Merge pull request #12 from wandelbotsgmbh/feature/oauth

Feature/oauth

.github/workflows/check.yml

@@ -25,7 +25,7 @@ jobs:
           poetry install
           mkdir envs
           touch envs/.env.tests
-          echo "WANDELAPI_BASE_URL=test.instance.wandelbots.io" > envs/.env.tests
+          echo "WANDELAPI_BASE_URL=test.instance.mock.io" > envs/.env.tests
           echo "CELL_ID=cell" >> envs/.env.tests
           echo "MOTION_GROUP=0@virtual-robot" >> envs/.env.tests
           echo "TCP=Flange" >> envs/.env.tests

README.md

@@ -112,3 +112,16 @@ For further examples take a look at the [examples](https://github.com/wandelbots
 ```bash
 $ poetry run pytest -rs -v
 ```
+
+#### integration tests
+
+By default integration tests will be skipped. 
+To run them localy create an env file at `envs/.env.tests` with your values.
+
+```txt
+WANDELAPI_BASE_URL=
+NOVA_ACCESS_TOKEN=
+CELL_ID=
+MOTION_GROUP=
+TCP=
+```

examples/.env

@@ -1,6 +1,7 @@
 WANDELAPI_BASE_URL=
 NOVA_USERNAME=
 NOVA_PASSWORD=
+NOVA_ACCESS_TOKEN=
 CELL_ID=
 MOTION_GROUP=
 TCP=

examples/01_basic.py

@@ -12,8 +12,7 @@
 
 my_instance = Instance(
     url=os.getenv("WANDELAPI_BASE_URL"),
-    user=os.getenv("NOVA_USERNAME"),
-    password=os.getenv("NOVA_PASSWORD"),
+    access_token=os.getenv("NOVA_ACCESS_TOKEN"),
 )
 
 my_robot = MotionGroup(

examples/02_plan_and_execute.py

@@ -15,8 +15,7 @@
 
 my_instance = Instance(
     url=os.getenv("WANDELAPI_BASE_URL"),
-    user=os.getenv("NOVA_USERNAME"),
-    password=os.getenv("NOVA_PASSWORD"),
+    access_token=os.getenv("NOVA_ACCESS_TOKEN"),
 )
 
 my_robot = MotionGroup(

examples/03_plan_and_execute_async.py

@@ -15,8 +15,7 @@
 
 my_instance = Instance(
     url=os.getenv("WANDELAPI_BASE_URL"),
-    user=os.getenv("NOVA_USERNAME"),
-    password=os.getenv("NOVA_PASSWORD"),
+    access_token=os.getenv("NOVA_ACCESS_TOKEN"),
 )
 
 my_robot = MotionGroup(

examples/04_execute_in_background.py

@@ -19,8 +19,7 @@
 
 my_instance = Instance(
     url=os.getenv("WANDELAPI_BASE_URL"),
-    user=os.getenv("NOVA_USERNAME"),
-    password=os.getenv("NOVA_PASSWORD"),
+    access_token=os.getenv("NOVA_ACCESS_TOKEN"),
 )
 
 my_robot = MotionGroup(

examples/05_notebook.ipynb

@@ -13,7 +13,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": null,
    "id": "a9eb2f8c-2527-4ea6-bc1f-8de808a88ad8",
    "metadata": {},
    "outputs": [],
@@ -36,8 +36,7 @@
    "outputs": [],
    "source": [
     "os.environ[\"WANDELAPI_BASE_URL\"] = \"https://instance.wandelbots.io\"\n",
-    "os.environ[\"NOVA_USERNAME\"] = \"wb\"\n",
-    "os.environ[\"NOVA_PASSWORD\"] = \"your_password\"\n",
+    "os.environ[\"NOVA_ACCESS_TOKEN\"] = \"\"\n",
     "os.environ[\"CELL_ID\"] = \"cell\""
    ]
   },
@@ -70,15 +69,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": null,
    "id": "73548c34-9434-4043-b6a9-51ac98fac701",
    "metadata": {},
    "outputs": [],
    "source": [
     "my_instance = Instance(\n",
     "    url=os.getenv(\"WANDELAPI_BASE_URL\"),\n",
-    "    user=os.getenv(\"NOVA_USERNAME\"),\n",
-    "    password=os.getenv(\"NOVA_PASSWORD\"),\n",
+    "    access_token=os.getenv(\"NOVA_ACCESS_TOKEN\"),\n",
     ")\n",
     "\n",
     "motion_groups = motion_group_api.get_active_motion_groups(instance=my_instance, cell=os.getenv(\"CELL_ID\"))\n",
@@ -202,7 +200,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.11.4"
+   "version": "3.9.19"
   }
  },
  "nbformat": 4,

