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Enable use of Cyclone DDS security features #123
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Original file line number | Diff line number | Diff line change |
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@@ -27,6 +27,8 @@ | |
#include <utility> | ||
#include <regex> | ||
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#include "rcutils/filesystem.h" | ||
#include "rcutils/format_string.h" | ||
#include "rcutils/get_env.h" | ||
#include "rcutils/logging_macros.h" | ||
#include "rcutils/strdup.h" | ||
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@@ -81,6 +83,13 @@ | |
#define SUPPORT_LOCALHOST 0 | ||
#endif | ||
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/* Security must be enabled when compiling and requires cyclone to support QOS property lists */ | ||
#if DDS_HAS_SECURITY && DDS_HAS_PROPERTY_LIST_QOS | ||
#define RMW_SUPPORT_SECURITY 1 | ||
#else | ||
#define RMW_SUPPORT_SECURITY 0 | ||
#endif | ||
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/* Set to > 0 for printing warnings to stderr for each messages that was taken more than this many | ||
ms after writing */ | ||
#define REPORT_LATE_MESSAGES 0 | ||
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@@ -140,6 +149,18 @@ struct builtin_readers | |
dds_entity_t rds[sizeof(builtin_topics) / sizeof(builtin_topics[0])]; | ||
}; | ||
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#if RMW_SUPPORT_SECURITY | ||
struct dds_security_files_t | ||
{ | ||
char * identity_ca_cert = nullptr; | ||
char * cert = nullptr; | ||
char * key = nullptr; | ||
char * permissions_ca_cert = nullptr; | ||
char * governance_p7s = nullptr; | ||
char * permissions_p7s = nullptr; | ||
}; | ||
#endif | ||
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struct CddsEntity | ||
{ | ||
dds_entity_t enth; | ||
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@@ -690,6 +711,131 @@ static std::string get_node_user_data( | |
#else | ||
#define get_node_user_data get_node_user_data_name_ns | ||
#endif | ||
#if RMW_SUPPORT_SECURITY | ||
/* Returns the full URI of a security file properly formatted for DDS */ | ||
bool get_security_file_URI( | ||
char ** security_file, const char * security_filename, const char * node_secure_root, | ||
const rcutils_allocator_t allocator) | ||
{ | ||
*security_file = nullptr; | ||
char * file_path = rcutils_join_path(node_secure_root, security_filename, allocator); | ||
if (file_path != nullptr) { | ||
if (rcutils_is_readable(file_path)) { | ||
/* Cyclone also supports a "data:" URI */ | ||
*security_file = rcutils_format_string(allocator, "file:%s", file_path); | ||
allocator.deallocate(file_path, allocator.state); | ||
} else { | ||
RCUTILS_LOG_INFO_NAMED( | ||
"rmw_cyclonedds_cpp", "get_security_file_URI: %s not found", file_path); | ||
allocator.deallocate(file_path, allocator.state); | ||
} | ||
} | ||
return *security_file != nullptr; | ||
} | ||
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bool get_security_file_URIs( | ||
#if !RMW_VERSION_GTE(0, 8, 2) | ||
const rmw_node_security_options_t * security_options, | ||
#else | ||
const rmw_security_options_t * security_options, | ||
#endif | ||
dds_security_files_t & dds_security_files, rcutils_allocator_t allocator) | ||
{ | ||
bool ret = false; | ||
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if (security_options->security_root_path != nullptr) { | ||
ret = ( | ||
get_security_file_URI( | ||
&dds_security_files.identity_ca_cert, "identity_ca.cert.pem", | ||
security_options->security_root_path, allocator) && | ||
get_security_file_URI( | ||
&dds_security_files.cert, "cert.pem", | ||
security_options->security_root_path, allocator) && | ||
get_security_file_URI( | ||
&dds_security_files.key, "key.pem", | ||
security_options->security_root_path, allocator) && | ||
get_security_file_URI( | ||
&dds_security_files.permissions_ca_cert, "permissions_ca.cert.pem", | ||
security_options->security_root_path, allocator) && | ||
get_security_file_URI( | ||
&dds_security_files.governance_p7s, "governance.p7s", | ||
security_options->security_root_path, allocator) && | ||
get_security_file_URI( | ||
&dds_security_files.permissions_p7s, "permissions.p7s", | ||
security_options->security_root_path, allocator)); | ||
} | ||
return ret; | ||
} | ||
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void finalize_security_file_URIs( | ||
dds_security_files_t dds_security_files, const rcutils_allocator_t allocator) | ||
