635 lines
16 KiB
YAML
635 lines
16 KiB
YAML
---
|
|
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=info"
|
|
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"
|