From f045feb2a09adb3f4d36eef40af487df7afcafa6 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Mon, 13 Apr 2020 16:49:55 -0700
Subject: [PATCH 01/13] Rename security override env from
 ROS_SECURITY_DIRECTORY_OVERRIDE to ROS_SECURITY_ENCLAVE_OVERRIDE

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/include/rcl/security.h     |  6 +++---
 rcl/src/rcl/security.c         |  2 +-
 rcl/test/rcl/test_security.cpp | 12 ++++++------
 3 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/rcl/include/rcl/security.h b/rcl/include/rcl/security.h
index f4f9fe743..805ee67f5 100644
--- a/rcl/include/rcl/security.h
+++ b/rcl/include/rcl/security.h
@@ -27,8 +27,8 @@ extern "C"
 #include "rcl/visibility_control.h"
 #include "rmw/security_options.h"
 
-#ifndef ROS_SECURITY_DIRECTORY_OVERRIDE
-# define ROS_SECURITY_DIRECTORY_OVERRIDE "ROS_SECURITY_DIRECTORY_OVERRIDE"
+#ifndef ROS_SECURITY_ENCLAVE_OVERRIDE
+# define ROS_SECURITY_ENCLAVE_OVERRIDE "ROS_SECURITY_ENCLAVE_OVERRIDE"
 #endif
 
 #ifndef ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME
@@ -102,7 +102,7 @@ rcl_get_enforcement_policy(rmw_security_enforcement_policy_t * policy);
  * "/r/a/b/c", where the delimiter "/" is native for target file system (e.g. "\\" for _WIN32).
  *
  * 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
+ * (`ROS_SECURITY_ENCLAVE_OVERRIDE`) variable, allowing users to explicitly specify the exact secure
  * root directory to be utilized.
  * Such an override is useful for applications where the enclave is non-deterministic
  * before runtime, or when testing and using additional tools that may not otherwise be easily
diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index 8d18ae76b..e047f82ef 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -140,7 +140,7 @@ char * rcl_get_secure_root(
     return NULL;
   }
 
-  if (rcutils_get_env(ROS_SECURITY_DIRECTORY_OVERRIDE, &env_buf)) {
+  if (rcutils_get_env(ROS_SECURITY_ENCLAVE_OVERRIDE, &env_buf)) {
     return NULL;
   }
   if (!env_buf) {
diff --git a/rcl/test/rcl/test_security.cpp b/rcl/test/rcl/test_security.cpp
index f6b2c5e3a..76e516de4 100644
--- a/rcl/test/rcl/test_security.cpp
+++ b/rcl/test/rcl/test_security.cpp
@@ -75,7 +75,7 @@ class TestGetSecureRoot : public ::testing::Test
 
     // Always make sure the variable we set is unset at the beginning of a test
     unsetenv_wrapper(ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME);
-    unsetenv_wrapper(ROS_SECURITY_DIRECTORY_OVERRIDE);
+    unsetenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE);
     unsetenv_wrapper(ROS_SECURITY_STRATEGY_VAR_NAME);
     unsetenv_wrapper(ROS_SECURITY_ENABLE_VAR_NAME);
     allocator = rcl_get_default_allocator();
@@ -175,7 +175,7 @@ TEST_F(TestGetSecureRoot, successScenarios_local_exactMatch_multipleTokensName)
 
 TEST_F(TestGetSecureRoot, nodeSecurityDirectoryOverride_validDirectory) {
   /* Specify a valid directory */
-  putenv_wrapper(ROS_SECURITY_DIRECTORY_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
+  putenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
   root_path = rcl_get_secure_root(
     "name shouldn't matter", &allocator);
   ASSERT_STREQ(root_path, TEST_RESOURCES_DIRECTORY);
@@ -185,7 +185,7 @@ TEST_F(
   TestGetSecureRoot,
   nodeSecurityDirectoryOverride_validDirectory_overrideRootDirectoryAttempt) {
   /* Setting root dir has no effect */
-  putenv_wrapper(ROS_SECURITY_DIRECTORY_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
+  putenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
   root_path = rcl_get_secure_root("name shouldn't matter", &allocator);
   putenv_wrapper(ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "=" TEST_RESOURCES_DIRECTORY);
   ASSERT_STREQ(root_path, TEST_RESOURCES_DIRECTORY);
@@ -195,7 +195,7 @@ TEST_F(TestGetSecureRoot, nodeSecurityDirectoryOverride_invalidDirectory) {
   /* The override provided should exist. Providing correct node/namespace/root dir won't help
    * if the node override is invalid. */
   putenv_wrapper(
-    ROS_SECURITY_DIRECTORY_OVERRIDE
+    ROS_SECURITY_ENCLAVE_OVERRIDE
     "=TheresN_oWayThi_sDirectory_Exists_hence_this_should_fail");
   EXPECT_EQ(
     rcl_get_secure_root(TEST_ENCLAVE_ABSOLUTE, &allocator),
@@ -217,7 +217,7 @@ TEST_F(TestGetSecureRoot, test_get_security_options) {
   putenv_wrapper(ROS_SECURITY_STRATEGY_VAR_NAME "=Enforce");
 
