debug: test pca9685 python implementation

ansible/group_vars/all/rabbitmq_credentials.yaml

@@ -0,0 +1,2 @@
+rabbitmq_user: satanas
+rabbitmq_password: satanas

ansible/hosts

@@ -1,5 +1,9 @@
 [car]
+satanas.local ansible_user=pi become=yes  become_user=root
 diabolo.local ansible_user=pi become=yes  become_user=root
 
 [microservice]
 diabolo.local
+
+[donkey]
+satanas.local

ansible/roles/base/templates/config.txt

@@ -93,4 +93,3 @@ dtoverlay=pi3-disable-bt
 gpu_mem=256
 
 dtoverlay=w1-gpio
-enable_uart=1

ansible/roles/base/templates/locale.gen

@@ -481,24 +481,3 @@ fr_FR.UTF-8 UTF-8
 # zh_TW.UTF-8 UTF-8
 # zu_ZA ISO-8859-1
 # zu_ZA.UTF-8 UTF-8
-# agr_PE UTF-8
-# az_IR UTF-8
-# bho_NP UTF-8
-# bi_VU UTF-8
-# ca_ES@valencia UTF-8
-# dsb_DE UTF-8
-# el_GR@euro ISO-8859-7
-# en_SC.UTF-8 UTF-8
-# hif_FJ UTF-8
-# kab_DZ UTF-8
-# mai_NP UTF-8
-# mfe_MU UTF-8
-# miq_NI UTF-8
-# mjw_IN UTF-8
-# mnw_MM UTF-8
-# sah_RU UTF-8
-# shn_MM UTF-8
-# sm_WS UTF-8
-# to_TO UTF-8
-# tpi_PG UTF-8
-# yuw_PG UTF-8

ansible/roles/docker/tasks/docker.yml

@@ -0,0 +1,35 @@
+- name: Add apt key
+  apt_key:
+    url:  https://download.docker.com/linux/debian/gpg
+
+- name: Add docker-ce repository
+  apt_repository:
+    repo: deb [arch={{ arch | default('armhf') }}] https://download.docker.com/linux/debian {{ ansible_distribution_release }} stable
+    state: present
+    filename: 'docker'
+
+
+- meta: flush_handlers
+
+- name: Install docker-ce
+  apt:
+    name:
+    - python3-pip
+    - docker-ce
+    - xfsprogs
+    state: present
+
+- name: Set groups to pi user
+  user:
+    name: pi
+    groups: docker
+
+- meta: flush_handlers
+- name: Install ansible tool docker and docker-compose
+  pip:
+    name:
+    - docker-compose
+    executable: pip3
+
+
+

ansible/roles/docker/tasks/main.yml

@@ -0,0 +1,4 @@
+---
+
+- include_tasks: docker.yml
+

ansible/roles/donkey/defaults/main.yml

@@ -0,0 +1,13 @@
+---
+
+donkey_username: pi
+donkey_groupname: pi
+donkey_home_dir: /home/{{ donkey_username }}
+
+donkey_git_repo: https://github.com/cyrilix/donkey.git
+donkey_git_branch: master
+
+donkey_sources: "{{ donkey_home_dir }}/donkeycar"
+donkey_virtualenv_dir: "{{ donkey_home_dir }}/venv"
+
+donkey_data_dir: "{{ donkey_home_dir }}/data"

ansible/roles/donkey/tasks/data.yml

@@ -0,0 +1,16 @@
+---
+
+- name: Make data directory
+  file:
+    path: "{{ donkey_data_dir }}"
+    owner: "{{ donkey_username }}"
+    group: "{{ donkey_groupname }}"
+    state: directory
+
+- name: Make tmpfs
+  mount:
+    path: "{{ donkey_data_dir }}"
+    src: tmpfs
+    fstype: tmpfs
+    opts: defaults
+    state: mounted

