Delete namespace from security root path functions. Delete security d…

…irectory prefix lookup strategy. Add context name validation

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

rcl/CMakeLists.txt

@@ -59,6 +59,7 @@ set(${PROJECT_NAME}_sources
   src/rcl/subscription.c
   src/rcl/time.c
   src/rcl/timer.c
+  src/rcl/validate_context_name.c
   src/rcl/validate_topic_name.c
   src/rcl/wait.c
 )

rcl/include/rcl/security.h

@@ -1,4 +1,4 @@
-// Copyright 2018 Open Source Robotics Foundation, Inc.
+// Copyright 2018-2020 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.
@@ -35,10 +35,6 @@ extern "C"
 # 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
-
 #ifndef ROS_SECURITY_STRATEGY_VAR_NAME
 # define ROS_SECURITY_STRATEGY_VAR_NAME "ROS_SECURITY_STRATEGY"
 #endif
@@ -56,7 +52,6 @@ extern "C"
  *  \sa rcl_get_secure_root
  *
  * \param[in] name name used to find the securiy root path.
- * \param[in] namespace_ namespace_ used to find the security root path.
  * \param[in] allocator used to do allocations.
  * \param[out] security_options security options that will be configured according to
  *  the environment.
@@ -65,7 +60,6 @@ RCL_PUBLIC
 rcl_ret_t
 rcl_get_security_options_from_environment(
   const char * name,
-  const char * namespace_,
   const rcutils_allocator_t * allocator,
   rmw_security_options_t * security_options);
 
@@ -98,38 +92,29 @@ RCL_PUBLIC
 rcl_ret_t
 rcl_get_enforcement_policy(rmw_security_enforcement_policy_t * policy);
 
-/// Return the secure root given a name and namespace.
+/// Return the secure root given a context name.
 /**
- * The returned security directory is associated with the node or context depending on the
- * rmw implementation.
+ * Return the security directory associated with the context name.
  *
  * The value of the environment variable `ROS_SECURITY_ROOT_DIRECTORY` is used as a root.
- * The specific directory to be used, is found from that root using the `name` and `namespace_`
- * passed.
- * E.g. for a node/context named "c" in namespace "/a/b" root "/r", the secure root path will be
+ * The specific directory to be used, is found from that root using the `name` passed.
+ * E.g. for a context named "a/b/c" and root "/r", the secure root path will be
  * "/r/a/b/c", where the delimiter "/" is native for target file system (e.g. "\\" for _WIN32).
  *
- * If `ROS_SECURITY_LOOKUP_TYPE_VAR_NAME` is set to `MATCH_PREFIX`, when no exact match is found for
- * the node/context name, a best match would be used instead
- * (by performing longest-prefix matching).
- *
  * However, this expansion can be overridden by setting the secure directory override environment
  * (`ROS_SECURITY_DIRECTORY_OVERRIDE`) 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/context is non-deterministic before runtime,
+ * Such an override is useful for where the context name is non-deterministic before runtime,
  * or when testing and using additional tools that may not otherwise be easily provisioned.
  *
  * \param[in] name validated name (a single token)
- * \param[in] namespace_ validated, absolute namespace (starting with "/")
  * \param[in] allocator the allocator to use for allocation
  * \returns Machine specific (absolute) secure root path or NULL on failure.
  *  Returned pointer must be deallocated by the caller of this function
  */
 RCL_PUBLIC
-char * rcl_get_secure_root(
-  const char * name,
-  const char * namespace_,
-  const rcl_allocator_t * allocator);
+char *
+rcl_get_secure_root(const char * name, const rcl_allocator_t * allocator);
 
