Utilize fog default dds profiles

.dockerignore

@@ -544,4 +544,14 @@ __pycache__/
 *_LOCAL_*.txt
 *_REMOTE_*.txt
 
-# End of https://www.gitignore.io/api/git
+# End of https://www.gitignore.io/api/git
+
+.circleci/
+.github/
+.git/
+.github/
+.vscode/
+.dockerignore
+.gitignore
+**Dockerfile
+**.Dockerfile

.github/workflows/tii-microxrce-agent.yaml

@@ -6,7 +6,7 @@ on:
       - 'README.md'
       - 'CHANGELOG.md'
   pull_request:
-    branches: [ "main" ]
+    branches: [ "master" ]
   repository_dispatch:
     types: [fog-ros-baseimage-update]
   workflow_dispatch:

CMakeLists.txt

@@ -42,6 +42,7 @@ option(UAGENT_BUILD_USAGE_EXAMPLES "Build Micro XRCE-DDS Agent built-in usage ex
 
 set(UAGENT_P2P_CLIENT_VERSION 2.2.0 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
 set(UAGENT_P2P_CLIENT_TAG v2.2.0 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
+set(ignoreMe "${BUILD_TESTING}")
 
 option(UAGENT_BUILD_CI_TESTS "Build CI test cases.")
 if(UAGENT_BUILD_CI_TESTS)
@@ -285,7 +286,6 @@ target_compile_options(${PROJECT_NAME}
         $<$<CXX_COMPILER_ID:GNU>:-fstrict-aliasing>
         $<$<CXX_COMPILER_ID:GNU>:-Wall>
         $<$<CXX_COMPILER_ID:GNU>:-Wextra>
-        $<$<CXX_COMPILER_ID:GNU>:-Wcast-align>
         $<$<CXX_COMPILER_ID:GNU>:-Wshadow>
         $<$<CXX_COMPILER_ID:MSVC>:/W4>
         $<$<CXX_COMPILER_ID:MSVC>:/wd4700>

Dockerfile

@@ -1,5 +1,5 @@
 # Given dynamically from CI job.
-FROM --platform=${BUILDPLATFORM:-linux/amd64} ghcr.io/tiiuae/fog-ros-sdk:sha-6d67ecf-${TARGETARCH:-amd64} AS builder
+FROM --platform=${BUILDPLATFORM:-linux/amd64} ghcr.io/tiiuae/fog-ros-sdk:v3.0.1-${TARGETARCH:-amd64} AS builder
 
 # Must be defined another time after "FROM" keyword.
 ARG TARGETARCH
@@ -16,7 +16,7 @@ RUN /packaging/build_colcon_sdk.sh ${TARGETARCH:-amd64}
 #  ▲               runtime ──┐
 #  └── build                 ▼
 
-FROM ghcr.io/tiiuae/fog-ros-baseimage:sha-6d67ecf
+FROM ghcr.io/tiiuae/fog-ros-baseimage:v3.0.1
 
 ENTRYPOINT [ "/entrypoint.sh" ]
 
@@ -42,4 +42,4 @@ RUN ln -s /usr/local/lib/libmicroxrcedds_agent.so.2.2.0 /usr/local/lib/libmicrox
 ENV PATH="/usr/local/bin:$PATH" \
     LD_LIBRARY_PATH="/usr/local/lib:$LD_LIBRARY_PATH"
 
-COPY entrypoint.sh parse_agent_refs.py agent.refs.mustache agent.refs /
+COPY entrypoint.sh parse_dds_security_part.py dds_security_part_mustache.xml combine_default_profiles.py agent.refs /

cmake/common/check_configuration.cmake

@@ -129,7 +129,6 @@ function(set_common_compile_options target)
             -Wshadow
             $<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>
             -pedantic
-            -Wcast-align
             -Wunused
             $<$<COMPILE_LANGUAGE:CXX>:-Woverloaded-virtual>
             -Wconversion

cmake/modules/FindTinyXML2.cmake

@@ -33,11 +33,11 @@ else()
     include(FindPackageHandleStandardArgs)
 
     if(TINYXML2_FROM_SOURCE)
-        find_package_handle_standard_args(tinyxml2 DEFAULT_MSG TINYXML2_SOURCE_DIR TINYXML2_INCLUDE_DIR)
+        find_package_handle_standard_args(TinyXML2 DEFAULT_MSG TINYXML2_SOURCE_DIR TINYXML2_INCLUDE_DIR)
 
         mark_as_advanced(TINYXML2_INCLUDE_DIR TINYXML2_SOURCE_DIR)
     else()
-        find_package_handle_standard_args(tinyxml2 DEFAULT_MSG TINYXML2_LIBRARY TINYXML2_INCLUDE_DIR)
+        find_package_handle_standard_args(TinyXML2 DEFAULT_MSG TINYXML2_LIBRARY TINYXML2_INCLUDE_DIR)
 
         mark_as_advanced(TINYXML2_INCLUDE_DIR TINYXML2_LIBRARY)
     endif()

