allow/deny conf: fix doc and empty lists management (fix #14) (#18)

DEFAULT_CONFIG.json5

@@ -52,10 +52,14 @@
       // shm_enabled: false,
 
       ////
-      //// allow: Sets of 1 or more regular expression per ROS interface kind matching the interface names that must be routed via zenoh.
-      ////        By default, all interfaces are allowed.
-      ////        If both 'allow' and 'deny' are set an interface will be allowed if it matches only the expression in 'allow' set.
-      ////
+      //// allow / deny: Specify the lists of ROS 2 interfaces that are allowed or denied to be routed over Zenoh.
+      ////               Each element of the lists is a regular expression that must match the full interface name.
+      ////               You cannot set both 'allow' and 'deny' in the same configuration.
+      ////               If neither 'allow' nor 'deny' are set, all interfaces are allowed.
+      ////               Use 'allow' to allow only the specified interfaces. If an interface type is set to an empty list
+      ////               or is not specified at all, it means that NO such interface is allowed.
+      ////               Use 'deny' to allow all except the specified interfaces. If an interface type is set to an empty list
+      ////               or is not specified at all, it means that ALL such interface are allowed.
       // allow: {
       //   publishers: [".*/laser_scan", "/tf", ".*/pose"],
       //   subscribers: [".*/cmd_vel"],
@@ -64,12 +68,6 @@
       //   action_servers: [".*/rotate_absolute"],
       //   action_clients: [],
       // },
-
-      ////
-      //// deny: Sets of 1 or more regular expression per ROS interface kind matching the interface names that must NOT be routed via zenoh.
-      ////       By default, no interface are denied.
-      ////       If both 'allow' and 'deny' are set an interface will be allowed if it matches only the expression in 'allow' set.
-      ////
       // deny: {
       //   publishers: ["/rosout", "/parameter_events"],
       //   subscribers: ["/rosout"],
@@ -80,7 +78,7 @@
       // },
 
       ////
-      //// pub_max_frequencies: Specifies a list of maximum frequency of publications routing over zenoh for a set of Publishers.
+      //// pub_max_frequencies: Specify a list of maximum frequency of publications routing over zenoh for a set of Publishers.
       ////                      The strings must have the format "<regex>=<float>":
       ////                      - "regex" is a regular expression matching a Publisher interface name
       ////                      - "float" is the maximum frequency in Hertz;

