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* micro-ROS changes over dashing

Feature/add security directory (#1)

* Added security directory

* Updated security directory

Feature/avoid filesystem and allocation (#2)

* Included RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION

* Added no filesystem options

* Default allocators write access

* Avoid dynamic allocation and no filesytem on error handling

* Typo

* New flags for filesystem and avoid dynamic

* Error handling template

* New allocator approach

Add test_security_directory test from rcl. (#3)

Merge pull request #4 from micro-ROS/feature/zephyr_fixes

Feature/zephyr fixes

CMake refactor (#5)

Update approach (#6)

* Update approach

* Remove target_compile_definitions and refactor flags install

* Added RCUTILS_NO_FILESYSTEM on new functions

* Added RCUTILS_NO_FILESYSTEM on new functions

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

Updates 17092020


Fix atomics 64bits (#9)


* micro-ROS changes over dashing

Feature/add security directory (#1)

* Added security directory

* Updated security directory

Feature/avoid filesystem and allocation (#2)

* Included RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION

* Added no filesystem options

* Default allocators write access

* Avoid dynamic allocation and no filesytem on error handling

* Typo

* New flags for filesystem and avoid dynamic

* Error handling template

* New allocator approach

Add test_security_directory test from rcl. (#3)

Merge pull request #4 from micro-ROS/feature/zephyr_fixes

Feature/zephyr fixes

CMake refactor (#5)


Update approach (#6)

* Update approach

* Remove target_compile_definitions and refactor flags install

* Added RCUTILS_NO_FILESYSTEM on new functions

* Added RCUTILS_NO_FILESYSTEM on new functions

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

* Initial changes

* Add hashing and lock pool

* Updates

Co-authored-by: Jose Antonio Moral <joseantoniomoralparras@gmail.com>
Fix atomics 64bits (#9)



Updates 09102020

* Release micro-ROS Foxy (#8)

Update


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pablogs9 committed Jan 13, 2021
1 parent c8373a9 commit 004d614
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10 changes: 10 additions & 0 deletions CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.5)

project(rcutils)

option(RCUTILS_NO_THREAD_SUPPORT "Disable thread support." OFF)
option(RCUTILS_NO_FILESYSTEM "Disable filesystem usage." OFF)
option(RCUTILS_AVOID_DYNAMIC_ALLOCATION "Disable dynamic allocations." OFF)
option(RCUTILS_NO_64_ATOMIC "Disable support for 64 bits atomic operations." OFF)

# Default to C11
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 11)
Expand Down Expand Up @@ -74,6 +79,7 @@ set(rcutils_sources
src/time.c
${time_impl_c}
src/uint8_array.c
$<$<BOOL:${RCUTILS_NO_64_ATOMIC}>:src/atomic_64bits.c>
)
set_source_files_properties(
${rcutils_sources}
Expand Down Expand Up @@ -128,6 +134,10 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_BUILDING_DLL")
if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
endif()
configure_file(
"${PROJECT_SOURCE_DIR}/include/rcutils/configuration_flags.h.in"
"${PROJECT_BINARY_DIR}/include/rcutils/configuration_flags.h"
)

target_link_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})

Expand Down
15 changes: 15 additions & 0 deletions include/rcutils/allocator.h
Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,21 @@ RCUTILS_WARN_UNUSED
rcutils_allocator_t
rcutils_get_zero_initialized_allocator(void);

/// Set rcutils default allocators.
/**
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*/
RCUTILS_PUBLIC
RCUTILS_WARN_UNUSED
bool
rcutils_set_default_allocator(rcutils_allocator_t * allocator);

/// Return a properly initialized rcutils_allocator_t with default values.
/**
* This defaults to:
Expand Down
18 changes: 18 additions & 0 deletions include/rcutils/configuration_flags.h.in
Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@

#ifndef RCUTILS__CONFIGURATION_FLAGS_H_
#define RCUTILS__CONFIGURATION_FLAGS_H_

#ifdef __cplusplus
extern "C"
{
#endif

#cmakedefine RCUTILS_NO_FILESYSTEM
#cmakedefine RCUTILS_AVOID_DYNAMIC_ALLOCATION
#cmakedefine RCUTILS_NO_THREAD_SUPPORT

#ifdef __cplusplus
}
#endif

#endif // RCUTILS__CONFIGURATION_FLAGS_H_
16 changes: 14 additions & 2 deletions include/rcutils/error_handling.h
Original file line number Diff line number Diff line change
Expand Up @@ -39,15 +39,18 @@ extern "C"
#include "rcutils/testing/fault_injection.h"
#include "rcutils/types/rcutils_ret.h"
#include "rcutils/visibility_control.h"
#include "rcutils/configuration_flags.h"

