config google.IO

refs robocars/robocar-setup#3

ansible/group_vars/all/rabbitmq_credentials.yaml

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

ansible/hosts

@@ -1,9 +1,5 @@
 [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

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

ansible/roles/base/templates/locale.gen

@@ -481,3 +481,28 @@ 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
+# C.UTF-8 UTF-8
+# ckb_IQ UTF-8
+# rif_MA UTF-8
+# syr UTF-8

ansible/roles/docker/tasks/docker.yml

@@ -1,35 +0,0 @@
-- 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

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

ansible/roles/donkey/defaults/main.yml

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

@@ -1,16 +0,0 @@
----
-
-- 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

@@ -1,62 +0,0 @@
----
-
-- 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

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

ansible/roles/k3s/defaults/main.yml

@@ -1,3 +1,3 @@
 ---
-k3s_version: v1.22.5%2Bk3s1
+k3s_version: v1.28.3%2Bk3s2
 k3s_url: https://github.com/k3s-io/k3s/releases/download/{{ k3s_version }}/k3s-{{ arch | default('armhf') }}

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'
 

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
+ExecStart=/usr/local/bin/k3s server --disable traefik --disable-helm-controller

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

@@ -2,12 +2,20 @@
 apiVersion: v1
 kind: ConfigMap
 metadata:
-  name: robocar-pca9685
+  name: robocar-pca9685-pwm
 data:
-  ################
-  # STEERING PWM #
-  ################
-  STEERING_LEFT_PWM: "1092"
-  STEERING_RIGHT_PWM: "1986"
-  STEERING_CENTER_PWM: "1583"
+  ############################
+  # STEERING PWM - PCA9685   #
+  ############################
+  #STEERING_PCA9685_LEFT_PWM: "995"
+  STEERING_PCA9685_LEFT_PWM: "1265"
+  STEERING_PCA9685_RIGHT_PWM: "1650"
+  STEERING_PCA9685_CENTER_PWM: "1440"
+
+  ###########################
+  # 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 +103,49 @@ spec:
     spec:
       containers:
         - name: camera
-          image: docker.io/cyrilix/robocar-oak-camera
+          image: git.cyrilix.bzh/robocars/robocar-oak-camera
           args:
             - "--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
@@ -116,11 +153,10 @@ spec:
             - name: dev
               mountPath: /dev
           env:
-            - name: MQTT_BROKER
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_BROKER_HOST
-                  name: robocar
+            - name: MQTT_BROKER_HOST
+              value: localhost # because use host network
+            - name: MQTT_BROKER_PORT
+              value: "30183"
             - name: MQTT_USERNAME
               valueFrom:
                 secretKeyRef:
@@ -138,6 +174,26 @@ spec:
                 configMapKeyRef:
                   key: MQTT_TOPIC_CAMERA_OAK_COLOR
                   name: robocar
+            - name: MQTT_TOPIC_OBJECTS
+              valueFrom:
+                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:
@@ -150,6 +206,8 @@ spec:
                   name: robocar-camera
             - name: MQTT_QOS
               value: "0"
+            #- name: DEPTHAI_LEVEL
+            #  value: debug
             - name: TZ
               value: "Europe/Paris"
       hostNetwork: true
@@ -166,7 +224,7 @@ spec:
 apiVersion: apps/v1
 kind: Deployment
 metadata:
-  name: pca9685-steering
+  name: pca9685
   annotations:
     reloader.stakater.com/auto: "true"
 spec:
@@ -184,15 +242,20 @@ spec:
     spec:
       containers:
         - name: pca9685
-          image: docker.io/cyrilix/robocar-pca9685-python
+          image: docker.io/cyrilix/robocar-pca9685
           args:
-          - "steering"
-          - "--i2c-bus=1"
-          - "--i2c-address=40"
-          - "--pca9685-channel=0"
-          - "--left-pulse=$(STEERING_LEFT_PWM)"
-          - "--right-pulse=$(STEERING_RIGHT_PWM)"
-          - "--debug"
+          - "--mqtt-retain=false"
+          - "--throttle-channel=15"
+          - "--steering-channel=13"
+          - "--throttle-zero-pwm=$(THROTTLE_PCA9685_ZERO_PWM)"
+          - "--throttle-min-pwm=$(THROTTLE_PCA9685_MIN_PWM)"
+          - "--throttle-max-pwm=$(THROTTLE_PCA9685_MAX_PWM)"
+          - "--steering-left-pwm=$(STEERING_PCA9685_LEFT_PWM)"
+          - "--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
@@ -200,11 +263,14 @@ spec:
           volumeMounts:
             - mountPath: /dev/i2c-1
               name: i2c
+          envFrom:
+            - configMapRef:
+                name: robocar-pca9685-pwm
           env:
             - name: MQTT_BROKER
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_BROKER_HOST
+                  key: MQTT_BROKER
                   name: robocar
             - name: MQTT_USERNAME
               valueFrom:
@@ -217,100 +283,19 @@ spec:
                   key: MQTT_PASSWORD
                   name: mqtt-credentials
             - name: MQTT_CLIENT_ID
-              value: rc-pca9685-steering
-            - name: MQTT_TOPIC
+              value: rc-pca9685
+            - name: MQTT_TOPIC_THROTTLE
+              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

