ROS1 Communication Support (#173)

* Add ros-core container to ROS1-based NetApps

* Add new properties; connectionBuilderFactory tests

* WIP: new ros helper

* Added teleoperation NetApp import scripts

* Prepare new RosDistro struct

* Orchestrator use new RosDistro struct

* Remove RosDistro enum, add more tests

Middleware.sln.DotSettings

@@ -213,8 +213,10 @@
 	<s:Boolean x:Key="/Default/UserDictionary/Words/=depl/@EntryIndexedValue">True</s:Boolean>
 	<s:Boolean x:Key="/Default/UserDictionary/Words/=Distro/@EntryIndexedValue">True</s:Boolean>
 	<s:Boolean x:Key="/Default/UserDictionary/Words/=Embb/@EntryIndexedValue">True</s:Boolean>
+	<s:Boolean x:Key="/Default/UserDictionary/Words/=Fuerte/@EntryIndexedValue">True</s:Boolean>
 	<s:Boolean x:Key="/Default/UserDictionary/Words/=imsi/@EntryIndexedValue">True</s:Boolean>
 	<s:Boolean x:Key="/Default/UserDictionary/Words/=kube/@EntryIndexedValue">True</s:Boolean>
 	<s:Boolean x:Key="/Default/UserDictionary/Words/=Multus/@EntryIndexedValue">True</s:Boolean>
+	<s:Boolean x:Key="/Default/UserDictionary/Words/=Noetic/@EntryIndexedValue">True</s:Boolean>
 	<s:Boolean x:Key="/Default/UserDictionary/Words/=Replan/@EntryIndexedValue">True</s:Boolean>
 	<s:Boolean x:Key="/Default/UserDictionary/Words/=Urllc/@EntryIndexedValue">True</s:Boolean></wpf:ResourceDictionary>

docs/Administrator/ImportTaskTemplates/teleoperation-deployment.yaml

@@ -0,0 +1,18 @@
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  name: teleoperation
+spec:
+  selector:
+    matchLabels:
+      app: teleoperation
+  replicas: 1
+  template:
+    metadata:
+      labels:
+        app: teleoperation
+    spec:
+      containers:
+        - name: teleoperation
+          resources: {}
+          image: alenrobots/5gera_teleop

docs/Administrator/ImportTaskTemplates/teleoperation-service.yaml

@@ -0,0 +1 @@
+apiVersion: v1\nkind: Service\nmetadata:\n  name: teleoperation\nspec:\n  selector:\n    app: teleoperation\n  type: LoadBalancer\n  ports:\n    - protocol: TCP\n      port: 5896\n      targetPort: 5896\n      name: teleop\n      \n

docs/Administrator/ImportTaskTemplates/teleoperation.json

@@ -0,0 +1,36 @@
+{
+    "Id": "6077c8c0-d354-487d-b81e-fe187826c6ec",
+    "Name": "Teleoperation task",
+    "TaskPriority": 1,
+    "ActionSequence": [
+        {
+            "Id": "6a1232e4-9d44-487e-b5b4-b46dc5878ca5",
+            "Name": "Teleoperation",
+            "Order": 1,
+            "ActionPriority": "Normal",
+            "ActionStatus": "None",
+            "MinimumRam": 0,
+            "MinimumNumCores": 0,
+            "Services": [
+                {
+                    "Id": "26cf305a-e84c-4c40-aac2-f3a714bbd479",
+                    "Name": "Teleoperation",
+                    "IsReusable": false,
+                    "MinimumRam": 512,
+                    "MinimumNumCores": 2,
+                    "ContainerImage": {
+                        "Id": "cbb48148-1e61-4af9-b11e-a1b9dc8db23c",
+                        "Name": "Teleoperation",
+                        "Description": "The example network application onboarding for the webinar",
+                        "K8SDeployment": "apiVersion: apps/v1\nkind: Deployment\nmetadata:\n  name: teleoperation\nspec:\n  selector:\n    matchLabels:\n      app: teleoperation\n  replicas: 1\n  template:\n    metadata:\n      labels:\n        app: teleoperation\n    spec:\n      containers:\n        - name: teleoperation\n          resources: {}\n          image: alenrobots/5gera_teleop          \n",
+                        "K8SService": "apiVersion: v1\nkind: Service\nmetadata:\n  name: teleoperation\nspec:\n  selector:\n    app: teleoperation\n  type: LoadBalancer\n  ports:\n    - protocol: TCP\n      port: 5896\n      targetPort: 5896\n      name: teleop\n      \n"
+                    }
+                }
+            ]
+        }
+    ],
+    "Tags": [
+        "5G-ERA",
+        "teleoperation"
+    ]
+}