ansible/roles/donkey/tasks/main.yml

@@ -0,0 +1,62 @@
+---
+
+- include_tasks: data.yml
+
+- name: Install dependencies
+  apt:
+    name:
+    - python3-setuptools-git
+    - virtualenv
+    - libopenjp2-7
+    - libtiff5
+    - libblas3
+    - liblapack3
+    - libatlas3-base
+    - libjpeg-dev
+    - libilmbase12
+    - libopenexr22
+    - libgstreamer1.0-0
+    - libavcodec57
+    - libavformat57
+    - libswscale4
+    - libgtk-3-0
+    - i2c-tools
+    - read-edid
+    - libsdl1.2debian
+    - libjasper1
+    - libqtgui4
+    - libqt4-test
+    - python-h5py
+    state: present
+
+- name: Fetch git repository
+  become_user: "{{ donkey_username }}"
+  git:
+    repo: "{{ donkey_git_repo }}"
+    dest: "{{ donkey_sources }}"
+    version: "{{ donkey_git_branch }}"
+    ssh_opts: "-o StrictHostKeyChecking=no"
+
+- name: Install donkey
+  become_user: "{{ donkey_username }}"
+  pip:
+    name: "{{ donkey_sources }}"
+    virtualenv_python: python3
+    virtualenv: "{{ donkey_virtualenv_dir }}"
+    editable: yes
+
+
+#- name: Install dependencies
+#  become_user: "{{ donkey_username }}"
+#  pip:
+#    requirements: "{{ donkey_sources }}/requirements-pi.txt"
+#    virtualenv: "{{ donkey_virtualenv_dir }}"
+#    virtualenv_python: python3
+
+- name: Load virtualenv at connection
+  template:
+    src: bash_custom
+    dest: "{{ donkey_home_dir }}/.bash_custom"
+    owner: "{{ donkey_username }}"
+    group: "{{ donkey_groupname }}"
+    mode: 0644

ansible/roles/donkey/templates/bash_custom

@@ -0,0 +1,2 @@
+# Activate virtualenv
+source {{ donkey_virtualenv_dir }}/bin/activate

ansible/roles/k3s/defaults/main.yml

@@ -1,3 +1,3 @@
 ---
-k3s_version: v1.25.3%2Bk3s1
+k3s_version: v1.22.5%2Bk3s1
 k3s_url: https://github.com/k3s-io/k3s/releases/download/{{ k3s_version }}/k3s-{{ arch | default('armhf') }}

ansible/roles/k3s/templates/k3s.service.j2

@@ -26,4 +26,4 @@ RestartSec=5s
 ExecStartPre=/bin/sh -xc '! /usr/bin/systemctl is-enabled --quiet nm-cloud-setup.service'
 ExecStartPre=-/sbin/modprobe br_netfilter
 ExecStartPre=-/sbin/modprobe overlay
-ExecStart=/usr/local/bin/k3s server --disable traefik --disable-helm-controller
+ExecStart=/usr/local/bin/k3s server

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

@@ -2,19 +2,12 @@
 apiVersion: v1
 kind: ConfigMap
 metadata:
-  name: robocar-pca9685-pwm
+  name: robocar-pca9685
 data:
-  ############################
+  ################
-  # STEERING PWM - PCA9685   #
+  # STEERING PWM #
-  ############################
+  ################
-  STEERING_PCA9685_LEFT_PWM: "995"
+  STEERING_LEFT_PWM: "1092"
-  STEERING_PCA9685_RIGHT_PWM: "2017"
+  STEERING_RIGHT_PWM: "1986"
-  STEERING_PCA9685_CENTER_PWM: "1440"
+  STEERING_CENTER_PWM: "1583"
-
-  ###########################
-  # THROTTLE PWM - PCA9685  #
-  ############################
-  THROTTLE_PCA9685_MIN_PWM: "994"
-  THROTTLE_PCA9685_MAX_PWM: "1975"
-  THROTTLE_PCA9685_ZERO_PWM: "1420"
 

