roles/microservices/files/robocar/registry/deployements.yaml
@ -0,0 +1,61 @@
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: registry
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      app: registry
+  template:
+    metadata:
+      labels:
+        app: registry
+    spec:
+      containers:
+        - name: registry
+          image: ghcr.io/project-zot/zot-linux-arm64
+          env:
+            - name: TZ
+              value: 'Europe/Paris'
+            - name: REGISTRY_HTTP_ADDR
+              value: 0.0.0.0:5000
+          ports:
+            - containerPort: 5000
+              name: http-registry
+          volumeMounts:
+            - mountPath: /var/lib/registry
+              name: registry
+            - name: config
+              mountPath: /etc/zot/config.json
+              subPath: config.json
+            - name: credentials
+              mountPath: /etc/zot/credentials.json
+              subPath: credentials.json
+      securityContext:
+        runAsUser: 1000
+        runAsGroup: 1000
+        fsGroup: 1000
+        fsGroupChangePolicy: OnRootMismatch
+      volumes:
+        - name: registry
+          hostPath:
+            path: /home/pi/registry
+        - name: config
+          configMap:
+            name: zot-config
+            items:
+              - key: config.json
+                path: config.json
+        - name: credentials
+          secret:
+            secretName: registries-credentials
+            items:
+              - key: credentials.json
+                path: credentials.json
--- a/ansible/roles/microservices/files/robocar/registry/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/registry/kustomization.yaml
@ -0,0 +1,15 @@
+apiVersion: kustomize.config.k8s.io/v1beta1
+kind: Kustomization
+
+namespace: registry
+
+images:
+  - name: ghcr.io/project-zot/zot-linux-arm64
+    newTag: v1.4.3
+
+resources:
+  - namespace.yaml
+  - configmaps.yaml
+  - serviceaccount.yaml
+  - services.yaml
+  - deployements.yaml
--- a/ansible/roles/microservices/files/robocar/registry/namespace.yaml
+++ b/ansible/roles/microservices/files/robocar/registry/namespace.yaml
@ -0,0 +1,4 @@
+apiVersion: v1
+kind: Namespace
+metadata:
+  name: registry
--- a/ansible/roles/microservices/files/robocar/registry/secrets.yaml
+++ b/ansible/roles/microservices/files/robocar/registry/secrets.yaml
@ -0,0 +1,13 @@
+apiVersion: v1
+kind: Secret
+metadata:
+  name: registries-credentials
+  namespace: registry
+
+stringData:
+  credentials.json: |
+    {
+      "ghcr.io": {
+        "username": "cyrilix",
+        "password": "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"
+    }
--- a/ansible/roles/microservices/files/robocar/registry/serviceaccount.yaml
+++ b/ansible/roles/microservices/files/robocar/registry/serviceaccount.yaml
@ -0,0 +1,5 @@
+apiVersion: v1
+kind: ServiceAccount
+metadata:
+  name: registry
+automountServiceAccountToken: false
--- a/ansible/roles/microservices/files/robocar/registry/services.yaml
+++ b/ansible/roles/microservices/files/robocar/registry/services.yaml
@ -0,0 +1,27 @@
+apiVersion: v1
+kind: Service
+metadata:
+  name: registry-ext
+spec:
+  type: NodePort
+  ports:
+    - port: 5000
+      name: http-registry
+      targetPort: http-registry
+      nodePort: 32000
+  selector:
+    app: registry
+
+---
+apiVersion: v1
+kind: Service
+metadata:
+  name: registry
+spec:
+  type: ClusterIP
+  ports:
+    - port: 5000
+      name: http-registry
+      targetPort: http-registry
+  selector:
+    app: registry
--- a/ansible/roles/microservices/files/robocar/simulator/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/simulator/kustomization.yaml
@ -5,7 +5,7 @@ kind: Kustomization
 namespace: robocar

 resources:
-  - ../common
+  - ../common-car
  - deployments.yaml
  - configmap.yaml
Author	SHA1	Message	Date
Cyrille Nofficial	09df2bb0a7	config google.IO	2024-05-13 19:50:35 +02:00
Cyrille Nofficial	affd0568cb	k8s: deploy objects-detection pod	2024-03-09 16:01:32 +01:00
Cyrille Nofficial	3c6aab0145	k8s(camera): configure disparity	2024-03-09 16:00:54 +01:00
Cyrille Nofficial	c3ed6e6a9d	race 2024-01	2024-01-26 12:25:36 +01:00
Cyrille Nofficial	9335b69c74	good config!	2024-01-13 18:26:23 +01:00
Cyrille Nofficial	1d60c61c30	chore(k3s): bump 1.27.6	2023-11-01 18:57:29 +01:00
Cyrille Nofficial	3e2035cb11	fix(ansible): mv docker apt key in dedicated file	2023-11-01 18:57:04 +01:00