Added zenoh_security_configuration_tools package written in cpp

zenoh_security_configuration_tools/CMakeLists.txt

@@ -0,0 +1,51 @@
+cmake_minimum_required(VERSION 3.8)
+project(zenoh_security_configuration_tools)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(nlohmann_json REQUIRED)
+find_package(tinyxml2_vendor REQUIRED)
+find_package(TinyXML2 REQUIRED)
+find_package(CLI11 REQUIRED)
+find_package(zenoh_cpp_vendor REQUIRED)
+
+add_executable(zenoh_security_configuration_tools
+    src/zenoh_security_configuration_tools.cpp
+    src/policy_parser.cpp
+)
+target_link_libraries(zenoh_security_configuration_tools PRIVATE
+  CLI11::CLI11
+  nlohmann_json::nlohmann_json
+  tinyxml2::tinyxml2
+  zenohcxx::zenohc
+)
+target_include_directories(${PROJECT_NAME} PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+  if(WIN32)
+target_compile_definitions(${PROJECT_NAME}
+    PRIVATE "ZENOH_SECURITY_CONFIGURATION_TOOLS_BUILDING_LIBRARY")
+endif()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+
+install(
+  TARGETS zenoh_security_configuration_tools
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

zenoh_security_configuration_tools/include/zenoh_security_configuration_tools/policy_parser.hpp

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+// Copyright (c) 2025, Open Source Robotics Foundation, Inc.
+//
+// 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 the copyright holder 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 HOLDER 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.
+
+#ifndef ZENOH_SECURITY_CONFIGURATION_TOOLS__POLICY_PARSER_HPP_
+#define ZENOH_SECURITY_CONFIGURATION_TOOLS__POLICY_PARSER_HPP_
+
+#include <tinyxml2.h>
+
+#include <cstdint>
+#include <set>
+#include <string>
+
+#include <zenoh.hxx>
+
+#include "zenoh_security_configuration_tools/visibility_control.hpp"
+
+namespace zenoh
+{
+/**
+ * This class parses the ROS 2 secutiry policy files into json5 Zenoh Config files
+ **/
+class PolicyParser
+{
+public:
+  /// The library is loaded in the constructor.
+  /**
+   * \param[in] filename The policy string path.
+   * \throws std::runtime_error if there are some invalid arguments or the library
+   * was not load properly
+   */
+  ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC
+  PolicyParser(
+    const std::string & filename,
+    const std::string & configfile,
+    uint16_t domain_id);
+
+  void parse();
+
+private:
+  void parse_enclaves(const tinyxml2::XMLElement * root);
+  void parse_profiles(const tinyxml2::XMLElement * root);
+  void parse_services(const tinyxml2::XMLElement * root, const std::string & node_name);
+  void parse_topics(const tinyxml2::XMLElement * root, const std::string & node_name);
+  void clear();
+  void fill_data(
+    zenoh::Config & config,
+    const std::string & node_name);
+
+  std::string check_name(
+    const std::string & name,
+    const std::string & node_name);
+
+  tinyxml2::XMLDocument doc_;
+  std::string configfile_path_;
+
+  std::set<std::string> services_reply_allow_;
+  std::set<std::string> services_reply_deny_;
+  std::set<std::string> services_request_allow_;
+  std::set<std::string> services_request_deny_;
+
+  std::set<std::string> topics_sub_allow_;
+  std::set<std::string> topics_pub_allow_;
+  std::set<std::string> topics_sub_deny_;
+  std::set<std::string> topics_pub_deny_;
+
+  uint16_t domain_id_;
+};
+}  // namespace zenoh
+
+#endif  // ZENOH_SECURITY_CONFIGURATION_TOOLS__POLICY_PARSER_HPP_

zenoh_security_configuration_tools/include/zenoh_security_configuration_tools/visibility_control.hpp

@@ -0,0 +1,87 @@
+// Copyright (c) 2025, Open Source Robotics Foundation, Inc.
+//
+// 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 the copyright holder 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 HOLDER 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.
+
+#ifndef ZENOH_SECURITY_CONFIGURATION_TOOLS__VISIBILITY_CONTROL_HPP_
+#define ZENOH_SECURITY_CONFIGURATION_TOOLS__VISIBILITY_CONTROL_HPP_
+
+/*! \file visibility_control.hpp
+  * \brief Macros for controlling visibilty of exported iterfaces.
+  *
+  * This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+  *     https://gcc.gnu.org/wiki/Visibility
+  */
+/**
+  * \def ZENOH_SECURITY_CONFIGURATION_TOOLS_EXPORT
+  * \brief Exposes the function with its decorated name in the compiled library object.
+  */
+/**
+  * \def ZENOH_SECURITY_CONFIGURATION_TOOLS_IMPORT
+  * \brief On Windows declares a function will be imported from a dll, otherwise it is empty
+  */
+/**
+  * \def ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC
+  * \brief Declares symbols and functions will be visible for export.
+  */
+/**
+  * \def ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC_TYPE
+  * \brief On Windows, this is a replica of ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC, otherwise it is empty.
+  */
+/**
+  * \def ZENOH_SECURITY_CONFIGURATION_TOOLS_LOCAL
+  * \brief Declares symbols cannot be exported from the dll.
+  */
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define ZENOH_SECURITY_CONFIGURATION_TOOLS_EXPORT __attribute__ ((dllexport))
+    #define ZENOH_SECURITY_CONFIGURATION_TOOLS_IMPORT __attribute__ ((dllimport))
+  #else
+    #define ZENOH_SECURITY_CONFIGURATION_TOOLS_EXPORT __declspec(dllexport)
+    #define ZENOH_SECURITY_CONFIGURATION_TOOLS_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef ZENOH_SECURITY_CONFIGURATION_TOOLS_BUILDING_LIBRARY
+    #define ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC ZENOH_SECURITY_CONFIGURATION_TOOLS_EXPORT
+  #else
+    #define ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC ZENOH_SECURITY_CONFIGURATION_TOOLS_IMPORT
+  #endif
+  #define ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC_TYPE ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC
+  #define ZENOH_SECURITY_CONFIGURATION_TOOLS_LOCAL
+#else
+  #define ZENOH_SECURITY_CONFIGURATION_TOOLS_EXPORT __attribute__ ((visibility("default")))
+  #define ZENOH_SECURITY_CONFIGURATION_TOOLS_IMPORT
+  #if __GNUC__ >= 4
+    #define ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC __attribute__ ((visibility("default")))
+    #define ZENOH_SECURITY_CONFIGURATION_TOOLS_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC
+    #define ZENOH_SECURITY_CONFIGURATION_TOOLS_LOCAL
+  #endif
+  #define ZENOH_SECURITY_CONFIGURATION_TOOLS_PUBLIC_TYPE
+#endif
+
+#endif  // ZENOH_SECURITY_CONFIGURATION_TOOLS__VISIBILITY_CONTROL_HPP_

zenoh_security_configuration_tools/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>zenoh_security_configuration_tools</name>
+  <version>0.3.0</version>
+  <description>This package generates zenoh secutiry configurations</description>
+  <maintainer email="alejandro@openrobotics.org">Alejandro Hernanadez</maintainer>
+  <license>Apache License 2.0</license>
+
+
+  <build_depend>nlohmann-json-dev</build_depend>
+
+  <depend>cli11</depend>
+  <depend>tinyxml2_vendor</depend>
+  <depend>zenoh_cpp_vendor</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>