---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: arduino
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: arduino
  template:
    metadata:
      labels:
        component: arduino
    spec:
      containers:
        - name: arduino
          image: docker.io/cyrilix/robocar-arduino
          args:
            - "-device=/dev/ttyAMA1"
            - "-baud=115200"
            - "-mqtt-retain=false"
            - "--steering-left-pwm=$(STEERING_LEFT_PWM)"
            - "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
            - "--steering-center-pwm=$(STEERING_CENTER_PWM)"
            - "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
            - "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
            - "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
            - '--throttle-feedback-config=/etc/robocar/thresholds.json'
            - '--ctrl-throttle-min-pwm=$(CTRL_THROTTLE_MIN_PWM)'
            - '--ctrl-throttle-max-pwm=$(CTRL_THROTTLE_MAX_PWM)'
            - "-log=info"
          volumeMounts:
            - mountPath: "/dev/ttyAMA0"
              name: serial
            - mountPath: "/etc/robocar"
              name: robocar
          securityContext:
            privileged: true
            runAsUser: 1234
            runAsGroup: 20 # Set 20/dialout group to access to serial device
          envFrom:
            - configMapRef:
                name: robocar-throttle-pwm
            - configMapRef:
                name: robocar-steering-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-arduino
            - name: MQTT_TOPIC_THROTTLE
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_RC_THROTTLE
                  name: robocar
            - name: MQTT_TOPIC_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_SWITCH_RECORD
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_RC_SWITCH_RECORD
                  name: robocar
            - name: MQTT_TOPIC_THROTTLE_FEEDBACK
              valueFrom:
                configMapKeyRef:
                  name: robocar
                  key: MQTT_TOPIC_THROTTLE_FEEDBACK
            - name: MQTT_TOPIC_MAX_THROTTLE_CTRL
              valueFrom:
                configMapKeyRef:
                  name: robocar
                  key: MQTT_TOPIC_MAX_THROTTLE_CTRL
            - name: CTRL_THROTTLE_MIN_PWM
              valueFrom:
                configMapKeyRef:
                  name: robocar-throttle-pwm
                  key: CTRL_THROTTLE_MIN_PWM
            - name: CTRL_THROTTLE_MAX_PWM
              valueFrom:
                configMapKeyRef:
                  name: robocar-throttle-pwm
                  key: CTRL_THROTTLE_MAX_PWM
            - name: MQTT_QOS
              value: "0"
            - name: TZ
              value: "Europe/Paris"
      volumes:
        - name: serial
          hostPath:
            path: /dev/ttyAMA0
            type: CharDevice
        - name: robocar
          configMap:
            name: robocar-objects

---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: led
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: led
  template:
    metadata:
      labels:
        component: led
    spec:
      containers:
      - name: led
        image: docker.io/cyrilix/robocar-led
        args:
        - "-mqtt-retain=false"
        - "-log=info"
        volumeMounts:
        - name: gpiomem
          mountPath: "/dev/gpiomem"
        - name: gpiochip0
          mountPath: "/dev/gpiochip0"
        - name: gpiochip1
          mountPath: "/dev/gpiochip1"
        securityContext:
          privileged: true
          runAsUser: 1234
          runAsGroup: 997 # Set 997/gpio group to access to serial device
        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-led
        - name: MQTT_TOPIC_DRIVE_MODE
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_DRIVE_MODE
              name: robocar
        - name: MQTT_TOPIC_RECORD
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_SWITCH_RECORD
              name: robocar
        - name: MQTT_TOPIC_SPEED_ZONE
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_SPEED_ZONE
              name: robocar
        - name: MQTT_TOPIC_THROTTLE
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_THROTTLE
              name: robocar
        - name: MQTT_QOS
          value: "0"
        - name: TZ
          value: "Europe/Paris"
      volumes:
      - name: gpiomem
        hostPath:
          path: /dev/gpiomem
          type: CharDevice
      - name: gpiochip0
        hostPath:
          path: /dev/gpiochip0
          type: CharDevice
      - name: gpiochip1
        hostPath:
          path: /dev/gpiochip1
          type: CharDevice
---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: tflite-steering
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: tflite-steering
  template:
    metadata:
      labels:
        component: tflite-steering
    spec:
      containers:
      - name: tflite-steering
        image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
        args:
        #- "--model=/model/$(MODEL_STEERING)"
        - "--oci-model-registry=$(OCI_IMAGE_MODEL_REGISTRY)"
        - "--oci-model-repository=$(OCI_IMAGE_MODEL_REPOSITORY)"
        - "--oci-model-tag=$(OCI_IMAGE_MODEL_TAG)"
        - "--edge-verbosity=0"
        - "--log=info"
        securityContext:
          runAsUser: 0
          runAsGroup: 0
          privileged: true
        volumeMounts:
        - name: models
          mountPath: /model
        - name: bus-usb
          mountPath: /dev/bus/usb
        - name: sys
          mountPath: /sys
        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-tflite-steering
        - name: MQTT_TOPIC_CAMERA
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_CAMERA_OAK_COLOR
              name: robocar
        - name: MQTT_TOPIC_STEERING
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_TF_STEERING
              name: robocar
        - name: OCI_IMAGE_MODEL_REGISTRY
          valueFrom:
            configMapKeyRef:
              key: OCI_IMAGE_MODEL_REGISTRY
              name: robocar-models
        - name: OCI_IMAGE_MODEL_REPOSITORY
          valueFrom:
            configMapKeyRef:
              key: OCI_IMAGE_MODEL_REPOSITORY
              name: robocar-models
        - name: OCI_IMAGE_MODEL_TAG
          valueFrom:
            configMapKeyRef:
              key: OCI_IMAGE_MODEL_TAG
              name: robocar-models
        #- name: MODEL_STEERING
        #  valueFrom:
        #    configMapKeyRef:
        #      key: MODEL_STEERING
        #      name: robocar-models
        #- name: MODEL_IMAGE_WIDTH
        #  valueFrom:
        #    configMapKeyRef:
        #      key: MODEL_IMAGE_WIDTH
        #      name: robocar-models
        #- name: MODEL_IMAGE_HEIGHT
        #  valueFrom:
        #    configMapKeyRef:
        #      key: MODEL_IMAGE_HEIGHT
        #      name: robocar-models
        #- name: HORIZON
        #  valueFrom:
        #    configMapKeyRef:
        #      key: HORIZON
        #      name: robocar-models
        - name: MQTT_QOS
          value: "0"
        - name: LD_LIBRARY_PATH
          value: "/usr/local/lib/:/usr/lib"
        - name: TZ
          value: "Europe/Paris"
      volumes:
      - name: models
        hostPath:
          path: /home/pi/models/steering
          type: DirectoryOrCreate
      - name: bus-usb
        hostPath:
          path: /dev/bus/usb
      - name: sys
        hostPath:
          path: /sys