   putenv_wrapper(
-    ROS_SECURITY_DIRECTORY_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
+    ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
   ret = rcl_get_security_options_from_environment(
     "doesn't matter at all", &allocator, &options);
   ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
@@ -226,7 +226,7 @@ TEST_F(TestGetSecureRoot, test_get_security_options) {
   EXPECT_EQ(RMW_RET_OK, rmw_security_options_fini(&options, &allocator));
 
   options = rmw_get_zero_initialized_security_options();
-  unsetenv_wrapper(ROS_SECURITY_DIRECTORY_OVERRIDE);
+  unsetenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE);
   putenv_wrapper(
     ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "="
     TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME);

From 38597f29e064b5dfd2b57058c9fb923f40b56e8b Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Mon, 13 Apr 2020 16:51:55 -0700
Subject: [PATCH 02/13] Update variables and functions directory override ->
 enclave override

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/src/rcl/security.c         | 6 +++---
 rcl/test/rcl/test_security.cpp | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index e047f82ef..28c64ee2e 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -132,7 +132,7 @@ char * rcl_get_secure_root(
   const char * name,
   const rcl_allocator_t * allocator)
 {
-  bool ros_secure_directory_override = true;
+  bool ros_secure_enclave_override = true;
 
   // find out if either of the configuration environment variables are set
   const char * env_buf = NULL;
@@ -157,14 +157,14 @@ char * rcl_get_secure_root(
     if (0 == strcmp("", env_buf)) {
       return NULL;  // environment variable was empty
     }
-    ros_secure_directory_override = false;
+    ros_secure_enclave_override = false;
   }
 
   // found a usable environment variable, copy into our memory before overwriting with next lookup
   char * ros_secure_root_env = rcutils_strdup(env_buf, *allocator);
 
   char * secure_root = NULL;
-  if (ros_secure_directory_override) {
+  if (ros_secure_enclave_override) {
     secure_root = rcutils_strdup(ros_secure_root_env, *allocator);
   } else {
     secure_root = exact_match_lookup(name, ros_secure_root_env, allocator);
diff --git a/rcl/test/rcl/test_security.cpp b/rcl/test/rcl/test_security.cpp
index 76e516de4..17d977963 100644
--- a/rcl/test/rcl/test_security.cpp
+++ b/rcl/test/rcl/test_security.cpp
@@ -173,7 +173,7 @@ TEST_F(TestGetSecureRoot, successScenarios_local_exactMatch_multipleTokensName)
     secure_root_str.substr(secure_root_str.size() - strlen(TEST_ENCLAVE)).c_str());
 }
 
-TEST_F(TestGetSecureRoot, nodeSecurityDirectoryOverride_validDirectory) {
+TEST_F(TestGetSecureRoot, nodeSecurityEnclaveOverride_validDirectory) {
   /* Specify a valid directory */
   putenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
   root_path = rcl_get_secure_root(
@@ -183,7 +183,7 @@ TEST_F(TestGetSecureRoot, nodeSecurityDirectoryOverride_validDirectory) {
 
 TEST_F(
   TestGetSecureRoot,
-  nodeSecurityDirectoryOverride_validDirectory_overrideRootDirectoryAttempt) {
+  nodeSecurityEnclaveOverride_validDirectory_overrideRootDirectoryAttempt) {
   /* Setting root dir has no effect */
   putenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
   root_path = rcl_get_secure_root("name shouldn't matter", &allocator);
@@ -191,7 +191,7 @@ TEST_F(
   ASSERT_STREQ(root_path, TEST_RESOURCES_DIRECTORY);
 }
 
-TEST_F(TestGetSecureRoot, nodeSecurityDirectoryOverride_invalidDirectory) {
+TEST_F(TestGetSecureRoot, nodeSecurityEnclaveOverride_invalidDirectory) {
   /* The override provided should exist. Providing correct node/namespace/root dir won't help
    * if the node override is invalid. */
   putenv_wrapper(

From f7149a31fd19152f1f55617db497b77abc49b05e Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Mon, 13 Apr 2020 16:52:14 -0700
Subject: [PATCH 03/13] Update docs and comments directory override -> enclave
 override