#ifdef __STDC_LIB_EXT1__
#if defined(__STDC_LIB_EXT1__) && !defined(RCUTILS_NO_FILESYSTEM)
// Limit the buffer size in the `fwrite` call to give an upper bound to buffer overrun in the case
// of non-null terminated `msg`.
#define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \
do {fwrite(msg, sizeof(char), strnlen_s(msg, 4096), stderr);} while (0)
#else
#elif !defined(RCUTILS_NO_FILESYSTEM)
#define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \
do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0)
#else
#define RCUTILS_SAFE_FWRITE_TO_STDERR(msg)
#endif

/// Set the error message to stderr using a format string and format arguments.
Expand Down Expand Up @@ -220,8 +223,12 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
*
* \param[in] msg The error message to be set.
*/
#ifdef RCUTILS_AVOID_DYNAMIC_ALLOCATION
#define RCUTILS_SET_ERROR_MSG(msg)
#else
#define RCUTILS_SET_ERROR_MSG(msg) \
do {rcutils_set_error_state(msg, __FILE__, __LINE__);} while (0)
#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION

/// Set the error message using a format string and format arguments.
/**
Expand All @@ -232,6 +239,9 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
* \param[in] format_string The string to be used as the format of the error message.
* \param[in] ... Arguments for the format string.
*/
#ifdef RCUTILS_AVOID_DYNAMIC_ALLOCATION
#define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...)
#else
#define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...) \
do { \
char output_msg[RCUTILS_ERROR_MESSAGE_MAX_LENGTH]; \
Expand All @@ -242,6 +252,8 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
RCUTILS_SET_ERROR_MSG(output_msg); \
} \
} while (0)
#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION


/// Indicate that the function intends to set an error message and return an error value.
/**
Expand Down
6 changes: 5 additions & 1 deletion include/rcutils/macros.h
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@ extern "C"
{
#endif

#include "rcutils/configuration_flags.h"

#ifndef _WIN32
#define RCUTILS_WARN_UNUSED __attribute__((warn_unused_result))
#else
Expand All @@ -28,7 +30,9 @@ extern "C"

// Note: this block was migrated from rmw/macros.h
// This block either sets RCUTILS_THREAD_LOCAL or RCUTILS_THREAD_LOCAL_PTHREAD.
#if defined _WIN32 || defined __CYGWIN__
#if defined(RCUTILS_NO_THREAD_SUPPORT)
#define RCUTILS_THREAD_LOCAL
#elif defined _WIN32 || defined __CYGWIN__
// Windows or Cygwin
#define RCUTILS_THREAD_LOCAL __declspec(thread)
#elif defined __APPLE__
Expand Down
67 changes: 67 additions & 0 deletions include/rcutils/security_directory.h
Original file line number Diff line number Diff line change
@@ -0,0 +1,67 @@
// Copyright 2018 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.

#ifndef RCUTILS__SECURITY_DIRECTORY_H_
#define RCUTILS__SECURITY_DIRECTORY_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include "rcutils/allocator.h"
#include "rcutils/visibility_control.h"

#ifndef ROS_SECURITY_NODE_DIRECTORY_VAR_NAME
#define ROS_SECURITY_NODE_DIRECTORY_VAR_NAME "ROS_SECURITY_NODE_DIRECTORY"
#endif

#ifndef ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME
#define ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "ROS_SECURITY_ROOT_DIRECTORY"
#endif

#ifndef ROS_SECURITY_LOOKUP_TYPE_VAR_NAME
#define ROS_SECURITY_LOOKUP_TYPE_VAR_NAME "ROS_SECURITY_LOOKUP_TYPE"
#endif

/// Return the secure root directory associated with a node given its validated name and namespace.
/**
* E.g. for a node named "c" in namespace "/a/b", the secure root path will be
* "a/b/c", where the delimiter "/" is native for target file system (e.g. "\\" for _WIN32).
* If no exact match is found for the node name, a best match would be used instead
* (by performing longest-prefix matching).
*
* However, this expansion can be overridden by setting the secure node directory environment
* variable, allowing users to explicitly specify the exact secure root directory to be utilized.
* Such an override is useful for where the FQN of a node is non-deterministic before runtime,
* or when testing and using additional tools that may not otherwise be easily provisioned.
*
* \param[in] node_name validated node name (a single token)
* \param[in] node_namespace validated, absolute namespace (starting with "/")
* \param[in] allocator the allocator to use for allocation
* \returns machine specific (absolute) node secure root path or NULL on failure
* returned pointer must be deallocated by the caller of this function
*/
RCUTILS_PUBLIC
char * rcutils_get_secure_root(
const char * node_name,
const char * node_namespace,
const rcutils_allocator_t * allocator
);

