336 lines
9.5 KiB
YAML
336 lines
9.5 KiB
YAML
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---
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apiVersion: apps/v1
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kind: Deployment
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metadata:
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name: arduino
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annotations:
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reloader.stakater.com/auto: "true"
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spec:
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revisionHistoryLimit: 0
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replicas: 1
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strategy:
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type: Recreate
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selector:
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matchLabels:
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component: arduino
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template:
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metadata:
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labels:
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component: arduino
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spec:
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containers:
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- name: arduino
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image: docker.io/cyrilix/robocar-arduino
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args:
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- "-device=/dev/ttyAMA1"
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- "-baud=115200"
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- "-mqtt-retain=false"
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- "--steering-left-pwm=$(STEERING_LEFT_PWM)"
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- "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
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- "--steering-center-pwm=$(STEERING_CENTER_PWM)"
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- "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
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- "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
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- "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
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- '--throttle-feedback-config=/etc/robocar/thresholds.json'
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- '--ctrl-throttle-min-pwm=$(CTRL_THROTTLE_MIN_PWM)'
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- '--ctrl-throttle-max-pwm=$(CTRL_THROTTLE_MAX_PWM)'
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- "-log=info"
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volumeMounts:
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- mountPath: "/dev/ttyAMA0"
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name: serial
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- mountPath: "/etc/robocar"
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name: robocar
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securityContext:
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privileged: true
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runAsUser: 1234
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runAsGroup: 20 # Set 20/dialout group to access to serial device
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envFrom:
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- configMapRef:
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name: robocar-throttle-pwm
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- configMapRef:
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name: robocar-steering-pwm
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env:
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- name: MQTT_BROKER
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valueFrom:
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configMapKeyRef:
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key: MQTT_BROKER
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name: robocar
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- name: MQTT_USERNAME
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valueFrom:
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secretKeyRef:
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key: MQTT_USERNAME
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name: mqtt-credentials
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- name: MQTT_PASSWORD
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valueFrom:
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secretKeyRef:
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key: MQTT_PASSWORD
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name: mqtt-credentials
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- name: MQTT_CLIENT_ID
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value: rc-arduino
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- name: MQTT_TOPIC_THROTTLE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_THROTTLE
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name: robocar
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- name: MQTT_TOPIC_STEERING
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_STEERING
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name: robocar
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- name: MQTT_TOPIC_DRIVE_MODE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_DRIVE_MODE
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name: robocar
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- name: MQTT_TOPIC_SWITCH_RECORD
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_SWITCH_RECORD
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name: robocar
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- name: MQTT_TOPIC_THROTTLE_FEEDBACK
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valueFrom:
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configMapKeyRef:
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name: robocar
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key: MQTT_TOPIC_THROTTLE_FEEDBACK
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- name: MQTT_TOPIC_MAX_THROTTLE_CTRL
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valueFrom:
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configMapKeyRef:
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name: robocar
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key: MQTT_TOPIC_MAX_THROTTLE_CTRL
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- name: CTRL_THROTTLE_MIN_PWM
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valueFrom:
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configMapKeyRef:
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name: robocar-throttle-pwm
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key: CTRL_THROTTLE_MIN_PWM
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- name: CTRL_THROTTLE_MAX_PWM
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valueFrom:
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configMapKeyRef:
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name: robocar-throttle-pwm
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key: CTRL_THROTTLE_MAX_PWM
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- name: MQTT_QOS
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value: "0"
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- name: TZ
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value: "Europe/Paris"
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volumes:
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- name: serial
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hostPath:
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path: /dev/ttyAMA0
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type: CharDevice
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- name: robocar
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configMap:
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name: robocar-objects
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---
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apiVersion: apps/v1
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kind: Deployment
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metadata:
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name: led
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annotations:
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reloader.stakater.com/auto: "true"
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spec:
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revisionHistoryLimit: 0
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replicas: 1
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strategy:
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type: Recreate
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selector:
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matchLabels:
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component: led
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template:
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metadata:
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labels:
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component: led
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spec:
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containers:
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- name: led
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image: docker.io/cyrilix/robocar-led
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args:
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- "-mqtt-retain=false"
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- "-log=info"
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volumeMounts:
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- name: gpiomem
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mountPath: "/dev/gpiomem"
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- name: gpiochip0
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mountPath: "/dev/gpiochip0"
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- name: gpiochip1
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mountPath: "/dev/gpiochip1"
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securityContext:
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privileged: true
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runAsUser: 1234
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runAsGroup: 997 # Set 997/gpio group to access to serial device
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env:
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- name: MQTT_BROKER
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valueFrom:
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configMapKeyRef:
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key: MQTT_BROKER
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name: robocar
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- name: MQTT_USERNAME
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valueFrom:
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secretKeyRef:
