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Use secure gRPC channels for spot_wrapper.testing mocks (#103)
* Use secure gRPC channels for spot_wrapper.testing mocks Signed-off-by: Michel Hidalgo <[email protected]> * Please linters Signed-off-by: Michel Hidalgo <[email protected]> * Install certificates and key Signed-off-by: Michel Hidalgo <[email protected]> --------- Signed-off-by: Michel Hidalgo <[email protected]>
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‎setup.py

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version="1.0.0",
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description="Wrapper for Boston Dynamics Spot SDK",
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packages=find_packages(include=["spot_wrapper*"]),
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package_data={"spot_wrapper.testing.credentials": ["*.crt", "*.pem"]},
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install_requires=["bosdyn-client", "bosdyn-api", "bosdyn-mission", "bosdyn-core", "grpcio", "inflection", "pytest"],
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)

‎spot_wrapper/testing/credentials/__init__.py

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# Copyright (c) 2024 Boston Dynamics AI Institute LLC. See LICENSE file for more info.
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import dataclasses
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import pathlib
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import typing
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import pkg_resources
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@dataclasses.dataclass
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class SpotSSLCertificates:
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root_certificate_path: pathlib.Path
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robot_certificate_key_path: pathlib.Path
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robot_certificate_paths: typing.Sequence[pathlib.Path]
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DEFAULT_TESTING_CERTIFICATES = SpotSSLCertificates(
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robot_certificate_key_path=pathlib.Path(
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pkg_resources.resource_filename("spot_wrapper.testing.credentials", "robot.pem")
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),
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robot_certificate_paths=[
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pathlib.Path(pkg_resources.resource_filename("spot_wrapper.testing.credentials", certificate_filename))
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for certificate_filename in (
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"api.spot.robot.crt",
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"auth.spot.robot.crt",
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"id.spot.robot.crt",
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"payload-registration.spot.robot.crt",
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)
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],
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root_certificate_path=pathlib.Path(pkg_resources.resource_filename("spot_wrapper.testing.credentials", "ca.crt")),
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)

‎spot_wrapper/testing/credentials/api.spot.robot.crt

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-----BEGIN CERTIFICATE-----
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MIIE0TCCArkCAQEwDQYJKoZIhvcNAQELBQAwQjELMAkGA1UEBhMCVVMxCzAJBgNV
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-----END CERTIFICATE-----

‎spot_wrapper/testing/credentials/auth.spot.robot.crt

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-----BEGIN CERTIFICATE-----
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5YQhbp/5mwhjm3L+FAFFA/RP5CpIy0VUJqQs5pEXWuSqWrTc0v4=
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-----END CERTIFICATE-----

‎spot_wrapper/testing/credentials/ca.crt

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-----BEGIN CERTIFICATE-----
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-----END CERTIFICATE-----

‎spot_wrapper/testing/credentials/id.spot.robot.crt

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-----BEGIN CERTIFICATE-----
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-----END CERTIFICATE-----

‎spot_wrapper/testing/credentials/payload-registration.spot.robot.crt

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-----BEGIN CERTIFICATE-----
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25+
1y+ZqNeIlppAbpMJR83pbAiewihsD+1+nJ/paceCGqrqI6hSDPYlAUWelHvwmb5k
26+
gSss4F2F+N2MNu/L1B0a6v1YI0478IRHF/vvZCbDXUMefPqCmIvW+tsMv58jApop
27+
lgYviX3aJKO+NasNF/Lp5XUQMVOvF6ajLRaJPkWV6plenWr1DyhoP4kOZXY7Gpd9
28+
yJ3X4n2r
29+
-----END CERTIFICATE-----

