The participant listener creates a pong writer, setting a publication
matched listener on it. That listener can be invoked immediately and as
it queries the subscriptions reader, it must not be enabled before the
latter reader has been created.
Signed-off-by: Erik Boasson <eb@ilities.com>
* Move wctime, mtime, etime types to ddsrt
* Add ddsrt_time_wallclock
* Change ddsrt_time_monontic, elapsed to use mtime, etime types
* Remove now, now_mt, now_et
* Rename X_to_sec_usec to ddsrt_X_to_sec_usec
* add_duration_to_X to ddsrt_X_add_duration (to be in line with the
existing ddsrt_time_add_duration)
* elimination of ddsrt/timeconv.h, it added more in the way of
complications than it did in making things more elegant
* rename of q_time.[ch] to ddsi_time.[ch]: that now only deals with DDSI
timestamps and durations on the wire
Signed-off-by: Erik Boasson <eb@ilities.com>
* Fix code formatting, fix for memory leak in validate_handshake_reply_token and
make error handling and return values more consistent with the other two
plugins.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
* Processed review comments: fixed memory leaks and more consistent error handling and function returns
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
* Fix trusted ca dir max exceeded
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
The test gates access-control plugin invocation and with the inverted
condition all remote readers/writers requiring access control are
blocked eiter because of the permissions handle, or because a NIL handle
is passed to the access control plugin.
Signed-off-by: Erik Boasson <eb@ilities.com>
* access-control check_remote_datareader has "relay_only" as an out
parameter, so should pass in an address instead of "false";
* value of "relay_only" returned by check_remote_datareader must be
passed to crypto register_matched_remote_datareader
Signed-off-by: Erik Boasson <eb@ilities.com>
Security plugins are built but not installed. Add target to CMakeLists.txt
for three security plugins.
Signed-off-by: Sid Faber <sid.faber@canonical.com>
wsock32.lib is only needed for the legacy version of Winsock and is not needed with Winsock2 (the current version).
This appears to be a root cause of the multicast issue on Win10 and may allow us to reverse #404
Signed-off-by: Dan Rose <dan@digilabs.io>
This is a workaround for interoperability issues, ultimately driven by a
Windows quirk that makes multicast delivery within a machine utterly
unreliable if the transmitting socket is bound to 0.0.0.0 (despite all
sockets having multicast interfaces set correctly) when there are also
sockets transmitting to the same multicast group that have been bound to
non-0.0.0.0. (Note: there may be other factors at play, but this is
what it looks like after experimentation.)
At least Fast-RTPS in some versions binds the socket it uses for
transmitting multicasts to non-0.0.0.0, so interoperability with
Fast-RTPS on Windows requires us to bind the socket we use for
transmitting multicasts (which was the same as the one we use for
receiving unicast data) also to non-0.0.0.0 or our multicasts get
dropped often.
This would work fine if other implementations honoured the set of
advertised addresses. However, at least Fast-RTPS and Connext (in some
versions) fail to do this and happily substitute 127.0.0.1 for the
advertised IP address. If we bind to, e.g., 192.168.1.1, then suddenly
those packets won't arrive anymore, breaking interoperability.
The only work around is to use a separate socket for sending.
Signed-off-by: Erik Boasson <eb@ilities.com>
* IPv6 extensions to patterns
* use full GUID prefix for Cyclone
* pattern fixes to deal with small changes in the formatting of QoS
* suppressinof local built-in topic publications
* asymmetrical disconnect detection improvements (better chance of
detecting it, plus better suppression of spurious notifications)
Signed-off-by: Erik Boasson <eb@ilities.com>
Isolate domains by using unique tags when running tests that are using security handshake.