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

@@ -103,12 +103,10 @@ spec:
     spec:
       containers:
         - name: camera
-          image: git.cyrilix.bzh/robocars/robocar-oak-camera
+          image: docker.io/cyrilix/robocar-oak-camera
           args:
             - "--image-width=$(CAMERA_WIDTH)"
             - "--image-height=$(CAMERA_HEIGHT)"
-            - "--objects-threshold=$(THRESHOLD_OBJECTS)"
-            - "--log=info"
           securityContext:
             runAsUser: 1234
             privileged: true
@@ -118,10 +116,11 @@ spec:
             - name: dev
               mountPath: /dev
           env:
-            - name: MQTT_BROKER_HOST
+            - name: MQTT_BROKER
-              value: localhost # because use host network
+              valueFrom:
-            - name: MQTT_BROKER_PORT
+                configMapKeyRef:
-              value: "30183"
+                  key: MQTT_BROKER_HOST
+                  name: robocar
             - name: MQTT_USERNAME
               valueFrom:
                 secretKeyRef:
@@ -139,16 +138,6 @@ spec:
                 configMapKeyRef:
                   key: MQTT_TOPIC_CAMERA_OAK_COLOR
                   name: robocar
-            - name: MQTT_TOPIC_OBJECTS
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_OBJECTS
-                  name: robocar
-            - name: THRESHOLD_OBJECTS
-              valueFrom:
-                configMapKeyRef:
-                  key: OBJECTS_THRESHOLD
-                  name: robocar-objects
             - name: CAMERA_WIDTH
               valueFrom:
                 configMapKeyRef:
@@ -177,7 +166,7 @@ spec:
 apiVersion: apps/v1
 kind: Deployment
 metadata:
-  name: pca9685
+  name: pca9685-steering
   annotations:
     reloader.stakater.com/auto: "true"
 spec:
@@ -195,20 +184,15 @@ spec:
     spec:
       containers:
         - name: pca9685
-          image: docker.io/cyrilix/robocar-pca9685
+          image: docker.io/cyrilix/robocar-pca9685-python
           args:
-          - "--mqtt-retain=false"
+          - "steering"
-          - "--throttle-channel=15"
+          - "--i2c-bus=1"
-          - "--steering-channel=14"
+          - "--i2c-address=40"
-          - "--throttle-zero-pwm=$(THROTTLE_PCA9685_ZERO_PWM)"
+          - "--pca9685-channel=0"
-          - "--throttle-min-pwm=$(THROTTLE_PCA9685_MIN_PWM)"
+          - "--left-pulse=$(STEERING_LEFT_PWM)"
-          - "--throttle-max-pwm=$(THROTTLE_PCA9685_MAX_PWM)"
+          - "--right-pulse=$(STEERING_RIGHT_PWM)"
-          - "--steering-left-pwm=$(STEERING_PCA9685_LEFT_PWM)"
+          - "--debug"
-          - "--steering-right-pwm=$(STEERING_PCA9685_RIGHT_PWM)"
-          - "--steering-center-pwm=$(STEERING_PCA9685_CENTER_PWM)"
-          - "--pwm-freq=50"
-          - "--update-pwm-frequency=25"
-          - "--log=info"
           securityContext:
             runAsUser: 1234
             runAsGroup: 998 # Set 998/i2c group to access to i2c device
@@ -216,14 +200,11 @@ spec:
           volumeMounts:
             - mountPath: /dev/i2c-1
               name: i2c
-          envFrom:
-            - configMapRef:
-                name: robocar-pca9685-pwm
           env:
             - name: MQTT_BROKER
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_BROKER
+                  key: MQTT_BROKER_HOST
                   name: robocar
             - name: MQTT_USERNAME
               valueFrom:
@@ -236,19 +217,100 @@ spec:
                   key: MQTT_PASSWORD
                   name: mqtt-credentials
             - name: MQTT_CLIENT_ID
-              value: rc-pca9685
+              value: rc-pca9685-steering
-            - name: MQTT_TOPIC_THROTTLE
+            - name: MQTT_TOPIC
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_THROTTLE
-                  name: robocar
-            - name: MQTT_TOPIC_STEERING
               valueFrom:
                 configMapKeyRef:
                   key: MQTT_TOPIC_STEERING
                   name: robocar
             - name: MQTT_QOS
               value: "0"
+            - name: STEERING_LEFT_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-pca9685
+                  key: STEERING_LEFT_PWM
+            - name: STEERING_RIGHT_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-pca9685
+                  key: STEERING_RIGHT_PWM
+            - name: STEERING_CENTER_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-pca9685
+                  key: STEERING_CENTER_PWM
+            - name: TZ
+              value: "Europe/Paris"
+      volumes:
+        - name: i2c
+          hostPath:
+            path: /dev/i2c-1
+            type: CharDevice
+---
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: pca9685-throttle
+  annotations:
+    reloader.stakater.com/auto: "true"
+spec:
+  revisionHistoryLimit: 0
+  replicas: 1
+  strategy:
+    type: Recreate
+  selector:
+    matchLabels:
+      component: pca9685
+  template:
+    metadata:
+      labels:
+        component: pca9685
+    spec:
+      containers:
+        - name: pca9685-throttle
+          image: docker.io/cyrilix/robocar-pca9685-python
+          args:
+            - "throttle"
+            - "--zero-pulse=378"
+            - "--min-pulse=250"
+            - "--max-pulse=500"
+            - "--i2c-bus=1"
+            - "--i2c-address=40"
+            - "--pca9685-channel=1"
+            - "--debug"
+          securityContext:
+            runAsUser: 1234
+            runAsGroup: 998 # Set 998/i2c group to access to i2c device
+            privileged: true
+          volumeMounts:
+            - mountPath: /dev/i2c-1
+              name: i2c
+          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-pca9685-throttle
+            - name: MQTT_TOPIC
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_THROTTLE
+                  name: robocar
+            - name: MQTT_QOS
+              value: "0"
             - name: TZ
               value: "Europe/Paris"
       volumes:

