Merge pull request #1 from kscalelabs/architecture_v1

Architecture v1

.github/workflows/publish.yml

@@ -27,10 +27,13 @@ jobs:
       - name: Checkout code
         uses: actions/checkout@v3
 
+      - name: Change directory
+        run: cd pykos
+
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
-          python-version: "3.11"
+          python-version: "3.8"
 
       - name: Install dependencies
         run: |

.github/workflows/test.yml

@@ -25,10 +25,13 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v3
 
+      - name: Change directory
+        run: cd pykos
+
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
-          python-version: "3.11"
+          python-version: "3.8"
 
       - name: Restore cache
         id: restore-cache

.gitignore

@@ -10,6 +10,11 @@ __pycache__/
 .pytest_cache/
 .ruff_cache/
 .dmypy.json
+venv/
+
+# python protobuf
+pykos/kos/
+!pykos/kos/__init__.py
 
 # Rust
 target/
@@ -18,6 +23,9 @@ Cargo.lock
 # Databases
 *.db
 
+# Gitlab
+.gitlab-ci-local/
+
 # Build artifacts
 build/
 dist/

.gitlab-ci-local-env

@@ -0,0 +1,6 @@
+PRIVILEGED=true
+ULIMIT=8000:16000
+VOLUME=certs:/certs/client
+VOLUME="/var/run/docker.sock:/var/run/docker.sock"
+VARIABLE="DOCKER_TLS_CERTDIR=/certs"
+NEEDS=true

.gitlab-ci-local-variables.yml

@@ -0,0 +1,2 @@
+TOOLCHAIN_IMAGE: "openlch-runtime-sdk"
+LOCAL_BUILD: true

.gitlab-ci.yml

@@ -0,0 +1,75 @@
+image: kos-builder:latest
+
+variables:
+  CARGO_HOME: $CI_PROJECT_DIR/.cargo
+  CARGO_TERM_COLOR: always
+  RUST_BACKTRACE: 1
+
+# Cache dependencies between builds
+cache:
+  paths:
+    - .cargo
+    - target/
+
+# Define stages
+stages:
+  - check
+  - test
+  - build
+
+# Check formatting and run clippy on all branches
+format:
+  stage: check
+  script:
+    - cargo fmt -- --check
+  rules:
+    - when: always
+
+clippy:
+  stage: check
+  script:
+    - cargo clippy -- -D warnings
+  rules:
+    - when: always
+
+# Test all features
+test:
+  stage: test
+  script:
+    - |
+      if [ "$GITLAB_CI" != "false" ]; then
+        # CI-specific test commands
+        cargo test --all-features --verbose
+      else
+        # Local test commands
+        cargo test
+      fi
+  rules:
+    - when: always
+
+# Build binaries only on tags/releases
+.build_template: &build_definition
+  stage: build
+  variables:
+    CROSS_REMOTE: 1
+  script:
+    - cross build --release --target $TARGET --features $FEATURES --no-default-features
+  artifacts:
+    paths:
+      - target/$TARGET/release/daemon
+  rules:
+    - if: $CI_COMMIT_TAG
+
+# Linux x86_64
+build-linux-x86_64-stub-release:
+  <<: *build_definition
+  variables:
+    TARGET: x86_64-unknown-linux-gnu
+    FEATURES: stub
+
+# Linux aarch64
+build-linux-aarch64-stub-release:
+  <<: *build_definition
+  variables:
+    TARGET: aarch64-unknown-linux-gnu
+    FEATURES: stub

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "protos/googleapis"]
+	path = proto/googleapis
+	url = https://github.com/googleapis/googleapis.git

Cargo.toml

@@ -1,18 +1,27 @@
 [workspace]
+resolver = "2"
 
 members = [
-    "kos/bindings",
-    "kos/kos",
+    "kos_core",
+    "daemon",
 ]
-resolver = "2"
 
-[workspace.package]
+exclude = [
+    "platforms",
+]
 
-version = "0.1.0"
-authors = ["Wesley Maa <[email protected]>", "Pawel Budzianowski <[email protected]>", "Benjamin Bolte <[email protected]>"]
+[workspace.package]
+version = "0.1.1"
+authors = [
+    "Benjamin Bolte <[email protected]>",
+    "Denys Bezmenov <[email protected]>",
+    "Jingxiang Mo <[email protected]>",
+    "Pawel Budzianowski <[email protected]>",
+    "Wesley Maa <[email protected]>",
+]
 edition = "2021"
 license = "MIT"
 repository = "https://github.com/kscalelabs/kos"
 description = "The K-Scale Operating System"
-documentation = "https://docs.kscale.dev/kos/intro"
+documentation = "https://docs.kscale.dev/os/intro"
 readme = "README.md"