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/include/rcl/security.h | 8 ++++----
 rcl/src/rcl/security.c     | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/rcl/include/rcl/security.h b/rcl/include/rcl/security.h
index 805ee67f5..9ac0ef341 100644
--- a/rcl/include/rcl/security.h
+++ b/rcl/include/rcl/security.h
@@ -101,16 +101,16 @@ rcl_get_enforcement_policy(rmw_security_enforcement_policy_t * policy);
  * 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).
  *
- * However, this expansion can be overridden by setting the secure directory override environment
- * (`ROS_SECURITY_ENCLAVE_OVERRIDE`) variable, allowing users to explicitly specify the exact secure
- * root directory to be utilized.
+ * However, this expansion can be overridden by setting the secure enclave override environment
+ * (`ROS_SECURITY_ENCLAVE_OVERRIDE`) variable, allowing users to explicitly specify the exact enclave
+ * directory to be utilized.
  * Such an override is useful for applications where the enclave 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] allocator the allocator to use for allocation
- * \returns Machine specific (absolute) secure root path or NULL on failure.
+ * \returns Machine specific (absolute) enclave directory path or NULL on failure.
  *  Returned pointer must be deallocated by the caller of this function
  */
 RCL_PUBLIC
diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index 28c64ee2e..051b6af0b 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -147,7 +147,7 @@ char * rcl_get_secure_root(
     return NULL;
   }
   if (0 == strcmp("", env_buf)) {
-    // check root directory if override directory environment variable is empty
+    // check root directory if override enclave environment variable is empty
     if (rcutils_get_env(ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME, &env_buf)) {
       return NULL;
     }

From ad38f8f2f7bc7b3463a49d5262cd1f008a05535a Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Mon, 13 Apr 2020 17:44:55 -0700
Subject: [PATCH 04/13] Rename keystore root env from
 ROS_SECURITY_ROOT_DIRECTORY to ROS_SECURITY_KEYSTORE

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/include/rcl/security.h     |  6 +++---
 rcl/src/rcl/security.c         |  2 +-
 rcl/test/rcl/test_security.cpp | 16 ++++++++--------
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/rcl/include/rcl/security.h b/rcl/include/rcl/security.h
index 9ac0ef341..fef96397a 100644
--- a/rcl/include/rcl/security.h
+++ b/rcl/include/rcl/security.h
@@ -31,8 +31,8 @@ extern "C"
 # define ROS_SECURITY_ENCLAVE_OVERRIDE "ROS_SECURITY_ENCLAVE_OVERRIDE"
 #endif
 
-#ifndef ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME
-# define ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "ROS_SECURITY_ROOT_DIRECTORY"
+#ifndef ROS_SECURITY_KEYSTORE_VAR_NAME
+# define ROS_SECURITY_KEYSTORE_VAR_NAME "ROS_SECURITY_KEYSTORE"
 #endif
 
 #ifndef ROS_SECURITY_STRATEGY_VAR_NAME
@@ -96,7 +96,7 @@ rcl_get_enforcement_policy(rmw_security_enforcement_policy_t * policy);
 /**
  * Return the security directory associated with the enclave name.
  *
- * The value of the environment variable `ROS_SECURITY_ROOT_DIRECTORY` is used as a root.
+ * The value of the environment variable `ROS_SECURITY_KEYSTORE` is used as a root.
  * 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).
diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index 051b6af0b..fcb6ee698 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -148,7 +148,7 @@ char * rcl_get_secure_root(
   }
   if (0 == strcmp("", env_buf)) {
     // check root directory if override enclave environment variable is empty
-    if (rcutils_get_env(ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME, &env_buf)) {
+    if (rcutils_get_env(ROS_SECURITY_KEYSTORE_VAR_NAME, &env_buf)) {
       return NULL;
     }
     if (!env_buf) {
diff --git a/rcl/test/rcl/test_security.cpp b/rcl/test/rcl/test_security.cpp
index 17d977963..d191bbee4 100644
--- a/rcl/test/rcl/test_security.cpp
+++ b/rcl/test/rcl/test_security.cpp
@@ -74,7 +74,7 @@ class TestGetSecureRoot : public ::testing::Test
     rcl_reset_error();
 
     // Always make sure the variable we set is unset at the beginning of a test
-    unsetenv_wrapper(ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME);
+    unsetenv_wrapper(ROS_SECURITY_KEYSTORE_VAR_NAME);
     unsetenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE);
     unsetenv_wrapper(ROS_SECURITY_STRATEGY_VAR_NAME);
     unsetenv_wrapper(ROS_SECURITY_ENABLE_VAR_NAME);
@@ -104,7 +104,7 @@ class TestGetSecureRoot : public ::testing::Test
   {
     base_lookup_dir_fqn = rcutils_join_path(
       resource_dir, resource_dir_name, allocator);
-    std::string putenv_input = ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "=";
+    std::string putenv_input = ROS_SECURITY_KEYSTORE_VAR_NAME "=";
     putenv_input += base_lookup_dir_fqn;
     memcpy(
       g_envstring, putenv_input.c_str(),
@@ -124,7 +124,7 @@ TEST_F(TestGetSecureRoot, failureScenarios) {
     (char *) NULL);
   rcl_reset_error();
 
