Ros2 service crystal

examples/policy_definition.md

@@ -0,0 +1,32 @@
+## Values used in policy generation
+**ipc_types**: The type of ROS IPC in use, such as service, action, or topic 
+## Definitions
+
+| name | description |
+| ---- | ----------- |
+| access permission | The access permission of that node for the specified icp |
+| ipc | Inter-process communication, how messages get from one node to another |
+| ipc identifier | The specific subsystem id to provide access to (topic name, service name...) |
+| ipc types | The inter-process communication subsystem (topics, services...) |
+
+## Options
+Most ipc permissions are given on a client/source basis.
+Parameter permissions are slightly different. These specify whether this node is allowed to read/write to another node.
+
+| ipc type | identifier | access permission options |
+| -------- | ---------- | ------------------------- |
+| topics | topic name | subscribe, publish |
+| services | service name | request, reply |
+| actions | action name | call, execute |
+| parameters | node name | read, write |
+
+## Policy yaml file layout
+
+```
+nodes:
+    <node_name>:
+        <ipc_type>:
+            <ipc_identifier>
+                access:
+                    -<access_permissions>
+```

examples/sample_policy.yaml

@@ -1,27 +1,36 @@
 nodes:
   listener:
     topics:
-      chatter:
-        allow: s # can subscribe to chatter
+      /chatter:
+        allow: 
+        - subscribe # can subscribe to chatter
   talker:
     topics:
-      chatter:
-        allow: p # can publish on chatter
+      /chatter:
+        allow: 
+        - publish # can publish on chatter
   listener_py:
     topics:
       #'*':
-      #  allow: s # this would allow the listener to subscribe to all topics
-      chatter:
-        allow: s # can subscribe to chatter
-      chatter2:
-        allow: s # can subscribe to chatter2
+      #  allow:
+      #  - subscribe # this would allow the listener to subscribe to all topics
+      /chatter:
+        allow: 
+        - subscribe # can subscribe to chatter
+      /chatter2:
+        allow: 
+        - subscribe# can subscribe to chatter2
   talker_py:
     topics:
       #'*':
-      #  allow: p # this would allow the talker to publish on all topics
-      chatter:
-        allow: p # allow publishing on chatter
-      chatter2:
-        allow: p # allow publishing on chatter2
-      chatter3:
-        allow: p # allow publishing on chatter3
+      #  allow: 
+      #  - publish # this would allow the talker to publish on all topics
+      /chatter:
+        allow: 
+        -publish # allow publishing on chatter
+      /chatter2:
+        allow: 
+        - publish# allow publishing on chatter2
+      /chatter3:
+        allow: 
+        -publish # allow publishing on chatter3

setup.py

@@ -40,6 +40,7 @@
             ':CreatePermissionVerb',
             'distribute_key = sros2.verb.distribute_key:DistributeKeyVerb',
             'list_keys = sros2.verb.list_keys:ListKeysVerb',
+            'generate_permissions = sros2.verb.generate_permissions:GeneratePermissionsVerb',
         ],
     }
 )

sros2/api/__init__.py

@@ -12,12 +12,54 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from collections import namedtuple
 import itertools
 import os
 import platform
 import shutil
 import subprocess
 
+HIDDEN_NODE_PREFIX = '_'
+
+NodeName = namedtuple('NodeName', ('name', 'namespace', 'full_name'))
+TopicInfo = namedtuple('Topic', ('name', 'types'))
+
+
+def get_node_names(*, node, include_hidden_nodes=False):
+    node_names_and_namespaces = node.get_node_names_and_namespaces()
+    return [
+        NodeName(
+            name=t[0],
+            namespace=t[1],
+            full_name=t[1] + ('' if t[1].endswith('/') else '/') + t[0])
+        for t in node_names_and_namespaces
+        if (
+            include_hidden_nodes or
+            (t[0] and not t[0].startswith(HIDDEN_NODE_PREFIX))
+        )
+    ]
+
+
+def get_topics(node_name, func):
+    names_and_types = func(node_name.name, node_name.namespace)
+    return [
+        TopicInfo(
+            name=t[0],
+            types=t[1])
+        for t in names_and_types]
+
+
+def get_subscriber_info(node, node_name):
+    return get_topics(node_name, node.get_subscriber_names_and_types_by_node)
+
+
+def get_publisher_info(node, node_name):
+    return get_topics(node_name, node.get_publisher_names_and_types_by_node)
+
+
+def get_service_info(node, node_name):
+    return get_topics(node_name, node.get_service_names_and_types_by_node)
+
 
