543 lines
15 KiB
YAML
543 lines
15 KiB
YAML
---
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apiVersion: apps/v1
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kind: Deployment
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metadata:
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name: objects-detection
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annotations:
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reloader.stakater.com/auto: "true"
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spec:
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revisionHistoryLimit: 0
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replicas: 1
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strategy:
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type: Recreate
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selector:
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matchLabels:
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component: objects-detection
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template:
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metadata:
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labels:
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component: objects-detection
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spec:
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containers:
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- name: objects-detection
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image: docker.io/cyrilix/robocar-objects-detection
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args:
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- "-mqtt-retain=false"
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- "--image-width=$(IMAGE_WIDTH)"
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- "--image-height=$(IMAGE_HEIGHT)"
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- "--object-size-threshold=0.50"
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- "--enable-big-objects-remove=true"
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- "--enable-group-objects=false" # to debug/test
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- "--enable-bottom-filter=false" # don't work
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- "--enable-nearest-filter=true"
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- "--object-bottom-limit=0.90"
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- "--log=info"
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securityContext:
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runAsUser: 1234
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runAsGroup: 1234
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resources:
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limits:
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memory: 100Mi
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env:
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- name: MQTT_BROKER
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valueFrom:
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configMapKeyRef:
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key: MQTT_BROKER
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name: robocar
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- name: MQTT_USERNAME
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valueFrom:
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secretKeyRef:
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key: MQTT_USERNAME
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name: mqtt-credentials
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- name: MQTT_PASSWORD
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valueFrom:
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secretKeyRef:
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key: MQTT_PASSWORD
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name: mqtt-credentials
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- name: MQTT_CLIENT_ID
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value: rc-objects-detection
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- name: MQTT_TOPIC_OBJECTS
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_OBJECTS
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name: robocar
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- name: MQTT_TOPIC_OBJECTS_CLEAN
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_OBJECTS_CLEAN
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name: robocar
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- name: MQTT_TOPIC_DISPARITY
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_CAMERA_DISPARITY
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name: robocar
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- name: MQTT_QOS
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value: "0"
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- name: IMAGE_WIDTH
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valueFrom:
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configMapKeyRef:
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key: CAMERA_WIDTH
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name: robocar-camera
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- name: IMAGE_HEIGHT
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valueFrom:
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configMapKeyRef:
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key: CAMERA_HEIGHT
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name: robocar-camera
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- name: TZ
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value: "Europe/Paris"
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---
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apiVersion: apps/v1
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kind: Deployment
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metadata:
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name: steering
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annotations:
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reloader.stakater.com/auto: "true"
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spec:
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revisionHistoryLimit: 0
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replicas: 1
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strategy:
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type: Recreate
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selector:
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matchLabels:
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component: steering
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template:
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metadata:
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labels:
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component: steering
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spec:
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containers:
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- name: steering
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image: docker.io/cyrilix/robocar-steering
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args:
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- "-mqtt-retain=false"
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- "--enable-objects-correction=$(DETECTION_OBJECTS)"
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- "--enable-objects-correction-user=$(DETECTION_OBJECTS)"
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- "--grid-map-config=/etc/robocar/grid.json"
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- "--objects-move-factors-config=/etc/robocar/omf.json"
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- "--delta-middle=0.1"
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- "-log=info"
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securityContext:
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runAsUser: 1234
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runAsGroup: 1234
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env:
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- name: MQTT_BROKER
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valueFrom:
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configMapKeyRef:
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key: MQTT_BROKER
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name: robocar
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- name: MQTT_USERNAME
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valueFrom:
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secretKeyRef:
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key: MQTT_USERNAME
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name: mqtt-credentials
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- name: MQTT_PASSWORD
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valueFrom:
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secretKeyRef:
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key: MQTT_PASSWORD
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name: mqtt-credentials
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- name: MQTT_CLIENT_ID
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value: rc-steering
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- name: MQTT_TOPIC_STEERING
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_STEERING
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name: robocar
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- name: MQTT_TOPIC_TF_STEERING
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_TF_STEERING
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name: robocar
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- name: MQTT_TOPIC_RC_STEERING
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_STEERING
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name: robocar
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- name: MQTT_TOPIC_DRIVE_MODE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_DRIVE_MODE
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name: robocar
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- name: MQTT_TOPIC_OBJECTS
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_OBJECTS_CLEAN
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name: robocar
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- name: MQTT_QOS
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value: "0"
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- name: IMAGE_WIDTH
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valueFrom:
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configMapKeyRef:
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key: CAMERA_WIDTH
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name: robocar-camera
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- name: IMAGE_HEIGHT
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valueFrom:
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configMapKeyRef:
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key: CAMERA_HEIGHT
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name: robocar-camera
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- name: TZ
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value: "Europe/Paris"
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- name: DETECTION_OBJECTS
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valueFrom:
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configMapKeyRef:
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key: detection_objects
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name: robocar-profiles
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volumeMounts:
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- mountPath: /etc/robocar
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name: robocar-configs
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volumes:
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- name: robocar-configs
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configMap:
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name: steering
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---
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apiVersion: apps/v1
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kind: Deployment
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metadata:
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name: throttle
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annotations:
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reloader.stakater.com/auto: "true"
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spec:
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revisionHistoryLimit: 0
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replicas: 1
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strategy:
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type: Recreate
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selector:
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matchLabels:
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component: throttle
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template:
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metadata:
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labels:
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component: throttle
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spec:
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containers:
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- name: throttle
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image: docker.io/cyrilix/robocar-throttle
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args:
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- "--mqtt-retain=false"
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- "--enable-brake-feature=true"
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- "--brake-configuration=/etc/robocar/brake.json"
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- "--enable-custom-steering-processor=true"
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- "--custom-steering-processor-config=/etc/robocar/$(THROTTLE_STEERING_CONFIG)"
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- "--accelerator-factor=$(THROTTLE_ACCELERATOR_FACTOR)"
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- "--log=info"
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securityContext:
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runAsUser: 1234
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runAsGroup: 1234
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env:
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- name: MQTT_BROKER
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valueFrom:
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configMapKeyRef:
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key: MQTT_BROKER
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name: robocar
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- name: MQTT_USERNAME
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valueFrom:
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secretKeyRef:
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key: MQTT_USERNAME
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name: mqtt-credentials
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- name: MQTT_PASSWORD
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valueFrom:
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secretKeyRef:
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key: MQTT_PASSWORD
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name: mqtt-credentials
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- name: MQTT_CLIENT_ID
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value: rc-throttle
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- name: MQTT_TOPIC_THROTTLE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_THROTTLE
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name: robocar
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- name: MQTT_TOPIC_RC_THROTTLE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_THROTTLE
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name: robocar
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- name: MQTT_TOPIC_DRIVE_MODE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_DRIVE_MODE
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name: robocar
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- name: MQTT_TOPIC_THROTTLE_FEEDBACK
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valueFrom:
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configMapKeyRef:
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name: robocar
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key: MQTT_TOPIC_THROTTLE_FEEDBACK
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- name: MQTT_TOPIC_STEERING
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_STEERING
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name: robocar
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- name: MQTT_TOPIC_SPEED_ZONE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_SPEED_ZONE
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name: robocar
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- name: MQTT_TOPIC_MAX_THROTTLE_CTRL
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valueFrom:
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configMapKeyRef:
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name: robocar
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key: MQTT_TOPIC_MAX_THROTTLE_CTRL
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- name: THROTTLE_MIN
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valueFrom:
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configMapKeyRef:
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key: THROTTLE_MIN
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name: robocar-throttle
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- name: THROTTLE_MAX
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valueFrom:
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configMapKeyRef:
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key: THROTTLE_MAX
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name: robocar-throttle
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- name: THROTTLE_ACCELERATOR_FACTOR
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valueFrom:
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configMapKeyRef:
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name: robocar-throttle
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key: THROTTLE_ACCELERATOR_FACTOR
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- name: THROTTLE_STEERING_CONFIG
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valueFrom:
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configMapKeyRef:
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key: throttle_from_steering
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name: robocar-profiles
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- name: MQTT_QOS
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value: "0"
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- name: TZ
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value: "Europe/Paris"
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volumeMounts:
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- mountPath: /etc/robocar
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name: throttle-config
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volumes:
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- name: throttle-config
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configMap:
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name: throttle
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---
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apiVersion: apps/v1
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kind: Deployment
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metadata:
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name: recorder
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annotations:
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reloader.stakater.com/auto: "true"
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spec:
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revisionHistoryLimit: 0
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replicas: 1
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strategy:
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type: Recreate
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selector:
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matchLabels:
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component: recorder
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template:
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metadata:
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labels:
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component: recorder
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spec:
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containers:
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- name: recorder
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image: docker.io/cyrilix/robocar-recorder-store
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args:
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- "-mqtt-retain=true"
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- "-record-path=/records"
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- "-log=info"
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env:
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- name: MQTT_BROKER
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valueFrom:
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configMapKeyRef:
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key: MQTT_BROKER
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name: robocar
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- name: MQTT_USERNAME
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valueFrom:
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secretKeyRef:
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key: MQTT_USERNAME
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name: mqtt-credentials
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- name: MQTT_PASSWORD
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valueFrom:
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secretKeyRef:
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key: MQTT_PASSWORD
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name: mqtt-credentials
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- name: MQTT_CLIENT_ID
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value: rc-recorder
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- name: MQTT_TOPIC_RECORDS
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RECORDS
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name: robocar
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- name: MQTT_QOS
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value: "0"