‎spot_wrapper/testing/credentials/robot.pem

Lines changed: 52 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,52 @@
1+
-----BEGIN PRIVATE KEY-----
2+
MIIJQgIBADANBgkqhkiG9w0BAQEFAASCCSwwggkoAgEAAoICAQDafDjddyftz5pv
3+
GqphNphRSIX6/jTeH+l5sKGyVhC6d+k81GkRKptQ77XNtBovVg6SuE4Oi1poHwkG
4+
fvnODM6CEXb3MIBCKBpq8UNl+fP5DRnM1AksKVjRyq0kOELtNlWyfRuCnhHYVT5X
5+
oVL99Wrb6RfUbdMSx4Iu7U+A0GUsatOvMXAK3IItifHNm1PYdggZP/ZwMrm6Xky7
6+
HGN7k9wf3FEmAEpPJcswvA/+x0GGQnAESNbsaE26n5MgVSm9e45l9z5R4LtAyVnA
7+
YnuK7l2/5+brwBd70doq2cdmoyUxX2eK+91pojR2hVPe3avgoT0yYTvcd+ykkaJW
8+
B5tKIHgTSNactN3DsZD//d0s6pOP0yiRPSbqmC6GsGnDhjqLRsa/D6D7fc71Ymk+
9+
pv5WyHKB6Tl+q2j8eYkLYE8hCc0Y0F89Ph/yGG22CzW4v8tQrG+QLi/01AJjzGyb
10+
YeyV5OpuRsMKUlqTOtEssR82gCMYk1Qbo8DGGPbztdL9GaViLrykmyX2+j/On5RS
11+
0m4hSSIxCGuVjvYZz2oIvZbadRpnrIKCtwYLkkWXmGZi5YTlKDtHqlyti73FyOG0
12+
v+f6mCud2WxLncZ+4Db7dWGkO4z+pqtBfgv/wmb0/zY6oEpbX4dQchBo/i8Zt4Lp
13+
jwi1fq9yvE32BAC4EuE4GyCjU8UoAwIDAQABAoICAEAR7pEPWL+1wglzzeP9IRSx
14+
Ck0sz68Vt59Oa1SDRZuQ/24tsfPtRSeqa+t7NbSM7XAcKRO9zNC8zSZBBRtmCQb+
15+
fR8G842y+fBDeOrGLkPqEhdNVLVFGL1IzJZTA1lRtjbF1lPq67u/X61N6yr7FY+Q
16+
nsLWQ+/9XpFJWSeitRCd8R6uhjdBK9GT4rtTIfbXwg85gRis32cmMSUrsYazOPmE
17+
360fp6rnH9tWQvCJWQ84m2W+QHyKJ8Ui93+jSb69pWgEZZuYJgFdKnsuxiDbPtXA
18+
eSjIJ3rRcsNfIsjX7de5LQGGU4sfHHhnJ82yvqz8S5hjCC1iY5xs8qh8yY6mz974
19+
0/1l7VOUcwpaUp/F50wdtmhESdmZm8j3z9yGusb+yZ2hRVUddCKfTl+oPZ6gXayF
20+
J9wI/2O9wZVRS9zuvHXEWBn/vXAwLLElxGC+wH1Ovt5yvBLYqw9tsfRq0RoS0pBk
21+
JID6sY6sshlO3uYdTPoBCd7MWpW6UfO3h1+QtnQjvZmE2mZlxW/kw9zfrclpS265
22+
/O/7KQySAJ+MQ9BAnLB66LDVXdnSuRVOnJg39rO8S8GHR7RLWEDNcv4ds8GH5mJm
23+
OMVOFB6CXUTa3RcHPwWM7mA/0qfS/oQ7o2bTC5tKGYYGrjbCjhnP19cN7ag8a4pr
24+
S836i4z4Dv/UCVXRKEWVAoIBAQD9SOjZABropK2Ef8rhuGiH+X6hoezgWOVo1d5L
25+
yWACOCqbUD3bS/8BiDKg0Nnl0snwwwkLndZkL+gUxVr/O9u6k2R32h6Ww1JXEMYn