#ifdef __cplusplus
}
#endif

#endif // RCUTILS__SECURITY_DIRECTORY_H_
13 changes: 13 additions & 0 deletions include/rcutils/testing/fault_injection.h
Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,8 @@ RCUTILS_WARN_UNUSED
int_least64_t
_rcutils_fault_injection_maybe_fail(void);

#ifdef RCUTILS_ENABLE_FAULT_INJECTION

/**
* \def RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR
* \brief This macro checks and decrements a static global variable atomic counter and returns
Expand Down Expand Up @@ -199,6 +201,17 @@ _rcutils_fault_injection_maybe_fail(void);
rcutils_fault_injection_set_count(no_fault_injection_count); \
} while (0)

#else

// Mocks for micro-ROS when fault injection not enabled

#define RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR(return_value_on_error)
#define RCUTILS_FAULT_INJECTION_MAYBE_FAIL(failure_code)
#define RCUTILS_FAULT_INJECTION_TEST(code)
#define RCUTILS_NO_FAULT_INJECTION(code)

#endif

#ifdef __cplusplus
}
#endif
Expand Down
23 changes: 19 additions & 4 deletions src/allocator.c
Original file line number Diff line number Diff line change
Expand Up @@ -75,16 +75,31 @@ rcutils_get_zero_initialized_allocator(void)
return zero_allocator;
}

rcutils_allocator_t
rcutils_get_default_allocator()
{
static rcutils_allocator_t default_allocator = {
static rcutils_allocator_t default_allocator = {
.allocate = __default_allocate,
.deallocate = __default_deallocate,
.reallocate = __default_reallocate,
.zero_allocate = __default_zero_allocate,
.state = NULL,
};

bool
rcutils_set_default_allocator(rcutils_allocator_t * allocator){
if (rcutils_allocator_is_valid(allocator))
{
default_allocator.allocate = allocator->allocate;
default_allocator.deallocate = allocator->deallocate;
default_allocator.reallocate = allocator->reallocate;
default_allocator.zero_allocate = allocator->zero_allocate;
default_allocator.state = NULL;
return true;
}
return false;
}

rcutils_allocator_t
rcutils_get_default_allocator()
{
return default_allocator;
}

Expand Down
92 changes: 92 additions & 0 deletions src/atomic_64bits.c
Original file line number Diff line number Diff line change
@@ -0,0 +1,92 @@
// Copyright 2020 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// 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.

#ifdef __cplusplus
extern "C"
{
#endif

#include <stdint.h>
#include <stdbool.h>

#define FLAGS_LEN 23

static bool * get_memory_lock(void *address)
{
static bool memory_locks[FLAGS_LEN] = { 0 };
uintptr_t a = (uintptr_t)(address);

// Public domain hash function taken from http://burtleburtle.net/bob/hash/integer.html
a = (a ^ 61) ^ (a >> 16);
a = a + (a << 3);
a = a ^ (a >> 4);
a = a * 0x27d4eb2d;
a = a ^ (a >> 15);

a = a % FLAGS_LEN;
return memory_locks + a;
}

void lock_memory(uint64_t *address){
bool * memory_lock = get_memory_lock(address);

while (__atomic_test_and_set(memory_lock, __ATOMIC_ACQUIRE) == 1);
}

void unlock_memory(uint64_t *address){
bool * memory_lock = get_memory_lock(address);

__atomic_clear(memory_lock, __ATOMIC_RELEASE);
}

uint64_t __atomic_load_8(uint64_t *mem, int model) {
(void) model;

lock_memory(mem);
uint64_t ret = *mem;
unlock_memory(mem);
return ret;
}

void __atomic_store_8(uint64_t *mem, uint64_t val, int model) {
(void) model;

lock_memory(mem);
*mem = val;
unlock_memory(mem);
}

uint64_t __atomic_exchange_8(uint64_t *mem, uint64_t val, int model) {
(void) model;

lock_memory(mem);
uint64_t ret = *mem;
*mem = val;
unlock_memory(mem);
return ret;
}

uint64_t __atomic_fetch_add_8(uint64_t *mem, uint64_t val, int model) {
(void) model;

lock_memory(mem);
uint64_t ret = *mem;
*mem += val;
unlock_memory(mem);
return ret;
}

#ifdef __cplusplus
}
#endif
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