 #ifdef __cplusplus
 }

rcl/include/rcl/validate_context_name.h

@@ -0,0 +1,91 @@
+// 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 RCL__VALIDATE_CONTEXT_NAME_H_
+#define RCL__VALIDATE_CONTEXT_NAME_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rmw/validate_namespace.h"
+#include "rmw/validate_node_name.h"
+
+#include "rcl/macros.h"
+#include "rcl/types.h"
+#include "rcl/visibility_control.h"
+
+#define RCL_CONTEXT_NAME_VALID RMW_NAMESPACE_VALID
+#define RCL_CONTEXT_NAME_INVALID_IS_EMPTY_STRING RMW_NAMESPACE_INVALID_IS_EMPTY_STRING
+#define RCL_CONTEXT_NAME_INVALID_NOT_ABSOLUTE RMW_NAMESPACE_INVALID_NOT_ABSOLUTE
+#define RCL_CONTEXT_NAME_INVALID_ENDS_WITH_FORWARD_SLASH \
+  RMW_NAMESPACE_INVALID_ENDS_WITH_FORWARD_SLASH
+#define RCL_CONTEXT_NAME_INVALID_CONTAINS_UNALLOWED_CHARACTERS \
+  RMW_NAMESPACE_INVALID_CONTAINS_UNALLOWED_CHARACTERS
+#define RCL_CONTEXT_NAME_INVALID_CONTAINS_REPEATED_FORWARD_SLASH \
+  RMW_NAMESPACE_INVALID_CONTAINS_REPEATED_FORWARD_SLASH
+#define RCL_CONTEXT_NAME_INVALID_NAME_TOKEN_STARTS_WITH_NUMBER \
+  RMW_NAMESPACE_INVALID_NAME_TOKEN_STARTS_WITH_NUMBER
+#define RCL_CONTEXT_NAME_INVALID_TOO_LONG RMW_NAMESPACE_INVALID_TOO_LONG
+
+#define RCL_CONTEXT_NAME_MAX_LENGTH RMW_NODE_NAME_MAX_NAME_LENGTH
+
+/// Determine if a given context name is valid.
+/**
+ * /sa The same rules as rmw_validate_namespace are used.
+ * The only difference is the maximum length, which can be 255 characters.
+ *
+ * \param[in] context_name context_name to be validated
+ * \param[out] validation_result int in which the result of the check is stored
+ * \param[out] invalid_index index of the input string where an error occurred
+ * \returns `RMW_RET_OK` on successfully running the check, or
+ * \returns `RMW_RET_INVALID_ARGUMENT` on invalid parameters, or
+ * \returns `RMW_RET_ERROR` when an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_validate_context_name(
+  const char * context_name,
+  int * validation_result,
+  size_t * invalid_index);
+
+/// Deterimine if a given context name is valid.
+/**
+ * This is an overload with an extra parameter for the length of context_name.
+ * \param[in] context_name The number of characters in context_name.
+ *
+ * \sa rcl_validate_context_name(const char *, int *, size_t *)
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_validate_context_name_with_size(
+  const char * context_name,
+  size_t context_name_length,
+  int * validation_result,
+  size_t * invalid_index);
+
+/// Return a validation result description, or NULL if unknown or RCL_CONTEXT_NAME_VALID.
+RCL_PUBLIC
+RCL_WARN_UNUSED
+const char *
+rcl_context_name_validation_result_string(int validation_result);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCL__VALIDATE_CONTEXT_NAME_H_

rcl/src/rcl/init.c

@@ -34,6 +34,7 @@ extern "C"
 #include "rcl/localhost.h"
 #include "rcl/logging.h"
 #include "rcl/security.h"
+#include "rcl/validate_context_name.h"
 
 #include "./arguments_impl.h"
 #include "./common.h"
@@ -182,6 +183,26 @@ rcl_init(
     context->impl->init_options.impl->rmw_init_options.name = rcutils_strdup(
       "/", context->impl->allocator);
   }
+  int validation_result;
+  size_t invalid_index;
+  ret = rcl_validate_context_name(
+    context->impl->init_options.impl->rmw_init_options.name,
+    &validation_result,
+    &invalid_index);
+  if (RCL_RET_OK != ret) {
+    RCL_SET_ERROR_MSG("rcl_validate_context_name() failed");
+    fail_ret = ret;
+    goto fail;
+  }
+  if (RCL_CONTEXT_NAME_VALID != validation_result) {
+    RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
+      "rcl_validate_context_name result is not valid: '%s'. Invalid index: %zu",
+      rcl_context_name_validation_result_string(validation_result),
+      invalid_index);
+    fail_ret = RMW_RET_ERROR;
+    goto fail;
+  }
+
   if (!context->impl->init_options.impl->rmw_init_options.name) {
     RCL_SET_ERROR_MSG("failed to set context name");
     fail_ret = RMW_RET_BAD_ALLOC;
@@ -191,7 +212,6 @@ rcl_init(
   rmw_security_options_t * security_options =
     &context->impl->init_options.impl->rmw_init_options.security_options;
   ret = rcl_get_security_options_from_environment(
-    "",
     context->impl->init_options.impl->rmw_init_options.name,
     &context->impl->allocator,
     security_options);