Add outbound websocket client connections for central_hub

.gitignore

@@ -2,6 +2,7 @@
 logs/
 pids/
 recorded_video/
+tokens/
 
 node_modules/
 package-lock.json

basic_bot.yml

@@ -1,3 +1,14 @@
+# Basic Bot development configuration file.
+#
+# This configuration is intended for development and testing purposes of
+# basic_bot and not users.
+#
+# See src/basic_bot/commons/config_file_schema.py for details
+# on the configuration file schema.
+#
+# See src/basic_bot/created_files/basic_bot.yml for the configuration file
+# that is created when you run `bb_create` to create your own bot.
+
 bot_name: "basic_bot"
 version: "0.1.0"
 
@@ -33,4 +44,10 @@ services:
       BB_USE_ARECORD: "true"
     development_env:
       BB_DISABLE_RECOGNITION_PROVIDER: "true"
-      BB_LOG_ALL_MESSAGES: "true"
+      BB_LOG_ALL_MESSAGES: "true"
+
+outbound_clients:
+  - name: "example_client"
+    uri: "wss://someec2instance.compute.amazonaws.com:5001"
+    identity: "example_client_1"
+    shared_token_file: "./tokens/example_client_1.txt"

src/basic_bot/bb_start.py

@@ -26,17 +26,15 @@
 import shlex
 import subprocess
 import time
-import traceback
-import yaml
-from jsonschema import validate, ValidationError
+from jsonschema import ValidationError
 
 
 from typing import Optional, Dict, List, Any
 
 
 from basic_bot.commons.script_helpers.pid_files import is_pid_file_valid
 from basic_bot.commons.script_helpers.log_files import get_log_time
-from basic_bot.commons.config_file_schema import config_file_schema
+from basic_bot.commons.config_file import read_config_file
 from basic_bot.commons import constants as c
 
 
@@ -138,7 +136,9 @@ def start_service(
             )
 
 
-def start_services(config: dict[str, Any], services_filter: Optional[List[str]] = None) -> None:
+def start_services(
+    config: dict[str, Any], services_filter: Optional[List[str]] = None
+) -> None:
     env_vars = config.get("env", {})
     env_vars.update(config.get(f"{c.BB_ENV}_env", {}))
 
@@ -159,26 +159,13 @@ def start_services(config: dict[str, Any], services_filter: Optional[List[str]]
 
 def main() -> None:
     args = arg_parser.parse_args()
+    config = read_config_file(args.file)
+    validate_unique_names(config)
+    services_filter = None
+    if args.services:
+        services_filter = args.services.split(",")
 
-    try:
-        with open(args.file, "r") as f:
-            config = yaml.safe_load(f)
-        validate(config, config_file_schema)
-        validate_unique_names(config)
-
-        services_filter = None
-        if args.services:
-            services_filter = args.services.split(",")
-
-        start_services(config, services_filter)
-
-    except FileNotFoundError as e:
-        print(f"Error: File not found. {e}")
-        traceback.print_exc()
-    except yaml.YAMLError:
-        print(f"Error: Invalid YAML syntax: {args.file}")
-    except ValidationError as e:
-        print(f"Config file validation error: {e}")
+    start_services(config, services_filter)
 
 
 if __name__ == "__main__":

src/basic_bot/bb_stop.py

@@ -15,15 +15,13 @@
 import argparse
 import os
 import signal
-import yaml
-from jsonschema import validate, ValidationError
 
 from typing import Optional, List, Any
 
 
 from basic_bot.commons.script_helpers.pid_files import is_pid_file_valid
 from basic_bot.commons.script_helpers.log_files import get_log_time
-from basic_bot.commons.config_file_schema import config_file_schema
+from basic_bot.commons.config_file import read_config_file
 
 
 arg_parser = argparse.ArgumentParser(prog="bb_stop", description=__doc__)
@@ -79,7 +77,9 @@ def stop_service(
     os.remove(pid_file)
 
 
-def stop_services(config: dict[str, Any], services_filter: Optional[List[str]] = None) -> None:
+def stop_services(
+    config: dict[str, Any], services_filter: Optional[List[str]] = None
+) -> None:
     for service in config["services"]:
         if services_filter and service["name"] not in services_filter:
             continue
@@ -93,24 +93,12 @@ def stop_services(config: dict[str, Any], services_filter: Optional[List[str]] =
 
 def main() -> None:
     args = arg_parser.parse_args()
+    config = read_config_file(args.file)
+    services_filter = None
+    if args.services:
+        services_filter = args.services.split(",")
 