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

@@ -13,8 +13,8 @@ images:
   - name: docker.io/cyrilix/robocar-camera
     newTag: v0.3.0
 
-  - name: docker.io/cyrilix/robocar-pca9685
+  - name: docker.io/cyrilix/robocar-pca9685-python
-    newTag: v0.6.4
+    newTag: v0.1.0-12-g2966f92
 
-  - name: git.cyrilix.bzh/robocars/robocar-oak-camera
+  - name: docker.io/cyrilix/robocar-oak-camera
-    newTag: v0.2.0-28-g7ebd909
+    newTag: v0.1.0

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

@@ -4,16 +4,14 @@ metadata:
   name: robocar
 data:
   # Broker configuration
-  MQTT_BROKER_HOST: nats-server.nats.svc.cluster.local
+  MQTT_BROKER_HOST: 192.168.2.221
+  MQTT_BROKER: "tcp://192.168.2.221:1883"
   #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
+  MQTT_TOPIC_CAMERA: car/satanas/part/camera/camera/color
   MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
 
-  # Objects detection
-  MQTT_TOPIC_OBJECTS: car/satanas/part/objects
 
   # Radio command
   MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
@@ -34,9 +32,6 @@ data:
   # Records topic
   MQTT_TOPIC_RECORDS: car/satanas/part/records
 
-  # Feedbacks
-  MQTT_TOPIC_THROTTLE_FEEDBACK: car/satanas/part/feedback/throttle
-
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -46,23 +41,8 @@ data:
   ############
   # Throttle #
   ############
-
+  THROTTLE_MIN: "0.3"
-  ## For manual driving
+  THROTTLE_MAX: "0.4"
-  #####################
-  # THROTTLE_MIN: "0.10"
-  # THROTTLE_MAX: "0.12"
-
-  ## Secure auto-pilot
-  ####################
-  THROTTLE_MIN: "0.10"
-  THROTTLE_MAX: "0.12"
-
-  ## Speed auto-pilot
-  ###################
-  # THROTTLE_MIN: "0.11"
-  # THROTTLE_MAX: "0.13"
-
-
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -72,36 +52,9 @@ data:
   ################
   # STEERING PWM #
   ################
-  STEERING_LEFT_PWM: "1000"
+  STEERING_LEFT_PWM: "1002"
   STEERING_RIGHT_PWM: "1985"
-  STEERING_CENTER_PWM: "1492"
+  STEERING_CENTER_PWM: "1491"
-
-  ############################
-  # STEERING PWM - SECOND RC #
-  ############################
-  STEERING_SECONDARY_LEFT_PWM: "1119"
-  STEERING_SECONDARY_RIGHT_PWM: "2141"
-  STEERING_SECONDARY_CENTER_PWM: "1641"
-
----
-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 PWM - SECOND RC #
-  ############################
-  THROTTLE_SECONDARY_MIN_PWM: "994"
-  THROTTLE_SECONDARY_MAX_PWM: "1975"
-  THROTTLE_SECONDARY_ZERO_PWM: "1506"
 