And updated coding style and some minor refactoring in fsm and timed_cb tests.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
Trusted CA dir in security configuration is optional, but participant
creation currently fails if no or empty dir is provided. This commit
fixes this issue and adds some tests for various trusted_ca_dir values.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
updated plugin loading tests to use these instead of specific wrappers per test. Added
test for securing communication ad handshake fail (using different identity CAs)
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
* Fix issue in dds_create_topic_arbitrary
Changed the behaviour of dds_create_topic_arbitrary with respect to the
sertopic parameter: the existing function dds_create_topic_arbitrary is
marked deprecated and replaced by dds_create_topic_generic, which returns
the sertopic that is actually used in as an out parameter. This can be eiter
the provided sertopic (if this sertopic was not yet known in the domain) or an
existing sertopic if the sertopic was registered earlier.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
* Fix memory leaks in case topic creation fails.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
An update for the security documentation that is part of the CycloneDDS
manual:
- added openssl commands for creating a set of CA and identity certificates
- code fragment for setting security by qos and example of xml security config
- commands for signing governance and permissions documents using openssl
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
[test_subscriber-12] /opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/mh3.c:28:53: runtime error: applying zero offset to null pointer
[test_subscriber-12] SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior /opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/ddsrt/src/mh3.c:28:53 in
Signed-off-by: Dan Rose <dan@digilabs.io>
* Don't pass null to memcmp
```
SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior /opt/ros/master/src/ros2/rmw_cyclonedds/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/serdes.hpp:135:3 in
/opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/ddsi_sertopic_default.c:41:15: runtime error: null pointer passed as argument 1, which is declared to never be null
/usr/include/string.h:64:33: note: nonnull attribute specified here
SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior /opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/ddsi_sertopic_default.c:41:15 in
/opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/ddsi_sertopic_default.c:41:31: runtime error: null pointer passed as argument 2, which is declared to never be null
/usr/include/string.h:64:33: note: nonnull attribute specified here
SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior /opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/ddsi_sertopic_default.c:41:31 in
/opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/ddsi_sertopic_default.c:45:15: runtime error: null pointer passed as argument 1, which is declared to never be null
/usr/include/string.h:64:33: note: nonnull attribute specified here
SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior /opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/ddsi_sertopic_default.c:45:15 in
/opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/ddsi_sertopic_default.c:45:30: runtime error: null pointer passed as argument 2, which is declared to never be null
/usr/include/string.h:64:33: note: nonnull attribute specified here
SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior /opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/core/ddsi/src/ddsi_sertopic_default.c:45:30 in
```
Signed-off-by: Dan Rose <dan@digilabs.io>
* clearer non-null check
Signed-off-by: Dan Rose <dan@digilabs.io>
The thread_states array resets the "state" to ZERO on thread termination
to indicate that the slot was unused, but it leaves the thread id
unchanged because some platforms don't have a defined value that will
never be used as a thread id. A consequence is that a newly created
thread may result in multiple slots containing their own thread id, but
generally there will only be one that is not in state ZERO.
However, the code for create_thread used to set the state to ALIVE prior
to creating the thread, and so if the events get scheduled like:
1. thread A: X.state = ALIVE
2. create new thread B, storing tid in X.tid
3. thread A: Y.state = ALIVE
4. new thread B: lookup self (and cache pointer)
5. create new thread C, storing tid in Y.tid
6. new thread C: lookup self (and cache pointer)
Then B will observe two slots in the ALIVE state, with X.tid certain to
match and Y.tid undefined (and hence possibly matching). It may
therefore pick Y. C will (in this schedule) of course always choose Y.
They cache the pointer and never look at X and Y again, except for
updating their virtual clocks.
These virtual clocks are updated non-atomically (by design it is private
to the thread) and so if both B & C use Y they can end up racing each
other in updating the virtual clock and cause the nesting level of the
"awake" state controlling garbage collection to get stuck (or wrap
around, or do other horrible things). The consequence can be anything,
from a somewhat benign variant where GC effectively stops and some
operations (deleting readers and writers and shutting down) block
forever, to use-after-free and the undefined behaviour that implies.
This commit avoids looking up the slot in the newly created threads,
instead passing the correct address in the argument. It also adds an
intermediate state INIT that serves to reserve the slot until the new
thread is actually running. It does make the look-up safe (if one were
to do it), and as it is essentially free and gives more insight in the
state of the system when viewed from a debugger, it appears a useful
addition.
Signed-off-by: Erik Boasson <eb@ilities.com>
```
/opt/ros/master/src/eclipse-cyclonedds/cyclonedds/src/tools/pubsub/common.c:586:28: warning: implicit conversion from 'long' to 'double' changes value from 9223372036854775807 to 9223372036854775808 [-Wimplicit-int-float-conversion]
if(nanosec > nextafter(INT64_MAX, 0)) {
~~~~~~~~~ ^~~~~~~~~
/usr/include/stdint.h:134:22: note: expanded from macro 'INT64_MAX'
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/stdint.h:116:24: note: expanded from macro '__INT64_C'
^~~~~~
<scratch space>:345:1: note: expanded from here
9223372036854775807L
^~~~~~~~~~~~~~~~~~~~
1 warning generated.
```
Signed-off-by: Dan Rose <dan@digilabs.io>
