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PR: Select Protocol for Discovery Server #239

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merged 3 commits into from
Mar 5, 2024
Merged

PR: Select Protocol for Discovery Server #239

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4ec1eac
refactor(api): make ds protocol selectable
tunahanertekin Mar 5, 2024
b34e30c
refactor(ds): use protocol in ds pod & service
tunahanertekin Mar 5, 2024
fc6be58
build(manifests): :whale: update internal manifests
tunahanertekin Mar 5, 2024
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3 changes: 3 additions & 0 deletions config/crd/bases/robot.roboscale.io_discoveryservers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,9 @@ spec:
value. If instance type is `Client`, it should be the same with
Server's hostname. Used for getting Server's IP over DNS.
type: string
protocol:
default: TCP
type: string
reference:
description: Reference to the `Server` instance. It is used if `.spec.type`
is `Client`. Referenced object can be previously provisioned in
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3 changes: 3 additions & 0 deletions config/crd/bases/robot.roboscale.io_robotartifacts.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,9 @@ spec:
with Server's hostname. Used for getting Server's IP over
DNS.
type: string
protocol:
default: TCP
type: string
reference:
description: Reference to the `Server` instance. It is used
if `.spec.type` is `Client`. Referenced object can be previously
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3 changes: 3 additions & 0 deletions config/crd/bases/robot.roboscale.io_robots.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,9 @@ spec:
with Server's hostname. Used for getting Server's IP over
DNS.
type: string
protocol:
default: TCP
type: string
reference:
description: Reference to the `Server` instance. It is used
if `.spec.type` is `Client`. Referenced object can be previously
Expand Down
153 changes: 78 additions & 75 deletions config/crd/bases/robot.roboscale.io_ros2workloads.yaml
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Expand Up @@ -35,7 +35,84 @@ spec:
spec:
description: Specification of the desired behavior of the ROS2Workload.
properties:
containers:
discoveryServerTemplate:
description: Discovery server configurational parameters.
properties:
cluster:
description: Cloud instance name that holds DiscoveryServer instance
with `Server` type. Should be empty if the type is `Server`
since it takes cloud instance's name automatically. Should be
set if the type is `Client`.
type: string
domainID:
description: ROS domain ID for robot. See https://docs.ros.org/en/foxy/Concepts/About-Domain-ID.html.
maximum: 101
minimum: 0
type: integer
hostname:
description: If instance type is `Server`, it can be an arbitrary
value. If instance type is `Client`, it should be the same with
Server's hostname. Used for getting Server's IP over DNS.
type: string
protocol:
default: TCP
type: string
reference:
description: Reference to the `Server` instance. It is used if
`.spec.type` is `Client`. Referenced object can be previously
provisioned in another cluster. In that case, cluster's name
can be specified in `.spec.cluster` field.
properties:
apiVersion:
description: API version of the referent.
type: string
fieldPath:
description: 'If referring to a piece of an object instead
of an entire object, this string should contain a valid
JSON/Go field access statement, such as desiredState.manifest.containers[2].
For example, if the object reference is to a container within
a pod, this would take on a value like: "spec.containers{name}"
(where "name" refers to the name of the container that triggered
the event) or if no container name is specified "spec.containers[2]"
(container with index 2 in this pod). This syntax is chosen
only to have some well-defined way of referencing a part
of an object. TODO: this design is not final and this field
is subject to change in the future.'
type: string
kind:
description: 'Kind of the referent. More info: https://git.k8s.io/community/contributors/devel/sig-architecture/api-conventions.md#types-kinds'
type: string
name:
description: 'Name of the referent. More info: https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#names'
type: string
namespace:
description: 'Namespace of the referent. More info: https://kubernetes.io/docs/concepts/overview/working-with-objects/namespaces/'
type: string
resourceVersion:
description: 'Specific resourceVersion to which this reference
is made, if any. More info: https://git.k8s.io/community/contributors/devel/sig-architecture/api-conventions.md#concurrency-control-and-consistency'
type: string
uid:
description: 'UID of the referent. More info: https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#uids'
type: string
type: object
x-kubernetes-map-type: atomic
subdomain:
description: If instance type is `Server`, it can be an arbitrary
value. If instance type is `Client`, it should be the same with
Server's subdomain. Used for getting Server's IP over DNS.
type: string
type:
description: Instance type can be either `Server` or `Client`.
If `Server`, instance creates discovery server resources and
workloads. Other `Client` instances can connect to the `Server`
instance. If `Client`, instance tries to connect a `Server`
instance and hold `Server` configuration in a ConfigMap.
type: string
required:
- domainID
type: object
launchContainers:
description: Configurational parameters for containers that will be
encapsulated within the ROS 2 workload StatefulSet.
items:
Expand Down Expand Up @@ -1318,80 +1395,6 @@ spec:
- replicas
type: object
type: array
discoveryServerTemplate:
description: Discovery server configurational parameters.
properties:
cluster:
description: Cloud instance name that holds DiscoveryServer instance
with `Server` type. Should be empty if the type is `Server`
since it takes cloud instance's name automatically. Should be
set if the type is `Client`.
type: string
domainID:
description: ROS domain ID for robot. See https://docs.ros.org/en/foxy/Concepts/About-Domain-ID.html.
maximum: 101
minimum: 0
type: integer
hostname:
description: If instance type is `Server`, it can be an arbitrary
value. If instance type is `Client`, it should be the same with
Server's hostname. Used for getting Server's IP over DNS.
type: string
reference:
description: Reference to the `Server` instance. It is used if
`.spec.type` is `Client`. Referenced object can be previously
provisioned in another cluster. In that case, cluster's name
can be specified in `.spec.cluster` field.
properties:
apiVersion:
description: API version of the referent.
type: string
fieldPath:
description: 'If referring to a piece of an object instead
of an entire object, this string should contain a valid
JSON/Go field access statement, such as desiredState.manifest.containers[2].
For example, if the object reference is to a container within
a pod, this would take on a value like: "spec.containers{name}"
(where "name" refers to the name of the container that triggered
the event) or if no container name is specified "spec.containers[2]"
(container with index 2 in this pod). This syntax is chosen
only to have some well-defined way of referencing a part
of an object. TODO: this design is not final and this field
is subject to change in the future.'
type: string
kind:
description: 'Kind of the referent. More info: https://git.k8s.io/community/contributors/devel/sig-architecture/api-conventions.md#types-kinds'
type: string
name:
description: 'Name of the referent. More info: https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#names'
type: string
namespace:
description: 'Namespace of the referent. More info: https://kubernetes.io/docs/concepts/overview/working-with-objects/namespaces/'
type: string
resourceVersion:
description: 'Specific resourceVersion to which this reference
is made, if any. More info: https://git.k8s.io/community/contributors/devel/sig-architecture/api-conventions.md#concurrency-control-and-consistency'
type: string
uid:
description: 'UID of the referent. More info: https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#uids'
type: string
type: object
x-kubernetes-map-type: atomic
subdomain:
description: If instance type is `Server`, it can be an arbitrary
value. If instance type is `Client`, it should be the same with
Server's subdomain. Used for getting Server's IP over DNS.
type: string
type:
description: Instance type can be either `Server` or `Client`.
If `Server`, instance creates discovery server resources and
workloads. Other `Client` instances can connect to the `Server`
instance. If `Client`, instance tries to connect a `Server`
instance and hold `Server` configuration in a ConfigMap.
type: string
required:
- domainID
type: object
ros2BridgeTemplate:
description: ROS 2 Bridge configurational parameters.
properties:
Expand Down
3 changes: 2 additions & 1 deletion internal/resources/v1alpha1/discovery_server.go
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@ func GetDiscoveryServerPod(discoveryServer *robotv1alpha1.DiscoveryServer, podNa
{
Name: discoveryServerPortName,
ContainerPort: int32(discoveryServerPortNumber),
Protocol: discoveryServer.Spec.Protocol,
},
},
},
Expand Down Expand Up @@ -78,7 +79,7 @@ func GetDiscoveryServerService(discoveryServer *robotv1alpha1.DiscoveryServer, s
TargetPort: intstr.IntOrString{
IntVal: int32(discoveryServerPortNumber),
},
Protocol: corev1.ProtocolTCP,
Protocol: discoveryServer.Spec.Protocol,
Name: discoveryServerPortName,
},
},
Expand Down
1 change: 1 addition & 0 deletions pkg/api/roboscale.io/v1alpha1/robot_types.go
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Original file line number Diff line number Diff line change
Expand Up @@ -415,6 +415,7 @@ const (

// DiscoveryServerSpec defines the desired state of DiscoveryServer.
type DiscoveryServerSpec struct {
Protocol corev1.Protocol `json:"protocol,omitempty"`
// ROS domain ID for robot. See https://docs.ros.org/en/foxy/Concepts/About-Domain-ID.html.
// +kubebuilder:validation:Minimum=0
// +kubebuilder:validation:Maximum=101
Expand Down
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