{ | ||
allocator.deallocate(dds_security_files.identity_ca_cert, allocator.state); | ||
dds_security_files.identity_ca_cert = nullptr; | ||
allocator.deallocate(dds_security_files.cert, allocator.state); | ||
dds_security_files.cert = nullptr; | ||
allocator.deallocate(dds_security_files.key, allocator.state); | ||
dds_security_files.key = nullptr; | ||
allocator.deallocate(dds_security_files.permissions_ca_cert, allocator.state); | ||
dds_security_files.permissions_ca_cert = nullptr; | ||
allocator.deallocate(dds_security_files.governance_p7s, allocator.state); | ||
dds_security_files.governance_p7s = nullptr; | ||
allocator.deallocate(dds_security_files.permissions_p7s, allocator.state); | ||
dds_security_files.permissions_p7s = nullptr; | ||
} | ||
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#endif /* RMW_SUPPORT_SECURITY */ | ||
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/* Attempt to set all the qos properties needed to enable DDS security */ | ||
rmw_ret_t configure_qos_for_security( | ||
dds_qos_t * qos, | ||
#if !RMW_VERSION_GTE(0, 8, 2) | ||
const rmw_node_security_options_t * security_options | ||
#else | ||
const rmw_security_options_t * security_options | ||
#endif | ||
) | ||
{ | ||
#if RMW_SUPPORT_SECURITY | ||
rmw_ret_t ret = RMW_RET_UNSUPPORTED; | ||
dds_security_files_t dds_security_files; | ||
rcutils_allocator_t allocator = rcutils_get_default_allocator(); | ||
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if (get_security_file_URIs(security_options, dds_security_files, allocator)) { | ||
dds_qset_prop(qos, "dds.sec.auth.identity_ca", dds_security_files.identity_ca_cert); | ||
dds_qset_prop(qos, "dds.sec.auth.identity_certificate", dds_security_files.cert); | ||
dds_qset_prop(qos, "dds.sec.auth.private_key", dds_security_files.key); | ||
dds_qset_prop(qos, "dds.sec.access.permissions_ca", dds_security_files.permissions_ca_cert); | ||
dds_qset_prop(qos, "dds.sec.access.governance", dds_security_files.governance_p7s); | ||
dds_qset_prop(qos, "dds.sec.access.permissions", dds_security_files.permissions_p7s); | ||
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dds_qset_prop(qos, "dds.sec.auth.library.path", "dds_security_auth"); | ||
dds_qset_prop(qos, "dds.sec.auth.library.init", "init_authentication"); | ||
dds_qset_prop(qos, "dds.sec.auth.library.finalize", "finalize_authentication"); | ||
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dds_qset_prop(qos, "dds.sec.crypto.library.path", "dds_security_crypto"); | ||
dds_qset_prop(qos, "dds.sec.crypto.library.init", "init_crypto"); | ||
dds_qset_prop(qos, "dds.sec.crypto.library.finalize", "finalize_crypto"); | ||
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dds_qset_prop(qos, "dds.sec.access.library.path", "dds_security_ac"); | ||
dds_qset_prop(qos, "dds.sec.access.library.init", "init_access_control"); | ||
dds_qset_prop(qos, "dds.sec.access.library.finalize", "finalize_access_control"); | ||
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ret = RMW_RET_OK; | ||
} | ||
finalize_security_file_URIs(dds_security_files, allocator); | ||
return ret; | ||
#else | ||
(void) qos; | ||
(void) security_options; | ||
RMW_SET_ERROR_MSG( | ||
"Security was requested but the Cyclone DDS being used does not have security " | ||
"support enabled. Recompile Cyclone DDS with the '-DENABLE_SECURITY=ON' " | ||
"CMake option"); | ||
return RMW_RET_UNSUPPORTED; | ||
#endif | ||
} | ||
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extern "C" rmw_node_t * rmw_create_node( | ||
rmw_context_t * context, const char * name, | ||
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@@ -720,7 +866,11 @@ extern "C" rmw_node_t * rmw_create_node( | |
const dds_domainid_t did = DDS_DOMAIN_DEFAULT; | ||
#endif | ||
#if !RMW_VERSION_GTE(0, 8, 2) | ||
(void) security_options; | ||
RCUTILS_CHECK_ARGUMENT_FOR_NULL(security_options, nullptr); | ||
#else | ||
rmw_security_options_t * security_options; | ||
RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, nullptr); | ||
security_options = &context->options.security_options; | ||
#endif | ||
rmw_ret_t ret; | ||
int dummy_validation_result; | ||
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@@ -749,6 +899,15 @@ extern "C" rmw_node_t * rmw_create_node( | |
std::string user_data = get_node_user_data(name, namespace_); | ||
#endif | ||
dds_qset_userdata(qos, user_data.c_str(), user_data.size()); | ||