 def find_openssl_executable():
     if platform.system() != 'Darwin':
@@ -299,6 +341,28 @@ def create_cert(root_path, name):
         (openssl_executable, req_relpath, cert_relpath), root_path)
 
 
+def format_publish_permissions(topics):
+    return """
+        <publish>
+          <partitions>
+            <partition></partition>
+          </partitions>
+          <topics>%s
+          </topics>
+        </publish> """ % topics
+
+
+def format_subscription_permissions(topics):
+    return """
+        <subscribe>
+          <partitions>
+            <partition></partition>
+          </partitions>
+          <topics>%s
+          </topics>
+        </subscribe> """ % topics
+
+
 def create_permission_file(path, name, domain_id, permissions_dict):
     permission_str = """\
 <?xml version="1.0" encoding="UTF-8"?>
@@ -328,19 +392,23 @@ def create_permission_file(path, name, domain_id, permissions_dict):
         # TODO(mikaelarguedas) remove this hardcoded handling for default topics
         # TODO(mikaelarguedas) update dictionary based on existing rule
         # if it already exists (rather than overriding the rule)
-        topic_dict['parameter_events'] = {'allow': 'ps'}
-        topic_dict['clock'] = {'allow': 's'}
+        topic_dict['/parameter_events'] = {'allow': ['publish', 'subscribe']}
+        topic_dict['/clock'] = {'allow': ['subscribe']}
         # we have some policies to add !
         for topic_name, policy in topic_dict.items():
+            # add a / if it doesn't exist
+            formatted_topic_name = '/' + (topic_name.lstrip('/'))
             tags = []
-            if policy['allow'] == 'ps':
-                tags = ['publish', 'subscribe']
-            elif policy['allow'] == 's':
-                tags = ['subscribe']
-            elif policy['allow'] == 'p':
-                tags = ['publish']
-            else:
-                print("unknown permission policy '%s', skipping" % policy['allow'])
+            publish = 'publish'
+            subscribe = 'subscribe'
+            if publish in policy['allow']:
+                tags.append(publish)
+                policy['allow'].remove(publish)
+            if subscribe in policy['allow']:
+                tags.append(subscribe)
+                policy['allow'].remove(subscribe)
+            if len(policy['allow']) > 0:
+                print('unknown permission policy \'%s\', skipping' % policy['allow'])
                 continue
             for tag in tags:
                 permission_str += """\
@@ -352,12 +420,9 @@ def create_permission_file(path, name, domain_id, permissions_dict):
             <topic>%s</topic>
           </topics>
         </%s>
-""" % (tag, 'rt/' + topic_name, tag)
+""" % (tag, 'rt' + formatted_topic_name, tag)
         # TODO(mikaelarguedas) remove this hardcoded handling for default parameter topics
-        service_topic_prefixes = {
-            'Request': 'rq/%s/' % name,
-            'Reply': 'rr/%s/' % name,
-        }
+        service_dict = permissions_dict['services']
         default_parameter_topics = [
             'describe_parameters',
             'get_parameters',
@@ -366,30 +431,31 @@ def create_permission_file(path, name, domain_id, permissions_dict):
             'set_parameters',
             'set_parameters_atomically',
         ]
-        for topic_suffix, topic_prefix in service_topic_prefixes.items():
-            service_topics = [
-                (topic_prefix + topic + topic_suffix) for topic in default_parameter_topics]
-            topics_string = ''
-            for service_topic in service_topics:
-                topics_string += """
-            <topic>%s</topic>""" % (service_topic)
-            permission_str += """
-        <publish>
-          <partitions>
-            <partition></partition>
-          </partitions>
-          <topics>%s
-          </topics>
-        </publish>
-        <subscribe>
-          <partitions>
-            <partition></partition>
-          </partitions>
-          <topics>%s
-          </topics>
-        </subscribe>
-""" % (topics_string, topics_string)
-
+        default_parameter_topics = ['/%s/%s' % (name, topic) for topic in default_parameter_topics]
+        rw_access_pair = {'allow': ['request', 'reply']}
+        for topic in default_parameter_topics:
+            service_dict[topic] = rw_access_pair
+        published_topics_string = ''
+        subscribed_topic_string = ''
+
+        for topic, permission_dict in service_dict.items():
+            permissions = permission_dict['allow']
+            request_topic = 'rq%sRequest' % topic
+            reply_topic = 'rr%sReply' % topic
+
+            if 'reply' in permissions:
+                subscribed_topic_string += """
+                <topic>%s</topic>""" % (request_topic)
+                published_topics_string += """
+                <topic>%s</topic>""" % (reply_topic)
+            if 'request' in permissions:
+                subscribed_topic_string += """
+                <topic>%s</topic>""" % (reply_topic)
+                published_topics_string += """
+                <topic>%s</topic>""" % (request_topic)
+
+        permission_str += format_publish_permissions(published_topics_string)
+        permission_str += format_subscription_permissions(subscribed_topic_string)
     else:
         # no policy found: allow everything!
         permission_str += """\

