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

---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: objects-detection
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: objects-detection
  template:
    metadata:
      labels:
        component: objects-detection
    spec:
      containers:
        - name: objects-detection
          image: docker.io/cyrilix/robocar-objects-detection
          args:
            - "-mqtt-retain=false"
            - "--image-width=$(IMAGE_WIDTH)"
            - "--image-height=$(IMAGE_HEIGHT)"
            - "--object-size-threshold=0.50"
            - "--enable-big-objects-remove=true"
            - "--enable-group-objects=false"  # to debug/test
            - "--enable-bottom-filter=false"  # don't work
            - "--enable-nearest-filter=true"
            - "--object-bottom-limit=0.90"
            - "--log=info"
          securityContext:
            runAsUser: 1234
            runAsGroup: 1234
          resources:
            limits:
              memory: 100Mi

          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-objects-detection
            - name: MQTT_TOPIC_OBJECTS
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_OBJECTS
                  name: robocar
            - name: MQTT_TOPIC_OBJECTS_CLEAN
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_OBJECTS_CLEAN
                  name: robocar
            - name: MQTT_TOPIC_DISPARITY
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_CAMERA_DISPARITY
                  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"
---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: steering
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: steering
  template:
    metadata:
      labels:
        component: steering
    spec:
      containers:
        - name: steering
          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
            runAsGroup: 1234
          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-steering
          - name: MQTT_TOPIC_STEERING
            valueFrom:
              configMapKeyRef:
                key: MQTT_TOPIC_STEERING
                name: robocar
          - name: MQTT_TOPIC_TF_STEERING
            valueFrom:
              configMapKeyRef:
                key: MQTT_TOPIC_TF_STEERING
                name: robocar
          - name: MQTT_TOPIC_RC_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_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
metadata:
  name: throttle
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: throttle
  template:
    metadata:
      labels:
        component: throttle
    spec:
      containers:
      - name: throttle
        image: docker.io/cyrilix/robocar-throttle
        args:
        - "--mqtt-retain=false"
        - "--enable-brake-feature=true"
        - "--brake-configuration=/etc/robocar/brake.json"
        - "--enable-custom-steering-processor=true"
        - "--custom-steering-processor-config=/etc/robocar/$(THROTTLE_STEERING_CONFIG)"
        - "--accelerator-factor=$(THROTTLE_ACCELERATOR_FACTOR)"
        - "--log=info"
        securityContext:
          runAsUser: 1234
          runAsGroup: 1234
        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-throttle
        - name: MQTT_TOPIC_THROTTLE
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_THROTTLE
              name: robocar
        - name: MQTT_TOPIC_RC_THROTTLE
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_THROTTLE
              name: robocar
        - name: MQTT_TOPIC_DRIVE_MODE
          valueFrom:
            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:
              key: THROTTLE_MIN
              name: robocar-throttle
        - name: THROTTLE_MAX
          valueFrom:
            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
metadata:
  name: recorder
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: recorder
  template:
    metadata:
      labels:
        component: recorder
    spec:
      containers:
        - name: recorder
          image: docker.io/cyrilix/robocar-recorder-store
          args:
            - "-mqtt-retain=true"
            - "-record-path=/records"
            - "-log=info"
          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-recorder
            - name: MQTT_TOPIC_RECORDS
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_RECORDS
                  name: robocar
            - name: MQTT_QOS
              value: "0"
            - name: TZ
              value: "Europe/Paris"
          volumeMounts:
            - mountPath: /records
              name: records
      securityContext:
        runAsUser: 1000
        runAsGroup: 1000
        fsGroup: 1000
        fsGroupChangePolicy: OnRootMismatch
      volumes:
        - name: records
          hostPath:
            path: /home/pi/records
---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: record
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: record
  template:
    metadata:
      labels:
        component: record
    spec:
      containers:
      - name: record
        image: docker.io/cyrilix/robocar-record
        args:
        - "-mqtt-retain=true"
        - "-debug=false"
        securityContext:
          runAsUser: 1234
          runAsGroup: 1234
        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-record
        - name: MQTT_TOPIC_CAMERA
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_CAMERA_OAK_COLOR
              name: robocar
        - name: MQTT_TOPIC_STEERING
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_STEERING
              name: robocar
        - name: MQTT_TOPIC_SWITCH_RECORD
          valueFrom:
            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:
              key: MQTT_TOPIC_RECORDS
              name: robocar
        - name: MQTT_QOS
          value: "0"
        - name: TZ
          value: "Europe/Paris"
---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: road
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 0
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: road
  template:
    metadata:
      labels:
        component: road
    spec:
      containers:
        - name: road
          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:
                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-road
            - name: MQTT_TOPIC_CAMERA
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_CAMERA
                  name: robocar
            - name: MQTT_TOPIC_ROAD
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_ROAD
                  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"