-  putenv_wrapper(ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "=" TEST_RESOURCES_DIRECTORY);
+  putenv_wrapper(ROS_SECURITY_KEYSTORE_VAR_NAME "=" TEST_RESOURCES_DIRECTORY);
 
   /* Security directory is set, but there's no matching directory */
   /// Wrong enclave
@@ -136,7 +136,7 @@ TEST_F(TestGetSecureRoot, failureScenarios) {
 
 TEST_F(TestGetSecureRoot, successScenarios_local_root_enclave) {
   putenv_wrapper(
-    ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "="
+    ROS_SECURITY_KEYSTORE_VAR_NAME "="
     TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME);
 
   secure_root = rcl_get_secure_root("/", &allocator);
@@ -148,7 +148,7 @@ TEST_F(TestGetSecureRoot, successScenarios_local_root_enclave) {
 
 TEST_F(TestGetSecureRoot, successScenarios_local_exactMatch) {
   putenv_wrapper(
-    ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "="
+    ROS_SECURITY_KEYSTORE_VAR_NAME "="
     TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME);
 
   secure_root = rcl_get_secure_root(TEST_ENCLAVE_ABSOLUTE, &allocator);
@@ -161,7 +161,7 @@ TEST_F(TestGetSecureRoot, successScenarios_local_exactMatch) {
 
 TEST_F(TestGetSecureRoot, successScenarios_local_exactMatch_multipleTokensName) {
   putenv_wrapper(
-    ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "="
+    ROS_SECURITY_KEYSTORE_VAR_NAME "="
     TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME);
 
   secure_root = rcl_get_secure_root(
@@ -187,7 +187,7 @@ TEST_F(
   /* Setting root dir has no effect */
   putenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
   root_path = rcl_get_secure_root("name shouldn't matter", &allocator);
-  putenv_wrapper(ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "=" TEST_RESOURCES_DIRECTORY);
+  putenv_wrapper(ROS_SECURITY_KEYSTORE_VAR_NAME "=" TEST_RESOURCES_DIRECTORY);
   ASSERT_STREQ(root_path, TEST_RESOURCES_DIRECTORY);
 }
 
@@ -228,7 +228,7 @@ TEST_F(TestGetSecureRoot, test_get_security_options) {
   options = rmw_get_zero_initialized_security_options();
   unsetenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE);
   putenv_wrapper(
-    ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "="
+    ROS_SECURITY_KEYSTORE_VAR_NAME "="
     TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME);
   ret = rcl_get_security_options_from_environment(
     TEST_ENCLAVE_ABSOLUTE, &allocator, &options);

From 549913bcdf31d07d8bee732011d6596c479eb3e7 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Mon, 13 Apr 2020 17:46:47 -0700
Subject: [PATCH 05/13] Update variables and functions root env -> keystore env

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/src/rcl/security.c         | 16 ++++++++--------
 rcl/test/rcl/test_security.cpp |  2 +-
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index fcb6ee698..7e6752fcb 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -106,13 +106,13 @@ rcl_get_enforcement_policy(rmw_security_enforcement_policy_t * policy)
 
 char * exact_match_lookup(
   const char * name,
-  const char * ros_secure_root_env,
+  const char * ros_secure_keystore_env,
   const rcl_allocator_t * allocator)
 {
   // Perform an exact match for the enclave name in directory <root dir>.
   char * secure_root = NULL;
   char * enclaves_dir = NULL;
-  enclaves_dir = rcutils_join_path(ros_secure_root_env, "enclaves", *allocator);
+  enclaves_dir = rcutils_join_path(ros_secure_keystore_env, "enclaves", *allocator);
   // "/" case when root namespace is explicitly passed in
   if (0 == strcmp(name, "/")) {
     secure_root = enclaves_dir;
@@ -161,13 +161,13 @@ char * rcl_get_secure_root(
   }
 
   // found a usable environment variable, copy into our memory before overwriting with next lookup
-  char * ros_secure_root_env = rcutils_strdup(env_buf, *allocator);
+  char * ros_secure_keystore_env = rcutils_strdup(env_buf, *allocator);
 
   char * secure_root = NULL;
   if (ros_secure_enclave_override) {
-    secure_root = rcutils_strdup(ros_secure_root_env, *allocator);
+    secure_root = rcutils_strdup(ros_secure_keystore_env, *allocator);
   } else {
-    secure_root = exact_match_lookup(name, ros_secure_root_env, allocator);
+    secure_root = exact_match_lookup(name, ros_secure_keystore_env, allocator);
   }
 
