Merge branch 'nova' of https://github.com/RoboTeamTwente/roboteam int…

…o nova
RoboTeamTwente · Oct 29, 2024 · f2e5b5a · f2e5b5a
2 parents 245a0aa + 7f94d86
commit f2e5b5a
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Showing 2 changed files with 75 additions and 183 deletions.
diff --git a/docker/runner/docker-compose.yml b/docker/runner/docker-compose.yml
@@ -223,24 +223,4 @@ services:
       - ./ssl-game-controller-config:/config
       - ./ssl-game-controller-data:/data
     command: -address :8081
-    profiles: ["simulator","diff","game", "RL"]
-
-  simulator:
-    image: ${SUMATRA_IMAGE_SIMULATOR:-sumatra:latest}
-    command: "-hl --moduli sim_server --autoRef --maxSpeed --initialCommand PREPARE_KICKOFF_BLUE --waitForAis --playingTime ${SUMATRA_TARGET_STAGE_TIME:-0} --timeout ${SUMATRA_TIMEOUT:-0} ${SUMATRA_SIMULATOR_ADDITIONAL_ARGS:-}"
-    user: "${USER_ID:-1000}:${GROUP_ID:-1000}"
-    volumes:
-      - "./temp/${PROJECT_NAME}/simulator/build:/Sumatra/data"
-      - "./temp/${PROJECT_NAME}/simulator/data:/Sumatra/data"
-    networks:
-      - default
-    profiles: ["RL"]
-
-  ai-blue:
-    image: ${SUMATRA_IMAGE_BLUE:-sumatra:latest}
-    command: "-hl --moduli sim_client --host simulator --aiBlue ${SUMATRA_AI_ADDITIONAL_ARGS:-}"
-    user: "${USER_ID:-1000}:${GROUP_ID:-1000}"
-    environment:
-      - SUMATRA_INFLUX_DB_URL=${SUMATRA_INFLUX_DB_URL:-http://influxdb:8086}
-      - SUMATRA_INFLUX_DB_PASSWORD=${SUMATRA_INFLUX_DB_PASSWORD:-}
-      - SUMATRA_INFLUX_DB_USERNAME=${SUMATRA_INFLUX_DB_USERNAME:-}
+    profiles: ["simulator","diff","game", "RL"]
diff --git a/docker/runner/kube.yaml b/docker/runner/kube.yaml
@@ -1,52 +1,3 @@
-# ---
-# apiVersion: v1
-# kind: PersistentVolumeClaim
-# metadata:
-#   name: roboteam-build-pvc
-# spec:
-#   accessModes:
-#     - ReadWriteOnce
-#   resources:
-#     requests:
-#       storage: 1Gi
-
-# ---
-# apiVersion: v1
-# kind: PersistentVolumeClaim
-# metadata:
-#   name: roboteam-interface-pvc
-# spec:
-#   accessModes:
-#     - ReadWriteOnce
-#   resources:
-#     requests:
-#       storage: 1Gi
-
-# ---
-# apiVersion: v1
-# kind: PersistentVolumeClaim
-# metadata:
-#   name: roboteam-autoref-pvc
-# spec:
-#   accessModes:
-#     - ReadWriteOnce
-#   resources:
-#     requests:
-#       storage: 1Gi
-
-# ---
-# apiVersion: v1
-# kind: PersistentVolumeClaim
-# metadata:
-#   name: roboteam-root-pvc
-# spec:
-#   accessModes:
-#     - ReadWriteOnce
-#   resources:
-#     requests:
-#       storage: 5Gi
-
----
 apiVersion: apps/v1
 kind: Deployment
 metadata:
@@ -61,17 +12,11 @@ spec:
       labels:
         app: roboteam-simulator
     spec:
-      hostNetwork: true
       containers:
       - name: ssl-game-controller
-        image: robocupssl/ssl-game-controller:latest
         ports:
         - containerPort: 8081
-        # volumeMounts:
-        # - name: ssl-game-controller-config
-        #   mountPath: /config
-        # - name: ssl-game-controller-data
-        #   mountPath: /data
+        image: robocupssl/ssl-game-controller:latest
         resources:
           requests:
             cpu: 100m
@@ -83,12 +28,13 @@ spec:
       - name: roboteam-primary-ai
         image: roboteamtwente/roboteam:kubernetes
         command: ["/bin/sh"]
-        args: ["-c", "/home/roboteamtwente/bin/roboteam_ai --primary-ai"]
+        args: ["-c", "/home/roboteam/build/release/bin/roboteam_ai --primary-ai"]
         env:
-        - name: LD_LIBRARY_PATH
-          value: /home/roboteamtwente/lib
-        workingDir: /home/roboteamtwente
-
+          - name: LD_LIBRARY_PATH
+            value: "/home/roboteam/build/release/lib"
+        workingDir: /home/roboteam
+        ports:
+        - containerPort: 12676
         resources:
           requests:
             cpu: 500m
@@ -97,31 +43,18 @@ spec:
             cpu: 500m
             memory: 1Gi
 
