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Automatic merge from submit-queue First pass at CRI stream server library implementation This is a first pass at implementing a library for serving attach/exec/portforward calls from a CRI shim process as discussed in [CRI Streaming Requests](https://docs.google.com/document/d/1OE_QoInPlVCK9rMAx9aybRmgFiVjHpJCHI9LrfdNM_s/edit#). Remaining library work: - implement authn/z - implement `stayUp=false`, a.k.a. auto-stop the server once all connections are closed /cc @kubernetes/sig-node