combine_default_profiles.py

@@ -0,0 +1,66 @@
+#!/usr/bin/python3
+
+import sys, os, re
+import shutil
+
+agent_refs_path=""
+if len(sys.argv) > 1:
+  agent_refs_path=sys.argv[1]
+
+dds_security_part_file = os.path.join(agent_refs_path, "dds_security_part.xml")
+default_profiles_file = os.path.join(agent_refs_path, "default_profiles.xml")
+agent_refs_tmp_file = os.path.join(agent_refs_path, "agent.refs.tmp")
+agent_refs_file = os.path.join(agent_refs_path, "agent.refs")
+
+def cleanup_temporary_files():
+  # cleanup
+  if os.path.exists(agent_refs_tmp_file):
+    os.remove(agent_refs_tmp_file)
+  if os.path.exists(default_profiles_file):
+    os.remove(default_profiles_file)
+  if os.path.exists(dds_security_part_file):
+    os.remove(dds_security_part_file)
+
+sec_part_data = ""
+add_sec_part = False
+if os.path.exists(dds_security_part_file):
+  add_sec_part = True
+  with open(dds_security_part_file, "r") as f:
+    sec_part_data = f.read()
+else:
+  print("No ROS2 security additions found for default profiles")
+
+### Combine original profiles data to agent.refs
+keep_config = True
+with open(default_profiles_file, "r") as in_f:
+  with open(agent_refs_tmp_file, "w") as out_f:
+    for line in in_f.readlines():
+      line_str = line.strip()
+
+      # Replace participant profile name
+      if line_str.startswith("<participant profile_name="):
+        line = re.sub(
+            '<participant profile_name="\S+"',
+            '<participant profile_name="default_xrce_participant"',
+            line)
+
+      # Remove data_reader and data_writer configs
+      #  as they conflicts with xrce client side configs
+      if line_str.startswith("<data_writer") or line_str.startswith("<data_reader"):
+        keep_config = False
+
+      if keep_config:
+        out_f.write(line)
+        if add_sec_part and line_str.startswith("<rtps>"):
+            out_f.write(sec_part_data)
+
+      if line_str.startswith("</data_writer") or line_str.startswith("</data_reader"):
+        keep_config = True
+
+# Replace original agent.refs with generated one
+if os.path.exists(agent_refs_tmp_file):
+  if os.path.exists(agent_refs_file):
+    os.remove(agent_refs_file)
+  shutil.copyfile(agent_refs_tmp_file, agent_refs_file)
+
+cleanup_temporary_files()

agent.refs.mustache → dds_security_part_mustache.xml

@@ -1,8 +1,3 @@
-<profiles>
-    <participant profile_name="default_xrce_participant">
-        <domainId>0</domainId>
-        <rtps>
-            <name>default_xrce_participant</name>
             <propertiesPolicy>
                 <properties>
                     <!-- Activate DDS:Auth:PKI-DH plugin -->
@@ -58,6 +53,3 @@
                     </property>
                 </properties>
             </propertiesPolicy>
-        </rtps>
-    </participant>
-</profiles>

entrypoint.sh

@@ -1,14 +1,22 @@
 #!/bin/bash -e
 
-unset FASTRTPS_DEFAULT_PROFILES_FILE
 
-./parse_agent_refs.py
+if [ "$FASTRTPS_DEFAULT_PROFILES_FILE" != "" ]; then
+        cp $FASTRTPS_DEFAULT_PROFILES_FILE /default_profiles.xml
+else
+        cp agent.refs default_profiles.xml
+fi
+
+/parse_dds_security_part.py
+/combine_default_profiles.py
+
+unset FASTRTPS_DEFAULT_PROFILES_FILE
 
 _term() {
         # FILL UP PROCESS SEARCH PATTERN HERE TO FIND PROPER PROCESS FOR SIGINT:
         pattern="MicroXRCEAgent"
 
-        pid_value="$(ps -ax | grep $pattern | grep -v grep | awk '{ print $1 }')"
+        pid_value="$(ps -e | grep $pattern | grep -v grep | awk '{ print $1 }')"
         if [ "$pid_value" != "" ]; then
                 pid=$pid_value
                 echo "Send SIGINT to pid $pid"

parse_agent_refs.py → parse_dds_security_part.py

@@ -3,9 +3,9 @@
 import sys, os
 import pystache
 
-agent_refs_path=""
+dds_security_part_path=""
 if len(sys.argv) > 1:
-  agent_refs_path=sys.argv[1]
+  dds_security_part_path=sys.argv[1]
 
 env_keystore = os.environ.get("ROS_SECURITY_KEYSTORE")
 env_enclave_override = os.environ.get("ROS_SECURITY_ENCLAVE_OVERRIDE")
@@ -36,17 +36,17 @@
 with open(key_path, "r") as f:
   key = f.read().rstrip()
 
-agent_refs_must_file = os.path.join(agent_refs_path, "agent.refs.mustache")
-with open(agent_refs_must_file, "r") as f:
+dds_security_part_must_file = os.path.join(dds_security_part_path, "dds_security_part_mustache.xml")
+with open(dds_security_part_must_file, "r") as f:
   tmpl = f.read()
 
-agent_refs_data = pystache.render(tmpl, {'enclave_path': enclave_path, 'key_p11': key })
+dds_security_part_data = pystache.render(tmpl, {'enclave_path': enclave_path, 'key_p11': key })
 
-# Remove original agent.refs
-agent_refs_file = os.path.join(agent_refs_path, "agent.refs")
-if os.path.exists(agent_refs_file):
-  os.remove(agent_refs_file)
+# Remove old dds_security_part.xml if exists
+dds_security_part_file = os.path.join(dds_security_part_path, "dds_security_part.xml")
+if os.path.exists(dds_security_part_file):
+  os.remove(dds_security_part_file)
 
-# Write new agent.refs with sros params
-with open(agent_refs_file, 'w') as f:
-  f.write(agent_refs_data)
+# Write new dds_security_part.xml with sros params for combining
+with open(dds_security_part_file, 'w') as f:
+  f.write(dds_security_part_data)