---
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)"
            - "-log=debug"
          volumeMounts:
            - mountPath: "/dev/ttyAMA0"
              name: serial
          securityContext:
            privileged: true
            runAsUser: 1234
            runAsGroup: 20 # Set 20/dialout 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-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_QOS
              value: "0"
            - name: STEERING_LEFT_PWM
              valueFrom:
                configMapKeyRef:
                  name: robocar-steering-pwm
                  key: STEERING_LEFT_PWM
            - name: STEERING_RIGHT_PWM
              valueFrom:
                configMapKeyRef:
                  name: robocar-steering-pwm
                  key: STEERING_RIGHT_PWM
            - name: STEERING_CENTER_PWM
              valueFrom:
                configMapKeyRef:
                  name: robocar-steering-pwm
                  key: STEERING_CENTER_PWM
            - name: TZ
              value: "Europe/Paris"
      volumes:
        - name: serial
          hostPath:
            path: /dev/ttyAMA0
            type: CharDevice

---
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_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/$(MODEL_STEERING)"
        - "--edge-verbosity=0"
        - "--img-width=$(MODEL_IMAGE_WIDTH)"
        - "--img-height=$(MODEL_IMAGE_HEIGHT)"
        - "--horizon=$(HORIZON)"
        - "--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
              name: robocar
        - name: MQTT_TOPIC_STEERING
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_TF_STEERING
              name: robocar
        - 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
---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: steering
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: steering
  template:
    metadata:
      labels:
        component: steering
    spec:
      containers:
        - name: steering
          image: docker.io/cyrilix/robocar-steering
          args:
          - "-mqtt-retain=false"
          - "-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-steering
          - name: MQTT_TOPIC_STEERING
            valueFrom:
              configMapKeyRef:
                key: MQTT_TOPIC_STEERING
                name: robocar
          - name: MQTT_TOPIC_TF_STEERING
            valueFrom:
              configMapKeyRef:
                key: MQTT_TOPIC_TF_STEERING
                name: robocar
          - name: MQTT_TOPIC_RC_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_QOS
            value: "0"
          - name: TZ
            value: "Europe/Paris"
---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: throttle
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: throttle
  template:
    metadata:
      labels:
        component: throttle
    spec:
      containers:
      - name: throttle
        image: docker.io/cyrilix/robocar-throttle
        args:
        - "-mqtt-retain=false"
        - "-debug=false"
        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-throttle
        - name: MQTT_TOPIC_THROTTLE
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_THROTTLE
              name: robocar
        - name: MQTT_TOPIC_RC_THROTTLE
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_THROTTLE
              name: robocar
        - name: MQTT_TOPIC_DRIVE_MODE
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_DRIVE_MODE
              name: robocar
        - name: THROTTLE_MIN
          valueFrom:
            configMapKeyRef:
              key: THROTTLE_MIN
              name: robocar-throttle
        - name: THROTTLE_MAX
          valueFrom:
            configMapKeyRef:
              key: THROTTLE_MAX
              name: robocar-throttle
        - name: MQTT_QOS
          value: "0"
        - name: TZ
          value: "Europe/Paris"
---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: recorder
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: recorder
  template:
    metadata:
      labels:
        component: recorder
    spec:
      containers:
        - name: recorder
          image: docker.io/cyrilix/robocar-recorder-store
          args:
            - "-mqtt-retain=true"
            - "-record-path=/records"
            - "-log=info"
          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-recorder
            - name: MQTT_TOPIC_RECORDS
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_RECORDS
                  name: robocar
            - name: MQTT_QOS
              value: "0"
            - name: TZ
              value: "Europe/Paris"
          volumeMounts:
            - mountPath: /records
              name: records
      securityContext:
        runAsUser: 1000
        runAsGroup: 1000
        fsGroup: 1000
        fsGroupChangePolicy: OnRootMismatch
      volumes:
        - name: records
          hostPath:
            path: /home/pi/records
---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: record
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: record
  template:
    metadata:
      labels:
        component: record
    spec:
      containers:
      - name: record
        image: docker.io/cyrilix/robocar-record
        args:
        - "-mqtt-retain=true"
        - "-debug=true"
        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-record
        - name: MQTT_TOPIC_CAMERA
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_CAMERA_OAK_COLOR
              name: robocar
        - name: MQTT_TOPIC_STEERING
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_STEERING
              name: robocar
        - name: MQTT_TOPIC_SWITCH_RECORD
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_RC_SWITCH_RECORD
              name: robocar
        - name: MQTT_TOPIC_RECORDS
          valueFrom:
            configMapKeyRef:
              key: MQTT_TOPIC_RECORDS
              name: robocar
        - name: MQTT_QOS
          value: "0"
        - name: TZ
          value: "Europe/Paris"
---
apiVersion: apps/v1
kind: Deployment
metadata:
  name: road
  annotations:
    reloader.stakater.com/auto: "true"
spec:
  revisionHistoryLimit: 0
  replicas: 1
  strategy:
    type: Recreate
  selector:
    matchLabels:
      component: road
  template:
    metadata:
      labels:
        component: road
    spec:
      containers:
        - name: road
          image: docker.io/cyrilix/robocar-road
          args:
            - "-mqtt-retain=false"
            - "--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-road
            - name: MQTT_TOPIC_CAMERA
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_CAMERA
                  name: robocar
            - name: MQTT_TOPIC_ROAD
              valueFrom:
                configMapKeyRef:
                  key: MQTT_TOPIC_ROAD
                  name: robocar
            - name: MQTT_QOS
              value: "0"
            - name: TZ
              value: "Europe/Paris"