microservice(robocar-oak-camera): new image

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

ansible/roles/docker/tasks/docker.yml

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

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

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

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

@@ -0,0 +1,20 @@
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-pca9685-pwm
+data:
+  ############################
+  # STEERING PWM - PCA9685   #
+  ############################
+  STEERING_PCA9685_LEFT_PWM: "995"
+  STEERING_PCA9685_RIGHT_PWM: "2017"
+  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

@@ -103,10 +103,12 @@ 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=$(THRESHOLD_OBJECTS)"
+            - "--log=info"
           securityContext:
             runAsUser: 1234
             privileged: true
@@ -116,8 +118,10 @@ spec:
             - name: dev
               mountPath: /dev
           env:
-            - name: MQTT_BROKER
+            - name: MQTT_BROKER_HOST
               value: localhost # because use host network
+            - name: MQTT_BROKER_PORT
+              value: "30183"
             - name: MQTT_USERNAME
               valueFrom:
                 secretKeyRef:
@@ -135,6 +139,16 @@ spec:
                 configMapKeyRef:
                   key: MQTT_TOPIC_CAMERA_OAK_COLOR
                   name: robocar
+            - name: MQTT_TOPIC_OBJECTS
+              valueFrom:
+                configMapKeyRef:
+                  key: MQTT_TOPIC_OBJECTS
+                  name: robocar
+            - name: THRESHOLD_OBJECTS
+              valueFrom:
+                configMapKeyRef:
+                  key: OBJECTS_THRESHOLD
+                  name: robocar-objects
             - name: CAMERA_WIDTH
               valueFrom:
                 configMapKeyRef:
@@ -186,13 +200,13 @@ spec:
           - "--mqtt-retain=false"
           - "--throttle-channel=15"
           - "--steering-channel=14"
-          - "--throttle-zero-pwm=$(THROTTLE_ZERO_PWM)"
-          - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
-          - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
-          - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
-          - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
-          - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-          - "--pwm-freq=60"
+          - "--throttle-zero-pwm=$(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:
@@ -202,6 +216,9 @@ spec:
           volumeMounts:
             - mountPath: /dev/i2c-1
               name: i2c
+          envFrom:
+            - configMapRef:
+                name: robocar-pca9685-pwm
           env:
             - name: MQTT_BROKER
               valueFrom:
@@ -232,36 +249,6 @@ spec:
                   name: robocar
             - name: MQTT_QOS
               value: "0"
-            - name: STEERING_LEFT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_LEFT_PWM
-            - name: STEERING_RIGHT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_RIGHT_PWM
-            - name: STEERING_CENTER_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_CENTER_PWM
-            - name: THROTTLE_MIN_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_MIN_PWM
-            - name: THROTTLE_MAX_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_MAX_PWM
-            - name: THROTTLE_ZERO_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_ZERO_PWM
             - name: TZ
               value: "Europe/Paris"
       volumes:

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

@@ -7,6 +7,7 @@ namespace: robocar
 resources:
   - ../common
   - deployments.yaml
+  - configmap.yaml
 
 images:
   - name: docker.io/cyrilix/robocar-camera
@@ -15,5 +16,5 @@ images:
   - 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: v0.2.0-28-g7ebd909

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

@@ -4,13 +4,16 @@ metadata:
   name: robocar
 data:
   # Broker configuration
-  MQTT_BROKER_HOST: mqtt.robocar.svc.cluster.local
-  MQTT_BROKER: "tcp://mqtt.robocar.svc.cluster.local: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/color
   MQTT_TOPIC_CAMERA_OAK_COLOR: car/satanas/part/camera/color
 
+  # Objects detection
+  MQTT_TOPIC_OBJECTS: car/satanas/part/objects
 
   # Radio command
   MQTT_TOPIC_RC_THROTTLE: car/satanas/part/rc/throttle
@@ -31,6 +34,9 @@ data:
   # Records topic
   MQTT_TOPIC_RECORDS: car/satanas/part/records
 