 ---
 apiVersion: v1
@@ -127,20 +80,15 @@ metadata:
   name: robocar-models
 data:
   # model to use for steering
-  MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
+  MODEL_STEERING: model_160x120h0_edgetpu.tflite
-
+  MODEL_STEERING3: model_edgetpu.tflite
-  #MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite
+  MODEL_STEERING4: model_160x120h20_edgetpu.tflite
-
+  MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite
-
-  #MODEL_STEERING: model_linear_160x120h20_edgetpu.tflite
-  #MODEL_STEERING: model_categorical_160x120h20_edgetpu.tflite
-
-
-  #MODEL_STEERING: model_linear_160x120h50_edgetpu.tflite
 
   MODEL_IMAGE_WIDTH: "160"
   MODEL_IMAGE_HEIGHT: "120"
   HORIZON: "20"
+
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -148,62 +96,3 @@ metadata:
   name: robocar-road
 data:
   HORIZON: "20"
-
----
-apiVersion: v1
-kind: ConfigMap
-metadata:
-  name: steering
-data:
-  grid.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, 0.25, -0.25, 0, 0],
-        [ 0, 0.25, 0.5, -0.5, -0.25, 0],
-        [ 0.25, 0.5, 1, -1, -0.5, -0.25]
-      ]
-    }
-
-  "omf.json": | 
-    {
-      "steering_steps":[-1, -0.66, -0.33, 0, 0.33, 0.66, 1],
-      "distance_steps": [0, 0.2, 0.4, 0.6, 0.8, 1],
-      "data": [
-        [0, 0, 0, 0, 0, 0],
-        [0, 0, 0, 0, 0, 0],
-        [0, 0, 0, 0, 0, 0],
-        [0, 0.25, 0, 0, -0.25, 0],
-        [0.5, 0.25, 0, 0, -0.5, -0.25]
-      ]
-    }
-
----
-apiVersion: v1
-kind: ConfigMap
-metadata:
-  name: robocar-objects
-data:
-  OBJECTS_THRESHOLD: "0.2"
-
-  # To delete?
-  thresholds.json: |
-    {
-      "threshold_steps": [ 0.07, 0.08, 0.09, 0.1, 0.125, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0 ],
-      "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

@@ -28,31 +28,14 @@ spec:
             - "--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"
+            - mountPath: "/dev/ttyAMA1"
               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:
@@ -91,23 +74,30 @@ spec:
                 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: STEERING_LEFT_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-steering-pwm
+                  key: STEERING_LEFT_PWM
+            - name: STEERING_RIGHT_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-steering-pwm
+                  key: STEERING_RIGHT_PWM
+            - name: STEERING_CENTER_PWM
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar-steering-pwm
+                  key: STEERING_CENTER_PWM
             - name: TZ
               value: "Europe/Paris"
       volumes:
         - name: serial
           hostPath:
-            path: /dev/ttyAMA0
+            path: /dev/ttyAMA1
             type: CharDevice
-        - name: robocar
-          configMap:
-            name: robocar-objects
 
