API changes to sync with one Participant per Context change in rmw_fa…

…strtps (#392)

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

rmw_connext_cpp/src/rmw_init.cpp

@@ -14,6 +14,8 @@
 
 #include "rmw/init.h"
 
+#include "rcutils/strdup.h"
+
 #include "rmw/impl/cpp/macros.hpp"
 #include "rmw_connext_shared_cpp/init.hpp"
 
@@ -34,6 +36,10 @@ rmw_init_options_init(rmw_init_options_t * init_options, rcutils_allocator_t all
   init_options->implementation_identifier = rti_connext_identifier;
   init_options->allocator = allocator;
   init_options->impl = nullptr;
+  init_options->security_options = rmw_get_zero_initialized_security_options();
+  init_options->domain_id = RMW_DEFAULT_DOMAIN_ID;
+  init_options->localhost_only = RMW_LOCALHOST_ONLY_DEFAULT;
+  init_options->security_context = NULL;
   return RMW_RET_OK;
 }
 
@@ -51,20 +57,38 @@ rmw_init_options_copy(const rmw_init_options_t * src, rmw_init_options_t * dst)
     RMW_SET_ERROR_MSG("expected zero-initialized dst");
     return RMW_RET_INVALID_ARGUMENT;
   }
+  const rcutils_allocator_t * allocator = &src->allocator;
+  rmw_ret_t ret = RMW_RET_OK;
+
+  allocator->deallocate(dst->security_context, allocator->state);
   *dst = *src;
-  return RMW_RET_OK;
+  dst->security_context = NULL;
+  dst->security_options = rmw_get_zero_initialized_security_options();
+
+  dst->security_context = rcutils_strdup(src->security_context, *allocator);
+  if (src->security_context && !dst->security_context) {
+    ret = RMW_RET_BAD_ALLOC;
+    goto fail;
+  }
+  return rmw_security_options_copy(&src->security_options, allocator, &dst->security_options);
+fail:
+  allocator->deallocate(dst->security_context, allocator->state);
+  return ret;
 }
 
 rmw_ret_t
 rmw_init_options_fini(rmw_init_options_t * init_options)
 {
   RMW_CHECK_ARGUMENT_FOR_NULL(init_options, RMW_RET_INVALID_ARGUMENT);
-  RCUTILS_CHECK_ALLOCATOR(&(init_options->allocator), return RMW_RET_INVALID_ARGUMENT);
+  rcutils_allocator_t & allocator = init_options->allocator;
+  RCUTILS_CHECK_ALLOCATOR(&allocator, return RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
     init_options,
     init_options->implementation_identifier,
     rti_connext_identifier,
     return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  allocator.deallocate(init_options->security_context, allocator.state);
+  rmw_security_options_fini(&init_options->security_options, &allocator);
   *init_options = rmw_get_zero_initialized_init_options();
   return RMW_RET_OK;
 }
@@ -82,6 +106,10 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   context->instance_id = options->instance_id;
   context->implementation_identifier = rti_connext_identifier;
   context->impl = nullptr;
+  rmw_ret_t ret = rmw_init_options_copy(options, &context->options);
+  if (RMW_RET_OK != ret) {
+    return ret;
+  }
   return init();
 }
 

rmw_connext_cpp/src/rmw_node.cpp

@@ -28,12 +28,10 @@ rmw_create_node(
   const char * name,
   const char * namespace_,
   size_t domain_id,
-  const rmw_node_security_options_t * security_options,
   bool localhost_only)
 {
   return create_node(
-    rti_connext_identifier, context, name, namespace_, domain_id, security_options,
-    localhost_only);
+    rti_connext_identifier, context, name, namespace_, domain_id, localhost_only);
 }
 
 rmw_ret_t

rmw_connext_cpp/src/rmw_node_names.cpp

@@ -30,4 +30,15 @@ rmw_get_node_names(
 {
   return get_node_names(rti_connext_identifier, node, node_names, node_namespaces);
 }
+
+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)
+{
+  return get_node_names_with_security_contexts(
+    rti_connext_identifier, node, node_names, node_namespaces, security_contexts);
+}
 }  // extern "C"

rmw_connext_dynamic_cpp/src/functions.cpp

@@ -301,7 +301,7 @@ rmw_create_node(
   const char * name,
   const char * namespace_,
   size_t domain_id,
-  const rmw_node_security_options_t * security_options,
+  const rmw_security_options_t * security_options,
   bool localhost_only)
 {
   return create_node(

