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Secure messaging example

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Sudipto Paul edited this page Feb 26, 2018 · 1 revision

In order to build arm-examples using TrustZone, the following parameters should be given to ament in order to specify the path to the specific build of Optee-OS and Optee-Client.

Reference board setup

You can find information on how to setup an HiKey 960 board on the arm community page: https://community.arm.com/dev-platforms/w/docs/309/hikey-96-boards

Trigger a build

optee_os_export=<Path to OPTEE-OS>/out/arm-plat-hikey/export-ta_arm64
optee_client_export=<Path to OPTEE-Client>/out/export

src/ament/ament_tools/scripts/ament.py build --force-cmake-configure \
        --cmake-args \
        -DCMAKE_TOOLCHAIN_FILE=`pwd`/aarch64_toolchainfile.cmake \
        -DTHIRDPARTY=ON \
        -DOPTEE_OS_EXPORT=$optee_os_export \
        -DOPTEE_CLIENT_EXPORT=$optee_client_export

Produced binaries and libraries will go under the following folders in ROS2:

  • ./ros2/install/lib/aes_publisher_certify and ./ros2/install/lib/aes_subscriber_certify for the binary applications
  • ./ros2/install/lib for all the necessary libraries if ROS2 was Dynamically cross-compiled.
  • ./ros2/install/lib/optee_ta_security for the Trusted application.

Setup the filesystem

All the binaries and libraries produced by ROS2 should be put in the filesystem of the target. The Trusted Application should be stored into the following specific location: /lib/optee_armtz/

The libraries and binaries produced by Optee-Client (optee-client/out/export) should be put in the filesystem.

Launch the application

On the target, once Ubuntu has been boot up, setup LD_LIBRARY_PATH to point all directories containing the previously copied ROS2 and Optee-Client libraries.

export LD_LIBRARY_PATH="<Optee-Client>/out/export/lib:<ROS2>/install/lib"

Binary tee-supplicant must be started. It can be found into: /out/export/bin. Make sure you have the rights to execute.

<Optee-Client>/out/export/bin/tee-supplicant &

Start the applications by calling the corresponding binary:

<ROS2>/install/lib/aes_subscriber_certify
<ROS2>/install/lib/aes_publisher_certify

You should get the following result:

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