sedna/pkg/globalmanager/jointinferenceservice.go

/*
Copyright 2021 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 globalmanager

import (
	"context"
	"encoding/json"
	"fmt"
	"strconv"
	"time"

	v1 "k8s.io/api/core/v1"
	"k8s.io/apimachinery/pkg/api/errors"
	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
	utilrand "k8s.io/apimachinery/pkg/util/rand"
	utilruntime "k8s.io/apimachinery/pkg/util/runtime"
	"k8s.io/apimachinery/pkg/util/wait"
	kubeinformers "k8s.io/client-go/informers"
	"k8s.io/client-go/kubernetes"
	"k8s.io/client-go/kubernetes/scheme"
	v1core "k8s.io/client-go/kubernetes/typed/core/v1"
	corelisters "k8s.io/client-go/listers/core/v1"
	"k8s.io/client-go/tools/cache"
	"k8s.io/client-go/tools/record"
	"k8s.io/client-go/util/workqueue"
	"k8s.io/klog/v2"
	k8scontroller "k8s.io/kubernetes/pkg/controller"

	sednav1 "github.com/kubeedge/sedna/pkg/apis/sedna/v1alpha1"
	clientset "github.com/kubeedge/sedna/pkg/client/clientset/versioned"
	sednaclientset "github.com/kubeedge/sedna/pkg/client/clientset/versioned/typed/sedna/v1alpha1"
	informers "github.com/kubeedge/sedna/pkg/client/informers/externalversions"
	sednav1listers "github.com/kubeedge/sedna/pkg/client/listers/sedna/v1alpha1"
	"github.com/kubeedge/sedna/pkg/globalmanager/config"
	messageContext "github.com/kubeedge/sedna/pkg/globalmanager/messagelayer/ws"
	"github.com/kubeedge/sedna/pkg/globalmanager/utils"
)

const (
	jointInferenceForEdge  = "Edge"
	jointInferenceForCloud = "Cloud"
)

// jointServiceControllerKind contains the schema.GroupVersionKind for this controller type.
var jointServiceControllerKind = sednav1.SchemeGroupVersion.WithKind("JointInferenceService")

// JointInferenceServiceController ensures that all JointInferenceService objects
// have corresponding pods to run their configured workload.
type JointInferenceServiceController struct {
	kubeClient kubernetes.Interface
	client     sednaclientset.SednaV1alpha1Interface

	// podStoreSynced returns true if the pod store has been synced at least once.
	podStoreSynced cache.InformerSynced
	// A store of pods
	podStore corelisters.PodLister

	// serviceStoreSynced returns true if the jointinferenceservice store has been synced at least once.
	serviceStoreSynced cache.InformerSynced
	// A store of service
	serviceLister sednav1listers.JointInferenceServiceLister

	// JointInferenceServices that need to be updated
	queue workqueue.RateLimitingInterface

	recorder record.EventRecorder

	cfg *config.ControllerConfig
}

// Start starts the main goroutine responsible for watching and syncing services.
func (jc *JointInferenceServiceController) Start() error {
	workers := 1
	stopCh := messageContext.Done()

	go func() {
		defer utilruntime.HandleCrash()
		defer jc.queue.ShutDown()
		klog.Infof("Starting joint inference service controller")
		defer klog.Infof("Shutting down joint inference service controller")

		if !cache.WaitForNamedCacheSync("jointinferenceservice", stopCh, jc.podStoreSynced, jc.serviceStoreSynced) {
			klog.Errorf("failed to wait for joint inferce service caches to sync")

			return
		}

		klog.Infof("Starting joint inference service workers")
		for i := 0; i < workers; i++ {
			go wait.Until(jc.worker, time.Second, stopCh)
		}

