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Update policy_parser to use nlohmann_json.hpp #592

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Merged
Yadunund merged 2 commits into from
Apr 4, 2025
Merged

Update policy_parser to use nlohmann_json.hpp #592

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bfdf2b1
Update policy_parser to use nlohmann_json.hpp
Apr 4, 2025
fe5ec35
Further json changes
Apr 4, 2025
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2 changes: 2 additions & 0 deletions zenoh_security_configuration_tools/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ 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)
Expand All @@ -24,6 +25,7 @@ add_executable(zenoh_security_configuration_tools
)
target_link_libraries(zenoh_security_configuration_tools PRIVATE
CLI11::CLI11
nlohmann_json::nlohmann_json
tinyxml2::tinyxml2
zenohcxx::zenohc
)
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3 changes: 3 additions & 0 deletions zenoh_security_configuration_tools/package.xml
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Expand Up @@ -7,6 +7,9 @@
<maintainer email="alejandro@openrobotics.org">Alejandro Hernanadez</maintainer>
<license>Apache License 2.0</license>


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@Yadunund Yadunund Apr 4, 2025

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Suggested change

<build_depend>nlohmann-json-dev</build_depend>

<depend>cli11</depend>
<depend>tinyxml2_vendor</depend>
<depend>zenoh_cpp_vendor</depend>
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209 changes: 111 additions & 98 deletions zenoh_security_configuration_tools/src/policy_parser.cpp
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Expand Up @@ -28,6 +28,7 @@

#include "zenoh_security_configuration_tools/policy_parser.hpp"

#include <nlohmann/json.hpp>
#include <tinyxml2.h>

#include <iostream>
Expand Down Expand Up @@ -170,120 +171,132 @@ void PolicyParser::fill_data(
zenoh::Config & config,
const std::string & node_name)
{
std::string rules;
std::string policies_rules{};
json rules = json::array();
json policies_rules = json::array();

if (!services_reply_allow_.empty()) {
rules += "{ " \
"\"id\": \"incoming_queries\", " \
"\"messages\": [\"query\"], " \
"\"flows\": [\"ingress\"], " \
"\"permission\": \"allow\", " \
"\"key_exprs\": " + to_key_exprs(services_reply_allow_) +
"},";

rules += "{ " \
"\"id\": \"outgoing_queryables_replies\", " \
"\"messages\": [\"declare_queryable\", \"reply\"], " \
"\"flows\":[\"egress\"], " \
"\"permission\": \"allow\", " \
"\"key_exprs\": " + to_key_exprs(services_reply_allow_) +
"},";
policies_rules += "\"outgoing_queryables_replies\", \"incoming_queries\",";
json rule_allow_reply = json::object({
{"id", "incoming_queries"},
{"messages", json::array({"query"})},
{"flows", json::array({"ingress"})},
{"permission", "allow"},
{"key_exprs", to_json_key_exprs(services_reply_allow_)},
});
rules.push_back(rule_allow_reply);
policies_rules.push_back("incoming_queries");

json rule_outgoing_reply = json::object({
{"id", "outgoing_queryables_replies"},
{"messages", json::array({"declare_queryable", "reply"})},
{"flows", json::array({"egress"})},
{"permission", "allow"},
{"key_exprs", to_json_key_exprs(services_reply_allow_)},
});
rules.push_back(rule_outgoing_reply);
policies_rules.push_back("outgoing_queryables_replies");
}

if (!services_request_allow_.empty()) {
rules += "{ " \
"\"id\": \"outgoing_queries\", " \
"\"messages\": [\"query\"], " \
"\"flows\":[\"egress\"], " \
"\"permission\": \"allow\", " \
"\"key_exprs\": " + to_key_exprs(services_request_allow_) +
"},";
rules += "{ " \
"\"id\": \"incoming_queryables_replies\", " \
"\"messages\": [\"declare_queryable\", \"reply\"], " \
"\"flows\":[\"ingress\"], " \
"\"permission\": \"allow\", " \
"\"key_exprs\": " + to_key_exprs(services_request_allow_) +
"},";
policies_rules += "\"outgoing_queries\", \"incoming_queryables_replies\",";
json rule_allow_request_out = json::object({
{"id", "outgoing_queries"},
{"messages", json::array({"query"})},
{"flows", json::array({"egress"})},
{"permission", "allow"},
{"key_exprs", to_json_key_exprs(services_request_allow_)},
});
rules.push_back(rule_allow_request_out);
policies_rules.push_back("outgoing_queries");

json rule_allow_request_in = json::object({
{"id", "incoming_queryables_replies"},
{"messages", json::array({"declare_queryable", "reply"})},
{"flows", json::array({"ingress"})},
{"permission", "allow"},
{"key_exprs", to_json_key_exprs(services_request_allow_)},
});
rules.push_back(rule_allow_request_in);
policies_rules.push_back("incoming_queryables_replies");
}

if (!topics_pub_allow_.empty()) {
rules += "{ " \
"\"id\": \"outgoing_publications\", " \
"\"messages\": [ \"put\" ], " \
"\"flows\":[\"egress\"], " \
"\"permission\": \"allow\", " \
"\"key_exprs\": " + to_key_exprs(topics_pub_allow_) +
"},";