-        # volumeMounts:
-        # - name: roboteam-build
-        #   mountPath: /home/roboteamtwente
-
-      # - name: roboteam-secondary-ai
-      #   image: roboteamtwente/roboteam:kubernetes
-      #   workingDir: "/home/roboteamtwente/"
-      #   command: ["/bin/sh", "-c"]
-      #   args: ["./bin/roboteam_ai --secondary-ai"]
-      #   env:
-      #   - name: LD_LIBRARY_PATH
-      #     value: "/home/roboteamtwente/lib/"
-      #   volumeMounts:
-      #   - name: roboteam-build
-      #     mountPath: /home/roboteamtwente
-
       - name: roboteam-observer-sim
         image: roboteamtwente/roboteam:kubernetes
         command: ["/bin/sh"]
-        args: ["-c", "/home/roboteamtwente/bin/roboteam_observer --vision-ip 224.5.23.2 --referee-ip 224.5.23.1 --vision-port 10020 --referee-port 10003 --log"]
+        args: ["-c", "/home/roboteam/build/release/bin/roboteam_observer --vision-ip 127.0.0.1 --referee-ip 127.0.0.1 --vision-port 10020 --referee-port 10003 --log"]
         env:
-        - name: LD_LIBRARY_PATH
-          value: /home/roboteamtwente/lib
-        workingDir: /home/roboteamtwente
-
+          - name: LD_LIBRARY_PATH
+            value: /home/roboteam/build/release/lib
+        workingDir: /home/roboteam
+        ports:
+        - containerPort: 10006
+        - containerPort: 10020
+        - containerPort: 10003
         resources:
           requests:
             cpu: 500m
@@ -133,12 +66,18 @@ spec:
       - name: roboteam-robothub-sim
         image: roboteamtwente/roboteam:kubernetes
         command: ["/bin/sh"]
-        args: ["-c", "/home/roboteamtwente/bin/roboteam_robothub"]
+        args: ["-c", "/home/roboteam/build/release/bin/roboteam_robothub"]
         env:
-        - name: LD_LIBRARY_PATH
-          value: "/home/roboteamtwente/lib/"
-        workingDir: /home/roboteamtwente/
-
+          - name: LD_LIBRARY_PATH
+            value: /home/roboteam/build/release/lib
+        workingDir: /home/roboteam
+        ports:
+        - containerPort: 10301
+        - containerPort: 30011
+        - containerPort: 10302
+        - containerPort: 30012
+        - containerPort: 10300
+        - containerPort: 30013
         resources:
           requests:
             cpu: 100m
@@ -147,80 +86,53 @@ spec:
             cpu: 500m
             memory: 500Mi
 
