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Add hardware-accelerated encryption to rosbags (#1)
* Implement Bag encryption/decryption. (ros#1206) Ported to 1.12.12 * Python Bag class supports encryption; all the rosbag tools work for encrypted bags. (ros#1206) * Improve exception messages raised when a public key is missing. * Randomize initialization vectors for encrypt/decrypt. * Fix bag encryption routine (ros#1310) Bag encryption routine was truncating the recorded block by the size of the IV. * Drop const qualifier from *::decryptChunk methods Since decryption can change EVP's context, these methods can't be const anymore. * Move encryption to from openssl software aes to EVP API * Check EVP API results * Add EncryptionOptions to Recorder * Parse encryption and encryption-param options in the record executable * Fix gtests * Fix rostests - With ninja, when `_rostest_ARGS` is empty, the space right before it gets escaped, and the command that ultimately gets executed has a trailing slash. - rospy.log testing fails because our ROSCONSOLE_FORMAT does not print severity - bag.py had a bug in get_info_str() that has been fixed upstream - bz2 performs a few bytes better than expected, failing the rosbag compression test - roswtf tests had an outdated dependency list (TBH I don't understand what this list is)
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2017, Open Source Robotics Foundation | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
|
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| #include <iostream> | ||
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| #include <boost/scoped_ptr.hpp> | ||
| #include <boost/program_options.hpp> | ||
| #include <boost/progress.hpp> | ||
| #include <boost/regex.hpp> | ||
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| #include <ros/ros.h> | ||
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| #include "rosbag/bag.h" | ||
| #include "rosbag/view.h" | ||
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| namespace po = boost::program_options; | ||
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| struct EncryptorOptions | ||
| { | ||
| EncryptorOptions() : quiet(false), compression(rosbag::compression::Uncompressed) { } | ||
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| void buildOutbagName(); | ||
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| bool quiet; | ||
| std::string plugin; | ||
| std::string param; | ||
| rosbag::CompressionType compression; | ||
| std::string inbag; | ||
| std::string outbag; | ||
| }; | ||
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| void EncryptorOptions::buildOutbagName() | ||
| { | ||
| if (!outbag.empty()) | ||
| return; | ||
| if (inbag.empty()) | ||
| throw ros::Exception("Input bag is not specified."); | ||
| std::string::size_type pos = inbag.find_last_of('.'); | ||
| if (pos == std::string::npos) | ||
| throw ros::Exception("Input bag name has no extension."); | ||
| outbag = inbag.substr(0, pos) + std::string(".out") + inbag.substr(pos); | ||
| } | ||
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| //! Parse the command-line arguments for encrypt options | ||
| EncryptorOptions parseOptions(int argc, char** argv) | ||
| { | ||
| EncryptorOptions opts; | ||
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| po::options_description desc("Allowed options"); | ||
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| desc.add_options() | ||
| ("help,h", "produce help message") | ||
| ("quiet,q", "suppress console output") | ||
| ("plugin,p", po::value<std::string>()->default_value("rosbag/AesCbcEncryptor"), "encryptor name") | ||
| ("param,r", po::value<std::string>()->default_value("*"), "encryptor parameter") | ||
| ("bz2,j", "use BZ2 compression") | ||
| ("lz4", "use lz4 compression") | ||
| ("inbag", po::value<std::string>(), "bag file to encrypt") | ||
| ("outbag,o", po::value<std::string>(), "bag file encrypted") | ||
| ; | ||
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| po::positional_options_description p; | ||
| p.add("inbag", -1); | ||
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| po::variables_map vm; | ||
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| try | ||
| { | ||
| po::store(po::command_line_parser(argc, argv).options(desc).positional(p).run(), vm); | ||
| } | ||
| catch (boost::program_options::invalid_command_line_syntax& e) | ||
| { | ||
| throw ros::Exception(e.what()); | ||
| } | ||
| catch (boost::program_options::unknown_option& e) | ||
| { | ||
| throw ros::Exception(e.what()); | ||
| } | ||
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| if (vm.count("help")) | ||
| { | ||
| std::cout << desc << std::endl; | ||
| exit(0); | ||
| } | ||
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| if (vm.count("quiet")) | ||
| opts.quiet = true; | ||
| if (vm.count("plugin")) | ||
| opts.plugin = vm["plugin"].as<std::string>(); | ||
| if (vm.count("param")) | ||
| opts.param = vm["param"].as<std::string>(); | ||
| if (vm.count("bz2")) | ||
| opts.compression = rosbag::compression::BZ2; | ||
| if (vm.count("lz4")) | ||
| opts.compression = rosbag::compression::LZ4; | ||
| if (vm.count("inbag")) | ||
| opts.inbag = vm["inbag"].as<std::string>(); | ||
| else | ||
| throw ros::Exception("You must specify bag to encrypt."); | ||
| if (vm.count("outbag")) | ||
| opts.outbag = vm["outbag"].as<std::string>(); | ||
| opts.buildOutbagName(); | ||
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| return opts; | ||
| } | ||
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| std::string getStringCompressionType(rosbag::CompressionType compression) | ||
| { | ||
| switch(compression) | ||
| { | ||
| case rosbag::compression::Uncompressed: return "none"; | ||
| case rosbag::compression::BZ2: return "bz2"; | ||
| case rosbag::compression::LZ4: return "lz4"; | ||
| default: return "Unknown"; | ||
| } | ||
| } | ||
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| int encrypt(EncryptorOptions const& options) | ||
| { | ||
| if (!options.quiet) | ||
| { | ||
| std::cout << "Output bag: " << options.outbag << "\n"; | ||
| std::cout << "Encryption: " << options.plugin << ":" << options.param << "\n"; | ||
| std::cout << "Compression: " << getStringCompressionType(options.compression) << "\n"; | ||
| } | ||
| rosbag::Bag inbag(options.inbag, rosbag::bagmode::Read); | ||
| rosbag::Bag outbag(options.outbag, rosbag::bagmode::Write); | ||
| // Compression type is per chunk, and cannot be retained. | ||
| // If chunk-by-chunk encryption is implemented, compression type could be honored. | ||
| outbag.setEncryptorPlugin(options.plugin, options.param); | ||
| outbag.setCompression(options.compression); | ||
| rosbag::View view(inbag); | ||
| boost::scoped_ptr<boost::progress_display> progress; | ||
| if (!options.quiet) | ||
| progress.reset(new boost::progress_display(view.size(), std::cout, "Progress:\n ", " ", " ")); | ||
| for (rosbag::View::const_iterator it = view.begin(); it != view.end(); ++it) | ||
| { | ||
| outbag.write(it->getTopic(), it->getTime(), *it, it->getConnectionHeader()); | ||
| if (progress) | ||
| ++(*progress); | ||
| } | ||
| outbag.close(); | ||
| inbag.close(); | ||
| return 0; | ||
| } | ||
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| int main(int argc, char** argv) | ||
| { | ||
| // Parse the command-line options | ||
| EncryptorOptions opts; | ||
| try | ||
| { | ||
| opts = parseOptions(argc, argv); | ||
| } | ||
| catch (ros::Exception const& ex) | ||
| { | ||
| ROS_ERROR("Error reading options: %s", ex.what()); | ||
| return 1; | ||
| } | ||
| catch(boost::regex_error const& ex) | ||
| { | ||
| ROS_ERROR("Error reading options: %s\n", ex.what()); | ||
| return 1; | ||
| } | ||
|
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| return encrypt(opts); | ||
| } |
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