# Copyright 2021-present Open Networking Foundation
#
# SPDX-License-Identifier: LicenseRef-ONF-Member-Only-1.0

{{ tuple "ros-core" . | include "ros-core.service_account" }}
---
apiVersion: apps/v1
kind: StatefulSet
metadata:
  name: ros-core
  labels:
{{ tuple "ros-core" . | include "ros-core.metadata_labels" | indent 4 }}
spec:
  replicas: 1
  serviceName: ros-core
  selector:
    matchLabels:
{{ tuple "ros-core" . | include "ros-core.metadata_labels" | indent 6 }}
  template:
    metadata:
      labels:
{{ tuple "ros-core" . | include "ros-core.metadata_labels" | indent 8 }}
    spec:
  {{- if .Values.nodeSelector.enabled }}
      nodeSelector:
        {{ .Values.nodeSelector.rosCore.label }}: {{ .Values.nodeSelector.rosCore.value }}
  {{- end }}
      serviceAccountName: ros-core
  {{- if .Values.networks.hostNetwork }}
      hostNetwork: true
      dnsPolicy: None
      dnsConfig:
        nameservers:
          - {{ .Values.coredns.service.clusterIP }}
  {{- end }}
      containers:
      - name: ros-core
        image: {{ .Values.images.tags.rosCore }}
        imagePullPolicy: {{ .Values.images.pullPolicy }}
        securityContext:
          privileged: true
        stdin: true
        tty: true
        command:
        - /root/run_roscore.sh
        volumeMounts:
        - name: ros-core
          mountPath: /root/run_roscore.sh
          subPath: run_roscore.sh
        - name: ros-core-launch
          mountPath: /root/TrajBridge-PX4/src/bridge_px4/launch
      - name: drone-net-listener
        image: {{ .Values.images.tags.droneNetListener }}
        imagePullPolicy: {{ .Values.images.pullPolicy }}
        stdin: true
        tty: true
        command: ["bash", "-xc"]
        args:
        - python /opt/net_listener.py
        volumeMounts:
        - name: ros-core
          mountPath: /opt/net_listener.py
          subPath: net_listener.py
      volumes:
        - name: ros-core
          configMap:
            name: ros-core
            defaultMode: 493
        - name: ros-core-launch
          configMap:
            name: ros-core-launch
            defaultMode: 420