		<-stopCh
	}()
	return nil
}

// enqueueByPod enqueues the jointInferenceService object of the specified pod.
func (jc *JointInferenceServiceController) enqueueByPod(pod *v1.Pod, immediate bool) {
	controllerRef := metav1.GetControllerOf(pod)

	if controllerRef == nil {
		return
	}

	if controllerRef.Kind != jointServiceControllerKind.Kind {
		return
	}

	service, err := jc.serviceLister.JointInferenceServices(pod.Namespace).Get(controllerRef.Name)
	if err != nil {
		return
	}

	if service.UID != controllerRef.UID {
		return
	}

	jc.enqueueController(service, immediate)
}

// When a pod is created, enqueue the controller that manages it and update it's expectations.
func (jc *JointInferenceServiceController) addPod(obj interface{}) {
	pod := obj.(*v1.Pod)
	if pod.DeletionTimestamp != nil {
		// on a restart of the controller, it's possible a new pod shows up in a state that
		// is already pending deletion. Prevent the pod from being a creation observation.
		jc.deletePod(pod)
		return
	}

	// backoff to queue when PodFailed
	immediate := pod.Status.Phase != v1.PodFailed

	jc.enqueueByPod(pod, immediate)
}

// When a pod is updated, figure out what joint inference service manage it and wake them up.
func (jc *JointInferenceServiceController) updatePod(old, cur interface{}) {
	curPod := cur.(*v1.Pod)
	oldPod := old.(*v1.Pod)

	// no pod update, no queue
	if curPod.ResourceVersion == oldPod.ResourceVersion {
		return
	}

	jc.addPod(curPod)
}

// deletePod enqueues the jointinferenceservice obj When a pod is deleted
func (jc *JointInferenceServiceController) deletePod(obj interface{}) {
	pod, ok := obj.(*v1.Pod)

	// comment from https://github.com/kubernetes/kubernetes/blob/master/pkg/controller/job/job_controller.go

	// When a delete is dropped, the relist will notice a pod in the store not
	// in the list, leading to the insertion of a tombstone object which contains
	// the deleted key/value. Note that this value might be stale. If the pod
	// changed labels the new jointinferenceservice will not be woken up till the periodic resync.
	if !ok {
		tombstone, ok := obj.(cache.DeletedFinalStateUnknown)
		if !ok {
			klog.Warningf("couldn't get object from tombstone %+v", obj)
			return
		}
		pod, ok = tombstone.Obj.(*v1.Pod)
		if !ok {
			klog.Warningf("tombstone contained object that is not a pod %+v", obj)
			return
		}
	}
	jc.enqueueByPod(pod, true)
}

// obj could be an *sednav1.JointInferenceService, or a DeletionFinalStateUnknown marker item,
// immediate tells the controller to update the status right away, and should
// happen ONLY when there was a successful pod run.
func (jc *JointInferenceServiceController) enqueueController(obj interface{}, immediate bool) {
	key, err := k8scontroller.KeyFunc(obj)
	if err != nil {
		klog.Warningf("Couldn't get key for object %+v: %v", obj, err)
		return
	}

	backoff := time.Duration(0)
	if !immediate {
		backoff = getBackoff(jc.queue, key)
	}
	jc.queue.AddAfter(key, backoff)
}

// worker runs a worker thread that just dequeues items, processes them, and marks them done.
// It enforces that the sync is never invoked concurrently with the same key.
func (jc *JointInferenceServiceController) worker() {
	for jc.processNextWorkItem() {
	}
}

func (jc *JointInferenceServiceController) processNextWorkItem() bool {
	key, quit := jc.queue.Get()
	if quit {
		return false
	}
	defer jc.queue.Done(key)

	forget, err := jc.sync(key.(string))
	if err == nil {
		if forget {
			jc.queue.Forget(key)
		}
		return true
	}

	klog.Warningf("Error syncing jointinference service: %v", err)
	jc.queue.AddRateLimited(key)

	return true
}

// sync will sync the jointinferenceservice with the given key.
// This function is not meant to be invoked concurrently with the same key.
func (jc *JointInferenceServiceController) sync(key string) (bool, error) {
	startTime := time.Now()
	defer func() {
		klog.V(4).Infof("Finished syncing jointinference service %q (%v)", key, time.Since(startTime))
	}()

	ns, name, err := cache.SplitMetaNamespaceKey(key)
	if err != nil {
		return false, err
	}
	if len(ns) == 0 || len(name) == 0 {
		return false, fmt.Errorf("invalid jointinference service key %q: either namespace or name is missing", key)
	}
	sharedJointinferenceservice, err := jc.serviceLister.JointInferenceServices(ns).Get(name)
	if err != nil {
		if errors.IsNotFound(err) {
			klog.V(4).Infof("JointInferenceService has been deleted: %v", key)
			return true, nil
		}
		return false, err
	}

	jointinferenceservice := *sharedJointinferenceservice

	// if jointinferenceservice was finished previously, we don't want to redo the termination
	if isJointinferenceserviceFinished(&jointinferenceservice) {
		return true, nil
	}