src/Models/Domain/RosDistro.cs

@@ -0,0 +1,103 @@
+using Middleware.Models.Exceptions;
+
+namespace Middleware.Models.Domain;
+
+public enum RosVersion
+{
+    Ros1 = 1,
+    Ros2 = 2
+}
+
+public struct RosDistro
+{
+    public static RosDistro Electric { get; } = new("Electric", RosVersion.Ros1);
+    public static RosDistro Groovy { get; } = new("Groovy", RosVersion.Ros1);
+    public static RosDistro Fuerte { get; } = new("Fuerte", RosVersion.Ros1);
+    public static RosDistro Hydro { get; } = new("Hydro", RosVersion.Ros1);
+    public static RosDistro Indigo { get; } = new("Indigo", RosVersion.Ros1);
+    public static RosDistro Kinetic { get; } = new("Kinetic", RosVersion.Ros1);
+    public static RosDistro Lunar { get; } = new("Lunar", RosVersion.Ros1);
+    public static RosDistro Noetic { get; } = new("Noetic", RosVersion.Ros1);
+    public static RosDistro Ardent { get; } = new("Ardent", RosVersion.Ros2);
+    public static RosDistro Dashing { get; } = new("Dashing", RosVersion.Ros2);
+    public static RosDistro Bouncy { get; } = new("Bouncy", RosVersion.Ros2);
+    public static RosDistro Crystal { get; } = new("Crystal", RosVersion.Ros2);
+    public static RosDistro Humble { get; } = new("Humble", RosVersion.Ros2);
+    public static RosDistro Eloquent { get; } = new("Eloquent", RosVersion.Ros2);
+    public static RosDistro Melodic { get; } = new("Melodic", RosVersion.Ros2);
+    public static RosDistro Galactic { get; } = new("Galactic", RosVersion.Ros2);
+    public static RosDistro Foxy { get; } = new("Foxy", RosVersion.Ros2);
+
+    public RosDistro(string name, short rosVersion)
+    {
+        Name = name;
+        RosVersion = (RosVersion)rosVersion;
+        RosVersionInt = rosVersion;
+    }
+
+    public RosDistro(string name, RosVersion rosVersion)
+    {
+        Name = name;
+        RosVersion = rosVersion;
+        RosVersionInt = (short)rosVersion;
+    }
+
+    public string Name { get; }
+    public short RosVersionInt { get; set; }
+    public RosVersion RosVersion { get; set; }
+}
+
+public static class RosDistroHelper
+{
+    private static readonly List<RosDistro> Distros = new()
+    {
+        RosDistro.Electric,
+        RosDistro.Groovy,
+        RosDistro.Fuerte,
+        RosDistro.Hydro,
+        RosDistro.Indigo,
+        RosDistro.Kinetic,
+        RosDistro.Lunar,
+        RosDistro.Noetic,
+        RosDistro.Ardent,
+        RosDistro.Dashing,
+        RosDistro.Crystal,
+        RosDistro.Humble,
+        RosDistro.Foxy,
+        RosDistro.Melodic,
+        RosDistro.Bouncy,
+        RosDistro.Eloquent,
+        RosDistro.Galactic
+    };
+
+    /// <summary>
+    ///     Parses the name of the ROS distribution to return information about ros version
+    /// </summary>
+    /// <param name="name"></param>
+    /// <exception cref="IncorrectRosDistroNameException"></exception>
+    /// <returns></returns>
+    public static RosDistro FromName(string name)
+    {
+        var sanName = name.ToLower();
+        var distro = Distros.FirstOrDefault(d => d.Name.ToLower() == sanName);
+        return distro;
+    }
+
+    /// <summary>
+    ///     Return all possible ROS distribution names
+    /// </summary>
+    /// <returns></returns>
+    public static IReadOnlyList<string> GetRosDistroNames()
+    {
+        return Distros.Select(d => d.Name).ToList();
+    }
+
+    /// <summary>
+    ///     Return ROS distribution names for specified ROS version
+    /// </summary>
+    /// <returns></returns>
+    public static IReadOnlyList<string> GetRosDistroNamesByVersion(RosVersion rosVersion)
+    {
+        return Distros.Where(d => d.RosVersion == rosVersion).Select(d => d.Name).ToList();
+    }
+}

src/Models/Exceptions/IncorrectRosDistroNameException.cs

@@ -0,0 +1,9 @@
+namespace Middleware.Models.Exceptions;
+
+[Serializable]
+public class IncorrectRosDistroNameException : Exception
+{
+    public IncorrectRosDistroNameException() : base("Cannot identify ROS distribution with a given name.")
+    {
+    }
+}

src/Orchestrator/Controllers/HealthController.cs

@@ -1,46 +1,43 @@
 using System.Net;
 using Microsoft.AspNetCore.Mvc;
 