   if (NULL == secure_root || !rcutils_is_directory(secure_root)) {
@@ -175,15 +175,15 @@ char * rcl_get_secure_root(
     if (NULL == secure_root) {
       RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
         "SECURITY ERROR: unable to find a folder matching the name '%s' in '%s'. ",
-        name, ros_secure_root_env);
+        name, ros_secure_keystore_env);
     } else {
       RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
         "SECURITY ERROR: directory '%s' does not exist.", secure_root);
     }
-    allocator->deallocate(ros_secure_root_env, allocator->state);
+    allocator->deallocate(ros_secure_keystore_env, allocator->state);
     allocator->deallocate(secure_root, allocator->state);
     return NULL;
   }
-  allocator->deallocate(ros_secure_root_env, allocator->state);
+  allocator->deallocate(ros_secure_keystore_env, allocator->state);
   return secure_root;
 }
diff --git a/rcl/test/rcl/test_security.cpp b/rcl/test/rcl/test_security.cpp
index d191bbee4..06a63a5b0 100644
--- a/rcl/test/rcl/test_security.cpp
+++ b/rcl/test/rcl/test_security.cpp
@@ -183,7 +183,7 @@ TEST_F(TestGetSecureRoot, nodeSecurityEnclaveOverride_validDirectory) {
 
 TEST_F(
   TestGetSecureRoot,
-  nodeSecurityEnclaveOverride_validDirectory_overrideRootDirectoryAttempt) {
+  nodeSecurityEnclaveOverride_validDirectory_overrideKeystoreAttempt) {
   /* Setting root dir has no effect */
   putenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
   root_path = rcl_get_secure_root("name shouldn't matter", &allocator);

From c72dffe847bb5db1eb5b9021923aa21c1ca03a03 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Mon, 13 Apr 2020 17:47:45 -0700
Subject: [PATCH 06/13] Update docs and comments root env  -> keystore env

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/src/rcl/security.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index 7e6752fcb..d1edafa94 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -147,7 +147,7 @@ char * rcl_get_secure_root(
     return NULL;
   }
   if (0 == strcmp("", env_buf)) {
-    // check root directory if override enclave environment variable is empty
+    // check keystore directory if override enclave environment variable is empty
     if (rcutils_get_env(ROS_SECURITY_KEYSTORE_VAR_NAME, &env_buf)) {
       return NULL;
     }

From 8574ad65681fa6f8c6cf589bb4f5056e8bd942e1 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Mon, 13 Apr 2020 19:53:15 -0700
Subject: [PATCH 07/13] Change enclave overide to set name instead dir

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/include/rcl/security.h     |  2 +-
 rcl/src/rcl/security.c         |  2 +-
 rcl/test/rcl/test_security.cpp | 41 ++++++++++++++++++++--------------
 3 files changed, 26 insertions(+), 19 deletions(-)

diff --git a/rcl/include/rcl/security.h b/rcl/include/rcl/security.h
index fef96397a..0de8777fa 100644
--- a/rcl/include/rcl/security.h
+++ b/rcl/include/rcl/security.h
@@ -103,7 +103,7 @@ rcl_get_enforcement_policy(rmw_security_enforcement_policy_t * policy);
  *
  * However, this expansion can be overridden by setting the secure enclave override environment
  * (`ROS_SECURITY_ENCLAVE_OVERRIDE`) variable, allowing users to explicitly specify the exact enclave
- * directory to be utilized.
+ * `name` to be utilized.
  * Such an override is useful for applications where the enclave is non-deterministic
  * before runtime, or when testing and using additional tools that may not otherwise be easily
  * provisioned.
diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index d1edafa94..d2f0f1b82 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -165,7 +165,7 @@ char * rcl_get_secure_root(
 
   char * secure_root = NULL;
   if (ros_secure_enclave_override) {
-    secure_root = rcutils_strdup(ros_secure_keystore_env, *allocator);
+    secure_root = exact_match_lookup(ros_secure_keystore_env, ros_secure_keystore_env, allocator);
   } else {
     secure_root = exact_match_lookup(name, ros_secure_keystore_env, allocator);
   }
diff --git a/rcl/test/rcl/test_security.cpp b/rcl/test/rcl/test_security.cpp
index 06a63a5b0..35a9024cd 100644
--- a/rcl/test/rcl/test_security.cpp
+++ b/rcl/test/rcl/test_security.cpp
@@ -173,30 +173,31 @@ TEST_F(TestGetSecureRoot, successScenarios_local_exactMatch_multipleTokensName)
     secure_root_str.substr(secure_root_str.size() - strlen(TEST_ENCLAVE)).c_str());
 }
 
-TEST_F(TestGetSecureRoot, nodeSecurityEnclaveOverride_validDirectory) {
-  /* Specify a valid directory */
-  putenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
+TEST_F(TestGetSecureRoot, nodeSecurityEnclaveOverride_validEnclave) {
+  putenv_wrapper(
+    ROS_SECURITY_KEYSTORE_VAR_NAME "="
+    TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME);
+
+  /* Specify a valid enclave */
+  putenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_ENCLAVE_ABSOLUTE);
   root_path = rcl_get_secure_root(
     "name shouldn't matter", &allocator);
-  ASSERT_STREQ(root_path, TEST_RESOURCES_DIRECTORY);
+  ASSERT_STREQ(
+    TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME
+    PATH_SEPARATOR "enclaves" PATH_SEPARATOR TEST_ENCLAVE,
+    root_path);
 }
 
