version: '3.7'
services:

  camera:
    image: cyrilix/robocar-camera
    command:
    - "-mqtt-pub-frequency=20"
    - "-video-device=0"
    - "-video-width=160"
    - "-video-height=128"
    devices:
    - "/dev/video0:/dev/video0:rw"
    user: "1234:44" # Set 44/video group to access to video device
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-camera
      MQTT_TOPIC: "${MQTT_TOPIC_CAMERA}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  arduino:
    image: cyrilix/robocar-arduino
    command:
    - "-device=/dev/ttyAMA1"
    - "-baud=115200"
    - "-mqtt-retain=false"
    - "-debug=false"
    devices:
    - "/dev/ttyAMA1:/dev/ttyAMA1:rw"
    user: "1234:20" # Set 20/dialout group to access to serial device
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-arduino
      MQTT_TOPIC_THROTTLE: "${MQTT_TOPIC_RC_THROTTLE}"
      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_RC_STEERING}"
      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
      MQTT_TOPIC_SWITCH_RECORD: "${MQTT_TOPIC_RC_SWITCH_RECORD}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  led:
    image: cyrilix/robocar-led
    command:
      - "-mqtt-retain=false"
    devices:
      - "/dev/gpiomem:/dev/gpiomem:rw"
    user: "1234:997" # Set 997/gpio group to access to serial device
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-led
      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
      MQTT_TOPIC_RECORD: "${MQTT_TOPIC_RC_SWITCH_RECORD}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  pca9685:
    image: cyrilix/robocar-pca9685
    command:
    - "-mqtt-retain=false"
    - "-throttle-channel=1"
    - "-steering-channel=0"
    - "-throttle-zero-pwm=378"
    - "-throttle-min-pwm=250"
    - "-throttle-max-pwm=500"
    - "-steering-left-pwm=490"
    - "-steering-right-pwm=265"
    - "-update-pwm-frequency=10"
    devices:
    - "/dev/i2c-1:/dev/i2c-1:rw"
    user: "1234:998" # Set 998/i2c group to access to i2c device
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-pca9685
      MQTT_TOPIC_THROTTLE: "${MQTT_TOPIC_THROTTLE}"
      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_STEERING}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  tflite-steering:
    image: cyrilix/robocar-tflite-steering
    command: "--tf-model-path=/model/model.tflite"
    user: "1234:1234"
    network_mode: host
    volumes:
    - /home/pi/models/steering:/model
    environment:
      MQTT_BROKER: "${MQTT_BROKER_HOST}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-tflite-steering
      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_TF_STEERING}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  steering:
    image: cyrilix/robocar-steering
    command:
      - "-mqtt-retain=false"
    user: "1234:1234"
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-steering
      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_STEERING}"
      MQTT_TOPIC_TF_STEERING: "${MQTT_TOPIC_TF_STEERING}"
      MQTT_TOPIC_RC_STEERING: "${MQTT_TOPIC_RC_STEERING}"
      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  throttle:
    image: cyrilix/robocar-throttle
    command:
      - "-mqtt-retain=false"
    user: "1234:1234"
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-throttle
      MQTT_TOPIC_THROTTLE: "${MQTT_TOPIC_THROTTLE}"
      MQTT_TOPIC_RC_THROTTLE: "${MQTT_TOPIC_RC_THROTTLE}"
      MQTT_TOPIC_DRIVE_MODE: "${MQTT_TOPIC_RC_DRIVE_MODE}"
      THROTTLE_MIN: "0.3"
      THROTTLE_MAX: "0.4"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

  road:
    image: cyrilix/robocar-road
    command:
      - "-horizon=20"
      - "-mqtt-retain=false"
    user: "1234:1234"
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-road
      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
      MQTT_TOPIC_ROAD: car/satanas/part/road
      MQTT_QOS: "0"
      TZ: "Europe/Paris"

#  objects:
#    image: cyrilix/robocar-objects-detection
#    command:
#      - "-mqtt-retain=false"
#      - "-tf-model-path=/model/frozen_inference_graph.pb"
#      - "-tf-model-config-path=/model/ssd_mobilenet_v2_coco_2018_03_29.pbtxt"
#    user: "1234:1234"
#    volumes:
#      - /home/pi/models/objects-detection:/model
#    network_mode: host
#    environment:
#      MQTT_BROKER: "${MQTT_BROKER}"
#      MQTT_USERNAME: "${MQTT_USERNAME}"
#      MQTT_PASSWORD: "${MQTT_PASSWORD}"
#      MQTT_CLIENT_ID: rc-objects-detection
#      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
#      MQTT_TOPIC_OBJECTS: car/satanas/part/objects
#      MQTT_QOS: "0"
#      TZ: "Europe/Paris"

  record:
    image: cyrilix/robocar-record
    command:
      - "-mqtt-retain=true"
    user: "1234:1234"
    network_mode: host
    environment:
      MQTT_BROKER: "${MQTT_BROKER}"
      MQTT_USERNAME: "${MQTT_USERNAME}"
      MQTT_PASSWORD: "${MQTT_PASSWORD}"
      MQTT_CLIENT_ID: rc-record
      MQTT_TOPIC_CAMERA: "${MQTT_TOPIC_CAMERA}"
      MQTT_TOPIC_STEERING: "${MQTT_TOPIC_RC_STEERING}"
      MQTT_TOPIC_SWITCH_RECORD: "${MQTT_TOPIC_RC_SWITCH_RECORD}"
      MQTT_TOPIC_RECORDS: "${MQTT_TOPIC_RECORDS}"
      MQTT_QOS: "0"
      TZ: "Europe/Paris"