rules += "{ " \
"\"id\": \"incoming_subscriptions\", " \
"\"messages\": [ \"declare_subscriber\" ], " \
"\"flows\":[\"ingress\"], " \
"\"permission\": \"allow\", " \
"\"key_exprs\": " + to_key_exprs(topics_pub_allow_) +
"},";
policies_rules += "\"outgoing_publications\", \"incoming_subscriptions\",";
json rule_allow_pub_out = json::object({
{"id", "outgoing_publications"},
{"messages", json::array({"put"})},
{"flows", json::array({"egress"})},
{"permission", "allow"},
{"key_exprs", to_json_key_exprs(topics_pub_allow_)},
});
rules.push_back(rule_allow_pub_out);
policies_rules.push_back("outgoing_publications");

json rule_allow_pub_in = json::object({
{"id", "incoming_subscriptions"},
{"messages", json::array({"declare_subscriber"})},
{"flows", json::array({"ingress"})},
{"permission", "allow"},
{"key_exprs", to_json_key_exprs(topics_pub_allow_)},
});
rules.push_back(rule_allow_pub_in);
policies_rules.push_back("incoming_subscriptions");
}

if (!topics_sub_allow_.empty()) {
rules += "{ " \
"\"id\": \"outgoing_subscriptions\", " \
"\"messages\": [ \"declare_subscriber\" ], " \
"\"flows\":[\"egress\"], " \
"\"permission\": \"allow\", " \
"\"key_exprs\": " + to_key_exprs(topics_sub_allow_) +
"},";
rules += "{ " \
"\"id\": \"incoming_publications\", " \
"\"messages\": [ \"put\" ], " \
"\"flows\":[\"ingress\"], " \
"\"permission\": \"allow\", " \
"\"key_exprs\": " + to_key_exprs(topics_sub_allow_) +
"},";
policies_rules += "\"outgoing_subscriptions\", \"incoming_publications\",";
json rule_allow_sub_out = json::object({
{"id", "outgoing_subscriptions"},
{"messages", json::array({"declare_subscriber"})},
{"flows", json::array({"egress"})},
{"permission", "allow"},
{"key_exprs", to_json_key_exprs(topics_sub_allow_)},
});
rules.push_back(rule_allow_sub_out);
policies_rules.push_back("outgoing_subscriptions");

json rule_allow_sub_in = json::object({
{"id", "incoming_publications"},
{"messages", json::array({"put"})},
{"flows", json::array({"ingress"})},
{"permission", "allow"},
{"key_exprs", to_json_key_exprs(topics_sub_allow_)},
});
rules.push_back(rule_allow_sub_in);
policies_rules.push_back("incoming_publications");
}

std::string liveliness_messages = "[" \
"\"liveliness_token\", " \
"\"liveliness_query\", " \
"\"declare_liveliness_subscriber\"";

json liveliness_messages = json::array({
"liveliness_token", "liveliness_query", "declare_liveliness_subscriber"});
if (!services_reply_allow_.empty() || !services_request_allow_.empty()) {
liveliness_messages += ", \"reply\"";
liveliness_messages.push_back("reply");
}

liveliness_messages += "]";

rules += "{ " \
"\"id\": \"liveliness_tokens\", " \
"\"messages\": " + liveliness_messages + "," +
"\"flows\":[\"ingress\", \"egress\"], " \
"\"permission\": \"allow\", " \
"\"key_exprs\": [ \"@ros2_lv/" + std::to_string(domain_id_) + "/**\" ] " \
"},";

policies_rules += "\"liveliness_tokens\"";

std::string policies = "{ " \
"\"rules\": [\"liveliness_tokens\"], " \
"\"subjects\": [\"router\"] " \
"},"
"{ " \
"\"rules\": [" + policies_rules + "]," +
"\"subjects\": [\"" + node_name + "\"] " \
"},";

std::string subjects = "[" \
"{\"id\": \"router\"}, " \
"{\"id\": \"" + node_name + "\"} " \
"]";
config.insert_json5("access_control/rules", "[" + rules + "]");
config.insert_json5("access_control/policies", "[" + policies + "]");
config.insert_json5("access_control/subjects", subjects);
json rule_liveliness = json::object({
{"id", "liveliness_tokens"},
{"messages", liveliness_messages},
{"flows", json::array({"ingress", "egress"})},
{"permission", "allow"},
{"key_exprs",
json::array({"@ros2_lv/" + std::to_string(domain_id_) + "/**"})},
});
rules.push_back(rule_liveliness);
policies_rules.push_back("liveliness_tokens");

json policies = json::array();
policies.push_back(json::object({
{"rules", json::array({"liveliness_tokens"})},
{"subjects", json::array({"router"})},
}));
policies.push_back(json::object({
{"rules", policies_rules},
{"subjects", json::array({node_name})},
}));

json subjects = json::array({
json::object({{"id", "router"}}),
json::object({{"id", node_name}}),
});

config.insert_json5("access_control/rules", rules.dump());
config.insert_json5("access_control/policies", policies.dump());
config.insert_json5("access_control/subjects", subjects.dump());
}

void PolicyParser::parse_topics(
Expand Down
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