sros2/verb/generate_permissions.py

@@ -0,0 +1,82 @@
+# Copyright 2016-2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+try:
+    from argcomplete.completers import DirectoriesCompleter
+except ImportError:
+    def DirectoriesCompleter():
+        return None
+try:
+    from argcomplete.completers import FilesCompleter
+except ImportError:
+    def FilesCompleter(*, allowednames, directories):
+        return None
+
+from collections import defaultdict
+
+from ros2cli.node.direct import DirectNode
+from ros2cli.node.strategy import NodeStrategy
+from sros2.api import get_node_names
+from sros2.api import get_publisher_info
+from sros2.api import get_service_info
+from sros2.api import get_subscriber_info
+from sros2.verb import VerbExtension
+
+
+def formatTopics(topic_list, permission, topic_map):
+    for topic in topic_list:
+        topic_map[topic.name].append(permission)
+
+
+class GeneratePermissionsVerb(VerbExtension):
+    """Generate permissions."""
+
+    def add_arguments(self, parser, cli_name):
+
+        arg = parser.add_argument(
+            'POLICY_FILE_PATH', help='path of the permission yaml file')
+        arg.completer = FilesCompleter(
+            allowednames=('yaml'), directories=False)
+
+    def main(self, *, args):
+        node_names = []
+        with NodeStrategy(args) as node:
+            node_names = get_node_names(node=node, include_hidden_nodes=False)
+        policy_dict = {}
+        with DirectNode(args) as node:
+            for node_name in node_names:
+                subscribers = get_subscriber_info(node=node, node_name=node_name)
+                publishers = get_publisher_info(node=node, node_name=node_name)
+                services = get_service_info(node=node, node_name=node_name)
+                topic_map = defaultdict(list)
+                formatTopics(publishers, 'publish', topic_map)
+                formatTopics(subscribers, 'subscribe', topic_map)
+                formatted_topic_map = {}
+                for topic_name, permission_list in topic_map.items():
+                    formatted_topic_map[topic_name] = {'allow': permission_list}
+                service_map = defaultdict(list)
+                formatTopics(services, 'reply', service_map)
+                formatted_services_map = {}
+                for service, permission_list in service_map.items():
+                    formatted_services_map[service] = {'allow': permission_list}
+                policy_dict[node_name.name] = {'topics': formatted_topic_map}
+                policy_dict[node_name.name]['services'] = formatted_services_map
+        import yaml
+        from io import open
+        formatted_policy_dict = {'nodes': policy_dict}
+        if policy_dict:
+            with open(args.POLICY_FILE_PATH, 'w') as stream:
+                yaml.dump(formatted_policy_dict, stream, default_flow_style=False)
+        else:
+            print('No nodes found to generate policies')