Cross.toml

@@ -0,0 +1,6 @@
+[target.aarch64-unknown-linux-gnu]
+image = "ubuntu:24.04"
+pre-build = [
+    "apt-get update",
+    "apt-get install -y protobuf-compiler gcc-aarch64-linux-gnu g++-aarch64-linux-gnu build-essential"
+]

daemon/Cargo.toml

@@ -0,0 +1,30 @@
+[package]
+name = "daemon"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+kos_core = { path = "../kos_core" }
+kscale_micro = { path = "../platforms/kscale_micro", optional = true }
+tokio = { version = "1", features = ["full"] }
+tonic = { version = "0.12", features = ["transport"] }
+eyre = "0.6"
+tracing = "0.1"
+tracing-subscriber = { version = "0.3", features = ["env-filter"] }
+tower = "0.5"
+
+sim = { path = "../platforms/sim", optional = true }
+stub = { path = "../platforms/stub", optional = true }
+
+[target.'cfg(target_os = "linux")'.dependencies]
+kscale_pro = { path = "../platforms/kscale_pro", optional = true }
+
+# Also can add external platforms here?
+# e.g. third_party_platform = { git = "https://github.com/thirdparty/platform", optional = true }
+
+[features]
+kscale_micro = ["dep:kscale_micro"]
+kscale_pro = ["dep:kscale_pro"]
+sim = ["dep:sim"]
+stub = ["dep:stub"]
+default = ["stub"]

daemon/src/main.rs

@@ -0,0 +1,88 @@
+// TODO: Implement daemon for managing the robot.
+// This will run the gRPC server and, if applicable, a runtime loop
+// (e.g., actuator polling, loaded model inference).
+
+use eyre::Result;
+use kos_core::google_proto::longrunning::operations_server::OperationsServer;
+use kos_core::services::OperationsServiceImpl;
+use kos_core::telemetry::Telemetry;
+use kos_core::Platform;
+use kos_core::ServiceEnum;
+use std::collections::HashMap;
+use std::sync::Arc;
+use tokio::sync::Mutex;
+use tonic::transport::Server;
+use tracing::{debug, error, info};
+use tracing_subscriber::filter::EnvFilter;
+
+#[cfg(feature = "sim")]
+use sim::SimPlatform as PlatformImpl;
+
+#[cfg(feature = "stub")]
+use stub::StubPlatform as PlatformImpl;
+
+fn add_service_to_router(
+    router: tonic::transport::server::Router,
+    service: ServiceEnum,
+) -> tonic::transport::server::Router {
+    debug!("Adding service to router: {:?}", service);
+    match service {
+        ServiceEnum::Actuator(svc) => router.add_service(svc),
+        ServiceEnum::Imu(svc) => router.add_service(svc),
+    }
+}
+
+async fn run_server(
+    platform: &(dyn Platform + Send + Sync),
+    operations_service: Arc<OperationsServiceImpl>,
+) -> Result<(), Box<dyn std::error::Error>> {
+    let addr = "[::1]:50051".parse()?;
+    let mut server_builder = Server::builder();
+
+    let services = platform.create_services(operations_service.clone());
+
+    let operations_service = OperationsServer::new(operations_service);
+
+    let mut router = server_builder.add_service(operations_service);
+
+    // Add remaining services using the helper function
+    for service in services {
+        router = add_service_to_router(router, service);
+    }
+
+    info!("Serving on {}", addr);
+    // Serve the accumulated router
+    router.serve(addr).await?;
+    Ok(())
+}
+
+#[tokio::main]
+async fn main() -> Result<()> {
+    // logging
+    tracing_subscriber::fmt()
+        .with_env_filter(
+            EnvFilter::from_default_env()
+                .add_directive("h2=error".parse().unwrap())
+                .add_directive("grpc=error".parse().unwrap())
+                .add_directive("rumqttc=error".parse().unwrap())
+                .add_directive("kos_core::telemetry=error".parse().unwrap()),
+        )
+        .init();
+
+    // telemetry
+    Telemetry::initialize("test", "localhost", 1883).await?;
+
+    let operations_store = Arc::new(Mutex::new(HashMap::new()));
+    let operations_service = Arc::new(OperationsServiceImpl::new(operations_store));
+
+    let mut platform = PlatformImpl::new();
+
+    platform.initialize(operations_service.clone())?;
+
+    if let Err(e) = run_server(&platform, operations_service).await {
+        error!("Server error: {:?}", e);
+        std::process::exit(1);
+    }
+
+    Ok(())
+}