+  # Feedbacks
+  MQTT_TOPIC_THROTTLE_FEEDBACK: car/satanas/part/feedback/throttle
+
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -40,13 +46,21 @@ data:
   ############
   # Throttle #
   ############
-  # Min value to start is 0.12
-  # Good value for manual: 0.15
-  #THROTTLE_MIN: "0.15"
-  #THROTTLE_MAX: "0.15"
 
-  THROTTLE_MIN: "0.19"
-  THROTTLE_MAX: "0.19"
+  ## For manual driving
+  #####################
+  # THROTTLE_MIN: "0.10"
+  # THROTTLE_MAX: "0.12"
+
+  ## Secure auto-pilot
+  ####################
+  THROTTLE_MIN: "0.10"
+  THROTTLE_MAX: "0.12"
+
+  ## Speed auto-pilot
+  ###################
+  # THROTTLE_MIN: "0.11"
+  # THROTTLE_MAX: "0.13"
 
 
 ---
@@ -58,9 +72,17 @@ data:
   ################
   # STEERING PWM #
   ################
-  STEERING_LEFT_PWM: "1002"
+  STEERING_LEFT_PWM: "1000"
   STEERING_RIGHT_PWM: "1985"
-  STEERING_CENTER_PWM: "1491"
+  STEERING_CENTER_PWM: "1492"
+
+  ############################
+  # STEERING PWM - SECOND RC #
+  ############################
+  STEERING_SECONDARY_LEFT_PWM: "1119"
+  STEERING_SECONDARY_RIGHT_PWM: "2141"
+  STEERING_SECONDARY_CENTER_PWM: "1641"
+
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -70,12 +92,17 @@ data:
   ################
   # THROTTLE PWM #
   ################
-  #THROTTLE_MIN_PWM: "1092"
-  #THROTTLE_MAX_PWM: "1986"
-  #THROTTLE_ZERO_PWM: "1583"
-  THROTTLE_MIN_PWM: "960"
-  THROTTLE_MAX_PWM: "1949"
-  THROTTLE_ZERO_PWM: "1452"
+  THROTTLE_MIN_PWM: "994"
+  THROTTLE_MAX_PWM: "1979"
+  THROTTLE_ZERO_PWM: "1484"
+
+  ###########################
+  # THROTTLE PWM - SECOND RC #
+  ############################
+  THROTTLE_SECONDARY_MIN_PWM: "994"
+  THROTTLE_SECONDARY_MAX_PWM: "1975"
+  THROTTLE_SECONDARY_ZERO_PWM: "1506"
+
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -101,7 +128,6 @@ metadata:
 data:
   # model to use for steering
   MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
-  #MODEL_STEERING: model_categorical_160x120h0_edgetpu.tflite
 
   #MODEL_STEERING: model_linear_160x120h40_edgetpu.tflite
 
@@ -115,7 +141,6 @@ data:
   MODEL_IMAGE_WIDTH: "160"
   MODEL_IMAGE_HEIGHT: "120"
   HORIZON: "20"
-
 ---
 apiVersion: v1
 kind: ConfigMap
@@ -123,3 +148,62 @@ metadata:
   name: robocar-road
 data:
   HORIZON: "20"
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: steering
+data:
+  grid.json: |
+    {
+      "steering_steps": [ -1, -0.66, -0.33, 0, 0.33, 0.66, 1],
+      "distance_steps": [ 0, 0.3, 0.4, 0.5, 0.8, 1],
+      "data": [
+        [ 0, 0, 0, 0, 0, 0],
+        [ 0, 0, 0, 0, 0, 0],
+        [ 0, 0, 0.25, -0.25, 0, 0],
+        [ 0, 0.25, 0.5, -0.5, -0.25, 0],
+        [ 0.25, 0.5, 1, -1, -0.5, -0.25]
+      ]
+    }
+
+  "omf.json": | 
+    {
+      "steering_steps":[-1, -0.66, -0.33, 0, 0.33, 0.66, 1],
+      "distance_steps": [0, 0.2, 0.4, 0.6, 0.8, 1],
+      "data": [
+        [0, 0, 0, 0, 0, 0],
+        [0, 0, 0, 0, 0, 0],
+        [0, 0, 0, 0, 0, 0],
+        [0, 0.25, 0, 0, -0.25, 0],
+        [0.5, 0.25, 0, 0, -0.5, -0.25]
+      ]
+    }
+
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: robocar-objects
+data:
+  OBJECTS_THRESHOLD: "0.2"
+
+  # To delete?
+  thresholds.json: |
+    {
+      "threshold_steps": [ 0.07, 0.08, 0.09, 0.1, 0.125, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0 ],
+      "min_valid": 500,
+      "data": [ 8700, 4800, 3500, 2550, 1850, 1387, 992, 840, 750, 700, 655, 620, 590, 570, 553, 549, 548 ]
+    }
+---
+apiVersion: v1
+kind: ConfigMap
+metadata:
+  name: throttle
+data:
+  brake.json: |
+    {
+      "delta_steps": [ 0.05, 0.3, 0.5 ],
+      "data": [ -0.1, -0.5, -1.0 ]
+    }

