Help getting this going #1

kaspesla · 2022-10-14T15:11:18Z

Hello Theo,
This module looks awesome and we're excited to try this out here at Code & Circuit. I've got it installed but we're running into a grpc error running hello_spot.js.
Do you have any ideas what this means?
Thanks!
-Ken

Pensez à retirer le log du catch
Error: 13 INTERNAL: Received RST_STREAM with code 2 triggered by internal client error: Protocol error
at Object.callErrorFromStatus (/Users/ken/Downloads/spot-sdk-js-main 2/node_modules/@grpc/grpc-js/build/src/call.js:31:19)
at Object.onReceiveStatus (/Users/ken/Downloads/spot-sdk-js-main 2/node_modules/@grpc/grpc-js/build/src/client.js:195:52)
at Object.onReceiveStatus (/Users/ken/Downloads/spot-sdk-js-main 2/node_modules/@grpc/grpc-js/build/src/client-interceptors.js:365:141)
at Object.onReceiveStatus (/Users/ken/Downloads/spot-sdk-js-main 2/node_modules/@grpc/grpc-js/build/src/client-interceptors.js:328:181)
at /Users/ken/Downloads/spot-sdk-js-main 2/node_modules/@grpc/grpc-js/build/src/call-stream.js:188:78
at processTicksAndRejections (node:internal/process/task_queues:78:11)
for call at
at ServiceClientImpl.makeUnaryRequest (/Users/ken/Downloads/spot-sdk-js-main 2/node_modules/@grpc/grpc-js/build/src/client.js:163:34)
at ServiceClientImpl.getAuthToken (/Users/ken/Downloads/spot-sdk-js-main 2/node_modules/@grpc/grpc-js/build/src/make-client.js:105:19)
at /Users/ken/Downloads/spot-sdk-js-main 2/bosdyn-client/common.js:281:9
at new Promise (<anonymous>)
at AuthClient.#make (/Users/ken/Downloads/spot-sdk-js-main 2/bosdyn-client/common.js:278:12)
at AuthClient.call (/Users/ken/Downloads/spot-sdk-js-main 2/bosdyn-client/common.js:332:34)
at AuthClient.auth (/Users/ken/Downloads/spot-sdk-js-main 2/bosdyn-client/auth.js:128:17)
at Robot.authenticate (/Users/ken/Downloads/spot-sdk-js-main 2/bosdyn-client/robot.js:302:42)
at processTicksAndRejections (node:internal/process/task_queues:96:5)
at async hello_spot (/Users/ken/Downloads/spot-sdk-js-main 2/examples/hello_spot/hello_spot.js:25:3) {
  code: 13,
details: 'Received RST_STREAM with code 2 triggered by internal client error: Protocol error',
metadata: Metadata { internalRepr: Map(0) {}, options: {} 
}
}

The text was updated successfully, but these errors were encountered:

TheoPierne · 2022-10-15T18:55:42Z

Hello 👋,
I'm glad that you have an interest in this module!

Do you have any ideas what this means?

After some research I found out this error can throw when an internal error occurred with the server (spot), in our case I think it's just an error in the code :

spot-sdk-js/bosdyn-client/robot.js

Line 300 in cdde8b9

    
           const auth_channel = this.ensure_insecure_channel(this._bootstrap_service_authorities[default_service_name]);

For testing purpose I used ensure_insecure_channel but we would use ensure_secure_channel instead.
ensure_insecure_channel don't create the required credentials to communicate with the robot, so basically maybe the connection cannot be correctly established between the client and the robot.

I will patch it soon, if you have any other problem let me know!

P.S.: Sorry if my English isn't good.

TheoPierne · 2022-10-15T19:29:19Z

It's now fixed (I hope), tell me if this fix the problem!

kaspesla · 2022-10-16T02:02:17Z

Thanks! I’ll give it a try next week. Regards, Ken

…

On Oct 15, 2022, at 3:29 PM, Théo Pierné ***@***.***> wrote: It's now fixed (I hope), tell me if this fix the problem! — Reply to this email directly, view it on GitHub <#1 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AADS2PHONIQ47QYRJMTL5A3WDMAZTANCNFSM6AAAAAARFKSPXY>. You are receiving this because you authored the thread.

