add proposal and implementation for Definition of Cloud Robot CRD and Operator

sig-robotics/examples/Definition_of_cloud_robot_CRD_and_Operator/Dockerfile

@@ -0,0 +1,33 @@
+# Build the manager binary
+FROM golang:1.20 as builder
+ARG TARGETOS
+ARG TARGETARCH
+
+WORKDIR /workspace
+# Copy the Go Modules manifests
+COPY go.mod go.mod
+COPY go.sum go.sum
+# cache deps before building and copying source so that we don't need to re-download as much
+# and so that source changes don't invalidate our downloaded layer
+RUN go mod download
+
+# Copy the go source
+COPY cmd/main.go cmd/main.go
+COPY api/ api/
+COPY internal/controller/ internal/controller/
+
+# Build
+# the GOARCH has not a default value to allow the binary be built according to the host where the command
+# was called. For example, if we call make docker-build in a local env which has the Apple Silicon M1 SO
+# the docker BUILDPLATFORM arg will be linux/arm64 when for Apple x86 it will be linux/amd64. Therefore,
+# by leaving it empty we can ensure that the container and binary shipped on it will have the same platform.
+RUN CGO_ENABLED=0 GOOS=${TARGETOS:-linux} GOARCH=${TARGETARCH} go build -a -o manager cmd/main.go
+
+# Use distroless as minimal base image to package the manager binary
+# Refer to https://github.com/GoogleContainerTools/distroless for more details
+FROM gcr.io/distroless/static:nonroot
+WORKDIR /
+COPY --from=builder /workspace/manager .
+USER 65532:65532
+
+ENTRYPOINT ["/manager"]

