Switch to one participant per context

rmw/CMakeLists.txt

@@ -32,9 +32,9 @@ set(rmw_sources
   "src/init_options.c"
   "src/loaned_message_sequence.c"
   "src/names_and_types.c"
-  "src/node_security_options.c"
   "src/publisher_options.c"
   "src/sanity_checks.c"
+  "src/security_options.c"
   "src/subscription_options.c"
   "src/topic_endpoint_info_array.c"
   "src/topic_endpoint_info.c"

rmw/include/rmw/node_security_options.h → rmw/include/rmw/domain_id.h

@@ -1,4 +1,4 @@
-// Copyright 2017 Open Source Robotics Foundation, Inc.
+// Copyright 2019 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.
@@ -12,26 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW__NODE_SECURITY_OPTIONS_H_
-#define RMW__NODE_SECURITY_OPTIONS_H_
+#ifndef RMW__DOMAIN_ID_H_
+#define RMW__DOMAIN_ID_H_
 
-#ifdef __cplusplus
-extern "C"
-{
-#endif
+/// Default domain id.
+#define RMW_DEFAULT_DOMAIN_ID SIZE_MAX
 
-#include "rmw/types.h"
-
-RMW_PUBLIC
-rmw_node_security_options_t
-rmw_get_zero_initialized_node_security_options();
-
-RMW_PUBLIC
-rmw_node_security_options_t
-rmw_get_default_node_security_options();
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // RMW__NODE_SECURITY_OPTIONS_H_
+#endif  // RMW__DOMAIN_ID_H_

rmw/include/rmw/init.h

@@ -40,6 +40,8 @@ typedef struct RMW_PUBLIC_TYPE rmw_context_t
   uint64_t instance_id;
   /// Implementation identifier, used to ensure two different implementations are not being mixed.
   const char * implementation_identifier;
+  /// Options used to initialize the context.
+  rmw_init_options_t options;
   /// Implementation defined context information.
   /** May be NULL if there is no implementation defined context information. */
   rmw_context_impl_t * impl;

rmw/include/rmw/init_options.h

@@ -23,8 +23,11 @@ extern "C"
 #include <stdint.h>
 
 #include "rcutils/allocator.h"
+#include "rmw/domain_id.h"
+#include "rmw/localhost.h"
 #include "rmw/macros.h"
 #include "rmw/ret_types.h"
+#include "rmw/security_options.h"
 #include "rmw/visibility_control.h"
 
 /// Implementation defined options structure used during rmw_init().
@@ -45,6 +48,15 @@ typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
   uint64_t instance_id;
   /// Implementation identifier, used to ensure two different implementations are not being mixed.
   const char * implementation_identifier;
+  /// ROS domain id
+  size_t domain_id;
+  /// Security options
+  rmw_security_options_t security_options;
+  /// Enable localhost only
+  rmw_localhost_only_t localhost_only;
+  /// Security context
+  char * security_context;
+
   // TODO(wjwwood): replace with rmw_allocator_t when that refactor happens
   /// Allocator used during internal allocation of init options, if needed.
   rcutils_allocator_t allocator;

rmw/include/rmw/localhost.h

@@ -0,0 +1,40 @@
+// Copyright 2019 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 RMW__LOCALHOST_H_
+#define RMW__LOCALHOST_H_
+
+#include "rmw/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// Used to specify if the context can only communicate through localhost.
+typedef enum RMW_PUBLIC_TYPE rmw_localhost_only_t
+{
+  /// Uses ROS_LOCALHOST_ONLY environment variable.
+  RMW_LOCALHOST_ONLY_DEFAULT = 0,
+  /// Forces using only localhost.
+  RMW_LOCALHOST_ONLY_ENABLED = 1,
+  /// Forces disabling localhost only.
+  RMW_LOCALHOST_ONLY_DISABLED = 2,
+} rmw_localhost_only_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__LOCALHOST_H_

rmw/include/rmw/rmw.h

@@ -173,7 +173,6 @@ rmw_create_node(
   const char * name,
   const char * namespace_,
   size_t domain_id,
-  const rmw_node_security_options_t * security_options,
   bool localhost_only);
 
 /// Finalize a given node handle, reclaim the resources, and deallocate the node handle.
@@ -1044,6 +1043,26 @@ rmw_get_node_names(
   rcutils_string_array_t * node_names,
   rcutils_string_array_t * node_namespaces);
 