kaspesla · 2022-10-17T14:51:42Z

Unfortunately, it's still getting the same error.
At least I think it is the same. Here is the whole output.
Let me know if I can help troubleshoot.
Best Regards,
Ken

ken@lll spot-sdk-js % node examples/hello_spot/hello_spot.js --username spot --password my password -v 192.168.80.3
[2022-10-17 10:46:38] [debug] [SDK]: [SDK] Creating standard Sdk, cert glob: "undefined" 
Pensez à modifier authenticate dans le fichier robot.js
[2022-10-17 10:46:38] [debug] [HelloSpotClient]: [ROBOT] Created channel to 192.168.80.3 at port 443 with authority auth.spot.robot 
[2022-10-17 10:46:38] [debug] [HelloSpotClient]: [ROBOT] Created client for auth 
Pensez à modif common.js pour retirer insecure credentials
[2022-10-17 10:46:38] [debug] [HelloSpotClient]: [COMMON] blocking request: /bosdyn.api.AuthService/GetAuthToken 
{"header":{"requestTimestamp":{"seconds":1666017998,"nanos":686000128},"clientName":"HelloSpotClientlll.local:sdk.js-46882","disableRpcLogging":false},"username":"spot","password":"mypassword","token":"","applicationToken":""}
 
Pensez à retirer le log du catch
Error: 13 INTERNAL: Received RST_STREAM with code 2 triggered by internal client error: Protocol error
    at Object.callErrorFromStatus (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/call.js:31:19)
    at Object.onReceiveStatus (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/client.js:195:52)
    at Object.onReceiveStatus (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/client-interceptors.js:365:141)
    at Object.onReceiveStatus (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/client-interceptors.js:328:181)
    at /Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/call-stream.js:188:78
    at processTicksAndRejections (node:internal/process/task_queues:78:11)
for call at
    at ServiceClientImpl.makeUnaryRequest (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/client.js:163:34)
    at ServiceClientImpl.getAuthToken (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/make-client.js:105:19)
    at /Users/ken/Sandbox/spot-sdk-js/bosdyn-client/common.js:281:9
    at new Promise (<anonymous>)
    at AuthClient.#make (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/common.js:278:12)
    at AuthClient.call (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/common.js:332:34)
    at AuthClient.auth (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/auth.js:128:17)
    at Robot.authenticate (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/robot.js:296:42)
    at processTicksAndRejections (node:internal/process/task_queues:96:5)
    at async hello_spot (/Users/ken/Sandbox/spot-sdk-js/examples/hello_spot/hello_spot.js:25:3) {
  code: 13,
  details: 'Received RST_STREAM with code 2 triggered by internal client error: Protocol error',
  metadata: Metadata { internalRepr: Map(0) {}, options: {} }
}
Unclassified exception: Received RST_STREAM with code 2 triggered by internal client error: Protocol error
/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/channel.js:196
  return new RpcError(msg);
         ^

RpcError: Received RST_STREAM with code 2 triggered by internal client error: Protocol error
    at translate_exception (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/channel.js:196:10)
    at AuthClient.call (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/common.js:341:13)
    at processTicksAndRejections (node:internal/process/task_queues:96:5)
    at async Robot.authenticate (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/robot.js:296:24)
    at async hello_spot (/Users/ken/Sandbox/spot-sdk-js/examples/hello_spot/hello_spot.js:25:3)
    at async main (/Users/ken/Sandbox/spot-sdk-js/examples/hello_spot/hello_spot.js:129:3)

TheoPierne · 2022-10-18T11:02:49Z

I made some research and I found out that can be a problem with the SSL encryption caused by a bad using of the SSL certificate in the code, I started working on a fix but I don't know when I'll be done.

I'll let you know when I finish it!

TheoPierne · 2022-10-21T06:39:15Z

Hello,

I just made some fixes, let me know if this changes anything. If you encounter bugs let me know and send me in this issue, the version of his software.

Have a good day!

kaspesla · 2022-10-21T14:25:33Z

Good morning! I'm getting a different error now. Let me know if there's anything you want me to try on this end.

One of the students here is trying to do a similar thing but with C#. He has not got it completely working yet but he's gotten beyond the GPRC authentication steps so maybe he can look at your code and provide some suggestions as far as how to create the authentication channels and provide the certificates properly. I'l ask him on Wednesday.