-TEST_F(
-  TestGetSecureRoot,
-  nodeSecurityEnclaveOverride_validDirectory_overrideKeystoreAttempt) {
-  /* Setting root dir has no effect */
-  putenv_wrapper(ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
-  root_path = rcl_get_secure_root("name shouldn't matter", &allocator);
-  putenv_wrapper(ROS_SECURITY_KEYSTORE_VAR_NAME "=" TEST_RESOURCES_DIRECTORY);
-  ASSERT_STREQ(root_path, TEST_RESOURCES_DIRECTORY);
-}
+TEST_F(TestGetSecureRoot, nodeSecurityEnclaveOverride_invalidEnclave) {
+  putenv_wrapper(
+    ROS_SECURITY_KEYSTORE_VAR_NAME "="
+    TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME);
 
-TEST_F(TestGetSecureRoot, nodeSecurityEnclaveOverride_invalidDirectory) {
   /* The override provided should exist. Providing correct node/namespace/root dir won't help
    * if the node override is invalid. */
   putenv_wrapper(
     ROS_SECURITY_ENCLAVE_OVERRIDE
-    "=TheresN_oWayThi_sDirectory_Exists_hence_this_should_fail");
+    "=TheresN_oWayThi_sEnclave_Exists_hence_this_should_fail");
   EXPECT_EQ(
     rcl_get_secure_root(TEST_ENCLAVE_ABSOLUTE, &allocator),
     (char *) NULL);
@@ -215,14 +216,20 @@ TEST_F(TestGetSecureRoot, test_get_security_options) {
 
   putenv_wrapper(ROS_SECURITY_ENABLE_VAR_NAME "=true");
   putenv_wrapper(ROS_SECURITY_STRATEGY_VAR_NAME "=Enforce");
+  putenv_wrapper(
+    ROS_SECURITY_KEYSTORE_VAR_NAME "="
+    TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME);
 
   putenv_wrapper(
-    ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_RESOURCES_DIRECTORY);
+    ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_ENCLAVE_MULTIPLE_TOKENS);
   ret = rcl_get_security_options_from_environment(
     "doesn't matter at all", &allocator, &options);
   ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
   EXPECT_EQ(RMW_SECURITY_ENFORCEMENT_ENFORCE, options.enforce_security);
-  EXPECT_STREQ(TEST_RESOURCES_DIRECTORY, options.security_root_path);
+  EXPECT_STREQ(
+    TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME
+    PATH_SEPARATOR "enclaves" TEST_ENCLAVE_MULTIPLE_TOKENS,
+    options.security_root_path);
   EXPECT_EQ(RMW_RET_OK, rmw_security_options_fini(&options, &allocator));
 
   options = rmw_get_zero_initialized_security_options();

From 74b727e21c22a8361c638bc930559d7eeb4ffbc4 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Tue, 14 Apr 2020 16:13:31 -0700
Subject: [PATCH 08/13] Store security env values with separate variables

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/src/rcl/security.c | 35 ++++++++++++++++++++++-------------
 1 file changed, 22 insertions(+), 13 deletions(-)

diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index d2f0f1b82..57839a7f0 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -140,6 +140,7 @@ char * rcl_get_secure_root(
     return NULL;
   }
 
+  // check if enclave override environment variable is empty
   if (rcutils_get_env(ROS_SECURITY_ENCLAVE_OVERRIDE, &env_buf)) {
     return NULL;
   }
@@ -147,27 +148,34 @@ char * rcl_get_secure_root(
     return NULL;
   }
   if (0 == strcmp("", env_buf)) {
-    // check keystore directory if override enclave environment variable is empty
-    if (rcutils_get_env(ROS_SECURITY_KEYSTORE_VAR_NAME, &env_buf)) {
-      return NULL;
-    }
-    if (!env_buf) {
-      return NULL;
-    }
-    if (0 == strcmp("", env_buf)) {
-      return NULL;  // environment variable was empty
-    }
     ros_secure_enclave_override = false;
   }
+  char * ros_secure_enclave_override_env = rcutils_strdup(env_buf, *allocator);
 
-  // found a usable environment variable, copy into our memory before overwriting with next lookup
+  // check if keystore environment variable is empty
+  if (rcutils_get_env(ROS_SECURITY_KEYSTORE_VAR_NAME, &env_buf)) {
+    return NULL;
+  }
+  if (!env_buf) {
+    return NULL;
+  }
+  if (0 == strcmp("", env_buf)) {
+    return NULL;  // environment variable was empty
+  }
   char * ros_secure_keystore_env = rcutils_strdup(env_buf, *allocator);
 