zenoh-plugin-ros2dds/src/config.rs

@@ -336,6 +336,10 @@ impl<'de> Visitor<'de> for RegexVisitor {
         while let Some(s) = seq.next_element::<String>()? {
             vec.push(format!("^{s}$"));
         }
+        if vec.is_empty() {
+            return Ok(None);
+        };
+
         let s: String = vec.join("|");
         Regex::new(&s)
             .map(Some)
@@ -377,3 +381,154 @@ where
     }
     seq.end()
 }
+
+mod tests {
+
+    #[test]
+    fn test_allowance() {
+        use super::*;
+
+        let allow: Allowance = serde_json::from_str(
+            r#"{
+                "allow": {
+                    "publishers": ["/tf", ".*/pose"],
+                    "subscribers": [],
+                    "service_servers": [".*"],
+                    "action_servers": [".*/rotate_absolute"],
+                    "action_clients": [ "" ]
+                }
+            }"#,
+        )
+        .unwrap();
+        println!("allow: {}", serde_json::to_string(&allow).unwrap());
+
+        assert!(matches!(
+            allow,
+            Allowance::Allow(ROS2InterfacesRegex {
+                publishers: Some(_),
+                subscribers: None,
+                service_servers: Some(_),
+                service_clients: None,
+                action_servers: Some(_),
+                action_clients: Some(_),
+            })
+        ));
+
+        assert!(allow.is_publisher_allowed("/tf"));
+        assert!(allow.is_publisher_allowed("/x/y/pose"));
+        assert!(!allow.is_publisher_allowed("/abc/rotate_absolute"));
+        assert!(!allow.is_publisher_allowed("/cmd_vel"));
+        assert!(!allow.is_service_cli_allowed("/some_pseudo_random_name"));
+
+        assert!(!allow.is_subscriber_allowed("/tf"));
+        assert!(!allow.is_subscriber_allowed("/x/y/pose"));
+        assert!(!allow.is_publisher_allowed("/abc/rotate_absolute"));
+        assert!(!allow.is_subscriber_allowed("/cmd_vel"));
+        assert!(!allow.is_service_cli_allowed("/some_pseudo_random_name"));
+
+        assert!(allow.is_service_srv_allowed("/tf"));
+        assert!(allow.is_service_srv_allowed("/x/y/pose"));
+        assert!(allow.is_service_srv_allowed("/abc/rotate_absolute"));
+        assert!(allow.is_service_srv_allowed("/cmd_vel"));
+        assert!(allow.is_service_srv_allowed("/some_pseudo_random_name"));
+
+        assert!(!allow.is_service_cli_allowed("/tf"));
+        assert!(!allow.is_service_cli_allowed("/x/y/pose"));
+        assert!(!allow.is_service_cli_allowed("/abc/rotate_absolute"));
+        assert!(!allow.is_service_cli_allowed("/cmd_vel"));
+        assert!(!allow.is_service_cli_allowed("/some_pseudo_random_name"));
+
+        assert!(!allow.is_action_srv_allowed("/tf"));
+        assert!(!allow.is_action_srv_allowed("/x/y/pose"));
+        assert!(allow.is_action_srv_allowed("/abc/rotate_absolute"));
+        assert!(!allow.is_action_srv_allowed("/cmd_vel"));
+        assert!(!allow.is_action_srv_allowed("/some_pseudo_random_name"));
+
+        assert!(!allow.is_action_cli_allowed("/tf"));
+        assert!(!allow.is_action_cli_allowed("/x/y/pose"));
+        assert!(!allow.is_action_cli_allowed("/abc/rotate_absolute"));
+        assert!(!allow.is_action_cli_allowed("/cmd_vel"));
+        assert!(!allow.is_action_cli_allowed("/some_pseudo_random_name"));
+
+        let deny: Allowance = serde_json::from_str(
+            r#"{
+                "deny": {
+                    "publishers": ["/tf", ".*/pose"],
+                    "subscribers": [],
+                    "service_servers": [".*"],
+                    "action_servers": [".*/rotate_absolute"],
+                    "action_clients": [ "" ]
+                }
+            }"#,
+        )
+        .unwrap();
+        println!("deny: {}", serde_json::to_string(&allow).unwrap());
+
+        assert!(matches!(
+            deny,
+            Allowance::Deny(ROS2InterfacesRegex {
+                publishers: Some(_),
+                subscribers: None,
+                service_servers: Some(_),
+                service_clients: None,
+                action_servers: Some(_),
+                action_clients: Some(_),
+            })
+        ));
+
+        assert!(!deny.is_publisher_allowed("/tf"));
+        assert!(!deny.is_publisher_allowed("/x/y/pose"));
+        assert!(deny.is_publisher_allowed("/abc/rotate_absolute"));
+        assert!(deny.is_publisher_allowed("/cmd_vel"));
+        assert!(deny.is_service_cli_allowed("/some_pseudo_random_name"));
+
+        assert!(deny.is_subscriber_allowed("/tf"));
+        assert!(deny.is_subscriber_allowed("/x/y/pose"));
+        assert!(deny.is_publisher_allowed("/abc/rotate_absolute"));
+        assert!(deny.is_subscriber_allowed("/cmd_vel"));
+        assert!(deny.is_service_cli_allowed("/some_pseudo_random_name"));
+
+        assert!(!deny.is_service_srv_allowed("/tf"));
+        assert!(!deny.is_service_srv_allowed("/x/y/pose"));
+        assert!(!deny.is_service_srv_allowed("/abc/rotate_absolute"));
+        assert!(!deny.is_service_srv_allowed("/cmd_vel"));
+        assert!(!deny.is_service_srv_allowed("/some_pseudo_random_name"));
+
+        assert!(deny.is_service_cli_allowed("/tf"));
+        assert!(deny.is_service_cli_allowed("/x/y/pose"));
+        assert!(deny.is_service_cli_allowed("/abc/rotate_absolute"));
+        assert!(deny.is_service_cli_allowed("/cmd_vel"));
+        assert!(deny.is_service_cli_allowed("/some_pseudo_random_name"));
+
+        assert!(deny.is_action_srv_allowed("/tf"));
+        assert!(deny.is_action_srv_allowed("/x/y/pose"));
+        assert!(!deny.is_action_srv_allowed("/abc/rotate_absolute"));
+        assert!(deny.is_action_srv_allowed("/cmd_vel"));
+        assert!(deny.is_action_srv_allowed("/some_pseudo_random_name"));
+
+        assert!(deny.is_action_cli_allowed("/tf"));
+        assert!(deny.is_action_cli_allowed("/x/y/pose"));
+        assert!(deny.is_action_cli_allowed("/abc/rotate_absolute"));
+        assert!(deny.is_action_cli_allowed("/cmd_vel"));
+        assert!(deny.is_action_cli_allowed("/some_pseudo_random_name"));
+
+        let invalid = serde_json::from_str::<Allowance>(
+            r#"{
+                "allow": {
+                    "publishers": ["/tf", ".*/pose"],
+                    "subscribers": [],
+                    "service_servers": [".*"],
+                    "action_servers": [".*/rotate_absolute"],
+                    "action_clients": [ "" ]
+                },
+                "deny": {
+                    "subscribers": ["/tf", ".*/pose"],
+                    "service_clients": [".*"],
+                    "action_servers": [""],
+                    "action_clients": [ ".*/rotate_absolute" ]
+                },
+            }"#,
+        );
+        assert!(invalid.is_err());
+    }
+}