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/node.hpp

@@ -27,7 +27,6 @@ create_node(
   const char * name,
   const char * namespace_,
   size_t domain_id,
-  const rmw_node_security_options_t * options,
   bool localhost_only);
 
 RMW_CONNEXT_SHARED_CPP_PUBLIC

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/node_names.hpp

@@ -28,6 +28,15 @@ get_node_names(
   rcutils_string_array_t * node_names,
   rcutils_string_array_t * node_namespaces);
 
+RMW_CONNEXT_SHARED_CPP_PUBLIC
+rmw_ret_t
+get_node_names_with_security_contexts(
+  const char * implementation_identifier,
+  const rmw_node_t * node,
+  rcutils_string_array_t * node_names,
+  rcutils_string_array_t * node_namespaces,
+  rcutils_string_array_t * security_contexts);
+
 RMW_CONNEXT_SHARED_CPP_PUBLIC
 rmw_ret_t
 count_publishers(

rmw_connext_shared_cpp/src/node.cpp

@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <cstring>
 #include <string>
 
 #include "rcutils/filesystem.h"
@@ -32,7 +33,6 @@ create_node(
   const char * name,
   const char * namespace_,
   size_t domain_id,
-  const rmw_node_security_options_t * security_options,
   bool localhost_only)
 {
   RCUTILS_CHECK_ARGUMENT_FOR_NULL(context, NULL);
@@ -42,10 +42,6 @@ create_node(
     implementation_identifier,
     // TODO(wjwwood): replace this with RMW_RET_INCORRECT_RMW_IMPLEMENTATION when refactored
     return NULL);
-  if (!security_options) {
-    RMW_SET_ERROR_MSG("security_options is null");
-    return nullptr;
-  }
   DDS::DomainParticipantFactory * dpf_ = DDS::DomainParticipantFactory::get_instance();
   if (!dpf_) {
     RMW_SET_ERROR_MSG("failed to get participant factory");
@@ -77,17 +73,22 @@ create_node(
   participant_qos.participant_name.name = DDS::String_dup(name);
   // since the participant name is not part of the DDS spec
   // the node name is also set in the user_data
-  size_t length = strlen(name) + strlen("name=;") +
-    strlen(namespace_) + strlen("namespace=;") + 1;
+  size_t length = std::snprintf(
+    nullptr,
+    0,
+    "name=%s;namespace=%s;securitycontext=%s;",
+    name, namespace_, context->options.security_context) + 1;
   bool success = participant_qos.user_data.value.length(static_cast<DDS::Long>(length));
   if (!success) {
     RMW_SET_ERROR_MSG("failed to resize participant user_data");
     return NULL;
   }
 
-  int written = snprintf(
+  int written = std::snprintf(
     reinterpret_cast<char *>(participant_qos.user_data.value.get_contiguous_buffer()),
-    length, "name=%s;namespace=%s;", name, namespace_);
+    length,
+    "name=%s;namespace=%s;securitycontext=%s;",
+    name, namespace_, context->options.security_context);
   if (written < 0 || written > static_cast<int>(length) - 1) {
     RMW_SET_ERROR_MSG("failed to populate user_data buffer");
     return NULL;
@@ -153,7 +154,7 @@ create_node(
   char * gov_fn = nullptr;
   char * perm_fn = nullptr;
 
-  if (security_options->security_root_path) {
+  if (context->options.security_options.security_root_path) {
     // enable some security stuff
     status = DDS::PropertyQosPolicyHelper::add_property(
       participant_qos.property,
@@ -183,7 +184,7 @@ create_node(
       return NULL;
     }
 
-    srp = security_options->security_root_path;  // save some typing
+    srp = context->options.security_options.security_root_path;  // save some typing
     identity_ca_cert_fn = rcutils_join_path(srp, "identity_ca.cert.pem", allocator);
     if (!identity_ca_cert_fn) {
       RMW_SET_ERROR_MSG("failed to allocate memory for 'identity_ca_cert_fn'");
@@ -374,6 +375,7 @@ create_node(
 
   node_handle->implementation_identifier = implementation_identifier;
   node_handle->data = node_info;
+  node_handle->context = context;
   return node_handle;
 fail:
   status = dpf_->delete_participant(participant);