pyproject.toml

@@ -9,7 +9,7 @@ readme = "README.md"
 python = "^3.9"
 httpx = "0.27.2"
 requests = "2.32.3"
-wandelbots_api_client = "24.5.0"
+wandelbots_api_client = "24.8.0.dev17"
 websockets = "13.0.1"
 numpy = "^1.26"
 scipy = "^1.11"

tests/integration/conftest.py

@@ -2,6 +2,22 @@
 import requests
 import os
 from dotenv import load_dotenv, find_dotenv
+import requests.auth
+
+
+def get_auth_token() -> dict[str, str]:
+    token = os.getenv("NOVA_ACCESS_TOKEN")
+    if not token:
+        return None
+    return {"Authorization": f"Bearer {token}"}
+
+
+def get_basic_auth() -> requests.auth.HTTPBasicAuth:
+    username = os.getenv("NOVA_USERNAME")
+    password = os.getenv("NOVA_PASSWORD")
+    if not username or not password:
+        return None
+    return requests.auth.HTTPBasicAuth(username, password)
 
 
 @pytest.fixture(scope="session", autouse=True)
@@ -18,13 +34,15 @@ def check_test_motion_group_available(request):
 
     # General availability check
     try:
-        if not os.getenv("NOVA_USERNAME") or not os.getenv("NOVA_PASSWORD"):
-            auth = None
-        else:
-            auth = requests.auth.HTTPBasicAuth(
-                os.getenv("NOVA_USERNAME"), os.getenv("NOVA_PASSWORD")
+        headers = get_auth_token()
+        auth = get_basic_auth()
+
+        if "wandelbots.io" in nova_host and not headers and not auth:
+            pytest.fail(
+                "Please provide NOVA_ACCESS_TOKEN or NOVA_USERNAME and NOVA_PASSWORD in the environment (depending on the used auth method)."
             )
-        response = requests.get(nova_host, timeout=5, auth=auth)
+
+        response = requests.get(nova_host, timeout=5, headers=headers, auth=auth)
         response.raise_for_status()
     except requests.RequestException as e:
         skip_reason = f"Skipping tests: Backend service is not available at {nova_host}. Error: {e}"
@@ -44,7 +62,7 @@ def check_test_motion_group_available(request):
         f"{nova_host}/api/v1/cells/{cell}/motion-groups/{motion_group}/state?tcp={tcp}"
     )
     try:
-        response = requests.get(endpoint_url, timeout=5, auth=auth)
+        response = requests.get(endpoint_url, timeout=5, headers=headers, auth=auth)
         response.raise_for_status()
     except requests.HTTPError as e:
         try:

tests/integration/test_01_robot_initalization.py

@@ -8,6 +8,7 @@ async def test_motion_group_initialization():
     """Test motion-group initialization and retrieve basic state from the actual backend."""
     instance = Instance(
         url=os.getenv("WANDELAPI_BASE_URL"),
+        access_token=os.getenv("NOVA_ACCESS_TOKEN"),
         user=os.getenv("NOVA_USERNAME"),
         password=os.getenv("NOVA_PASSWORD"),
     )

tests/integration/test_02_planning_and_execution.py

@@ -12,6 +12,7 @@ async def test_motion_planning_and_execution():
 
     instance = Instance(
         url=os.getenv("WANDELAPI_BASE_URL"),
+        access_token=os.getenv("NOVA_ACCESS_TOKEN"),
         user=os.getenv("NOVA_USERNAME"),
         password=os.getenv("NOVA_PASSWORD"),
     )

wandelbots/apis/motion.py

@@ -84,7 +84,10 @@ async def plan_motion_async(
 def _get_wb_api_client(instance: Instance) -> wb_api.ApiClient:
     _url = f"{instance.url}/api/v1"
     _conf = wb_api.Configuration(
-        host=_url, username=instance.user, password=instance.password
+        host=_url,
+        username=instance.user,
+        password=instance.password,
+        access_token=instance.access_token,
     )
     return wb_api.ApiClient(_conf)
 