	// set kind for jointinferenceservice in case that the kind is None
	// more details at https://github.com/kubernetes/kubernetes/issues/3030
	jointinferenceservice.SetGroupVersionKind(jointServiceControllerKind)

	selector, _ := GenerateSelector(&jointinferenceservice)
	pods, err := jc.podStore.Pods(jointinferenceservice.Namespace).List(selector)

	if err != nil {
		return false, err
	}

	klog.V(4).Infof("list jointinference service %v/%v, %v pods: %v", jointinferenceservice.Namespace, jointinferenceservice.Name, len(pods), pods)

	latestConditionLen := len(jointinferenceservice.Status.Conditions)

	active := calcActivePodCount(pods)
	var failed int32 = 0
	// neededCounts means that two pods should be created successfully in a jointinference service currently
	// two pods consist of edge pod and cloud pod
	var neededCounts int32 = 2
	// jointinferenceservice first start
	if jointinferenceservice.Status.StartTime == nil {
		now := metav1.Now()
		jointinferenceservice.Status.StartTime = &now
	} else {
		failed = neededCounts - active
	}

	var manageServiceErr error
	serviceFailed := false

	var latestConditionType sednav1.JointInferenceServiceConditionType = ""

	// get the latest condition type
	// based on that condition updated is appended, not inserted.
	jobConditions := jointinferenceservice.Status.Conditions
	if len(jobConditions) > 0 {
		latestConditionType = (jobConditions)[len(jobConditions)-1].Type
	}

	var newCondtionType sednav1.JointInferenceServiceConditionType
	var reason string
	var message string

	if failed > 0 {
		serviceFailed = true
		// TODO: get the failed worker, and knows that which worker fails, edge inference worker or cloud inference worker
		reason = "workerFailed"
		message = "the worker of Jointinferenceservice failed"
		newCondtionType = sednav1.JointInferenceServiceCondFailed
		jc.recorder.Event(&jointinferenceservice, v1.EventTypeWarning, reason, message)
	} else {
		if len(pods) == 0 {
			active, manageServiceErr = jc.createPod(&jointinferenceservice)
		}
		if manageServiceErr != nil {
			serviceFailed = true
			message = error.Error(manageServiceErr)
			newCondtionType = sednav1.JointInferenceServiceCondFailed
			failed = neededCounts - active
		} else {
			// TODO: handle the case that the pod phase is PodSucceeded
			newCondtionType = sednav1.JointInferenceServiceCondRunning
		}
	}

	//
	if newCondtionType != latestConditionType {
		jointinferenceservice.Status.Conditions = append(jointinferenceservice.Status.Conditions, NewJointInferenceServiceCondition(newCondtionType, reason, message))
	}
	forget := false

	// no need to update the jointinferenceservice if the status hasn't changed since last time
	if jointinferenceservice.Status.Active != active || jointinferenceservice.Status.Failed != failed || len(jointinferenceservice.Status.Conditions) != latestConditionLen {
		jointinferenceservice.Status.Active = active
		jointinferenceservice.Status.Failed = failed

		if err := jc.updateStatus(&jointinferenceservice); err != nil {
			return forget, err
		}

		if serviceFailed && !isJointinferenceserviceFinished(&jointinferenceservice) {
			// returning an error will re-enqueue jointinferenceservice after the backoff period
			return forget, fmt.Errorf("failed pod(s) detected for jointinference service key %q", key)
		}

		forget = true
	}

	return forget, manageServiceErr
}

// NewJointInferenceServiceCondition creates a new joint condition
func NewJointInferenceServiceCondition(conditionType sednav1.JointInferenceServiceConditionType, reason, message string) sednav1.JointInferenceServiceCondition {
	return sednav1.JointInferenceServiceCondition{
		Type:               conditionType,
		Status:             v1.ConditionTrue,
		LastHeartbeatTime:  metav1.Now(),
		LastTransitionTime: metav1.Now(),
		Reason:             reason,
		Message:            message,
	}
}