[2022-10-21 10:12:54] [debug] [SDK]: [SDK] Creating standard Sdk, cert glob: "undefined" 
[2022-10-21 10:12:54] [debug] [HelloSpotClient]: [ROBOT] Created channel to 192.168.80.3 at port 443 with authority auth.spot.robot 
[2022-10-21 10:12:54] [debug] [HelloSpotClient]: [ROBOT] Created client for auth 
[2022-10-21 10:12:54] [debug] [HelloSpotClient]: [COMMON] blocking request: /bosdyn.api.AuthService/GetAuthToken 
{"header":{"requestTimestamp":{"seconds":1666361574,"nanos":696000000},"clientName":"HelloSpotClientlll.local:sdk.js-60476","disableRpcLogging":false},"username":"spot","password":"mypassword","token":"","applicationToken":""}
 
(node:60476) [DEP0123] DeprecationWarning: Setting the TLS ServerName to an IP address is not permitted by RFC 6066. This will be ignored in a future version.
(Use `node --trace-deprecation ...` to show where the warning was created)
Pensez à retirer le log du catch
Error: 14 UNAVAILABLE: No connection established
    at Object.callErrorFromStatus (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/call.js:31:19)
    at Object.onReceiveStatus (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/client.js:195:52)
    at Object.onReceiveStatus (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/client-interceptors.js:365:141)
    at Object.onReceiveStatus (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/client-interceptors.js:328:181)
    at /Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/call-stream.js:188:78
    at processTicksAndRejections (node:internal/process/task_queues:78:11)
for call at
    at ServiceClientImpl.makeUnaryRequest (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/client.js:163:34)
    at ServiceClientImpl.getAuthToken (/Users/ken/Sandbox/spot-sdk-js/node_modules/@grpc/grpc-js/build/src/make-client.js:105:19)
    at /Users/ken/Sandbox/spot-sdk-js/bosdyn-client/common.js:279:9
    at new Promise (<anonymous>)
    at AuthClient.#make (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/common.js:276:12)
    at AuthClient.call (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/common.js:330:34)
    at AuthClient.auth (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/auth.js:128:17)
    at Robot.authenticate (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/robot.js:296:42)
    at processTicksAndRejections (node:internal/process/task_queues:96:5)
    at async hello_spot (/Users/ken/Sandbox/spot-sdk-js/examples/hello_spot/hello_spot.js:25:3) {
  code: 14,
  details: 'No connection established',
  metadata: Metadata { internalRepr: Map(0) {}, options: {} }
}
/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/channel.js:202
    return new UnableToConnectToRobotError(msg);
           ^

UnableToConnectToRobotError: No connection established
    at translate_exception (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/channel.js:202:12)
    at AuthClient.call (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/common.js:339:13)
    at processTicksAndRejections (node:internal/process/task_queues:96:5)
    at async Robot.authenticate (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/robot.js:296:24)
    at async hello_spot (/Users/ken/Sandbox/spot-sdk-js/examples/hello_spot/hello_spot.js:25:3)
    at async main (/Users/ken/Sandbox/spot-sdk-js/examples/hello_spot/hello_spot.js:129:3)

TheoPierne · 2022-10-24T11:48:42Z

Hey !

I notice I didn't pass the good credentials and options to the stub constructor

spot-sdk-js/bosdyn-client/common.js

Lines 215 to 221 in 47edcfc

    
           set channel(channel) { 
        
             this._channel = channel; 
        
             this._stub = new this._stub_creation_func( 
        
               channel.target.path, 
        
               channel.credentials.channelCredentials, 
        
             ); 
        
           }

I think it should work now 🤞

spot-sdk-js/bosdyn-client/common.js

Lines 215 to 222 in 51c93ef

    
           set channel(channel) { 
        
             this._channel = channel; 
        
             this._stub = new this._stub_creation_func( 
        
               channel.target.path, 
        
               channel.credentials, 
        
               channel.options, 
        
             ); 
        
           }

In case my modification didn't fix it, add this to the environment variables, rerun hello_spot.js and copy paste the terminal in this issue, it will provide me more details logs from GRPC.

Linux:

export GRPC_HELLO_SECURE=Y
export GRPC_TRACE=subchannel
export GRPC_VERBOSITY=DEBUG

Windows:

set GRPC_HELLO_SECURE=Y
set GRPC_TRACE=subchannel
set GRPC_VERBOSITY=DEBUG

One of the students here is trying to do a similar thing but with C#. He has not got it completely working yet but he's gotten beyond the GPRC authentication steps so maybe he can look at your code and provide some suggestions as far as how to create the authentication channels and provide the certificates properly. I'l ask him on Wednesday.