sig-robotics/examples/Definition_of_cloud_robot_CRD_and_Operator/Makefile

@@ -0,0 +1,163 @@
+
+# Image URL to use all building/pushing image targets
+IMG ?= controller:latest
+# ENVTEST_K8S_VERSION refers to the version of kubebuilder assets to be downloaded by envtest binary.
+ENVTEST_K8S_VERSION = 1.27.1
+
+# Get the currently used golang install path (in GOPATH/bin, unless GOBIN is set)
+ifeq (,$(shell go env GOBIN))
+GOBIN=$(shell go env GOPATH)/bin
+else
+GOBIN=$(shell go env GOBIN)
+endif
+
+# CONTAINER_TOOL defines the container tool to be used for building images.
+# Be aware that the target commands are only tested with Docker which is
+# scaffolded by default. However, you might want to replace it to use other
+# tools. (i.e. podman)
+CONTAINER_TOOL ?= docker
+
+# Setting SHELL to bash allows bash commands to be executed by recipes.
+# Options are set to exit when a recipe line exits non-zero or a piped command fails.
+SHELL = /usr/bin/env bash -o pipefail
+.SHELLFLAGS = -ec
+
+.PHONY: all
+all: build
+
+##@ General
+
+# The help target prints out all targets with their descriptions organized
+# beneath their categories. The categories are represented by '##@' and the
+# target descriptions by '##'. The awk commands is responsible for reading the
+# entire set of makefiles included in this invocation, looking for lines of the
+# file as xyz: ## something, and then pretty-format the target and help. Then,
+# if there's a line with ##@ something, that gets pretty-printed as a category.
+# More info on the usage of ANSI control characters for terminal formatting:
+# https://en.wikipedia.org/wiki/ANSI_escape_code#SGR_parameters
+# More info on the awk command:
+# http://linuxcommand.org/lc3_adv_awk.php
+
+.PHONY: help
+help: ## Display this help.
+	@awk 'BEGIN {FS = ":.*##"; printf "\nUsage:\n  make \033[36m<target>\033[0m\n"} /^[a-zA-Z_0-9-]+:.*?##/ { printf "  \033[36m%-15s\033[0m %s\n", $$1, $$2 } /^##@/ { printf "\n\033[1m%s\033[0m\n", substr($$0, 5) } ' $(MAKEFILE_LIST)
+
+##@ Development
+
+.PHONY: manifests
+manifests: controller-gen ## Generate WebhookConfiguration, ClusterRole and CustomResourceDefinition objects.
+	$(CONTROLLER_GEN) rbac:roleName=manager-role crd:allowDangerousTypes=true webhook paths="./..." output:crd:artifacts:config=config/crd/bases
+
+.PHONY: generate
+generate: controller-gen ## Generate code containing DeepCopy, DeepCopyInto, and DeepCopyObject method implementations.
+	$(CONTROLLER_GEN) object:headerFile="hack/boilerplate.go.txt" paths="./..."
+
+.PHONY: fmt
+fmt: ## Run go fmt against code.
+	go fmt ./...
+
+.PHONY: vet
+vet: ## Run go vet against code.
+	go vet ./...
+
+.PHONY: test
+test: manifests generate fmt vet envtest ## Run tests.
+	KUBEBUILDER_ASSETS="$(shell $(ENVTEST) use $(ENVTEST_K8S_VERSION) --bin-dir $(LOCALBIN) -p path)" go test ./... -coverprofile cover.out
+
+##@ Build
+
+.PHONY: build
+build: manifests generate fmt vet ## Build manager binary.
+	go build -o bin/manager cmd/main.go
+
+.PHONY: run
+run: manifests generate fmt vet ## Run a controller from your host.
+	go run ./cmd/main.go
+
+# If you wish built the manager image targeting other platforms you can use the --platform flag.
+# (i.e. docker build --platform linux/arm64 ). However, you must enable docker buildKit for it.
+# More info: https://docs.docker.com/develop/develop-images/build_enhancements/
+.PHONY: docker-build
+docker-build: test ## Build docker image with the manager.
+	$(CONTAINER_TOOL) build -t ${IMG} .
+
+.PHONY: docker-push
+docker-push: ## Push docker image with the manager.
+	$(CONTAINER_TOOL) push ${IMG}
+
+# PLATFORMS defines the target platforms for  the manager image be build to provide support to multiple
+# architectures. (i.e. make docker-buildx IMG=myregistry/mypoperator:0.0.1). To use this option you need to:
+# - able to use docker buildx . More info: https://docs.docker.com/build/buildx/
+# - have enable BuildKit, More info: https://docs.docker.com/develop/develop-images/build_enhancements/
+# - be able to push the image for your registry (i.e. if you do not inform a valid value via IMG=<myregistry/image:<tag>> then the export will fail)
+# To properly provided solutions that supports more than one platform you should use this option.
+PLATFORMS ?= linux/arm64,linux/amd64,linux/s390x,linux/ppc64le
+.PHONY: docker-buildx
+docker-buildx: test ## Build and push docker image for the manager for cross-platform support
+	# copy existing Dockerfile and insert --platform=${BUILDPLATFORM} into Dockerfile.cross, and preserve the original Dockerfile
+	sed -e '1 s/\(^FROM\)/FROM --platform=\$$\{BUILDPLATFORM\}/; t' -e ' 1,// s//FROM --platform=\$$\{BUILDPLATFORM\}/' Dockerfile > Dockerfile.cross
+	- $(CONTAINER_TOOL) buildx create --name project-v3-builder
+	$(CONTAINER_TOOL) buildx use project-v3-builder
+	- $(CONTAINER_TOOL) buildx build --push --platform=$(PLATFORMS) --tag ${IMG} -f Dockerfile.cross .
+	- $(CONTAINER_TOOL) buildx rm project-v3-builder
+	rm Dockerfile.cross
+
+##@ Deployment
+
+ifndef ignore-not-found
+  ignore-not-found = false
+endif
+
+.PHONY: install
+install: manifests kustomize ## Install CRDs into the K8s cluster specified in ~/.kube/config.
+	$(KUSTOMIZE) build config/crd | $(KUBECTL) apply -f -
+
+.PHONY: uninstall
+uninstall: manifests kustomize ## Uninstall CRDs from the K8s cluster specified in ~/.kube/config. Call with ignore-not-found=true to ignore resource not found errors during deletion.
+	$(KUSTOMIZE) build config/crd | $(KUBECTL) delete --ignore-not-found=$(ignore-not-found) -f -
+
+.PHONY: deploy
+deploy: manifests kustomize ## Deploy controller to the K8s cluster specified in ~/.kube/config.
+	cd config/manager && $(KUSTOMIZE) edit set image controller=${IMG}
+	$(KUSTOMIZE) build config/default | $(KUBECTL) apply -f -
+
+.PHONY: undeploy
+undeploy: ## Undeploy controller from the K8s cluster specified in ~/.kube/config. Call with ignore-not-found=true to ignore resource not found errors during deletion.
+	$(KUSTOMIZE) build config/default | $(KUBECTL) delete --ignore-not-found=$(ignore-not-found) -f -
+
+##@ Build Dependencies
+
+## Location to install dependencies to
+LOCALBIN ?= $(shell pwd)/bin
+$(LOCALBIN):
+	mkdir -p $(LOCALBIN)
+
+## Tool Binaries
+KUBECTL ?= kubectl
+KUSTOMIZE ?= $(LOCALBIN)/kustomize
+CONTROLLER_GEN ?= $(LOCALBIN)/controller-gen
+ENVTEST ?= $(LOCALBIN)/setup-envtest
+
+## Tool Versions
+KUSTOMIZE_VERSION ?= v5.0.1
+CONTROLLER_TOOLS_VERSION ?= v0.12.0
+
+.PHONY: kustomize
+kustomize: $(KUSTOMIZE) ## Download kustomize locally if necessary. If wrong version is installed, it will be removed before downloading.
+$(KUSTOMIZE): $(LOCALBIN)
+	@if test -x $(LOCALBIN)/kustomize && ! $(LOCALBIN)/kustomize version | grep -q $(KUSTOMIZE_VERSION); then \
+		echo "$(LOCALBIN)/kustomize version is not expected $(KUSTOMIZE_VERSION). Removing it before installing."; \
+		rm -rf $(LOCALBIN)/kustomize; \
+	fi
+	test -s $(LOCALBIN)/kustomize || GOBIN=$(LOCALBIN) GO111MODULE=on go install sigs.k8s.io/kustomize/kustomize/v5@$(KUSTOMIZE_VERSION)
+
+.PHONY: controller-gen
+controller-gen: $(CONTROLLER_GEN) ## Download controller-gen locally if necessary. If wrong version is installed, it will be overwritten.
+$(CONTROLLER_GEN): $(LOCALBIN)
+	test -s $(LOCALBIN)/controller-gen && $(LOCALBIN)/controller-gen --version | grep -q $(CONTROLLER_TOOLS_VERSION) || \
+	GOBIN=$(LOCALBIN) go install sigs.k8s.io/controller-tools/cmd/controller-gen@$(CONTROLLER_TOOLS_VERSION)
+
+.PHONY: envtest
+envtest: $(ENVTEST) ## Download envtest-setup locally if necessary.
+$(ENVTEST): $(LOCALBIN)
+	test -s $(LOCALBIN)/setup-envtest || GOBIN=$(LOCALBIN) go install sigs.k8s.io/controller-runtime/tools/setup-envtest@latest

