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Brick.yml
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# Copyright (C) 2019 Christian Berger
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
# Date: 2019-02-17
version: '2.3'
# These services run on Brick.
services:
# Monitor netload.
monitor-netload:
container_name: monitor-netload
build:
context: .
dockerfile: Dockerfile.amd64
cpuset: "0"
init: true
volumes:
- $HOME/recordings:/recordings
working_dir: /recordings
restart: always
network_mode: "host"
command: "/usr/bin/monitor-netload.sh enp10s0,enp11s0,enp5s0,enp4s0"
runtime: runc
# Monitor sysload.
monitor-sysload:
container_name: monitor-sysload
build:
context: .
dockerfile: Dockerfile.amd64
cpuset: "0"
init: true
pid: "host"
volumes:
- $HOME/recordings:/recordings
working_dir: /recordings
restart: always
network_mode: "host"
command: "/usr/bin/monitor-sysload.sh 1 2 3 4 5 6 7"
runtime: runc
###########################################################################
# Relay Envelopes from CID 109 (dlv-device-cangw-snowfox) to CID 111 via TCP.
relay-receive-from-109:
container_name: relay-receive-from-109
image: chrberger/cluon-relay-multi:v0.0.4
cpuset: "1"
restart: always
network_mode: "host"
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -6 /usr/bin/cluon-relay --cid-to=111 --via-tcp=10.42.42.1:55109"
runtime: runc
###########################################################################
# Relay and downsample Envelopes from CID 111 (local CID session on Brick) to CID 110 (for opendlv-vehicle-view).
relay-downsample-111-110:
container_name: relay-downsample-111-110
image: chrberger/cluon-relay-multi:v0.0.2
cpuset: "2"
restart: always
network_mode: "host"
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -7 /usr/bin/cluon-relay --cid-from=111 --cid-to=110 --downsample=19:10,49:1,1046:10"
runtime: runc
###########################################################################
# Dump all containers from CID 111.
record-111:
container_name: record-111
image: chrberger/cluon-amd64:latest
cpuset: "1"
restart: always
network_mode: "host"
volumes:
- $HOME/recordings:/recordings
working_dir: /recordings
cap_add:
- SYS_NICE
command: sh -c "nice -n -7 cluon-OD4toStdout --cid=111 > `date +CID-111-recording-%Y-%m-%d_%H%M%S.rec`"
runtime: runc
###########################################################################
# opendlv-vehicle-view on 110.
vehicle-view:
container_name: opendlv-vehicle-view
image: chalmersrevere/opendlv-vehicle-view-multi:v0.0.57
cpuset: "1"
restart: always
network_mode: "host"
volumes:
- $HOME/recordings:/recordings
- /var/run/docker.sock:/var/run/docker.sock
environment:
- OD4SESSION_CID=110
- PLAYBACK_OD4SESSION_CID=210
- OPENDLV_VEHICLE_VIEW_PLATFORM=Snowfox
ports:
- "8081:8081"
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -1 node index.js"
runtime: runc
###########################################################################
# Applanix Ethernet Realtime port on 111.
dev-gps-pos-rt:
container_name: dev-gps-pos-rt
image: chalmersrevere/opendlv-device-gps-pos-multi:v0.0.11
cpuset: "4"
restart: always
network_mode: "host"
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -5 /usr/bin/opendlv-device-gps-pos --pos_ip=10.42.42.40 --pos_port=5602 --cid=111 --id=0"
runtime: runc
# Applanix Ethernet Loggin port on 111.
dev-gps-pos-log:
container_name: dev-gps-pos-log
image: chalmersrevere/opendlv-device-gps-pos-multi:v0.0.11
cpuset: "5"
restart: always
network_mode: "host"
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -4 /usr/bin/opendlv-device-gps-pos --pos_ip=10.42.42.40 --pos_port=5603 --cid=111 --id=0"
