From affd0568cb6b3c90d01cdd61827ec819ad7f0d55 Mon Sep 17 00:00:00 2001
From: Cyrille Nofficial <cynoffic@cyrilix.fr>
Date: Sat, 9 Mar 2024 16:01:32 +0100
Subject: [PATCH] k8s: deploy objects-detection pod

---
 .../files/robocar/common/configmap.yaml       |  3 +-
 .../files/robocar/common/deployments.yaml     | 79 +++++++++++++++++++
 .../files/robocar/common/kustomization.yaml   |  3 +
 3 files changed, 84 insertions(+), 1 deletion(-)

diff --git a/ansible/roles/microservices/files/robocar/common/configmap.yaml b/ansible/roles/microservices/files/robocar/common/configmap.yaml
index 9137f26..a6a2284 100644
--- a/ansible/roles/microservices/files/robocar/common/configmap.yaml
+++ b/ansible/roles/microservices/files/robocar/common/configmap.yaml
@@ -14,7 +14,8 @@ data:
   MQTT_TOPIC_CAMERA_DISPARITY: "car/satanas/part/camera/disparity"
 
   # Objects detection
-  MQTT_TOPIC_OBJECTS: car/satanas/part/objects
+  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
diff --git a/ansible/roles/microservices/files/robocar/common/deployments.yaml b/ansible/roles/microservices/files/robocar/common/deployments.yaml
index 8761bfa..cdf079e 100644
--- a/ansible/roles/microservices/files/robocar/common/deployments.yaml
+++ b/ansible/roles/microservices/files/robocar/common/deployments.yaml
@@ -1,6 +1,85 @@
 ---
 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: steering
+          image: docker.io/cyrilix/robocar-objects-detection
+          args:
+            - "-mqtt-retain=false"
+            - "--image-width=$(IMAGE_WIDTH)"
+            - "--image-height=$(IMAGE_HEIGHT)"
+            - "--object-size-threshold=0.75"
+            - "-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-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_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:
diff --git a/ansible/roles/microservices/files/robocar/common/kustomization.yaml b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
index 2f9866c..475dc0e 100644
--- a/ansible/roles/microservices/files/robocar/common/kustomization.yaml
+++ b/ansible/roles/microservices/files/robocar/common/kustomization.yaml
@@ -24,3 +24,6 @@ images:
 
   - name: docker.io/cyrilix/robocar-road
     newTag: v0.2.0
+
+  - name: docker.io/cyrilix/robocar-objects-detection
+    newTag: v0.1.0