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key: MQTT_USERNAME
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name: mqtt-credentials
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- name: MQTT_PASSWORD
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valueFrom:
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secretKeyRef:
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key: MQTT_PASSWORD
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name: mqtt-credentials
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- name: MQTT_CLIENT_ID
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value: rc-led
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- name: MQTT_TOPIC_DRIVE_MODE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_DRIVE_MODE
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name: robocar
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- name: MQTT_TOPIC_RECORD
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_SWITCH_RECORD
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name: robocar
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- name: MQTT_TOPIC_SPEED_ZONE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_SPEED_ZONE
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name: robocar
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- name: MQTT_TOPIC_THROTTLE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_THROTTLE
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name: robocar
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- name: MQTT_QOS
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value: "0"
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- name: TZ
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value: "Europe/Paris"
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volumes:
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- name: gpiomem
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hostPath:
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path: /dev/gpiomem
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type: CharDevice
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- name: gpiochip0
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hostPath:
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path: /dev/gpiochip0
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type: CharDevice
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- name: gpiochip1
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hostPath:
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path: /dev/gpiochip1
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type: CharDevice
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---
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apiVersion: apps/v1
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kind: Deployment
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metadata:
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name: tflite-steering
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annotations:
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reloader.stakater.com/auto: "true"
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spec:
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revisionHistoryLimit: 0
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replicas: 1
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strategy:
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type: Recreate
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selector:
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matchLabels:
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component: tflite-steering
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template:
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metadata:
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labels:
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component: tflite-steering
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spec:
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containers:
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- name: tflite-steering
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image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
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args:
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#- "--model=/model/$(MODEL_STEERING)"
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- "--oci-model-registry=$(OCI_IMAGE_MODEL_REGISTRY)"
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- "--oci-model-repository=$(OCI_IMAGE_MODEL_REPOSITORY)"
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- "--oci-model-tag=$(OCI_IMAGE_MODEL_TAG)"
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- "--edge-verbosity=0"
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- "--log=info"
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securityContext:
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runAsUser: 0
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runAsGroup: 0
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privileged: true
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volumeMounts:
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- name: models
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mountPath: /model
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- name: bus-usb
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mountPath: /dev/bus/usb
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- name: sys
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mountPath: /sys
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env:
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- name: MQTT_BROKER
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valueFrom:
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configMapKeyRef:
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key: MQTT_BROKER
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name: robocar
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- name: MQTT_USERNAME
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valueFrom:
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secretKeyRef:
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key: MQTT_USERNAME
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name: mqtt-credentials
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- name: MQTT_PASSWORD
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valueFrom:
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secretKeyRef:
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key: MQTT_PASSWORD
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name: mqtt-credentials
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- name: MQTT_CLIENT_ID
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value: rc-tflite-steering
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- name: MQTT_TOPIC_CAMERA
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_CAMERA_OAK_COLOR
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name: robocar
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- name: MQTT_TOPIC_STEERING
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_TF_STEERING
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name: robocar
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- name: OCI_IMAGE_MODEL_REGISTRY
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valueFrom:
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configMapKeyRef:
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key: OCI_IMAGE_MODEL_REGISTRY
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name: robocar-models
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- name: OCI_IMAGE_MODEL_REPOSITORY
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valueFrom:
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configMapKeyRef:
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key: OCI_IMAGE_MODEL_REPOSITORY
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name: robocar-models
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- name: OCI_IMAGE_MODEL_TAG
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valueFrom:
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configMapKeyRef:
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key: OCI_IMAGE_MODEL_TAG
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name: robocar-models
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#- name: MODEL_STEERING
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# valueFrom:
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# configMapKeyRef:
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# key: MODEL_STEERING
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# name: robocar-models
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#- name: MODEL_IMAGE_WIDTH
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# valueFrom:
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# configMapKeyRef:
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# key: MODEL_IMAGE_WIDTH
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# name: robocar-models
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#- name: MODEL_IMAGE_HEIGHT
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# valueFrom:
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||
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# configMapKeyRef:
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# key: MODEL_IMAGE_HEIGHT
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# name: robocar-models
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#- name: HORIZON
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# valueFrom:
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||
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# configMapKeyRef:
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# key: HORIZON
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# name: robocar-models
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- name: MQTT_QOS
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value: "0"
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- name: LD_LIBRARY_PATH
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value: "/usr/local/lib/:/usr/lib"
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- name: TZ
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value: "Europe/Paris"
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volumes:
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||
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- name: models
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||
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hostPath:
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||
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path: /home/pi/models/steering
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type: DirectoryOrCreate
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- name: bus-usb
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||
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hostPath:
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||
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path: /dev/bus/usb
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- name: sys
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||
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hostPath:
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||
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path: /sys
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