runtime: runc
###########################################################################
# Velodyne HDL32 Lidar on 111.
dev-lidar-hdl32e:
container_name: dev-lidar-hdl32e
image: chalmersrevere/opendlv-device-lidar-hdl32e-multi:v0.0.14
cpuset: "3"
restart: always
network_mode: "host"
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -7 /usr/bin/opendlv-device-lidar-hdl32e --hdl32e_ip=10.42.44.22 --hdl32e_port=2368 --cid=111 --gpstime"
runtime: runc
###########################################################################
# Axis camera.
dev-camera-axis0:
container_name: dev-camera-axis0
image: chalmersrevere/opendlv-device-mjpeg-over-http-multi:v0.0.4
cpuset: "5"
restart: always
ipc: "host"
network_mode: "host"
environment:
- DISPLAY=$DISPLAY
volumes:
- /tmp:/tmp
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -8 /usr/bin/opendlv-device-mjpeg-over-http --url=http://10.42.45.50/axis-cgi/mjpg/video.cgi\\?channel=0\\&.mjpg --width=1280 --height=720 --name.i420=axis0.i420 --name.argb=axis0.argb"
runtime: runc
qsv-h264-thumbnail-axis0:
container_name: qsv-h264-thumbnail-axis0
image: chrberger/video-qsv-h264-encoder:v0.0.4
depends_on:
- dev-camera-axis0
cpuset: "6"
devices:
- /dev/dri/renderD128
restart: always
network_mode: "host"
ipc: "host"
volumes:
- /tmp:/tmp
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -7 /usr/bin/video-qsv-h264-encoder --cid=110 --name=axis0.i420 --width=1280 --height=720 --id=0 --bitrate=3000 --crop.x=320 --crop.y=120 --crop.width=640 --crop.height=480 --downsample=3"
runtime: runc
nvenc-h264-ll-rec-axis0:
container_name: nvenc-h264-ll-rec-axis0
image: nvenc-h264:latest
depends_on:
- dev-camera-axis0
cpuset: "6"
restart: always
ipc: "host"
privileged: true
network_mode: "host"
volumes:
- /tmp:/tmp
- $HOME/recordings:/recordings
working_dir: /recordings
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -7 /usr/bin/video-nvenc-h264-recorder --id=0 --name=axis0.i420 --width=1280 --height=720 --recsuffix=axis0-lossless"
runtime: nvidia
###########################################################################
# Basler.
dev-camera-basler1:
container_name: dev-camera-basler1
build:
context: https://github.com/chalmers-revere/opendlv-device-camera-pylon.git#v0.0.1
dockerfile: Dockerfile.amd64
cpuset: "7"
restart: always
network_mode: "host"
ipc: "host"
environment:
- DISPLAY=$DISPLAY
volumes:
- /tmp:/tmp
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -8 /usr/bin/opendlv-device-camera-pylon --camera=0 --width=2048 --height=1536 --packetsize=9000 --offsetX=0 --offsetY=0 --fps=15 --name.i420=basler1.i420 --name.argb=basler1.argb"
runtime: runc
qsv-h264-thumbnail-basler1:
container_name: qsv-h264-thumbnail-basler1
image: chrberger/video-qsv-h264-encoder:v0.0.4
depends_on:
- dev-camera-basler1
cpuset: "6"
devices:
- /dev/dri/renderD128
restart: always
ipc: "host"
network_mode: "host"
volumes:
- /tmp:/tmp
cap_add:
- SYS_NICE
entrypoint: ""
command: "nice -n -7 /usr/bin/video-qsv-h264-encoder --cid=110 --name=basler1.i420 --width=2048 --height=1536 --id=1 --bitrate=3000 --crop.x=704 --crop.y=500 --crop.width=640 --crop.height=480 --downsample=1"
runtime: runc
nvenc-h264-ll-rec-basler1:
container_name: nvenc-h264-ll-rec-basler1
image: nvenc-h264:latest
depends_on:
- dev-camera-basler1
cpuset: "6"
init: true
restart: always
ipc: "host"
volumes:
- /tmp:/tmp
- $HOME/recordings:/recordings
working_dir: /recordings
command: "--name=basler1.i420 --id=1 --width=2048 --height=1536 --recsuffix=basler1-lossless"
runtime: nvidia