-      # - name: roboteam-interface
-      #   image: roboteamtwente/roboteam:kubernetes
-      #   workingDir: "/home/roboteamtwente/"
-      #   command: ["/bin/sh", "-c"]
-      #   args: ["yarn serve --host 0.0.0.0"]
-      #   ports:
-      #   - containerPort: 8080
-      #   volumeMounts:
-      #   - name: roboteam-interface
-      #     mountPath: /home/roboteamtwente
-
-      # - name: roboteam-autoref
-      #   image: gradle:8.4.0-jdk17
-      #   workingDir: "/home/roboteamtwente/"
-      #   command: ["/bin/sh", "-c"]
-      #   args: ["./gradlew run --args=\"-cli --world-ip=127.0.0.1 --world-port=5558 --gc-ip=127.0.0.1 --gc-port=10007\""]
-      #   env:
-      #   - name: GRADLE_USER_HOME
-      #     value: "/home/roboteamtwente/.cache"
-      #   volumeMounts:
-      #   - name: roboteam-autoref
-      #     mountPath: /home/roboteamtwente
-
-      # - name: erforce-autoref-sim
-      #   image: roboteamtwente/roboteam:kubernetes
-      #   workingDir: "/home/roboteamtwente/external/autoref/build/bin/"
-      #   command: ["/bin/sh", "-c"]
-      #   args: ["./autoref-cli --vision-port 10020 --tracker-port 10010 --gc-port 10003"]
-      #   volumeMounts:
-      #   - name: roboteam-root
-      #     mountPath: /home/roboteamtwente
-
-      # - name: erforce-simulator
-      #   image: roboteamtwente/roboteam:kubernetes
-      #   workingDir: "/home/roboteamtwente/external/framework/build/bin/"
-      #   command: ["/bin/sh", "-c"]
-      #   args: ["./simulator-cli"]
-      #   volumeMounts:
-      #   - name: roboteam-root
-      #     mountPath: /home/roboteamtwente
+      - name: roboteam-interface
+        image: roboteamtwente/roboteam:kubernetes
+        command: ["/bin/sh"]
+        args: ["-c", "cd /home/roboteam/roboteam_interface && yarn serve --host 0.0.0.0"]
+        ports:
+        - containerPort: 8080
+        resources:
+          requests:
+            cpu: 100m
+            memory: 128Mi
+          limits:
+            cpu: 500m
+            memory: 500Mi
 
-      # volumes:
-      # - name: ssl-game-controller-config
-      #   emptyDir: {}
-      # - name: ssl-game-controller-data
-      #   emptyDir: {}
-      # - name: roboteam-build
-      #   persistentVolumeClaim:
-      #     claimName: roboteam-build-pvc
-      # - name: roboteam-interface
-      #   persistentVolumeClaim:
-      #     claimName: roboteam-interface-pvc
-      # - name: roboteam-autoref
-      #   persistentVolumeClaim:
-      #     claimName: roboteam-autoref-pvc
-      # - name: roboteam-root
-      #   persistentVolumeClaim:
-      #     claimName: roboteam-root-pvc
+      - name: erforce-autoref-sim
+        image: roboteamtwente/roboteam:kubernetes
+        command: ["/bin/sh"]
+        args: ["-c", "cd /home/roboteam/external/autoref/build/bin && ./autoref-cli --vision-port 10020 --tracker-port 10010 --gc-port 10003"]
+        ports:
+        - containerPort: 10020
+        - containerPort: 10003
+        - containerPort: 10010
+        resources:
+          requests:
+            cpu: 100m
+            memory: 128Mi
+          limits:
+            cpu: 200m
+            memory: 256Mi
 
----
-apiVersion: v1
-kind: Service
-metadata:
-  name: roboteam-simulator-service
-spec:
-  type: NodePort
-  selector:
-    app: roboteam-simulator
-  ports:
-    - name: ssl-game-controller
-      port: 8081
-      targetPort: 8081
-      nodePort: 30081
-    - name: roboteam-interface
-      port: 8080
-      targetPort: 8080
-      nodePort: 30080
+      - name: erforce-simulator
+        image: roboteamtwente/roboteam:kubernetes
+        command: ["/bin/sh"]
+        args: 
+        - "-c"
+        - "/home/roboteam/external/framework/build/bin/simulator-cli -g 2020 --realism Realistic"
+        ports:
+        - containerPort: 10301
+        - containerPort: 30011
+        - containerPort: 10302
+        - containerPort: 30012
+        - containerPort: 10300
+        - containerPort: 30013
+        resources:
+          requests:
+            cpu: 100m
+            memory: 128Mi
+          limits:
+            cpu: 500m
+            memory: 500Mi