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

@@ -481,28 +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
-# C.UTF-8 UTF-8
-# ckb_IQ UTF-8
-# rif_MA UTF-8
-# syr 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: v1.28.3%2Bk3s2
+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/tasks/containerd.yml

@@ -1,12 +1,10 @@
----
 - name: Add apt key
-  ansible.builtin.apt_key:
+  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 bookworm stable
+    repo: deb [arch={{ arch | default('armhf') }}] https://download.docker.com/linux/debian {{ ansible_distribution_release }} 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 --disable traefik --disable-helm-controller
+ExecStart=/usr/local/bin/k3s server

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

@@ -2,20 +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_LEFT_PWM: "1265"
+  STEERING_RIGHT_PWM: "1986"
-  STEERING_PCA9685_RIGHT_PWM: "1650"
+  STEERING_CENTER_PWM: "1583"
-  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

@@ -103,49 +103,12 @@ 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=$(THRESHOLD_OBJECTS)"
-            - "--camera-fps=$(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: 0
+            runAsUser: 1234
             privileged: true
           volumeMounts:
             - name: sys
@@ -153,10 +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:
@@ -174,26 +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: 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:
@@ -206,8 +150,6 @@ spec:
                   name: robocar-camera
             - name: MQTT_QOS
               value: "0"
-            #- name: DEPTHAI_LEVEL
-            #  value: debug
             - name: TZ
               value: "Europe/Paris"
       hostNetwork: true
@@ -224,7 +166,7 @@ spec:
 apiVersion: apps/v1
 kind: Deployment
 metadata:
-  name: pca9685
+  name: pca9685-steering
   annotations:
     reloader.stakater.com/auto: "true"
 spec:
@@ -242,20 +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=13"
+          - "--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
@@ -263,14 +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:
@@ -283,19 +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

@@ -5,16 +5,16 @@ kind: Kustomization
 namespace: robocar
 
 resources:
-  - ../common-car
+  - ../common
   - deployments.yaml
   - configmap.yaml
 
 images:
   - name: docker.io/cyrilix/robocar-camera
-    newTag: v0.3.1
+    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: v0.6.1
+    newTag: v0.1.0

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

@@ -1,335 +0,0 @@
----
-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

@@ -1,20 +0,0 @@
----
-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

@@ -1,9 +0,0 @@
----
-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

@@ -4,25 +4,21 @@ 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"
+  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
 
@@ -30,17 +26,12 @@ 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
@@ -50,107 +41,21 @@ data:
   ############
   # Throttle #
   ############
-
+  THROTTLE_MIN: "0.3"
-  ## For manual driving
+  THROTTLE_MAX: "0.4"
-  #####################
-  # 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: "1004"
+  STEERING_LEFT_PWM: "1002"
-  STEERING_RIGHT_PWM: "2048"
+  STEERING_RIGHT_PWM: "1985"
-  STEERING_CENTER_PWM: "1514"
+  STEERING_CENTER_PWM: "1491"
 
-  ############################
-  # 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
@@ -166,9 +71,7 @@ data:
   CAMERA_WIDTH: "160"
   CAMERA_HEIGHT: "120"
 
-  CAMERA_FPS: "35"
+  MQTT_CAMERA_PUB_FREQUENCY: "30"
-
-  MQTT_CAMERA_PUB_FREQUENCY: "35"
 