26+
XkY6u3z+Kful2aEbTf0hd5kbH+7PeW3JVAMdJ/mIYtMt7lQHRAPhquq+MLV3KHRF
27+
/Ytt16qjYVFqGvXVr4E4L4pbIE9XZ57hR7bXi9fUmG6voiRDkdbShAkqrnCprgHA
28+
Qex6GJwt7TcAB8ViN05cbYguvl0aL//dmb9aJK8BRPRhk/KpjFUvkhBpkVcTiCBl
29+
2j1cPEJ2WsDE5dg80xRkGZk+mUYbxs5LMHtFvkxPaC7n6ID/AoIBAQDc08/ferih
30+
8GhUA7Am/HDvmTXwANHmn9BtHElB4lms8QoaPiB7f8jSt1PhSh88VV15Lijwovv5
31+
sMW/LzDv3HWdAEdBv3oC4EKK+GdawWzkkFBBCIeiFrkoXA62kBwE59H1Af+0KCwd
32+
khofp7wXybGLlA3zhqWnfcyTFxvN0+Df3jnkv2AI0Qg0+VExPleJUCjDmGvDqpEz
33+
96p0Ws/NeeaIDEFGSopRwmdBLOjSGlCJHHi1Nf9Yu5Zp7o9hPEpVxE/MOjexKC2T
34+
8OogZLnB5uubdLRl1BKjPq+Z/YbDr8cxmrkMjNgKcJfNsQa3ZVdFvoA99Ao4Egb6
35+
d2vRkOh9VlT9AoIBAFxMV13MZgHlEL45+2qp0p3KU1T/NtzCSEcduHYRmgT1BsG2
36+
SfRCC1k5kol70gun9qLfz8oF6Hx14LLBAFoGLBofX/s05vS1lKnZmPv7pMf+Tpwo
37+
HGXhmo3iq52ogYia6GF+tH0rOj9Ds/D5Yk9YjBJhvLBdolFQWrBjc4uVy1tpverv
38+
qcVqsa7+163r1RVD/uWxAvrBMWX2td3o9lzWTzS4TnpEVzrQeom6uTSgUVZk5XTu
39+
/p3qNwmFce7Ik1nFURQb7beJMWvd9lAWGp/8U+9pDhnZtlVh+0NI1dWH49hatTV/
40+
+MNHprbzjHi1w1xGan/wwHgx4JoXsKM3KfCkj20CggEACODvS7H4eHJdD3uyem7N
41+
76Q+We7+gYJNdAWeIGsEZgKvAE0dKzoBDg/W7Ij5ZoicIIItnTdAYFKuMLiqBAre
42+
I7jeJJOZSUJRCptgNHLweOQghezc3zSAr1G8ObTjm4LimzJAYLL4yxuTt1AcLOys
43+
GcuTIAZ65JgXQJa+RHFPalDaDQtwxgn5hX+8tvkltdymNu8K7iwOeINttA3uqvlK
44+
vo+XlEbs9sqVMjanCcOLF2gwpkCMirnIG2w/EY7GAlrJRpHUqWfPJVKbZ0AFg/lP
45+
4ck4c5uqQCwGDW/3GikYHjN1Wz7SdOEACYIjnf4SGzjEmTkVrBl1dF6W1C86Wce9
46+
1QKCAQEAnDELx3aG4dX0sv6Ie0jaba34ILnjpMQ7lJmzCW+IIweRE2aaxmJIKUYK
47+
VjRaCG0SLoWqKgAio+BEpb8PuF0BjINC/e6kdf8LvyPEjdty1xda0fzX9SkIKKAd
48+
StG03AhK7FJSnGJ8OECiecyg48VXeGwGq8+4opZCHxbSKee4lVf0LAmGY81AIbVd
49+
MXhs4mCUZISXcyx282onkZ+xcPvd9oGk+499pSE9lSwCvThwocmCIkiH3bsO+eGC
50+
bSSqZg9VgwymMhDgIBDJm2cfIvtRZUeJUWsAiTjD7M0E5+c+RqPOHzPlxj50+ZfJ
51+
960g90lE5bLBOFWNQM4UxWWf9RqH9g==
52+
-----END PRIVATE KEY-----