+  // given usable environment variables, overwrite with next lookup
   char * secure_root = NULL;
   if (ros_secure_enclave_override) {
-    secure_root = exact_match_lookup(ros_secure_keystore_env, ros_secure_keystore_env, allocator);
+    secure_root = exact_match_lookup(
+      ros_secure_enclave_override_env,
+      ros_secure_keystore_env,
+      allocator);
   } else {
-    secure_root = exact_match_lookup(name, ros_secure_keystore_env, allocator);
+    secure_root = exact_match_lookup(
+      name,
+      ros_secure_keystore_env,
+      allocator);
   }
 
   if (NULL == secure_root || !rcutils_is_directory(secure_root)) {
@@ -180,6 +188,7 @@ char * rcl_get_secure_root(
       RCL_SET_ERROR_MSG_WITH_FORMAT_STRING(
         "SECURITY ERROR: directory '%s' does not exist.", secure_root);
     }
+    allocator->deallocate(ros_secure_enclave_override_env, allocator->state);
     allocator->deallocate(ros_secure_keystore_env, allocator->state);
     allocator->deallocate(secure_root, allocator->state);
     return NULL;

From 1ee70948e81d8e79f36735a1bafe7f721d0ada2f Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Wed, 15 Apr 2020 13:29:52 -0700
Subject: [PATCH 09/13] Bubble up errors from rcutils_get_env

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/src/rcl/security.c | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index 57839a7f0..bffb3b1a8 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -141,7 +141,9 @@ char * rcl_get_secure_root(
   }
 
   // check if enclave override environment variable is empty
-  if (rcutils_get_env(ROS_SECURITY_ENCLAVE_OVERRIDE, &env_buf)) {
+  char * error_str = rcutils_get_env(ROS_SECURITY_ENCLAVE_OVERRIDE, &env_buf);
+  if (error_str) {
+    RCUTILS_LOG_ERROR("rcutils_get_env failed: %s\n", error_str);
     return NULL;
   }
   if (!env_buf) {
@@ -153,7 +155,9 @@ char * rcl_get_secure_root(
   char * ros_secure_enclave_override_env = rcutils_strdup(env_buf, *allocator);
 
   // check if keystore environment variable is empty
-  if (rcutils_get_env(ROS_SECURITY_KEYSTORE_VAR_NAME, &env_buf)) {
+  char * error_str = rcutils_get_env(ROS_SECURITY_KEYSTORE_VAR_NAME, &env_buf);
+  if (error_str) {
+    RCUTILS_LOG_ERROR("rcutils_get_env failed: %s\n", error_str);
     return NULL;
   }
   if (!env_buf) {

From 802d3c6a203a6c040bd5e858f32ff81df9fec8e4 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Wed, 15 Apr 2020 13:32:49 -0700
Subject: [PATCH 10/13] Deallocate enclave override env char upon error

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/src/rcl/security.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index bffb3b1a8..7e983969c 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -158,12 +158,15 @@ char * rcl_get_secure_root(
   char * error_str = rcutils_get_env(ROS_SECURITY_KEYSTORE_VAR_NAME, &env_buf);
   if (error_str) {
     RCUTILS_LOG_ERROR("rcutils_get_env failed: %s\n", error_str);
+    allocator->deallocate(ros_secure_enclave_override_env, allocator->state);
     return NULL;
   }
   if (!env_buf) {
+    allocator->deallocate(ros_secure_enclave_override_env, allocator->state);
     return NULL;
   }
   if (0 == strcmp("", env_buf)) {
+    allocator->deallocate(ros_secure_enclave_override_env, allocator->state);
     return NULL;  // environment variable was empty
   }
   char * ros_secure_keystore_env = rcutils_strdup(env_buf, *allocator);

From 3e067b45369963b17aec7c265b07271d73bd00b9 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Wed, 15 Apr 2020 13:58:12 -0700
Subject: [PATCH 11/13] Fix tests for multiple tokens

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/test/rcl/test_security.cpp | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/rcl/test/rcl/test_security.cpp b/rcl/test/rcl/test_security.cpp
index 35a9024cd..85aa9ba2e 100644
--- a/rcl/test/rcl/test_security.cpp
+++ b/rcl/test/rcl/test_security.cpp
@@ -38,8 +38,10 @@
 # define PATH_SEPARATOR "\\"
 #endif
 
-#define TEST_ENCLAVE_MULTIPLE_TOKENS \
-  "/group1" PATH_SEPARATOR TEST_ENCLAVE
+#define TEST_ENCLAVE_MULTIPLE_TOKENS_ABSOLUTE \
+  "/group1" TEST_ENCLAVE_ABSOLUTE
+#define TEST_ENCLAVE_MULTIPLE_TOKENS_DIR \
+  "group1" PATH_SEPARATOR TEST_ENCLAVE
 
 char g_envstring[512] = {0};
 
