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grpc demo

安装

pip3 install grpcio grpcio_tools

python3 -m grpc_tools.protoc -I. --python_out=. --grpc_python_out=. ./cyberdog_app.proto

运行

请先获取到机器人在局域网中的IP,参数分别为:机器人的ip、CA证书、client秘钥、client证书
python3 grpc_teleop.py 192.168.xxx.xxx cert/ca-cert.pem cert/client-key.pem cert/client-cert.pem
操作方法类似turtlebot3的遥控程序,w、x、a、d分别为前后左右加速,不按键盘时速度保持不变,s为停止,esc为退出

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grpc_demo's Issues

求助:使用go语言调用grpc接口,证书认证失败,报错:x509: certificate relies on legacy Common Name field, use SANs instead

go代码如下:

import (
"context"
"crypto/tls"
"crypto/x509"
"flag"
"log"
"os"
"time"

"cyberdoggrpc/dogproto"

"google.golang.org/grpc"
"google.golang.org/grpc/credentials"

)

var addr = flag.String("addr", "192.168.31.114:50052", "the address to connect to")

func callSkill(client dogproto.GrpcAppClient, code string) {
ctx, cancel := context.WithTimeout(context.Background(), 10*time.Second)
defer cancel()
, err := client.SendMsg(ctx, &dogproto.SendRequest{})
if err != nil {
log.Fatalf("client.UnaryEcho(
) = _, %v: ", err)
}
//fmt.Println("UnaryEcho: ", resp.Message)
}

func main() {
flag.Parse()

cert, err := tls.LoadX509KeyPair("cert/client-cert.pem", "cert/client-key.pem")
if err != nil {
	log.Fatalf("failed to load client cert: %v", err)
}

ca := x509.NewCertPool()
caFilePath := "cert/ca-cert.pem"
caBytes, err := os.ReadFile(caFilePath)
if err != nil {
	log.Fatalf("failed to read ca cert %q: %v", caFilePath, err)
}
if ok := ca.AppendCertsFromPEM(caBytes); !ok {
	log.Fatalf("failed to parse %q", caFilePath)
}

tlsConfig := &tls.Config{
	ServerName:   "cyberdog2.server",
	Certificates: []tls.Certificate{cert},
	RootCAs:      ca,
}

conn, err := grpc.Dial(*addr, grpc.WithTransportCredentials(credentials.NewTLS(tlsConfig)))
if err != nil {
	log.Fatalf("did not connect: %v", err)
}
defer conn.Close()

callSkill(dogproto.NewGrpcAppClient(conn), "111")

}

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