 ---
 apiVersion: v1
@@ -177,49 +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_STEERING: "model_linear_160x120h0_edgetpu.tflite"
+  MODEL_STEERING3: model_edgetpu.tflite
-  #OCI_IMAGE_MODEL: "git.cyrilix.bzh/robocars/model-steering:v20230429.0945-edgetpu"
+  MODEL_STEERING4: model_160x120h20_edgetpu.tflite
-  #OCI_IMAGE_MODEL: "docker.io/cyrilix/model-steering:v20230429.0945-edgetpu"
+  MODEL_STEERING2: model-sim-bigimg_edgetpu.tflite
-  #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
@@ -227,164 +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, 0.5, 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: objects-detection
+  name: arduino
   annotations:
     reloader.stakater.com/auto: "true"
 spec:
@@ -12,33 +12,30 @@ spec:
     type: Recreate
   selector:
     matchLabels:
-      component: objects-detection
+      component: arduino
   template:
     metadata:
       labels:
-        component: objects-detection
+        component: arduino
     spec:
       containers:
-        - name: objects-detection
+        - name: arduino
-          image: docker.io/cyrilix/robocar-objects-detection
+          image: docker.io/cyrilix/robocar-arduino
           args:
+            - "-device=/dev/ttyAMA1"
+            - "-baud=115200"
             - "-mqtt-retain=false"
-            - "--image-width=$(IMAGE_WIDTH)"
+            - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
-            - "--image-height=$(IMAGE_HEIGHT)"
+            - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
-            - "--object-size-threshold=0.50"
+            - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-            - "--enable-big-objects-remove=true"
+            - "-log=info"
-            - "--enable-group-objects=false"  # to debug/test
+          volumeMounts:
-            - "--enable-bottom-filter=false"  # don't work
+            - mountPath: "/dev/ttyAMA1"
-            - "--enable-nearest-filter=true"
+              name: serial
-            - "--object-bottom-limit=0.90"
-            - "--log=info"
           securityContext:
+            privileged: true
             runAsUser: 1234
-            runAsGroup: 1234
+            runAsGroup: 20 # Set 20/dialout group to access to serial device
-          resources:
-            limits:
-              memory: 100Mi
-
           env:
             - name: MQTT_BROKER
               valueFrom:
@@ -56,36 +53,240 @@ spec:
                   key: MQTT_PASSWORD
                   name: mqtt-credentials
             - name: MQTT_CLIENT_ID
-              value: rc-objects-detection
+              value: rc-arduino
-            - name: MQTT_TOPIC_OBJECTS
+            - name: MQTT_TOPIC_THROTTLE
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_TOPIC_OBJECTS
+                  key: MQTT_TOPIC_RC_THROTTLE
                   name: robocar
-            - name: MQTT_TOPIC_OBJECTS_CLEAN
+            - name: MQTT_TOPIC_STEERING
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_TOPIC_OBJECTS_CLEAN
+                  key: MQTT_TOPIC_RC_STEERING
                   name: robocar
-            - name: MQTT_TOPIC_DISPARITY
+            - name: MQTT_TOPIC_DRIVE_MODE
               valueFrom:
                 configMapKeyRef:
-                  key: MQTT_TOPIC_CAMERA_DISPARITY
+                  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_QOS
               value: "0"
-            - name: IMAGE_WIDTH
+            - name: STEERING_LEFT_PWM
               valueFrom:
                 configMapKeyRef:
-                  key: CAMERA_WIDTH
+                  name: robocar-steering-pwm
-                  name: robocar-camera
+                  key: STEERING_LEFT_PWM
-            - name: IMAGE_HEIGHT
+            - name: STEERING_RIGHT_PWM
               valueFrom:
                 configMapKeyRef:
-                  key: CAMERA_HEIGHT
+                  name: robocar-steering-pwm
-                  name: robocar-camera
+                  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/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
@@ -111,11 +312,6 @@ spec:
           image: docker.io/cyrilix/robocar-steering
           args:
           - "-mqtt-retain=false"
-          - "--enable-objects-correction=$(DETECTION_OBJECTS)"
-          - "--enable-objects-correction-user=$(DETECTION_OBJECTS)"
-          - "--grid-map-config=/etc/robocar/grid.json"
-          - "--objects-move-factors-config=/etc/robocar/omf.json"
-          - "--delta-middle=0.1"
           - "-log=info"
           securityContext:
             runAsUser: 1234
@@ -158,37 +354,10 @@ spec:
               configMapKeyRef:
                 key: MQTT_TOPIC_RC_DRIVE_MODE
                 name: robocar
-          - name: MQTT_TOPIC_OBJECTS
-            valueFrom:
-              configMapKeyRef:
-                key: MQTT_TOPIC_OBJECTS_CLEAN
-                name: robocar
           - name: MQTT_QOS
             value: "0"
-          - name: IMAGE_WIDTH
-            valueFrom:
-              configMapKeyRef:
-                key: CAMERA_WIDTH
-                name: robocar-camera
-          - name: IMAGE_HEIGHT
-            valueFrom:
-              configMapKeyRef:
-                key: CAMERA_HEIGHT
-                name: robocar-camera
           - name: TZ
             value: "Europe/Paris"
-          - name: DETECTION_OBJECTS
-            valueFrom:
-              configMapKeyRef:
-                key: detection_objects
-                name: robocar-profiles
-          volumeMounts:
-            - mountPath: /etc/robocar
-              name: robocar-configs
-      volumes:
-        - name: robocar-configs
-          configMap:
-            name: steering
 ---
 apiVersion: apps/v1
 kind: Deployment
@@ -213,13 +382,8 @@ spec:
       - name: throttle
         image: docker.io/cyrilix/robocar-throttle
         args:
-        - "--mqtt-retain=false"
+        - "-mqtt-retain=false"
-        - "--enable-brake-feature=true"
+        - "-debug=false"
-        - "--brake-configuration=/etc/robocar/brake.json"
-        - "--enable-custom-steering-processor=true"
-        - "--custom-steering-processor-config=/etc/robocar/$(THROTTLE_STEERING_CONFIG)"
-        - "--accelerator-factor=$(THROTTLE_ACCELERATOR_FACTOR)"
-        - "--log=info"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -256,26 +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: 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:
@@ -286,27 +430,10 @@ 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
@@ -435,16 +562,6 @@ 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:
@@ -463,7 +580,7 @@ metadata:
     reloader.stakater.com/auto: "true"
 spec:
   revisionHistoryLimit: 0
-  replicas: 0
+  replicas: 1
   strategy:
     type: Recreate
   selector:
@@ -479,25 +596,10 @@ 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:
@@ -528,15 +630,5 @@ 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

@@ -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

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

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/kustomization.yaml

@@ -1,10 +0,0 @@
-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

@@ -1,8 +0,0 @@
----
-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

@@ -1,173 +0,0 @@
----
-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

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

@@ -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/registry/configmaps.yaml

@@ -1,42 +0,0 @@
-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

@@ -1,61 +0,0 @@
----
-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

@@ -1,15 +0,0 @@
-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

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

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

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

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

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

@@ -1,27 +0,0 @@
-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

@@ -3,7 +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

@@ -5,10 +5,10 @@ kind: Kustomization
 namespace: robocar
 
 resources:
-  - ../common-car
+  - ../common
   - deployments.yaml
   - configmap.yaml
 
 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] }