func (jc *JointInferenceServiceController) updateStatus(jointinferenceservice *sednav1.JointInferenceService) error {
	serviceClient := jc.client.JointInferenceServices(jointinferenceservice.Namespace)
	var err error
	for i := 0; i <= statusUpdateRetries; i = i + 1 {
		var newJointinferenceservice *sednav1.JointInferenceService
		newJointinferenceservice, err = serviceClient.Get(context.TODO(), jointinferenceservice.Name, metav1.GetOptions{})
		if err != nil {
			break
		}
		newJointinferenceservice.Status = jointinferenceservice.Status
		if _, err = serviceClient.UpdateStatus(context.TODO(), newJointinferenceservice, metav1.UpdateOptions{}); err == nil {
			break
		}
	}
	return nil
}

func isJointinferenceserviceFinished(j *sednav1.JointInferenceService) bool {
	for _, c := range j.Status.Conditions {
		if (c.Type == sednav1.JointInferenceServiceCondFailed) && c.Status == v1.ConditionTrue {
			return true
		}
	}
	return false
}

func (jc *JointInferenceServiceController) createPod(service *sednav1.JointInferenceService) (active int32, err error) {
	active = 0

	// create cloud worker
	err = jc.createCloudWorker(service)
	if err != nil {
		return active, err
	}
	active++

	// create kubernetesService for cloudPod, and get bigServicePort for edgePod
	var bigServicePort int32
	// FIXME(llhuii): only the case that Spec.NodeName specified is support,
	// will support Spec.NodeSelector.
	bigModelIP, err := GetNodeIPByName(jc.kubeClient, service.Spec.CloudWorker.Template.Spec.NodeName)
	bigServicePort, err = CreateKubernetesService(jc.kubeClient, service, bigModelPort, bigModelIP)
	if err != nil {
		return active, err
	}

	// create edge worker
	err = jc.createEdgeWorker(service, bigServicePort)
	if err != nil {
		return active, err
	}
	active++

	return active, err
}

func (jc *JointInferenceServiceController) createCloudWorker(service *sednav1.JointInferenceService) error {
	// deliver pod for cloudworker
	cloudModelName := service.Spec.CloudWorker.Model.Name
	cloudModel, err := jc.client.Models(service.Namespace).Get(context.Background(), cloudModelName, metav1.GetOptions{})
	if err != nil {
		return fmt.Errorf("failed to get cloud model %s: %w",
			cloudModelName, err)
	}

	var workerParam WorkerParam

	workerParam.mounts = append(workerParam.mounts, WorkerMount{
		URL:     &MountURL{URL: cloudModel.Spec.URL},
		Name:    "model",
		EnvName: "MODEL_URL",
	})

	workerParam.env = map[string]string{
		"NAMESPACE":    service.Namespace,
		"SERVICE_NAME": service.Name,
		"WORKER_NAME":  "cloudworker-" + utilrand.String(5),

		"BIG_MODEL_BIND_PORT": strconv.Itoa(int(bigModelPort)),
	}

	workerParam.workerType = jointInferenceForCloud

	// create cloud pod
	_, err = createPodWithTemplate(jc.kubeClient,
		service,
		&service.Spec.CloudWorker.Template,
		&workerParam)
	return err
}

func (jc *JointInferenceServiceController) createEdgeWorker(service *sednav1.JointInferenceService, bigServicePort int32) error {
	// deliver pod for edgeworker
	ctx := context.Background()
	edgeModelName := service.Spec.EdgeWorker.Model.Name
	edgeModel, err := jc.client.Models(service.Namespace).Get(ctx, edgeModelName, metav1.GetOptions{})
	if err != nil {
		return fmt.Errorf("failed to get edge model %s: %w",
			edgeModelName, err)
	}

