bdaiinstitute · mhidalgo-bdai · Apr 18, 2024 · Apr 12, 2024 · Apr 12, 2024 · Apr 12, 2024
@@ -5,5 +5,6 @@
     version="1.0.0",
     description="Wrapper for Boston Dynamics Spot SDK",
     packages=find_packages(include=["spot_wrapper*"]),
+    package_data={"spot_wrapper.testing.credentials": ["*.crt", "*.pem"]},
     install_requires=["bosdyn-client", "bosdyn-api", "bosdyn-mission", "bosdyn-core", "grpcio", "inflection", "pytest"],
 )
@@ -0,0 +1,31 @@
+# Copyright (c) 2024 Boston Dynamics AI Institute LLC. See LICENSE file for more info.
+
+import dataclasses
+import pathlib
+import typing
+
+import pkg_resources
+
+
+@dataclasses.dataclass
+class SpotSSLCertificates:
+    root_certificate_path: pathlib.Path
+    robot_certificate_key_path: pathlib.Path
+    robot_certificate_paths: typing.Sequence[pathlib.Path]
+
+
+DEFAULT_TESTING_CERTIFICATES = SpotSSLCertificates(
+    robot_certificate_key_path=pathlib.Path(
+        pkg_resources.resource_filename("spot_wrapper.testing.credentials", "robot.pem")
+    ),
+    robot_certificate_paths=[
+        pathlib.Path(pkg_resources.resource_filename("spot_wrapper.testing.credentials", certificate_filename))
+        for certificate_filename in (
+            "api.spot.robot.crt",
+            "auth.spot.robot.crt",
+            "id.spot.robot.crt",
+            "payload-registration.spot.robot.crt",
+        )
+    ],
+    root_certificate_path=pathlib.Path(pkg_resources.resource_filename("spot_wrapper.testing.credentials", "ca.crt")),
+)
@@ -0,0 +1,28 @@
+-----BEGIN CERTIFICATE-----
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+-----END CERTIFICATE-----
@@ -0,0 +1,28 @@
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+960g90lE5bLBOFWNQM4UxWWf9RqH9g==
+-----END PRIVATE KEY-----
@@ -3,12 +3,16 @@
 import concurrent.futures
 import dataclasses
 import functools
-import inspect
+import pathlib
 import typing
 
 import grpc
 import pytest
 
+from spot_wrapper.testing.credentials import (
+    DEFAULT_TESTING_CERTIFICATES,
+    SpotSSLCertificates,
+)
 from spot_wrapper.testing.mocks import BaseMockSpot
 
 
@@ -25,6 +29,7 @@ class SpotFixture:
 
     address: str
     port: int
+    certificate_path: pathlib.Path
     api: BaseMockSpot
 
 
@@ -33,6 +38,7 @@ def fixture(
     *,
     address: str = "127.0.0.1",
     max_workers: int = 10,
+    certificates: SpotSSLCertificates = DEFAULT_TESTING_CERTIFICATES,
     **kwargs: typing.Any,
 ) -> typing.Callable:
     """
@@ -54,35 +60,31 @@ def fixture(
     """
 
     def decorator(cls: typing.Type[BaseMockSpot]) -> typing.Callable:
-        def fixturefunc(monkeypatch, **kwargs) -> typing.Iterator[SpotFixture]:
+        def fixturefunc(**kwargs) -> typing.Iterator[SpotFixture]:
             with concurrent.futures.ThreadPoolExecutor(max_workers=max_workers) as thread_pool:
                 server = grpc.server(thread_pool)
-                port = server.add_insecure_port(f"{address}:0")
+                robot_certificate_key = certificates.robot_certificate_key_path.read_bytes()
+                server_credentials = grpc.ssl_server_credentials(
+                    [
+                        (robot_certificate_key, certificate_path.read_bytes())
+                        for certificate_path in certificates.robot_certificate_paths
+                    ]
+                )
+                port = server.add_secure_port(f"{address}:0", server_credentials)
                 with cls(**kwargs) as mock:
                     mock.add_to(server)
                     server.start()
                     try:
-                        with monkeypatch.context() as m:
-
-                            def mock_secure_channel(target, _, *args, **kwargs):
-                                return grpc.insecure_channel(target, *args, **kwargs)
-
-                            m.setattr(grpc, "secure_channel", mock_secure_channel)
-                            yield SpotFixture(address=address, port=port, api=mock)
+                        yield SpotFixture(
+                            address=address,
+                            port=port,
+                            api=mock,
+                            certificate_path=certificates.root_certificate_path,
+                        )
                     finally:
                         server.stop(grace=None)
 
         functools.update_wrapper(fixturefunc, cls)
-        sig = inspect.signature(fixturefunc)
-        if "monkeypatch" not in sig.parameters:
-            sig = sig.replace(
-                parameters=(
-                    inspect.Parameter("monkeypatch", inspect.Parameter.POSITIONAL_OR_KEYWORD),
-                    *sig.parameters.values(),
-                )
-            )
-            fixturefunc.__signature__ = sig  # noqa
-
         return pytest.fixture(fixturefunc, **kwargs)
 
     if cls is None:

@@ -60,6 +60,7 @@ def simple_spot_wrapper(simple_spot: SpotFixture) -> Iterator[SpotWrapper]:
         hostname=simple_spot.address,
         port=simple_spot.port,
         robot_name=simple_spot.api.name,
+        cert_resource_glob=str(simple_spot.certificate_path),
         logger=logging.getLogger("spot"),
     )
     ok, message = spot_wrapper.claim()

@@ -340,6 +340,7 @@ def __init__(
         continually_try_stand: bool = True,
         rgb_cameras: bool = True,
         payload_credentials_file: str = None,
+        cert_resource_glob: typing.Optional[str] = None,
     ) -> None:
         """
         Args:
@@ -391,7 +392,7 @@ def __init__(
         self._command_data = RobotCommandData()
 
         try:
-            self._sdk = create_standard_sdk(SPOT_CLIENT_NAME)
+            self._sdk = create_standard_sdk(SPOT_CLIENT_NAME, cert_resource_glob=cert_resource_glob)
         except Exception as e:
             self._logger.error("Error creating SDK object: %s", e)
             self._valid = False