Edge switchover extension work

[adrianLIrobotics]

Describe the solution you'd like The middleware should be able to allow the robot to use the cloud/edge switch over if a proactive replan is triggered. Switchover is also required for 5G slicing management and usage. Check what are the implications from the planning perspective.

Additional context Add any other context or screenshots about the feature request here.

[adrianLIrobotics]

@Artonus I think you had some notes and ideas to approach the switch over from the coding and design perspective. Can you upload them here? I think we can attach documentation or useful links to the issue ticket. Thanks!

[Artonus]

Attached is the image presenting the conceptual idea behind the switchover

• Each Middleware deployed in the Edge or Cloud has its Orchestrator responsible only for the deployment in its local k8s environment.
• To decide which Middleware to connect to, ActionServer will ask Central API and will test the connectivity to choose the best one based on some parameters.
• When the current Edge is unavailable, Action Server will request switchover (or when robot changes its location and new Edge is closer than the previous one)
• Task planning will decide the placement of the resource and will send the request to other Middleware instances to deploy specific resource.

[Artonus]

The Edge switchover should be handled in multiple steps:

1. Provide a MessageBus to send the requests to other instances of the Middleware
2. Working on a single location, change the connectivity between the TaskPlanner and Orchestrator to use MessageBus
3. Send the deployment requests to the single (local) Edge
4. Plan for work in a different location and send the request to the new Edge to deploy the desired resources
5. Define a way in which the Robot will request the switchover (possible connection with #51)
6. Specify a path in the Middleware to request the change to the specified location
7. Send the requests to deploy the desired resources from one Edge to another Edge through MessageBus
8. Upon receiving the confirmation that the request has been successfully processed and the service has been redeployed to a new location, delete the service from the current site (the action plan of the Robot should be updated automatically with the new address)
9. Inform the Robot that the switchover process has been completed and that it can use the new services

[Artonus]

Reopening as it has to be continued in the release v0.3