wandelbots/core/instance.py

@@ -7,8 +7,10 @@ def __init__(
         url="http://api-gateway.wandelbots.svc.cluster.local:8080",
         user=None,
         password=None,
+        access_token=None,
     ):
         self._api_version = "v1"
+        self.access_token = access_token
         self.user = user
         self.password = password
         self.url = self._parse_url(url)
@@ -17,13 +19,21 @@ def __init__(
     def _parse_url(self, host: str) -> str:
         """remove any trailing slashes and validate scheme"""
         _url = host.rstrip("/")
+
+        if self.has_access_token() and self.has_basic_auth():
+            raise ValueError(
+                "please choose either user and password or access token access"
+            )
+
         if _url.startswith("https"):
-            if not self.user or not self.password:
-                raise ValueError("User and password are required for https connections")
+            if not self.has_auth():
+                raise ValueError(
+                    "Access token or user and password are required for https connections"
+                )
         elif _url.startswith("http"):
-            if self.user or self.password:
+            if self.has_auth():
                 raise ValueError(
-                    "User and password are not required for http connections"
+                    "Access token and/or user and password are not required for http connections"
                 )
         elif "wandelbots.io" in _url:
             _url = "https://" + _url
@@ -38,12 +48,18 @@ def socket_uri(self):
             return f"{_uri}/api/{self._api_version}"
         else:
             _url_no_scheme = self.url.split("://")[1]
-            _uri = f"wss://{self.user}:{self.password}@{_url_no_scheme}"
+            _uri = f"wss://{_url_no_scheme}"
             return f"{_uri}/api/{self._api_version}"
 
     def _connect(self):
         self.logger.info(f"Connecting to {self.url}")
         # do some connection stuff
 
     def has_auth(self):
-        return self.user and self.password
+        return self.has_basic_auth() or self.has_access_token()
+
+    def has_basic_auth(self):
+        return self.user is not None and self.password is not None
+
+    def has_access_token(self):
+        return self.access_token is not None

wandelbots/request/asyncs.py

@@ -1,15 +1,25 @@
 import httpx
 from typing import Dict, Tuple, Optional
+
+import requests
 from wandelbots.util.logger import _get_logger
 from wandelbots.request.config import TIMEOUT
 from wandelbots.core.instance import Instance
 
 __logger = _get_logger(__name__)
 
 
+def _get_auth_header(instance: Instance) -> Optional[Dict[str, str]]:
+    if instance.has_access_token():
+        return {"Authorization": f"Bearer {instance.access_token}"}
+    return None
+
+
 def _get_auth(instance: Instance) -> Optional[httpx.BasicAuth]:
-    if instance.has_auth():
-        return httpx.BasicAuth(username=instance.user, password=instance.password)
+    if instance.has_basic_auth():
+        return requests.auth.HTTPBasicAuth(
+            username=instance.user, password=instance.password
+        )
     return None
 
 
@@ -28,7 +38,9 @@ def _handle_request_error(err):
 
 
 async def get(url: str, instance: Instance) -> Tuple[int, Optional[Dict]]:
-    async with httpx.AsyncClient(auth=_get_auth(instance)) as client:
+    async with httpx.AsyncClient(
+        headers=_get_auth_header(instance), auth=_get_auth(instance)
+    ) as client:
         try:
             response = await client.get(url, timeout=TIMEOUT)
             response.raise_for_status()
@@ -39,7 +51,9 @@ async def get(url: str, instance: Instance) -> Tuple[int, Optional[Dict]]:
 
 
 async def delete(url: str, instance: Instance) -> int:
-    async with httpx.AsyncClient(auth=_get_auth(instance)) as client:
+    async with httpx.AsyncClient(
+        headers=_get_auth_header(instance), auth=_get_auth(instance)
+    ) as client:
         try:
             response = await client.delete(url, timeout=TIMEOUT)
             response.raise_for_status()
@@ -52,7 +66,9 @@ async def delete(url: str, instance: Instance) -> int:
 async def post(
     url: str, instance: Instance, data: Dict = {}
 ) -> Tuple[int, Optional[Dict]]:
-    async with httpx.AsyncClient(auth=_get_auth(instance)) as client:
+    async with httpx.AsyncClient(
+        headers=_get_auth_header(instance), auth=_get_auth(instance)
+    ) as client:
         try:
             response = await client.post(url, json=data, timeout=TIMEOUT)
             response.raise_for_status()
@@ -65,7 +81,9 @@ async def post(
 async def put(
     url: str, instance: Instance, data: Dict = {}
 ) -> Tuple[int, Optional[Dict]]:
-    async with httpx.AsyncClient(auth=_get_auth(instance)) as client:
+    async with httpx.AsyncClient(
+        headers=_get_auth_header(instance), auth=_get_auth(instance)
+    ) as client:
         try:
             response = await client.put(url, json=data, timeout=TIMEOUT)
             response.raise_for_status()