No problem, I appreciate your help !

kaspesla · 2022-10-26T22:30:49Z

Hey we have some progress.
It gets the channels connected! auth, e_stop and power.
The motor fans power on now and it sounds like it's starting up, but then after a few seconds it gets this error:

lots of output repeating the PowerCommandFeedback messages over and over again and then it throws. It must be getting null back from the power_command_feedback


-91
[2022-10-26 17:58:05] [debug] [HelloSpotClient]: [COMMON] blocking request: /bosdyn.api.PowerService/PowerCommandFeedback 
{"header":{"requestTimestamp":{"seconds":1666821485,"nanos":349999872},"clientName":"HelloSpotClientlll.local:sdk.js-78339","disableRpcLogging":false},"powerCommandId":6}
 
[2022-10-26 17:58:05] [debug] [HelloSpotClient]: [COMMON] response: /bosdyn.api.PowerService/PowerCommandFeedback 
{"header":{"requestHeader":{"requestTimestamp":{"seconds":1666821485,"nanos":349999872},"clientName":"HelloSpotClientlll.local:sdk.js-78339","disableRpcLogging":false},"requestReceivedTimestamp":{"seconds":1666821772,"nanos":962526274},"responseTimestamp":{"seconds":1666821773,"nanos":62624314},"error":{"code":1,"message":""},"request":{"typeUrl":"type.googleapis.com/bosdyn.api.PowerCommandFeedbackRequest","value":"CjUKDAjt2uaaBhCApvKmARIlSGVsbG9TcG90Q2xpZW50bGxsLmxvY2FsOnNkay5qcy03ODMzORAG"}},"status":11,"blockingFaultsList":[]}
 
CommandTimedOutError: TypeError: Cannot read properties of undefined (reading '0')
    at _power_command (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/power.js:439:15)
    at processTicksAndRejections (node:internal/process/task_queues:96:5)
    at async power_on_motors (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/power.js:248:3)
    at async power_on (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/power.js:226:3)
    at async Robot.power_on (/Users/ken/Sandbox/spot-sdk-js/bosdyn-client/robot.js:456:5)
    at async hello_spot (/Users/ken/Sandbox/spot-sdk-js/examples/hello_spot/hello_spot.js:40:5)
    at async main (/Users/ken/Sandbox/spot-sdk-js/examples/hello_spot/hello_spot.js:129:3) {
  response: null
}
[2022-10-26 17:58:05] [debug] [HelloSpotClient]: [COMMON] blocking request: /bosdyn.api.LeaseService/ReturnLease 
{"header":{"requestTimestamp":{"seconds":1666821485,"nanos":470000128},"clientName":"HelloSpotClientlll.local:sdk.js-78339","disableRpcLogging":false},"lease":{"resource":"body","epoch":"WTScUxIROJsvXnlo","sequenceList":[10],"clientNamesList":["root"]}}
 
[2022-10-26 17:58:05] [debug] [HelloSpotClient]: [COMMON] response: /bosdyn.api.LeaseService/ReturnLease 
{"header":{"requestHeader":{"requestTimestamp":{"seconds":1666821485,"nanos":470000128},"clientName":"HelloSpotClientlll.local:sdk.js-78339","disableRpcLogging":false},"requestReceivedTimestamp":{"seconds":1666821773,"nanos":79762367},"responseTimestamp":{"seconds":1666821773,"nanos":79975119},"error":{"code":1,"message":""},"request":{"typeUrl":"type.googleapis.com/bosdyn.api.ReturnLeaseRequest","value":"CjUKDAjt2uaaBhCAxI7gARIlSGVsbG9TcG90Q2xpZW50bGxsLmxvY2FsOnNkay5qcy03ODMzORIhCgRib2R5EhBXVFNjVXhJUk9Kc3ZYbmxvGgEKIgRyb290"}},"status":1}
 
oui time sync
oui token

TheoPierne · 2022-10-28T12:06:02Z

Hey, I'm glad my previous fix is working!

I pushed a fix for the TypeError in power.js : bc1b896

If you find any other bug, let me know! (Maybe close this issue and create others one if needed)

kaspesla · 2022-10-28T14:08:35Z

Will try it as soon as possible. Spot is out on a trip today :)

TheoPierne · 2022-10-28T14:54:58Z

Also don't forget to run an estop when running hello_spot.js
(https://github.com/TheoPierne/spot-sdk-js/tree/main/examples/hello_spot#common-problems)

Maybe use the official one, my version of the estop doesn't work well.

Spot is out on a trip today :)

Well have a good trip Spot!

TheoPierne added the bug Something isn't working label Oct 15, 2022

TheoPierne added a commit that referenced this issue Oct 15, 2022

fix(#1): Use secure channel in authentication method

86463a6

TheoPierne mentioned this issue Oct 15, 2022

Use secure channel in authentication method #2

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Help getting this going #1

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Help getting this going #1

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