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

---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: camera
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 0
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: camera
  template:
    metadata:
      labels:
        component: camera
    spec:
      containers:
        - name: camera
          image: docker.io/cyrilix/robocar-camera
          args:
          - "-mqtt-pub-frequency=$(MQTT_CAMERA_PUB_FREQUENCY)"
          - "-video-device=0"
          - "-video-width=$(CAMERA_WIDTH)"
          - "-video-height=$(CAMERA_HEIGHT)"
          - "-log=info"
          securityContext:
            runAsUser: 1234
            runAsGroup: 44 # Set 44/video group to access to video device
            privileged: true
          volumeMounts:
            - name: camera-device
              mountPath: /dev/video0
          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
          - name: MQTT_TOPIC
            valueFrom:
              configMapKeyRef:
                key: MQTT_TOPIC_CAMERA
                name: robocar
          - name: CAMERA_WIDTH
            valueFrom:
              configMapKeyRef:
                key: CAMERA_WIDTH
                name: robocar-camera
          - name: CAMERA_HEIGHT
            valueFrom:
              configMapKeyRef:
                key: CAMERA_HEIGHT
                name: robocar-camera
          - 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-device
          hostPath:
            path: "/dev/video0"
            type: CharDevice
---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: oak-camera
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: oak-camera
  template:
    metadata:
      labels:
        component: oak-camera
    spec:
      containers:
        - name: camera
          image: docker.io/cyrilix/robocar-oak-camera
          args:
            - "--image-width=$(CAMERA_WIDTH)"
            - "--image-height=$(CAMERA_HEIGHT)"
          securityContext:
            runAsUser: 1234
            privileged: true
          volumeMounts:
            - name: sys
              mountPath: /sys
            - name: dev
              mountPath: /dev
          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-oak-camera
            - name: MQTT_TOPIC_CAMERA
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_CAMERA_OAK_COLOR
                  name: robocar
            - name: CAMERA_WIDTH
              valueFrom:
                configMapKeyRef:
                  key: CAMERA_WIDTH
                  name: robocar-camera
            - name: CAMERA_HEIGHT
              valueFrom:
                configMapKeyRef:
                  key: CAMERA_HEIGHT
                  name: robocar-camera
            - name: MQTT_QOS
              value: "0"
            - name: TZ
              value: "Europe/Paris"
      hostNetwork: true
      volumes:
        - name: sys
          hostPath:
            path: /sys
        - name: dev
          hostPath:
            path: "/dev"


---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: pca9685
  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
          image: docker.io/cyrilix/robocar-pca9685
          args:
          - "--mqtt-retain=false"
          - "--throttle-channel=1"
          - "--steering-channel=0"
          - "--throttle-zero-pwm=378"
          - "--throttle-min-pwm=250"
          - "--throttle-max-pwm=500"
          - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
          - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
          - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
          - "--steering-pin=GPIO6"
          - "--throttle-pin=GPIO12"
          - "--update-pwm-frequency=10"
          - "--log=info"
          securityContext:
            runAsUser: 0
            runAsGroup: 997 # Set 998/i2c group to access to i2c device
            privileged: true
          volumeMounts:
            - mountPath: /dev
              name: dev
            - mountPath: /dev/i2c-1
              name: i2c
            #- name: gpiomem
            #  mountPath: "/dev/gpiomem"
            #- name: gpiochip0
            #  mountPath: "/dev/gpiochip0"
            #- name: gpiochip1
            #  mountPath: "/dev/gpiochip1"
            - name: sys
              mountPath: "/sys"
            #- name: vcio
            #  mountPath: "/dev/vcio"
          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-pca9685
            - name: MQTT_TOPIC_THROTTLE
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_THROTTLE
                  name: robocar
            - name: MQTT_TOPIC_STEERING
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_STEERING
                  name: robocar
            - name: MQTT_QOS
              value: "0"
            - name: STEERING_LEFT_PWM
              valueFrom:
                configMapKeyRef:
                  name: robocar-pca9685
                  key: STEERING_LEFT_PWM
            - name: STEERING_RIGHT_PWM
              valueFrom:
                configMapKeyRef:
                  name: robocar-pca9685
                  key: STEERING_RIGHT_PWM
            - name: STEERING_CENTER_PWM
              valueFrom:
                configMapKeyRef:
                  name: robocar-pca9685
                  key: STEERING_CENTER_PWM
            - name: TZ
              value: "Europe/Paris"
      volumes:
        - name: dev
          hostPath:
            path: /dev
        - name: i2c
          hostPath:
            path: /dev/i2c-1
            type: CharDevice
        - name: gpiomem
          hostPath:
            path: /dev/gpiomem
            type: CharDevice
        - name: gpiochip0
          hostPath:
            path: /dev/gpiochip0
            type: CharDevice
        - name: gpiochip1
          hostPath:
            path: /dev/gpiochip1
            type: CharDevice
        - name: sys
          hostPath:
            path: /sys
        - name: vcio
          hostPath:
            path: /dev/vcio
            type: CharDevice