Properly handle downstream effects of ROS_SECURITY_STRATEGY and ROS_SECURITY_ENABLE environment variables through security_options. Improve memory management and make sure to only set security qos properties when all files are sure to exist.
Especially since we maintain compatibility across multiple ROS versions, which new contributors might not expect, this should help prevent accidental build-breaking.
Add in conditional compile based on ENABLE_SECURITY make flag
and Cyclone DDS feature availability. Also addressed review
comments.
Signed-off-by: Sid Faber <sid.faber@canonical.com>
Add utility function to insert security settings to the cyclone QOS
object used to create nodes. Include a utility to find security
files and properly format their location to use with DDS.
Signed-off-by: Sid Faber <sid.faber@canonical.com>
Since m_get_const_function calls `std::vector<T>::operator[]`, accessing the zeroth element causes undefined behavior. Instead, return a null pointer to make the function behave sanely when vector is empty.
Fix#120
The security specification has a mode in which keyhashes containing the
MD5 of the key value are required on the wire, and this requires some
small changes to the topic interface. Currently, these changes reside
only on the security branch of Cyclone DDS.
The changes use conditional compilation to handle both the master branch
of Cyclone and the security branch to minimise version dependencies.
Signed-off-by: Erik Boasson <eb@ilities.com>
Use the function dds_create_topic_generic for creating topic, so that
the sertopic that is actually used is referenced in the publisher.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
* Events and liveliness/lifespan/deadline qos support
This commit adds support for liveliness, lifespan and deadline missed
qos in rmw, and it adds event support in rmw_wait that is required for
these qos policies to work correctly.
* Removed redundant empty check in rmw_wait, fix duration 0 vs infinity for qos getter and setter
* Disabled auto-dispose so that deadline-missed on reader is still triggered when a writer becomes not-alive and unregisters itself
1. Make CDRWriter remember its top level struct value type
2. Populate the trivially serializable cache when CDRWriter is created instead of waiting until the first time a message is sent.
3. Speed up arrays/sequences of trivially serializable structs
Signed-off-by: Dan Rose <dan@digilabs.io>
Introduce a new [[noreturn]] unreachable() function that marks code as unreachable and throws a logic error if it is executed.
Fix build error due to Windows min/max macros.
Fix linker errors from referring to a non-constexpr extern from a constexpr.
Fix warnings about narrowing conversions.
Signed-off-by: Dan Rose <dan@digilabs.io>
* Use rcutils_get_env() instead of getenv() (#71)
Signed-off-by: Erik Boasson <eb@ilities.com>
* Keep includes in alphabetical order
Signed-off-by: Erik Boasson <eb@ilities.com>
Cyclone's original code for dds_create_domain() appears to create a
domain entity that is automatically deleted when the last attached
participant disappears. In reality, it leaks a reference while
returning DDS_RETCODE_OK, making it appear as-if it is a regular entity
that remains into existence until explicitly deleted.
The RMW code assumed that it would be automatically deleted when the
last node was destroyed and that a subsequent call to rmw_create_node
could create the domain anew. This then fails with "precondition not
met".
In an upcoming fixed version of dds_create_domain() the domain entities
will behave normally (return a handle, require an explicit delete).
This commit provides a workaround for the bug in the original
implementation: by recovering the handle from the first participant the
preceding commits that were intended to future-proof the code will
ensure that the entity now gets deleted explicitly.
Signed-off-by: Erik Boasson <eb@ilities.com>
* Support localhost-only communications
Signed-off-by: Erik Boasson <eb@ilities.com>
* Future-proof localhost-only for upcoming Cyclone fix
Signed-off-by: Erik Boasson <eb@ilities.com>