-    try:
-        with open(args.file, "r") as f:
-            config = yaml.safe_load(f)
-        validate(config, config_file_schema)
-
-        services_filter = None
-        if args.services:
-            services_filter = args.services.split(",")
-
-        stop_services(config, services_filter)
-
-    except FileNotFoundError:
-        print(f"Error: File not found: {args.file}")
-    except yaml.YAMLError:
-        print(f"Error: Invalid YAML syntax: {args.file}")
-    except ValidationError as e:
-        print(f"Config file validation error: {e.message}")
+    stop_services(config, services_filter)
 
 
 if __name__ == "__main__":

src/basic_bot/commons/config_file.py

@@ -0,0 +1,49 @@
+"""
+Utility function for reading and validating the basic_bot.yml configuration file.
+"""
+
+import os
+import yaml
+from jsonschema import validate, ValidationError
+from basic_bot.commons.config_file_schema import config_file_schema
+from basic_bot.commons import log
+
+
+def read_config_file(file_path: str) -> dict:
+    """
+    Reads and validates the configuration file at the given path.
+
+    Args:
+        file_path (str): Path to the configuration file.
+
+    Returns:
+        dict: The configuration data.
+
+    Raises:
+        FileNotFoundError: If the configuration file does not exist.
+        yaml.YAMLError: If there is an error parsing the YAML file.
+        jsonschema.ValidationError: If the configuration does not conform to the schema.
+    """
+    try:
+        if not os.path.exists(file_path):
+            raise FileNotFoundError(f"Configuration file {file_path} does not exist.")
+
+        with open(file_path, "r") as file:
+            try:
+                config = yaml.safe_load(file)
+            except yaml.YAMLError as e:
+                raise yaml.YAMLError(f"Error parsing YAML file: {e}")
+
+            validate(instance=config, schema=config_file_schema)
+
+    except FileNotFoundError as e:
+        log.error(f"Error: {file_path} config file not found. {e}")
+        raise
+    except yaml.YAMLError as e:
+        print(f"Error: Invalid YAML syntax in {file_path}: {e}")
+        raise
+    except ValidationError as e:
+        print(f"Config file validation error: {e}")
+        raise
+
+    return config

src/basic_bot/commons/config_file_schema.py

@@ -90,5 +90,41 @@
                 },
             },
         },
+        #
+        # Most central_hub clients connect to the websocket served by central_hub.
+        # For some applications, such as connecting to and controlling robots behind
+        # a firewall / restrictive router, it may be neccessary to have the bot
+        # connect outbound to a public facing host.
+        "outbound_clients": {
+            "type": "array",
+            "minItems": 0,
+            "items": {
+                "type": "object",
+                "required": ["name", "uri", "identity"],
+                "properties": {
+                    #
+                    # Must have unique name for each host.
+                    "name": {"type": "string"},
+                    #
+                    # This is the websocket uri of the host to connect to.
+                    # Example: "wss://mypublichost.com:5001"
+                    "uri": {"type": "string"},
+                    #
+                    # This is the name that central_hub expect the bot to use
+                    # when it sends the identity after first connecting.
+                    # It must match the identity configured in basic_bot.yml
+                    "identity": {"type": "string"},
+                    #
+                    # This is an optional file path pointing to a file that
+                    # contains a shared secret token that central_hub sends
+                    # to the outbound connection when it first connects.
+                    #
+                    # This can be used to authenticate the bot by the public
+                    # facing host.  The token must match the token configured
+                    # via secrets on the public host.
+                    "shared_token_file": {"type": "string"},
+                },
+            },
+        },
     },
 }

src/basic_bot/commons/constants.py

@@ -38,6 +38,12 @@
 are also written to the log file when BB_ENV is "development" or "test".
 """
 
+BB_CONFIG_FILE = env.env_string("BB_CONFIG_FILE", "./basic_bot.yml")
+"""
+Path to the basic_bot configuration file. This can be overridden to use
+a different configuration file for testing or alternative deployments.
+"""
+
 
 BB_HUB_HOST = env.env_string("BB_HUB_HOST", "127.0.0.1")
 """