690 lines
19 KiB
YAML
690 lines
19 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: arduino
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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: arduino
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template:
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metadata:
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labels:
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component: arduino
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spec:
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containers:
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- name: arduino
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image: docker.io/cyrilix/robocar-arduino
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args:
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- "-device=/dev/ttyAMA1"
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- "-baud=115200"
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- "-mqtt-retain=false"
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- "--steering-left-pwm=$(STEERING_LEFT_PWM)"
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- "--steering-right-pwm=$(STEERING_RIGHT_PWM)"
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- "--steering-center-pwm=$(STEERING_CENTER_PWM)"
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- "--steering-secondary-left-pwm=$(STEERING_SECONDARY_LEFT_PWM)"
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- "--steering-secondary-right-pwm=$(STEERING_SECONDARY_RIGHT_PWM)"
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- "--steering-secondary-center-pwm=$(STEERING_SECONDARY_CENTER_PWM)"
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- "--throttle-min-pwm=$(THROTTLE_MIN_PWM)"
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- "--throttle-max-pwm=$(THROTTLE_MAX_PWM)"
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- "--throttle-center-pwm=$(THROTTLE_ZERO_PWM)"
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- "--throttle-secondary-min-pwm=$(THROTTLE_SECONDARY_MIN_PWM)"
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- "--throttle-secondary-max-pwm=$(THROTTLE_SECONDARY_MAX_PWM)"
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- "--throttle-secondary-center-pwm=$(THROTTLE_SECONDARY_ZERO_PWM)"
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- '--throttle-feedback-config=/etc/robocar/thresholds.json'
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- "-log=info"
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volumeMounts:
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- mountPath: "/dev/ttyAMA0"
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name: serial
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- mountPath: "/etc/robocar"
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name: robocar
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securityContext:
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privileged: true
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runAsUser: 1234
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runAsGroup: 20 # Set 20/dialout group to access to serial device
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envFrom:
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- configMapRef:
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name: robocar-throttle-pwm
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- configMapRef:
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name: robocar-steering-pwm
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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-arduino
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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_RC_THROTTLE
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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_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_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_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_QOS
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value: "0"
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- name: TZ
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value: "Europe/Paris"
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volumes:
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- name: serial
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hostPath:
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path: /dev/ttyAMA0
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type: CharDevice
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- name: robocar
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configMap:
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name: android
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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: led
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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: led
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template:
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metadata:
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labels:
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component: led
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spec:
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containers:
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- name: led
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image: docker.io/cyrilix/robocar-led
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args:
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- "-mqtt-retain=false"
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- "-log=info"
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volumeMounts:
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- name: gpiomem
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mountPath: "/dev/gpiomem"
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- name: gpiochip0
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mountPath: "/dev/gpiochip0"
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- name: gpiochip1
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mountPath: "/dev/gpiochip1"
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securityContext:
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privileged: true
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runAsUser: 1234
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runAsGroup: 997 # Set 997/gpio group to access to serial device
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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-led
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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_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_QOS
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value: "0"
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- name: TZ
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value: "Europe/Paris"
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volumes:
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- name: gpiomem
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hostPath:
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path: /dev/gpiomem
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type: CharDevice
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- name: gpiochip0
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hostPath:
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path: /dev/gpiochip0
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type: CharDevice
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- name: gpiochip1
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hostPath:
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path: /dev/gpiochip1
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type: CharDevice
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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: tflite-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: tflite-steering
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template:
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metadata:
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labels:
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component: tflite-steering
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spec:
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containers:
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- name: tflite-steering
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image: docker.io/cyrilix/robocar-steering-tflite-edgetpu
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args:
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- "--model=/model/$(MODEL_STEERING)"
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- "--edge-verbosity=0"
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- "--log=info"
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securityContext:
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runAsUser: 0
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runAsGroup: 0
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privileged: true
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volumeMounts:
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- name: models
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mountPath: /model
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- name: bus-usb
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mountPath: /dev/bus/usb
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- name: sys
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mountPath: /sys
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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-tflite-steering
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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_TF_STEERING
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name: robocar
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- name: MODEL_STEERING
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valueFrom:
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configMapKeyRef:
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key: MODEL_STEERING
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name: robocar-models
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- name: MODEL_IMAGE_WIDTH
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valueFrom:
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configMapKeyRef:
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key: MODEL_IMAGE_WIDTH
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name: robocar-models
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- name: MODEL_IMAGE_HEIGHT
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valueFrom:
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configMapKeyRef:
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key: MODEL_IMAGE_HEIGHT
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name: robocar-models
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- name: HORIZON
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valueFrom:
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configMapKeyRef:
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key: HORIZON
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name: robocar-models
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- name: MQTT_QOS
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value: "0"
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- name: LD_LIBRARY_PATH
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value: "/usr/local/lib/:/usr/lib"
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- name: TZ
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value: "Europe/Paris"
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volumes:
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- name: models
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hostPath:
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path: /home/pi/models/steering
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type: DirectoryOrCreate
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- name: bus-usb
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hostPath:
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path: /dev/bus/usb
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- name: sys
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hostPath:
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path: /sys
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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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- "--image-width=$(IMAGE_WIDTH)"
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- "--image-height=$(IMAGE_HEIGHT)"
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- "--enable-objects-correction=true"
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- "--enable-objects-correction-user=false"
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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
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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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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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- "--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:
|
|
key: MQTT_TOPIC_THROTTLE
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|
name: robocar
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|
- name: MQTT_TOPIC_RC_THROTTLE
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|
valueFrom:
|
|
configMapKeyRef:
|
|
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:
|
|
configMapKeyRef:
|
|
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:
|
|
configMapKeyRef:
|
|
name: robocar
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|
key: MQTT_TOPIC_THROTTLE_FEEDBACK
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|
- name: MQTT_TOPIC_STEERING
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|
valueFrom:
|
|
configMapKeyRef:
|
|
key: MQTT_TOPIC_STEERING
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|
name: robocar
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|
- name: THROTTLE_MIN
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|
valueFrom:
|
|
configMapKeyRef:
|
|
key: THROTTLE_MIN
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|
name: robocar-throttle
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|
- name: THROTTLE_MAX
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|
valueFrom:
|
|
configMapKeyRef:
|
|
key: THROTTLE_MAX
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|
name: robocar-throttle
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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
|
|
volumes:
|
|
- name: throttle-config
|
|
configMap:
|
|
name: throttle
|
|
---
|
|
apiVersion: apps/v1
|
|
kind: Deployment
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|
metadata:
|
|
name: recorder
|
|
annotations:
|
|
reloader.stakater.com/auto: "true"
|
|
spec:
|
|
revisionHistoryLimit: 0
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|
replicas: 1
|
|
strategy:
|
|
type: Recreate
|
|
selector:
|
|
matchLabels:
|
|
component: recorder
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|
template:
|
|
metadata:
|
|
labels:
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component: recorder
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spec:
|
|
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:
|
|
configMapKeyRef:
|
|
key: MQTT_BROKER
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name: robocar
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|
- name: MQTT_USERNAME
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|
valueFrom:
|
|
secretKeyRef:
|
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key: MQTT_USERNAME
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|
name: mqtt-credentials
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|
- name: MQTT_PASSWORD
|
|
valueFrom:
|
|
secretKeyRef:
|
|
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:
|
|
configMapKeyRef:
|
|
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:
|
|
- mountPath: /records
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name: records
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|
securityContext:
|
|
runAsUser: 1000
|
|
runAsGroup: 1000
|
|
fsGroup: 1000
|
|
fsGroupChangePolicy: OnRootMismatch
|
|
volumes:
|
|
- name: records
|
|
hostPath:
|
|
path: /home/pi/records
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|
---
|
|
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=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-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: 0
|
|
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"
|