‎spot_wrapper/testing/fixtures.py

Lines changed: 22 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -3,12 +3,16 @@
33
import concurrent.futures
44
import dataclasses
55
import functools
6-
import inspect
6+
import pathlib
77
import typing
88

99
import grpc
1010
import pytest
1111

12+
from spot_wrapper.testing.credentials import (
13+
DEFAULT_TESTING_CERTIFICATES,
14+
SpotSSLCertificates,
15+
)
1216
from spot_wrapper.testing.mocks import BaseMockSpot
1317

1418

@@ -25,6 +29,7 @@ class SpotFixture:
2529

2630
address: str
2731
port: int
32+
certificate_path: pathlib.Path
2833
api: BaseMockSpot
2934

3035

@@ -33,6 +38,7 @@ def fixture(
3338
*,
3439
address: str = "127.0.0.1",
3540
max_workers: int = 10,
41+
certificates: SpotSSLCertificates = DEFAULT_TESTING_CERTIFICATES,
3642
**kwargs: typing.Any,
3743
) -> typing.Callable:
3844
"""
@@ -54,35 +60,31 @@ def fixture(
5460
"""
5561

5662
def decorator(cls: typing.Type[BaseMockSpot]) -> typing.Callable:
57-
def fixturefunc(monkeypatch, **kwargs) -> typing.Iterator[SpotFixture]:
63+
def fixturefunc(**kwargs) -> typing.Iterator[SpotFixture]:
5864
with concurrent.futures.ThreadPoolExecutor(max_workers=max_workers) as thread_pool:
5965
server = grpc.server(thread_pool)
60-
port = server.add_insecure_port(f"{address}:0")
66+
robot_certificate_key = certificates.robot_certificate_key_path.read_bytes()
67+
server_credentials = grpc.ssl_server_credentials(
68+
[
69+
(robot_certificate_key, certificate_path.read_bytes())
70+
for certificate_path in certificates.robot_certificate_paths
71+
]
72+
)
73+
port = server.add_secure_port(f"{address}:0", server_credentials)
6174
with cls(**kwargs) as mock:
6275
mock.add_to(server)
6376
server.start()
6477
try:
65-
with monkeypatch.context() as m:
66-
67-
def mock_secure_channel(target, _, *args, **kwargs):
68-
return grpc.insecure_channel(target, *args, **kwargs)
69-
70-
m.setattr(grpc, "secure_channel", mock_secure_channel)
71-
yield SpotFixture(address=address, port=port, api=mock)
78+
yield SpotFixture(
79+
address=address,
80+
port=port,
81+
api=mock,
82+
certificate_path=certificates.root_certificate_path,
83+
)
7284
finally:
7385
server.stop(grace=None)
7486

7587
functools.update_wrapper(fixturefunc, cls)
76-
sig = inspect.signature(fixturefunc)
77-
if "monkeypatch" not in sig.parameters:
78-
sig = sig.replace(
79-
parameters=(
80-
inspect.Parameter("monkeypatch", inspect.Parameter.POSITIONAL_OR_KEYWORD),
81-
*sig.parameters.values(),
82-
)
83-
)
84-
fixturefunc.__signature__ = sig # noqa
85-
8688
return pytest.fixture(fixturefunc, **kwargs)
8789

8890
if cls is None:

‎spot_wrapper/tests/test_wrapper.py

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -60,6 +60,7 @@ def simple_spot_wrapper(simple_spot: SpotFixture) -> Iterator[SpotWrapper]:
6060
hostname=simple_spot.address,
6161
port=simple_spot.port,
6262
robot_name=simple_spot.api.name,
63+
cert_resource_glob=str(simple_spot.certificate_path),
6364
logger=logging.getLogger("spot"),
6465
)
6566
ok, message = spot_wrapper.claim()

‎spot_wrapper/wrapper.py

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -340,6 +340,7 @@ def __init__(
340340
continually_try_stand: bool = True,
341341
rgb_cameras: bool = True,
342342
payload_credentials_file: str = None,
343+
cert_resource_glob: typing.Optional[str] = None,
343344
) -> None:
344345
"""
345346
Args:
@@ -391,7 +392,7 @@ def __init__(
391392
self._command_data = RobotCommandData()
392393

393394
try:
394-
self._sdk = create_standard_sdk(SPOT_CLIENT_NAME)
395+
self._sdk = create_standard_sdk(SPOT_CLIENT_NAME, cert_resource_glob=cert_resource_glob)
395396
except Exception as e:
396397
self._logger.error("Error creating SDK object: %s", e)
397398
self._valid = False

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