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

@@ -28,17 +28,31 @@ spec:
             - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
             - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
             - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
-            - "--throttle-zero-pwm=$(THROTTLE_ZERO_PWM)"
+            - "--steering-secondary-left-pwm=$(STEERING_SECONDARY_LEFT_PWM)"
+            - "--steering-secondary-right-pwm=$(STEERING_SECONDARY_RIGHT_PWM)"
+            - "--steering-secondary-center-pwm=$(STEERING_SECONDARY_CENTER_PWM)"
             - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
             - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
+            - "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
+            - "--throttle-secondary-min-pwm=$(THROTTLE_SECONDARY_MIN_PWM)"
+            - "--throttle-secondary-max-pwm=$(THROTTLE_SECONDARY_MAX_PWM)"
+            - "--throttle-secondary-center-pwm=$(THROTTLE_SECONDARY_ZERO_PWM)"
+            - '--throttle-feedback-config=/etc/robocar/thresholds.json'
             - "-log=info"
           volumeMounts:
             - mountPath: "/dev/ttyAMA0"
               name: serial
+            - mountPath: "/etc/robocar"
+              name: robocar
           securityContext:
             privileged: true
             runAsUser: 1234
             runAsGroup: 20 # Set 20/dialout group to access to serial device
+          envFrom:
+            - configMapRef:
+                name: robocar-throttle-pwm
+            - configMapRef:
+                name: robocar-steering-pwm
           env:
             - name: MQTT_BROKER
               valueFrom:
@@ -77,39 +91,13 @@ spec:
                 configMapKeyRef:
                   key: MQTT_TOPIC_RC_SWITCH_RECORD
                   name: robocar
+            - name: MQTT_TOPIC_THROTTLE_FEEDBACK
+              valueFrom:
+                configMapKeyRef:
+                  name: robocar
+                  key: MQTT_TOPIC_THROTTLE_FEEDBACK
             - name: MQTT_QOS
               value: "0"
-            - name: STEERING_LEFT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_LEFT_PWM
-            - name: STEERING_RIGHT_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_RIGHT_PWM
-            - name: STEERING_CENTER_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-steering-pwm
-                  key: STEERING_CENTER_PWM
-
-            - name: THROTTLE_MIN_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_MIN_PWM
-            - name: THROTTLE_MAX_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_MAX_PWM
-            - name: THROTTLE_ZERO_PWM
-              valueFrom:
-                configMapKeyRef:
-                  name: robocar-throttle-pwm
-                  key: THROTTLE_ZERO_PWM
             - name: TZ
               value: "Europe/Paris"
       volumes:
@@ -117,6 +105,9 @@ spec:
           hostPath:
             path: /dev/ttyAMA0
             type: CharDevice
+        - name: robocar
+          configMap:
+            name: robocar-objects
 