@@ -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-python
-    newTag: v0.1.0-12-g2966f92
+  - name: docker.io/cyrilix/robocar-pca9685
+    newTag: v0.6.4
 
-  - name: docker.io/cyrilix/robocar-oak-camera
-    newTag: v0.1.0
+  - name: git.cyrilix.bzh/robocars/robocar-oak-camera
+    newTag: v0.6.1

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

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

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

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

@@ -4,21 +4,25 @@ metadata:
   name: robocar
 data:
   # Broker configuration
-  MQTT_BROKER_HOST: 192.168.2.221
-  MQTT_BROKER: "tcp://192.168.2.221:1883"
+  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/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/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
 
@@ -26,12 +30,17 @@ 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
 
   # Records topic
   MQTT_TOPIC_RECORDS: car/satanas/part/records
 
+  # Feedbacks
+  MQTT_TOPIC_THROTTLE_FEEDBACK: car/satanas/part/feedback/throttle
+
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -41,21 +50,107 @@ data:
   ############
   # Throttle #
   ############
-  THROTTLE_MIN: "0.3"
-  THROTTLE_MAX: "0.4"
+
+  ## For manual driving
+  #####################
+  # THROTTLE_MIN: "0.10"
+  # THROTTLE_MAX: "0.12"
+
+  ## Slow auto-pilot
+  ####################
+  #THROTTLE_MIN: "0.10"
+  #THROTTLE_MAX: "0.10"
+
+  ## Secure auto-pilot
+  ####################
+  #THROTTLE_MIN: "0.11"
+  #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"
+
+  ## Speed race auto-pilot
+  ###################
+  #THROTTLE_MIN: "0.11"
+  #THROTTLE_MAX: "0.15"
+
+  # Throttle acceleration boost
+  #############################
+  THROTTLE_ACCELERATOR_FACTOR: "1.2"
+
 ---
 apiVersion: v1
 kind: ConfigMap
 metadata:
   name: robocar-steering-pwm
 data:
+
   ################
   # STEERING PWM #
   ################
-  STEERING_LEFT_PWM: "1002"
-  STEERING_RIGHT_PWM: "1985"
-  STEERING_CENTER_PWM: "1491"
+  STEERING_LEFT_PWM: "1004"
+  STEERING_RIGHT_PWM: "2048"
+  STEERING_CENTER_PWM: "1514"
 
+  ############################
+  # STEERING PWM - SECOND RC #
+  ############################
+  STEERING_SECONDARY_LEFT_PWM: "1119"
+  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: "980"
+  THROTTLE_MAX_PWM: "2046"
+  THROTTLE_ZERO_PWM: "1509"
+
+  ###########################
+  # THROTTLE PWM - SECOND RC #
+  ############################
+  THROTTLE_SECONDARY_MIN_PWM: "994"
+  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
@@ -71,7 +166,9 @@ data:
   CAMERA_WIDTH: "160"
   CAMERA_HEIGHT: "120"
 
-  MQTT_CAMERA_PUB_FREQUENCY: "30"
+  CAMERA_FPS: "35"
+
+  MQTT_CAMERA_PUB_FREQUENCY: "35"
 
