---
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: git.cyrilix.bzh/robocars/robocar-oak-camera
          args:
            - "--image-width=$(CAMERA_WIDTH)"
            - "--image-height=$(CAMERA_HEIGHT)"
            - "--objects-threshold=$(THRESHOLD_OBJECTS)"
            - "--camera-fps=$(CAMERA_FPS)"
            - "--log=info"
            - "--camera-tuning-exposition=8300us"
            #- "--camera-tuning-exposition=500us"

            - "--disable-disparity"
            - "--stereo-mode-lr-check" # remove incorrectly calculated disparity pixels due to occlusions at object borders
            - "--stereo-mode-extended-disparity"  # allows detecting closer distance objects for the given baseline. This increases the maximum disparity search from 96 to 191, meaning the range is now: [ 0..190 ]
            - "--stereo-mode-subpixel"  # improves the precision and is especially useful for long range measurements

            #- "--stereo-post-processing-median-filter"
            #- "--stereo-post-processing-median-value=KERNEL_7x7" #{MEDIAN_OFF,KERNEL_3x3,KERNEL_5x5,KERNEL_7x7}

            - "--stereo-post-processing-speckle-filter"
            - "--stereo-post-processing-speckle-enable=true"
            - "--stereo-post-processing-speckle-range=200"

            #- "--stereo-post-processing-temporal-filter"
            #- "--stereo-post-processing-temporal-persistency-mode=VALID_2_IN_LAST_4"  # {PERSISTENCY_OFF,VALID_8_OUT_OF_8,VALID_2_IN_LAST_3,VALID_2_IN_LAST_4,VALID_2_OUT_OF_8,VALID_1_IN_LAST_2,VALID_1_IN_LAST_5,VALID_1_IN_LAST_8,PERSISTENCY_INDEFINITELY}
            #- "--stereo-post-processing-temporal-alpha=0.4"
            #- "--stereo-post-processing-temporal-delta=0"

            - "--stereo-post-processing-spatial-filter"
            - "--stereo-post-processing-spatial-enable=true"
            - "--stereo-post-processing-spatial-hole-filling-radius=4"
            #- "--stereo-post-processing-spatial-alpha=0.5"
            #- "--stereo-post-processing-spatial-delta=0"
            - "--stereo-post-processing-spatial-num-iterations=1"

            - "--stereo-post-processing-threshold-filter"
            - "--stereo-post-processing-threshold-min-range=1450"
            - "--stereo-post-processing-threshold-max-range=15000"

            #- "--stereo-post-processing-decimation-filter"
            #- "--stereo-post-processing-decimation-decimal-factor=2" # {1,2,3,4}
            #- "--stereo-post-processing-decimation-mode=PIXEL_SKIPPING" # {PIXEL_SKIPPING,NON_ZERO_MEDIAN,NON_ZERO_MEAN}
          securityContext:
            runAsUser: 0
            privileged: true
          volumeMounts:
            - name: sys
              mountPath: /sys
            - name: dev
              mountPath: /dev
          env:
            - name: MQTT_BROKER_HOST
              value: localhost # because use host network
            - name: MQTT_BROKER_PORT
              value: "30183"
            - 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: MQTT_TOPIC_OBJECTS
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_OBJECTS
                  name: robocar
            - name: MQTT_TOPIC_DISPARITY
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_CAMERA_DISPARITY
                  name: robocar
            - name: THRESHOLD_OBJECTS
              valueFrom:
                configMapKeyRef:
                  key: OBJECTS_THRESHOLD
                  name: robocar-objects
            - name: CAMERA_FPS
              valueFrom:
                configMapKeyRef:
                  key: CAMERA_FPS
                  name: robocar-camera
            - 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: DEPTHAI_LEVEL
            #  value: debug
            - 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=15"
          - "--steering-channel=13"
          - "--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:
            runAsUser: 1234
            runAsGroup: 998 # Set 998/i2c group to access to i2c device
            privileged: true
          volumeMounts:
            - mountPath: /dev/i2c-1
              name: i2c
          envFrom:
            - configMapRef:
                name: robocar-pca9685-pwm
          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: TZ
              value: "Europe/Paris"
      volumes:
        - name: i2c
          hostPath:
            path: /dev/i2c-1
            type: CharDevice