 ---
 apiVersion: apps/v1
@@ -217,6 +207,9 @@ spec:
         args:
         - "--model=/model/$(MODEL_STEERING)"
         - "--edge-verbosity=0"
+        - "--img-width=$(MODEL_IMAGE_WIDTH)"
+        - "--img-height=$(MODEL_IMAGE_HEIGHT)"
+        - "--horizon=$(HORIZON)"
         - "--log=info"
         securityContext:
           runAsUser: 0
@@ -250,7 +243,7 @@ spec:
         - name: MQTT_TOPIC_CAMERA
           valueFrom:
             configMapKeyRef:
-              key: MQTT_TOPIC_CAMERA_OAK_COLOR
+              key: MQTT_TOPIC_CAMERA
               name: robocar
         - name: MQTT_TOPIC_STEERING
           valueFrom:
@@ -319,13 +312,6 @@ 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"
-          - "--grid-map-config=/etc/robocar/grid.json"
-          - "--objects-move-factors-config=/etc/robocar/omf.json"
-          - "--delta-middle=0.1"
           - "-log=info"
           securityContext:
             runAsUser: 1234
@@ -368,32 +354,10 @@ spec:
               configMapKeyRef:
                 key: MQTT_TOPIC_RC_DRIVE_MODE
                 name: robocar
-          - name: MQTT_TOPIC_OBJECTS
-            valueFrom:
-              configMapKeyRef:
-                key: MQTT_TOPIC_OBJECTS
-                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"
-          volumeMounts:
-            - mountPath: /etc/robocar
-              name: robocar-configs
-      volumes:
-        - name: robocar-configs
-          configMap:
-            name: steering
 ---
 apiVersion: apps/v1
 kind: Deployment
@@ -418,10 +382,8 @@ spec:
       - name: throttle
         image: docker.io/cyrilix/robocar-throttle
         args:
-        - "--mqtt-retain=false"
+        - "-mqtt-retain=false"
-        - "--enable-brake-feature=true"
+        - "-debug=false"
-        - "--brake-configuration=/etc/robocar/brake.json"
-        - "--log=info"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -458,16 +420,6 @@ 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 +434,6 @@ 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
@@ -635,7 +580,7 @@ metadata:
     reloader.stakater.com/auto: "true"
 spec:
   revisionHistoryLimit: 0
-  replicas: 0
+  replicas: 1
   strategy:
     type: Recreate
   selector:

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

@@ -0,0 +1,12 @@
+---
+apiVersion: v1
+kind: Endpoints
+metadata:
+  name: mqtt
+  labels:
+    app: mqtt
+subsets:
+  - addresses:
+      - ip: 192.168.2.221
+    ports:
+      - port: 1883

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

@@ -3,32 +3,32 @@ apiVersion: kustomize.config.k8s.io/v1beta1
 kind: Kustomization
 
 resources:
-  - namespace.yaml
   - deployments.yaml
+  - endpoints.yaml
   - services.yaml
   - configmap.yaml
 
 images:
   - name: docker.io/cyrilix/robocar-arduino
-    newTag: v0.9.0
+    newTag: v0.6.0
 
   - name: docker.io/cyrilix/robocar-led
-    newTag: v0.5.1
+    newTag: v0.5.0
 
   - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    newTag: v0.5.3
+    newTag: v0.4.0
 
   - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.6.0
+    newTag: v0.4.0
 
   - name: docker.io/cyrilix/robocar-record
-    newTag: v0.5.1
+    newTag: v0.5.0
 
   - name: docker.io/cyrilix/robocar-recorder-store
-    newTag: v0.2.1
+    newTag: v0.2.0
 
   - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.6.0
+    newTag: v0.5.0
 
   - name: docker.io/cyrilix/robocar-road
-    newTag: v0.2.0
+    newTag: v0.1.0-5-gdc6e465

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

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

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

@@ -3,7 +3,6 @@ apiVersion: v1
 kind: Secret
 metadata:
   name: mqtt-credentials
-  namespace: robocar
 stringData:
   MQTT_USERNAME: satanas
   MQTT_PASSWORD: satanas