	// FIXME(llhuii): only the case that Spec.NodeName specified is support,
	// will support Spec.NodeSelector.
	// get bigModelIP from nodeName in cloudWorker
	bigModelIP, err := GetNodeIPByName(jc.kubeClient, service.Spec.CloudWorker.Template.Spec.NodeName)
	if err != nil {
		return fmt.Errorf("failed to get node ip: %w", err)
	}

	edgeWorker := service.Spec.EdgeWorker
	HEMParameterJSON, _ := json.Marshal(edgeWorker.HardExampleMining.Parameters)
	HEMParameterString := string(HEMParameterJSON)

	var workerParam WorkerParam

	workerParam.mounts = append(workerParam.mounts, WorkerMount{
		URL:     &MountURL{URL: edgeModel.Spec.URL},
		Name:    "model",
		EnvName: "MODEL_URL",
	})

	workerParam.env = map[string]string{
		"NAMESPACE":    service.Namespace,
		"SERVICE_NAME": service.Name,
		"WORKER_NAME":  "edgeworker-" + utilrand.String(5),

		"BIG_MODEL_IP":   bigModelIP,
		"BIG_MODEL_PORT": strconv.Itoa(int(bigServicePort)),

		"HEM_NAME":       edgeWorker.HardExampleMining.Name,
		"HEM_PARAMETERS": HEMParameterString,

		"LC_SERVER": jc.cfg.LC.Server,
	}

	workerParam.workerType = jointInferenceForEdge
	workerParam.hostNetwork = true

	// create edge pod
	_, err = createPodWithTemplate(jc.kubeClient,
		service,
		&service.Spec.EdgeWorker.Template,
		&workerParam)
	return err
}

// GetName returns the name of the joint inference controller
func (jc *JointInferenceServiceController) GetName() string {
	return "JointInferenceServiceController"
}

// NewJointController creates a new JointInferenceService controller that keeps the relevant pods
// in sync with their corresponding JointInferenceService objects.
func NewJointController(cfg *config.ControllerConfig) (FeatureControllerI, error) {
	var err error
	namespace := cfg.Namespace
	if namespace == "" {
		namespace = metav1.NamespaceAll
	}

	kubeClient, _ := utils.KubeClient()
	kubecfg, _ := utils.KubeConfig()
	crdclient, _ := clientset.NewForConfig(kubecfg)
	kubeInformerFactory := kubeinformers.NewSharedInformerFactoryWithOptions(kubeClient, time.Second*30, kubeinformers.WithNamespace(namespace))

	podInformer := kubeInformerFactory.Core().V1().Pods()

	serviceInformerFactory := informers.NewSharedInformerFactoryWithOptions(crdclient, time.Second*30, informers.WithNamespace(namespace))
	serviceInformer := serviceInformerFactory.Sedna().V1alpha1().JointInferenceServices()

	eventBroadcaster := record.NewBroadcaster()
	eventBroadcaster.StartRecordingToSink(&v1core.EventSinkImpl{Interface: kubeClient.CoreV1().Events("")})

	jc := &JointInferenceServiceController{
		kubeClient: kubeClient,
		client:     crdclient.SednaV1alpha1(),

		queue:    workqueue.NewNamedRateLimitingQueue(workqueue.NewItemExponentialFailureRateLimiter(DefaultBackOff, MaxBackOff), "jointinferenceservice"),
		recorder: eventBroadcaster.NewRecorder(scheme.Scheme, v1.EventSource{Component: "jointinferenceservice-controller"}),
		cfg:      cfg,
	}

	serviceInformer.Informer().AddEventHandler(cache.ResourceEventHandlerFuncs{
		AddFunc: func(obj interface{}) {
			jc.enqueueController(obj, true)
		},

		UpdateFunc: func(old, cur interface{}) {
			jc.enqueueController(cur, true)
		},

		DeleteFunc: func(obj interface{}) {
			jc.enqueueController(obj, true)
		},
	})

	jc.serviceLister = serviceInformer.Lister()
	jc.serviceStoreSynced = serviceInformer.Informer().HasSynced

	podInformer.Informer().AddEventHandler(cache.ResourceEventHandlerFuncs{
		AddFunc:    jc.addPod,
		UpdateFunc: jc.updatePod,
		DeleteFunc: jc.deletePod,
	})

	jc.podStore = podInformer.Lister()
	jc.podStoreSynced = podInformer.Informer().HasSynced

	stopCh := messageContext.Done()
	kubeInformerFactory.Start(stopCh)
	serviceInformerFactory.Start(stopCh)
	return jc, err
}