@@ -165,7 +167,7 @@ TEST_F(TestGetSecureRoot, successScenarios_local_exactMatch_multipleTokensName)
     TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME);
 
   secure_root = rcl_get_secure_root(
-    TEST_ENCLAVE_MULTIPLE_TOKENS, &allocator);
+    TEST_ENCLAVE_MULTIPLE_TOKENS_ABSOLUTE, &allocator);
   ASSERT_NE(nullptr, secure_root);
   std::string secure_root_str(secure_root);
   ASSERT_STREQ(
@@ -221,14 +223,14 @@ TEST_F(TestGetSecureRoot, test_get_security_options) {
     TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME);
 
   putenv_wrapper(
-    ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_ENCLAVE_MULTIPLE_TOKENS);
+    ROS_SECURITY_ENCLAVE_OVERRIDE "=" TEST_ENCLAVE_MULTIPLE_TOKENS_ABSOLUTE);
   ret = rcl_get_security_options_from_environment(
     "doesn't matter at all", &allocator, &options);
   ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
   EXPECT_EQ(RMW_SECURITY_ENFORCEMENT_ENFORCE, options.enforce_security);
   EXPECT_STREQ(
     TEST_RESOURCES_DIRECTORY TEST_SECURITY_DIRECTORY_RESOURCES_DIR_NAME
-    PATH_SEPARATOR "enclaves" TEST_ENCLAVE_MULTIPLE_TOKENS,
+    PATH_SEPARATOR "enclaves" PATH_SEPARATOR TEST_ENCLAVE_MULTIPLE_TOKENS_DIR,
     options.security_root_path);
   EXPECT_EQ(RMW_RET_OK, rmw_security_options_fini(&options, &allocator));
 

From 68a356ef59d7e29e9505a917b3931d75d24b2bd5 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Thu, 16 Apr 2020 00:28:00 -0700
Subject: [PATCH 12/13] Fix redefinition of get_env_error_str

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/src/rcl/security.c | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index 7e983969c..1dc6d6fc4 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -139,11 +139,12 @@ char * rcl_get_secure_root(
   if (NULL == name) {
     return NULL;
   }
-
+  
+  const char * get_env_error_str = NULL;
   // check if enclave override environment variable is empty
-  char * error_str = rcutils_get_env(ROS_SECURITY_ENCLAVE_OVERRIDE, &env_buf);
-  if (error_str) {
-    RCUTILS_LOG_ERROR("rcutils_get_env failed: %s\n", error_str);
+  get_env_error_str = rcutils_get_env(ROS_SECURITY_ENCLAVE_OVERRIDE, &env_buf);
+  if (NULL != get_env_error_str) {
+    RCUTILS_LOG_ERROR("rcutils_get_env failed: %s\n", get_env_error_str);
     return NULL;
   }
   if (!env_buf) {
@@ -155,9 +156,9 @@ char * rcl_get_secure_root(
   char * ros_secure_enclave_override_env = rcutils_strdup(env_buf, *allocator);
 
   // check if keystore environment variable is empty
-  char * error_str = rcutils_get_env(ROS_SECURITY_KEYSTORE_VAR_NAME, &env_buf);
-  if (error_str) {
-    RCUTILS_LOG_ERROR("rcutils_get_env failed: %s\n", error_str);
+  get_env_error_str = rcutils_get_env(ROS_SECURITY_KEYSTORE_VAR_NAME, &env_buf);
+  if (NULL != get_env_error_str) {
+    RCUTILS_LOG_ERROR("rcutils_get_env failed: %s\n", get_env_error_str);
     allocator->deallocate(ros_secure_enclave_override_env, allocator->state);
     return NULL;
   }

From 0df6603a7356745d3e52102f935a579584d7242d Mon Sep 17 00:00:00 2001
From: Ruffin <roxfoxpox@gmail.com>
Date: Thu, 16 Apr 2020 08:23:55 -0700
Subject: [PATCH 13/13] Fix linter error

Co-Authored-By: Mikael Arguedas <mikael.arguedas@gmail.com>
Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 rcl/src/rcl/security.c | 1 -
 1 file changed, 1 deletion(-)

diff --git a/rcl/src/rcl/security.c b/rcl/src/rcl/security.c
index 1dc6d6fc4..a128c6651 100644
--- a/rcl/src/rcl/security.c
+++ b/rcl/src/rcl/security.c
@@ -139,7 +139,6 @@ char * rcl_get_secure_root(
   if (NULL == name) {
     return NULL;
   }
-  
   const char * get_env_error_str = NULL;
   // check if enclave override environment variable is empty
   get_env_error_str = rcutils_get_env(ROS_SECURITY_ENCLAVE_OVERRIDE, &env_buf);