 ---
 apiVersion: v1
@@ -80,15 +177,49 @@ metadata:
   name: robocar-models
 data:
   # model to use for steering
-  MODEL_STEERING: model_160x120h0_edgetpu.tflite
-  MODEL_STEERING3: model_edgetpu.tflite
-  MODEL_STEERING4: model_160x120h20_edgetpu.tflite
-  MODEL_STEERING2: model-sim-bigimg_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
+
+
+  #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
@@ -96,3 +227,164 @@ 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, 0.5, 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]
+      ]
+    }
+
+  "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:
+  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": [ 0.005, 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"

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:
@@ -12,30 +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
+        - name: objects-detection
+          image: docker.io/cyrilix/robocar-objects-detection
           args:
-            - "-device=/dev/ttyAMA1"
-            - "-baud=115200"
             - "-mqtt-retain=false"
-            - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
-            - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
-            - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-            - "-log=info"
-          volumeMounts:
-            - mountPath: "/dev/ttyAMA1"
-              name: serial
+            - "--image-width=$(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:
-            privileged: true
             runAsUser: 1234
-            runAsGroup: 20 # Set 20/dialout group to access to serial device
+            runAsGroup: 1234
+          resources:
+            limits:
+              memory: 100Mi
+
           env:
             - name: MQTT_BROKER
               valueFrom:
@@ -53,240 +56,36 @@ spec:
                   key: MQTT_PASSWORD
                   name: mqtt-credentials
             - name: MQTT_CLIENT_ID
-              value: rc-arduino
-            - name: MQTT_TOPIC_THROTTLE
+              value: rc-objects-detection
+            - name: MQTT_TOPIC_OBJECTS
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_TOPIC_RC_THROTTLE
+                  key: MQTT_TOPIC_OBJECTS
                   name: robocar
-            - name: MQTT_TOPIC_STEERING
+            - name: MQTT_TOPIC_OBJECTS_CLEAN
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_TOPIC_RC_STEERING
+                  key: MQTT_TOPIC_OBJECTS_CLEAN
                   name: robocar
-            - name: MQTT_TOPIC_DRIVE_MODE
+            - name: MQTT_TOPIC_DISPARITY
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_TOPIC_RC_DRIVE_MODE
-                  name: robocar
-            - name: MQTT_TOPIC_SWITCH_RECORD
-              valueFrom:
-                configMapKeyRef:
-                  key: MQTT_TOPIC_RC_SWITCH_RECORD
+                  key: MQTT_TOPIC_CAMERA_DISPARITY
                   name: robocar
             - name: MQTT_QOS
               value: "0"
-            - name: STEERING_LEFT_PWM
+            - name: IMAGE_WIDTH
               valueFrom:
                 configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_LEFT_PWM
-            - name: STEERING_RIGHT_PWM
+                  key: CAMERA_WIDTH
+                  name: robocar-camera
+            - name: IMAGE_HEIGHT
               valueFrom:
                 configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_RIGHT_PWM
-            - name: STEERING_CENTER_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_CENTER_PWM
+                  key: CAMERA_HEIGHT
+                  name: robocar-camera
             - name: TZ
               value: "Europe/Paris"
-      volumes:
-        - name: serial
-          hostPath:
-            path: /dev/ttyAMA1
-            type: CharDevice
-
----
-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_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"
-        - "--img-width=$(MODEL_IMAGE_WIDTH)"
-        - "--img-height=$(MODEL_IMAGE_HEIGHT)"
-        - "--horizon=$(HORIZON)"
-        - "--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
-              name: robocar
-        - name: MQTT_TOPIC_STEERING
-          valueFrom:
-            configMapKeyRef:
-              key: MQTT_TOPIC_TF_STEERING
-              name: robocar
-        - 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
 ---
 apiVersion: apps/v1
 kind: Deployment
@@ -312,6 +111,11 @@ spec:
           image: docker.io/cyrilix/robocar-steering
           args:
           - "-mqtt-retain=false"
+          - "--enable-objects-correction=$(DETECTION_OBJECTS)"
+          - "--enable-objects-correction-user=$(DETECTION_OBJECTS)"
+          - "--grid-map-config=/etc/robocar/grid.json"
+          - "--objects-move-factors-config=/etc/robocar/omf.json"
+          - "--delta-middle=0.1"
           - "-log=info"
           securityContext:
             runAsUser: 1234
@@ -354,10 +158,37 @@ spec:
               configMapKeyRef:
                 key: MQTT_TOPIC_RC_DRIVE_MODE
                 name: robocar
+          - name: MQTT_TOPIC_OBJECTS
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_OBJECTS_CLEAN
+                name: robocar
           - name: MQTT_QOS
             value: "0"
+          - name: IMAGE_WIDTH
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_WIDTH
+                name: robocar-camera
+          - name: IMAGE_HEIGHT
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_HEIGHT
+                name: robocar-camera
           - name: TZ
             value: "Europe/Paris"
+          - name: DETECTION_OBJECTS
+            valueFrom:
+              configMapKeyRef:
+                key: detection_objects
+                name: robocar-profiles
+          volumeMounts:
+            - mountPath: /etc/robocar
+              name: robocar-configs
+      volumes:
+        - name: robocar-configs
+          configMap:
+            name: steering
 ---
 apiVersion: apps/v1
 kind: Deployment
@@ -382,8 +213,13 @@ spec:
       - name: throttle
         image: docker.io/cyrilix/robocar-throttle
         args:
-        - "-mqtt-retain=false"
-        - "-debug=false"
+        - "--mqtt-retain=false"
+        - "--enable-brake-feature=true"
+        - "--brake-configuration=/etc/robocar/brake.json"
+        - "--enable-custom-steering-processor=true"
+        - "--custom-steering-processor-config=/etc/robocar/$(THROTTLE_STEERING_CONFIG)"
+        - "--accelerator-factor=$(THROTTLE_ACCELERATOR_FACTOR)"
+        - "--log=info"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -420,6 +256,26 @@ 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: 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:
@@ -430,10 +286,27 @@ 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
           value: "Europe/Paris"
+        volumeMounts:
+          - mountPath: /etc/robocar
+            name: throttle-config
+      volumes:
+        - name: throttle-config
+          configMap:
+            name: throttle
 ---
 apiVersion: apps/v1
 kind: Deployment
@@ -562,6 +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:
@@ -580,7 +463,7 @@ metadata:
     reloader.stakater.com/auto: "true"
 spec:
   revisionHistoryLimit: 0
-  replicas: 1
+  replicas: 0
   strategy:
     type: Recreate
   selector:
@@ -596,10 +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:
@@ -630,5 +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"