sig-robotics/examples/Definition_of_cloud_robot_CRD_and_Operator/PROJECT

@@ -0,0 +1,38 @@
+# Code generated by tool. DO NOT EDIT.
+# This file is used to track the info used to scaffold your project
+# and allow the plugins properly work.
+# More info: https://book.kubebuilder.io/reference/project-config.html
+domain: cloudrobot.kubeedge
+layout:
+- go.kubebuilder.io/v4
+projectName: ospp2023
+repo: github.com/ospp2023
+resources:
+- api:
+    crdVersion: v1
+    namespaced: true
+  controller: true
+  domain: cloudrobot.kubeedge
+  group: cloudrobot.kubeedge
+  kind: Robot
+  path: github.com/ospp2023/api/v1beta1
+  version: v1beta1
+- api:
+    crdVersion: v1
+    namespaced: true
+  controller: true
+  domain: cloudrobot.kubeedge
+  group: cloudrobot.kubeedge
+  kind: RobotSync
+  path: github.com/ospp2023/api/v1beta1
+  version: v1beta1
+- api:
+    crdVersion: v1
+    namespaced: true
+  controller: true
+  domain: cloudrobot.kubeedge
+  group: cloudrobot.kubeedge
+  kind: Task
+  path: github.com/ospp2023/api/v1beta1
+  version: v1beta1
+version: "3"

sig-robotics/examples/Definition_of_cloud_robot_CRD_and_Operator/README.md

@@ -0,0 +1,21 @@
+# ospp2023
+
+项目简述：通过定义一套通用的云原生机器人的CRD和Operator是区别于IOT和机器人的重要设计，提高机器人的可扩展性、灵活性、可用性等。
+
+定义CRD可以实现以下功能：
+
+* 定义机器人资源：可以定义自定义资源来表示机器人的各种属性和状态，如机器人的位置、传感器数据、任务状态等，从而方便进行机器人的调度和管理。
+
+* 扩展机器人API：可以通过定义CRD来扩展机器人API，使API更加符合实际需求，从而提高机器人的可扩展性和灵活性。
+
+* 实现机器人控制：可以通过定义CRD来实现机器人的控制，如控制机器人的移动、执行任务等操作。
+
+定义Operator可以实现以下功能：
+
+* 自动化机器人操作：可以定义Operator来实现自动化机器人操作，如自动控制机器人移动、执行任务等操作。
+
+* 监控机器人状态：可以通过定义Operator来监控机器人的状态，如机器人的位置、传感器数据、任务状态等，从而方便进行机器人的调度和管理。
+
+* 实现机器人故障处理：可以通过定义Operator来实现机器人故障处理，如自动重启机器人、重新执行任务等操作，从而提高机器人的可用性和稳定性。
+
+* 实现机器人自适应控制：可以通过定义Operator来实现机器人的自适应控制，如根据机器人的传感器数据自动调整机器人的移动方向、速度等参数，从而提高机器人的智能化和自适应性。

sig-robotics/examples/Definition_of_cloud_robot_CRD_and_Operator/api/v1beta1/groupversion_info.go

@@ -0,0 +1,36 @@
+/*
+Copyright 2022 The KubeEdge Authors.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+// Package v1beta1 contains API Schema definitions for the cloudrobot.kubeedge v1beta1 API group
+// +kubebuilder:object:generate=true
+// +groupName=cloudrobot.kubeedge.cloudrobot.kubeedge
+package v1beta1
+
+import (
+	"k8s.io/apimachinery/pkg/runtime/schema"
+	"sigs.k8s.io/controller-runtime/pkg/scheme"
+)
+
+var (
+	// GroupVersion is group version used to register these objects
+	GroupVersion = schema.GroupVersion{Group: "cloudrobot.kubeedge.cloudrobot.kubeedge", Version: "v1beta1"}
+
+	// SchemeBuilder is used to add go types to the GroupVersionKind scheme
+	SchemeBuilder = &scheme.Builder{GroupVersion: GroupVersion}
+
+	// AddToScheme adds the types in this group-version to the given scheme.
+	AddToScheme = SchemeBuilder.AddToScheme
+)