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if (configure_qos_for_security(qos, security_options) != RMW_RET_OK) { | ||
if (security_options->enforce_security == RMW_SECURITY_ENFORCEMENT_ENFORCE) { | ||
dds_delete_qos(qos); | ||
node_gone_from_domain_locked(did); | ||
return nullptr; | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. This, too, can leak the domain reference, and moreover leaks There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more.
Regarding that: such issues can be significantly reduced by making more substantial use of C++ features here. Can you explain why this is essentially C? There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Not really, the RMW layer is intended to be in C++. Part of the reason that it is so C-like is that I am much more experienced with C than with C++ and so whenever I try to write C++ it still ends up looking like C. There is also the fact that Cyclone is in C, that this is therefore relying on a C API, and that some of the niceties of C++ (like destructors) are simply not available on these objects. There is an implementation of a standard C++11 API of DDS waiting for approval by the Eclipse Foundation's IP review process. That interface covers all the standard features but not all the additional tricks. At some point it might be worth rewriting the RMW implementation to use that API, it's only about a handful of lines of code anyway. There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more.
Fair enough, that's a perfectly valid reason.
In case you're unaware, shared/unique ptrs can be handed custom deleters that might help with that particular issue. Anyway, I don't want to digress from the PR too much, just found myself wondering about this. Thanks for the info! There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more.
That sounds like something worth reading up on, thanks! There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. @eboasson better yet, define a destructors for your classes. Then you don't need to pass a custom deleter to unique_ptr/shared_ptr There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. @rotu that's not always possible:
My suggestion related particularly to that. Another common option is to wrap such C objects in a class responsible for managing it, but the trade off is more code to maintain. It also assumes you're comfortable with those C++ constructs. There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. I find it's easier to maintain a wrapper class than a deleter, but YMMV. Where there's a matched initializer + deleter pair, I find it easiest to make them into a constructor + destructor. With a factory method + deleter pair, i prefer to use a class method + protected constructor + destructor. There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. |
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} | ||
} | ||
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dds_entity_t pp = dds_create_participant(did, qos, nullptr); | ||
dds_delete_qos(qos); | ||
if (pp < 0) { | ||
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I'm always getting this error message if I build a
ros2
workspace without passing-DENABLE_SECURITY=ON
and run any demo (using cyclone)I think
rmw_cyclonedds_cpp
should be able to automatically detect if security is available or not at build time.There was a problem hiding this comment.
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You're right, this error message should probably only be set if security was specifically requested by the user, but that's only checked in the above branch. @SidFaber what do you think, add an
if (security_options->security_root_path != nullptr)
here?There was a problem hiding this comment.
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See #172 for a possible fix.
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This should only happen when ROS_SECURITY_STRATEGY=Enforce and ROS_SECURITY_ENABLE=True. The full interplay of environment variables, RCL and RMW_CYCLONE is outlined here, the message should only show in lines 19, 20 and 22.
@ivanpauno, can you confirm that is or is not what you're seeing? This should work with both the current and the security branches of rmw_cyclonedds_cpp. Thanks!
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I'm seeing this error without setting any security related environment variable.
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#175 should fix this up, thanks for pointing this out.