public async Task ConnectAsync(RobotConnectionInfo connectionInfo)
{
if (Client == null)
{
//create channel
var ssl = new SslCredentials(connectionInfo.Certificate);
var interceptor = new AsyncAuthInterceptor((context, metadata) =>
{
metadata.Add("authorization", $"Bearer {connectionInfo.Token}");
return(Task.CompletedTask);
});
var cred = ChannelCredentials.Create(ssl, CallCredentials.FromInterceptor(interceptor));
_channel = new Channel(connectionInfo.IpAddress, 443, cred, new ChannelOption[] { new ChannelOption("grpc.ssl_target_name_override", connectionInfo.RobotName) });
//connect to client
try
{
await _channel.ConnectAsync(DateTime.UtcNow.AddSeconds(10));
}
catch (TaskCanceledException ex)
{
throw new VectorConnectionException("could not connect to Vector. insure IP address is correct and that Vector is turned on", ex);
}
//create client
Client = new ExternalInterfaceClient(_channel);
IsConnected = true;
}
}
public void Save(RobotConnectionInfo connection)
{
var filePath = GetFilePath(connection.RobotName);
File.WriteAllText(filePath, JsonConvert.SerializeObject(connection));
}
/// <summary>
/// Required for first time use. Used to grant this device access to a Vector robot. The robot must be joined to the wifi network using the Vector Companion App before running this.
/// </summary>
/// <param name="robotName">Find your robot name (ex. Vector-A1B2) by placing Vector on the charger and double-clicking Vector's backpack button.</param>
/// <param name="ipAddress">Find your robot ip address (ex. 192.168.42.42) by placing Vector on the charger, double-clicking Vector's backpack button, then raising and lowering his arms.If you see XX.XX.XX.XX on his face, reconnect Vector to your WiFi using the Vector Companion App.</param>
/// <param name="serialNumber">Please find your robot serial number (ex. 00e20100) located on the underside of Vector, or accessible from Vector's debug screen.</param>
/// <param name="userName">Enter your email. Make sure to use the same account that was used to set up your Vector through the Companion app.</param>
/// <param name="password">Enter your password. Make sure to use the same account that was used to set up your Vector through the Companion app.</param>
/// <returns>used to connect to the robot</returns>
public static async Task <RobotConnectionInfo> GrantAsync(string robotName, string ipAddress, string serialNumber, string userName, string password)
{
var result = new RobotConnectionInfo();
robotName = FormatRobotName(robotName);
serialNumber = FormatSerialNumber(serialNumber);
//get the certificate
var client = new HttpClient();
var response = await client.GetAsync(@"https://session-certs.token.global.anki-services.com/vic/" + serialNumber);
if (!response.IsSuccessStatusCode)
{
throw new VectorAuthorizationException("invalid serial number");
}
result.Certificate = await response.Content.ReadAsStringAsync();
//validate robot name
var cert = new X509Certificate(Encoding.ASCII.GetBytes(result.Certificate));
var certSubject = cert.Subject.Split(',').Select(i => new KeyValuePair <string, string>(i.Split('=')[0].Trim(), i.Split('=')[1].Trim()));
var commonName = certSubject.First(i => i.Key == "CN").Value;
if (commonName != robotName)
{
throw new VectorAuthorizationException($"The name of the certificate ({commonName}) does not match the name provided robotName ({robotName}) Please verify the name, and try again.");
}
result.RobotName = robotName;
//get session token
response = await client.SendAsync(new HttpRequestMessage(HttpMethod.Post, @"https://accounts.api.anki.com/1/sessions")
{
Headers = { { "User-Agent", "Vector-sdk/0.5.1" }, { "Anki-App-Key", AnkiAppKey } },
Content = new FormUrlEncodedContent(new Dictionary <string, string>()
{
{ "username", userName }, { "password", password }
}),
});
if (!response.IsSuccessStatusCode)
{
throw new VectorAuthorizationException("invalid userName and password");
}
var userSession = JsonConvert.DeserializeObject(await response.Content.ReadAsStringAsync()) as JObject;
var sessionToken = userSession["session"]["session_token"].Value <string>();
//have robot authenticate with session token and retreive the robots client token
var ssl = new SslCredentials(result.Certificate);
var channel = new Channel(ipAddress, 443, ssl, new ChannelOption[] { new ChannelOption("grpc.ssl_target_name_override", robotName) });
try
{
await channel.ConnectAsync(DateTime.UtcNow.AddSeconds(10));
}
catch (TaskCanceledException ex)
{
throw new VectorAuthorizationException("Timeout. Could not connect to vector. insure IP address is correct", ex);
}
var robotClient = new ExternalInterfaceClient(channel);
var hostname = System.Net.Dns.GetHostName();
var authRequest = new UserAuthenticationRequest()
{
ClientName = ByteString.CopyFromUtf8(hostname), UserSessionId = ByteString.CopyFromUtf8(sessionToken)
};
var authResult = await robotClient.UserAuthenticationAsync(authRequest);
if (authResult.Code == UserAuthenticationResponse.Types.Code.Unauthorized)
{
throw new VectorAuthorizationException("unauthorized");
}
result.Token = authResult.ClientTokenGuid.ToStringUtf8();
result.IpAddress = ipAddress;
await channel.ShutdownAsync();
return(result);
}