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

@@ -1,12 +0,0 @@
----
-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 +3,27 @@ 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: v0.6.0
-
-  - name: docker.io/cyrilix/robocar-led
-    newTag: v0.5.0
-
-  - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    newTag: v0.4.0
 
   - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.4.0
+    newTag: v0.9.0
 
   - name: docker.io/cyrilix/robocar-record
-    newTag: v0.5.0
+    newTag: v0.6.0
 
   - name: docker.io/cyrilix/robocar-recorder-store
-    newTag: v0.2.0
+    newTag: v0.3.0
 
   - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.5.0
+    newTag: v0.8.0
 
   - name: docker.io/cyrilix/robocar-road
-    newTag: v0.1.0-5-gdc6e465
+    newTag: v0.3.0
+
+  - name: docker.io/cyrilix/robocar-objects-detection
+    newTag: v0.2.0

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

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

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

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

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

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"

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

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

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

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"
+                }
+              ]
+            }
+          ]
+        }
+      }
+    }

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

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

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

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

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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"
+    }

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

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

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

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

@@ -3,6 +3,7 @@ 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

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

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

@@ -5,10 +5,10 @@ kind: Kustomization
 namespace: robocar
 
 resources:
-  - ../common
+  - ../common-car
   - deployments.yaml
   - configmap.yaml
 
 images:
   - name: docker.io/cyrilix/robocar-simulator
-    newTag: v0.4.0
+    newTag: v0.4.1

ansible/roles/python/defaults/main.yml

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

ansible/roles/python/tasks/main.yml

@@ -1,52 +0,0 @@
----
-
-- 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

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

ansible/roles/rabbitmq/tasks/main.yml

@@ -1,35 +0,0 @@
----
-- 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

@@ -8,13 +8,5 @@
 - 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] }