+/// Return a list of node name and namespaces discovered via a node with its security context.
+/**
+ * Similar to \ref rmw_get_node_names, but it also provides the security context name.
+ *
+ * \param[in] node the handle to the node being used to query the ROS graph
+ * \param[out] node_names a list of discovered node names
+ * \param[out] node_namespaces a list of discovered node namespaces
+ * \param[out] security_contexts list of discovered nodes' security context names
+ * \return `RMW_RET_OK` if node the query was made successfully, or
+ * \return `RMW_RET_ERROR` if an unspecified error occurs.
+ */
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_get_node_names_with_security_contexts(
+  const rmw_node_t * node,
+  rcutils_string_array_t * node_names,
+  rcutils_string_array_t * node_namespaces,
+  rcutils_string_array_t * security_contexts);
+
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_ret_t

rmw/include/rmw/security_options.h

@@ -0,0 +1,100 @@
+// Copyright 2020 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 RMW__SECURITY_OPTIONS_H_
+#define RMW__SECURITY_OPTIONS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdbool.h>
+
+#include "rcutils/allocator.h"
+
+#include "rmw/ret_types.h"
+#include "rmw/visibility_control.h"
+
+typedef enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
+{
+  RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
+  RMW_SECURITY_ENFORCEMENT_ENFORCE,
+} rmw_security_enforcement_policy_t;
+
+typedef struct RMW_PUBLIC_TYPE rmw_security_options_t
+{
+  enum rmw_security_enforcement_policy_t enforce_security;
+  char * security_root_path;
+} rmw_security_options_t;
+
+/// Get zero initialized security options.
+RMW_PUBLIC
+rmw_security_options_t
+rmw_get_zero_initialized_security_options();
+
+/// Get default initialized security options.
+RMW_PUBLIC
+rmw_security_options_t
+rmw_get_default_security_options();
+
+/// Copy the given security options.
+/**
+ * \param src security options to be copied.
+ * \param allocator allocator used when copying data to the new security options.
+ * \param dst security options to be set.
+ * \returns RMW_RET_BAD_ALLOC, or
+ * \returns RMW_RET_OK
+ */
+RMW_PUBLIC
+rmw_ret_t
+rmw_security_options_copy(
+  const rmw_security_options_t * src,
+  const rcutils_allocator_t * allocator,
+  rmw_security_options_t * dst);
+
+/// Set the security root path for the given security options.
+/**
+ * The provided `security_root_path` will be copied into allocated memory.
+ *
+ * \param security_root_path path to be set.
+ * \param allocator allocator used to allocate the new path.
+ * \param security_options security options to be set.
+ * \returns RMW_RET_BAD_ALLOC, or
+ * \returns RMW_RET_OK
+ */
+rmw_ret_t
+rmw_security_options_set_root_path(
+  const char * security_root_path,
+  const rcutils_allocator_t * allocator,
+  rmw_security_options_t * security_options);
+
+/// Finalize the given security_options.
+/**
+ * \param security_options security options to be finalized.
+ * \param allocator allocator used to deallocate the root path.
+ * \returns RMW_RET_ERROR, or
+ * \returns RMW_RET_OK
+ */
+RMW_PUBLIC
+rmw_ret_t
+rmw_security_options_fini(
+  rmw_security_options_t * security_options,
+  const rcutils_allocator_t * allocator);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__SECURITY_OPTIONS_H_

rmw/include/rmw/types.h

@@ -28,14 +28,16 @@ extern "C"
 #include <rcutils/logging.h>
 
 #include "rmw/init.h"
+#include "rmw/init_options.h"
 #include "rmw/loaned_message_sequence.h"
 #include "rmw/ret_types.h"
+#include "rmw/security_options.h"
 #include "rmw/serialized_message.h"
 #include "rmw/visibility_control.h"
 
 // 24 bytes is the most memory needed to represent the GID by any current
 // implementation. It may need to be increased in the future.
-#define RMW_GID_STORAGE_SIZE 24
+#define RMW_GID_STORAGE_SIZE 24u
 
 typedef struct RMW_PUBLIC_TYPE rmw_node_t
 {
@@ -46,7 +48,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_node_t
   rmw_context_t * context;
 } rmw_node_t;
 
-typedef enum RMW_PUBLIC_TYPE
+typedef enum RMW_PUBLIC_TYPE rmw_endpoint_type_t
 {
   RMW_ENDPOINT_INVALID = 0,
   RMW_ENDPOINT_PUBLISHER,
@@ -253,18 +255,6 @@ typedef struct RMW_PUBLIC_TYPE rmw_time_t
   uint64_t nsec;
 } rmw_time_t;
 
-enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
-{
-  RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
-  RMW_SECURITY_ENFORCEMENT_ENFORCE,
-};
-
-typedef struct RMW_PUBLIC_TYPE rmw_node_security_options_t
-{
-  enum rmw_security_enforcement_policy_t enforce_security;
-  const char * security_root_path;
-} rmw_node_security_options_t;
-
 enum RMW_PUBLIC_TYPE rmw_qos_reliability_policy_t
 {
   RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,

rmw/src/init_options.c

@@ -15,6 +15,7 @@
 #include <stddef.h>
 
 #include "rmw/init_options.h"
+#include "rmw/localhost.h"
 
 #ifdef __cplusplus
 extern "C"
@@ -25,9 +26,13 @@ rmw_init_options_t
 rmw_get_zero_initialized_init_options(void)
 {
   return (const rmw_init_options_t) {
-           .instance_id = 0,
+           .domain_id = RMW_DEFAULT_DOMAIN_ID,
+           .localhost_only = RMW_LOCALHOST_ONLY_DEFAULT,
            .implementation_identifier = NULL,
            .impl = NULL,
+           .instance_id = 0,
+           .security_context = NULL,
+           .security_options = rmw_get_default_security_options(),
   };  // NOLINT(readability/braces): false positive
 }