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

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

@@ -3,7 +3,6 @@ apiVersion: kustomize.config.k8s.io/v1beta1
 kind: Kustomization
 
 resources:
-  - namespace.yaml
   - https://github.com/stakater/Reloader/deployments/kubernetes
 
 namespace: reloader

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

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

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

@@ -11,4 +11,4 @@ resources:
 
 images:
   - name: docker.io/cyrilix/robocar-simulator
-    newTag: v0.4.1
+    newTag: v0.4.0

ansible/roles/python/defaults/main.yml

@@ -0,0 +1,4 @@
+---
+
+version: 3.6.6
+threads: 4

ansible/roles/python/tasks/main.yml

@@ -0,0 +1,52 @@
+---
+
+- name: "Install python {{version}} runtime & build dependencies"
+  become: yes
+  apt: name={{item}}
+  with_items:
+    - build-essential
+    - tk-dev
+    - libncurses5-dev
+    - libncursesw5-dev
+    - libreadline6-dev
+    - libdb5.3-dev
+    - libgdbm-dev
+    - libsqlite3-dev
+    - libssl-dev
+    - libbz2-dev
+    - libexpat1-dev
+    - liblzma-dev
+    - libffi-dev
+    - uuid-dev
+    - zlib1g-dev
+
+- name: "Download python{{version}}"
+  get_url:
+    url: "https://www.python.org/ftp/python/{{version}}/Python-{{version}}.tar.xz"
+    dest: "/tmp/Python-{{version}}.tar.xz"
+
+- name: "Unarchive python{{version}}"
+  unarchive:
+    src: "/tmp/Python-{{version}}.tar.xz"
+    dest: "/tmp/"
+    copy: no
+    creates: "/tmp/Python-{{version}}"
+
+- name: "configure python{{version}} build"
+  command: ./configure --prefix=/opt/python-{{version}} --enable-optimizations
+  args:
+    chdir: "/tmp/Python-{{version}}"
+    creates: "/tmp/Python-{{version}}/Makefile"
+
+- name: "build python{{version}}"
+  # not using make module to be able to use -j and creates option to fully skip step
+  command: make -j{{threads}}
+  args:
+    chdir: "/tmp/Python-{{version}}"
+    creates: "/tmp/Python-{{version}}/python"
+
+- name: "install python{{version}}"
+  become: yes
+  make:
+    chdir: "/tmp/Python-{{version}}"
+    target: altinstall

ansible/roles/rabbitmq/handlers/main.yml

@@ -0,0 +1,11 @@
+---
+- name: expand filesystem
+  shell: resize2fs /dev/mmcblk0p2
+  notify:
+    - reboot
+
+- name: restart rabbitmq
+  service:
+    name: rabbitmq-server
+    start: restarted
+

ansible/roles/rabbitmq/tasks/main.yml

@@ -0,0 +1,35 @@
+---
+- name: Install ansible dependencies
+  apt:
+    name: "python3-requests"
+    state: present
+
+- name: Install rabbitmq package
+  apt:
+    name: rabbitmq-server
+    state: present
+  with_items:
+    - rabbitmq-server
+    - python3-requests
+
+- name: Enables rabbitmq plugins
+  rabbitmq_plugin:
+    names: rabbitmq_management,rabbitmq_mqtt
+    state: enabled
+
+- name: Add rabbitmq user
+  rabbitmq_user:
+    user: "{{ rabbitmq_user }}"
+    password: "{{ rabbitmq_password }}"
+    vhost: /
+    configure_priv: .*
+    read_priv: .*
+    write_priv: .*
+    tags: administrator
+    state: present
+
+- name: Create exchange
+  rabbitmq_exchange:
+    name: car
+    type: topic
+    vhost: "/"

ansible/site.yml

@@ -8,5 +8,13 @@
 - hosts: microservice
   become: yes
   roles:
+    - { role: rabbitmq, tags: [rabbitmq] }
     - { role: k3s, tags: [k3s] }
     - { role: microservices, tags: [microservices, ms] }
+
+
+- hosts: donkey
+  become: yes
+  roles:
+    - { role: python, tags: [python]}
+    - { role: donkey, tags: [donkey] }