 ---
 apiVersion: apps/v1
@@ -328,6 +319,13 @@ spec:
           image: docker.io/cyrilix/robocar-steering
           args:
           - "-mqtt-retain=false"
+          - "--image-width=$(IMAGE_WIDTH)"
+          - "--image-height=$(IMAGE_HEIGHT)"
+          - "--enable-objects-correction=false"
+          - "--enable-objects-correction-user=false"
+          - "--grid-map-config=/etc/robocar/grid.json"
+          - "--objects-move-factors-config=/etc/robocar/omf.json"
+          - "--delta-middle=0.1"
           - "-log=info"
           securityContext:
             runAsUser: 1234
@@ -370,10 +368,32 @@ spec:
               configMapKeyRef:
                 key: MQTT_TOPIC_RC_DRIVE_MODE
                 name: robocar
+          - name: MQTT_TOPIC_OBJECTS
+            valueFrom:
+              configMapKeyRef:
+                key: MQTT_TOPIC_OBJECTS
+                name: robocar
           - name: MQTT_QOS
             value: "0"
+          - name: IMAGE_WIDTH
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_WIDTH
+                name: robocar-camera
+          - name: IMAGE_HEIGHT
+            valueFrom:
+              configMapKeyRef:
+                key: CAMERA_HEIGHT
+                name: robocar-camera
           - name: TZ
             value: "Europe/Paris"
+          volumeMounts:
+            - mountPath: /etc/robocar
+              name: robocar-configs
+      volumes:
+        - name: robocar-configs
+          configMap:
+            name: steering
 ---
 apiVersion: apps/v1
 kind: Deployment
@@ -398,8 +418,10 @@ spec:
       - name: throttle
         image: docker.io/cyrilix/robocar-throttle
         args:
-        - "-mqtt-retain=false"
-        - "-log=info"
+        - "--mqtt-retain=false"
+        - "--enable-brake-feature=true"
+        - "--brake-configuration=/etc/robocar/brake.json"
+        - "--log=info"
         securityContext:
           runAsUser: 1234
           runAsGroup: 1234
@@ -436,6 +458,16 @@ spec:
             configMapKeyRef:
               key: MQTT_TOPIC_RC_DRIVE_MODE
               name: robocar
+        - name: MQTT_TOPIC_THROTTLE_FEEDBACK
+          valueFrom:
+            configMapKeyRef:
+              name: robocar
+              key: MQTT_TOPIC_THROTTLE_FEEDBACK
+        - name: MQTT_TOPIC_STEERING
+          valueFrom:
+            configMapKeyRef:
+              key: MQTT_TOPIC_STEERING
+              name: robocar
         - name: THROTTLE_MIN
           valueFrom:
             configMapKeyRef:
@@ -450,6 +482,13 @@ spec:
           value: "0"
         - name: TZ
           value: "Europe/Paris"
+        volumeMounts:
+          - mountPath: /etc/robocar
+            name: throttle-config
+      volumes:
+        - name: throttle-config
+          configMap:
+            name: throttle
 ---
 apiVersion: apps/v1
 kind: Deployment

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

@@ -1,13 +0,0 @@
----
-apiVersion: v1
-kind: Endpoints
-metadata:
-  name: mqtt
-  labels:
-    app: mqtt
-subsets:
-  - addresses:
-      - ip: 192.168.2.221
-      # - ip: 192.168.217.19
-    ports:
-      - port: 1883

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

@@ -3,24 +3,23 @@ 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: v0.8.0
+    newTag: v0.9.0
 
   - name: docker.io/cyrilix/robocar-led
     newTag: v0.5.1
 
   - name: docker.io/cyrilix/robocar-steering-tflite-edgetpu
-    #newTag: v0.5.0
-    newTag: v0.5.0-1-gbc90193
+    newTag: v0.5.3
 
   - name: docker.io/cyrilix/robocar-throttle
-    newTag: v0.5.0
+    newTag: v0.6.0
 
   - name: docker.io/cyrilix/robocar-record
     newTag: v0.5.1
@@ -29,7 +28,7 @@ images:
     newTag: v0.2.1
 
   - name: docker.io/cyrilix/robocar-steering
-    newTag: v0.5.1
+    newTag: v0.6.0
 
   - name: docker.io/cyrilix/robocar-road
     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/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/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/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] }