-namespace Middleware.Orchestrator.Controllers
+namespace Middleware.Orchestrator.Controllers;
+
+[Route("api/[controller]")]
+[ApiController]
+public class HealthController : ControllerBase
 {
-    [Route("api/[controller]")]
-    [ApiController]
-    public class HealthController : ControllerBase
-    {
-        private readonly HttpClient _client;
+    private readonly HttpClient _client;
 
-        public HealthController(IHttpClientFactory factory)
-        {
-            _client = factory.CreateClient("healthCheckClient");
-        }
+    public HealthController(IHttpClientFactory factory)
+    {
+        _client = factory.CreateClient("healthCheckClient");
+    }
 
-        [HttpGet(Name="OrchestratorHealthCheck")]
-        [ProducesResponseType((int)HttpStatusCode.OK)]
-        public IActionResult Get()
-        {
-            return Ok();
-        }
+    [HttpGet(Name = "OrchestratorHealthCheck")]
+    [ProducesResponseType((int)HttpStatusCode.OK)]
+    public IActionResult Get()
+    {
+        return Ok();
+    }
 
-        [HttpGet]
-        [Route("spec", Name = "GetOrchestratorSpec")]
-        [ProducesResponseType(typeof(string), (int)HttpStatusCode.OK)]
-        public async Task<IActionResult> GetSpec()
-        {
-            string path = string.Empty;
+    [HttpGet]
+    [Route("spec", Name = "GetOrchestratorSpec")]
+    [ProducesResponseType(typeof(string), (int)HttpStatusCode.OK)]
+    public async Task<IActionResult> GetSpec()
+    {
+        var path = string.Empty;
 #if DEBUG
-            var addresses = Environment.GetEnvironmentVariable("ASPNETCORE_URLS")?.Split(";");
-            if (addresses == null && Uri.IsWellFormedUriString(addresses[0], UriKind.RelativeOrAbsolute))
-            {
-                return NotFound();
-            }
+        var addresses = Environment.GetEnvironmentVariable("ASPNETCORE_URLS")?.Split(";");
+        if (addresses == null && Uri.IsWellFormedUriString(addresses![0], UriKind.RelativeOrAbsolute))
+            return NotFound();
 
-            _client.BaseAddress = new Uri(addresses[0]);
+        _client.BaseAddress = new(addresses[0]);
 
-            var bytes = await _client.GetByteArrayAsync("/swagger/v1/swagger.json");
-            path = Path.Combine(Directory.GetCurrentDirectory(), "OrchestratorSpec.json");
-            await System.IO.File.WriteAllBytesAsync(path, bytes);
+        var bytes = await _client.GetByteArrayAsync("/swagger/v1/swagger.json");
+        path = Path.Combine(Directory.GetCurrentDirectory(), "OrchestratorSpec.json");
+        await System.IO.File.WriteAllBytesAsync(path, bytes);
 #endif
-            return Ok(path);
-        }
+        return Ok(path);
     }
-}
+}

src/Orchestrator/Controllers/OrchestrateController.cs

@@ -105,10 +105,10 @@ public async Task<ActionResult<ActionPlanModel>> GetActionsByPlanId(Guid id)
     [HttpPatch]
     [Route("plan", Name = "UpdatePlan")]
     [ProducesResponseType(typeof(TaskModel), (int)HttpStatusCode.OK)]
-    public async Task<IActionResult> UpdatePlan([FromBody] TaskModel task)
+    public Task<IActionResult> UpdatePlan([FromBody] TaskModel task)
     {
         //TODO: redeploy services for new plan
-        return Ok(task);
+        return Task.FromResult<IActionResult>(Ok(task));
     }
 
     /// <summary>
@@ -120,10 +120,10 @@ public async Task<IActionResult> UpdatePlan([FromBody] TaskModel task)
     [Route("action/{id}", Name = "DeleteActionById")]
     [ProducesResponseType((int)HttpStatusCode.OK)]
     [ProducesResponseType((int)HttpStatusCode.NotFound)]
-    public async Task<IActionResult> DeleteActionById(Guid id)
+    public Task<IActionResult> DeleteActionById(Guid id)
     {
         // TODO: Delete action with specified Id
-        return Ok();
+        return Task.FromResult<IActionResult>(Ok());
     }
 
     /// <summary>
@@ -234,10 +234,10 @@ public async Task<ActionResult> DeletePlanById(Guid id)
     [HttpPost]
     [Route("execute")]
     [ProducesResponseType(typeof(List<InstanceModel>), (int)HttpStatusCode.OK)]
-    public async Task<IActionResult> InstantiateResources([FromBody] List<ActionModel> actions)
+    public Task<IActionResult> InstantiateResources([FromBody] List<ActionModel> actions)
     {
         //TODO: instantiate services for action
-        return Ok(new List<InstanceModel>());
+        return Task.FromResult<IActionResult>(Ok(new List<InstanceModel>()));
     }
 
     public record OrchestratorResourceInput(TaskModel Task, RobotModel Robot);