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- name: TZ
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value: "Europe/Paris"
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volumeMounts:
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- mountPath: /records
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name: records
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securityContext:
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runAsUser: 1000
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runAsGroup: 1000
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fsGroup: 1000
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fsGroupChangePolicy: OnRootMismatch
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volumes:
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- name: records
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hostPath:
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path: /home/pi/records
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---
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apiVersion: apps/v1
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kind: Deployment
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metadata:
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name: record
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annotations:
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reloader.stakater.com/auto: "true"
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spec:
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revisionHistoryLimit: 0
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replicas: 1
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strategy:
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type: Recreate
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selector:
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matchLabels:
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component: record
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template:
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metadata:
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labels:
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component: record
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spec:
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containers:
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- name: record
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image: docker.io/cyrilix/robocar-record
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args:
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- "-mqtt-retain=true"
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- "-debug=false"
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securityContext:
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runAsUser: 1234
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runAsGroup: 1234
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env:
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- name: MQTT_BROKER
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valueFrom:
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configMapKeyRef:
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key: MQTT_BROKER
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name: robocar
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- name: MQTT_USERNAME
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valueFrom:
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secretKeyRef:
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key: MQTT_USERNAME
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name: mqtt-credentials
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- name: MQTT_PASSWORD
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valueFrom:
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secretKeyRef:
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key: MQTT_PASSWORD
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name: mqtt-credentials
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- name: MQTT_CLIENT_ID
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value: rc-record
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- name: MQTT_TOPIC_CAMERA
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_CAMERA_OAK_COLOR
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name: robocar
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- name: MQTT_TOPIC_STEERING
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_STEERING
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name: robocar
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- name: MQTT_TOPIC_SWITCH_RECORD
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_SWITCH_RECORD
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name: robocar
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- name: MQTT_TOPIC_AUTOPILOT_STEERING
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_TF_STEERING
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name: robocar
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- name: MQTT_TOPIC_DRIVE_MODE
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RC_DRIVE_MODE
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name: robocar
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- name: MQTT_TOPIC_RECORDS
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_RECORDS
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name: robocar
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|
- name: MQTT_QOS
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value: "0"
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- name: TZ
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value: "Europe/Paris"
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---
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apiVersion: apps/v1
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kind: Deployment
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metadata:
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name: road
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annotations:
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reloader.stakater.com/auto: "true"
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spec:
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revisionHistoryLimit: 0
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replicas: 0
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strategy:
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type: Recreate
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selector:
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matchLabels:
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component: road
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template:
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metadata:
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labels:
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component: road
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spec:
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containers:
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- name: road
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image: docker.io/cyrilix/robocar-road
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args:
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- "-mqtt-retain=false"
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- "-image-width=$(IMAGE_WIDTH)"
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- "-image-height=$(IMAGE_HEIGHT)"
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- "-white-threshold-low=20"
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- "-white-threshold-high=255"
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- "-canny-threshold-low=100"
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- "-canny-threshold-high=250"
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- "-hough-lines-rho=2" # distance resolution in pixels of the Hough grid")
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#- "-hough-lines-theta", 1*math.Pi/180, "angular resolution in radians of the Hough grid, default Pi/180")
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- "-hough-lines-threshold=15" # minimum number of votes (intersections in Hough grid cell)
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- "-hough-lines-min-line-length=10" # minimum number of pixels making up a line
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- "-hough-lines-max-lines-gap=20" # maximum gap in pixels between connectable line segments
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- "--log=info"
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securityContext:
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runAsUser: 1234
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runAsGroup: 1234
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resources:
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limits:
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memory: 100Mi
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cpu: 500m
|
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env:
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- name: MQTT_BROKER
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|
valueFrom:
|
|
configMapKeyRef:
|
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key: MQTT_BROKER
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|
name: robocar
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|
- name: MQTT_USERNAME
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|
valueFrom:
|
|
secretKeyRef:
|
|
key: MQTT_USERNAME
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name: mqtt-credentials
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|
- name: MQTT_PASSWORD
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|
valueFrom:
|
|
secretKeyRef:
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key: MQTT_PASSWORD
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|
name: mqtt-credentials
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|
- name: MQTT_CLIENT_ID
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value: rc-road
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- name: MQTT_TOPIC_CAMERA
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_CAMERA
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name: robocar
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- name: MQTT_TOPIC_ROAD
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valueFrom:
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configMapKeyRef:
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key: MQTT_TOPIC_ROAD
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name: robocar
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- name: MQTT_QOS
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value: "0"
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- name: IMAGE_WIDTH
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|
valueFrom:
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configMapKeyRef:
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key: CAMERA_WIDTH
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name: robocar-camera
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|
- name: IMAGE_HEIGHT
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|
valueFrom:
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configMapKeyRef:
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key: CAMERA_HEIGHT
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name: robocar-camera
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|
- name: TZ
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value: "Europe/Paris"
|