api: reorganize permission API

sros2/sros2/api/__init__.py

@@ -21,28 +21,21 @@
 from cryptography.hazmat.backends import default_backend as cryptography_backend
 from cryptography.hazmat.primitives import serialization
 
-from lxml import etree
-
 from rclpy.exceptions import InvalidNamespaceException
-from rclpy.utilities import get_rmw_implementation_identifier
 from rclpy.validate_namespace import validate_namespace
 
 from sros2.policy import (
     get_policy_default,
-    get_transport_schema,
-    get_transport_template,
     load_policy,
 )
 
-from . import _keystore, _policy, _utilities
+from . import _keystore, _permission, _policy, _utilities
 
 HIDDEN_NODE_PREFIX = '_'
 
 NodeName = namedtuple('NodeName', ('node', 'ns', 'fqn'))
 TopicInfo = namedtuple('Topic', ('fqn', 'type'))
 
-RMW_WITH_ROS_GRAPH_INFO_TOPIC = ('rmw_fastrtps_cpp', 'rmw_fastrtps_dynamic_cpp')
-
 
 def get_node_names(*, node, include_hidden_nodes=False):
     node_names_and_namespaces = node.get_node_names_and_namespaces()
@@ -95,53 +88,6 @@ def is_key_name_valid(name):
         return False
 
 
-def create_permission_file(path, domain_id, policy_element):
-    print('creating permission')
-    permissions_xsl_path = get_transport_template('dds', 'permissions.xsl')
-    permissions_xsl = etree.XSLT(etree.parse(permissions_xsl_path))
-    permissions_xsd_path = get_transport_schema('dds', 'permissions.xsd')
-    permissions_xsd = etree.XMLSchema(etree.parse(permissions_xsd_path))
-
-    kwargs = {}
-    if get_rmw_implementation_identifier() in RMW_WITH_ROS_GRAPH_INFO_TOPIC:
-        kwargs['allow_ros_discovery_topic'] = etree.XSLT.strparam('1')
-    permissions_xml = permissions_xsl(policy_element, **kwargs)
-
-    domain_id_elements = permissions_xml.findall('permissions/grant/*/domains/id')
-    for domain_id_element in domain_id_elements:
-        domain_id_element.text = domain_id
-
-    try:
-        permissions_xsd.assertValid(permissions_xml)
-    except etree.DocumentInvalid as e:
-        raise RuntimeError(str(e))
-
-    with open(path, 'wb') as f:
-        f.write(etree.tostring(permissions_xml, pretty_print=True))
-
-
-def create_permission(keystore_path, identity, policy_file_path):
-    policy_element = _policy.get_policy(identity, policy_file_path)
-    create_permissions_from_policy_element(keystore_path, identity, policy_element)
-    return True
-
-
-def create_permissions_from_policy_element(keystore_path, identity, policy_element):
-    relative_path = os.path.normpath(identity.lstrip('/'))
-    key_dir = os.path.join(_keystore.get_keystore_context_dir(keystore_path), relative_path)
-    print("creating permission file for identity: '%s'" % identity)
-    permissions_path = os.path.join(key_dir, 'permissions.xml')
-    create_permission_file(permissions_path, _utilities.domain_id(), policy_element)
-
-    signed_permissions_path = os.path.join(key_dir, 'permissions.p7s')
-    keystore_ca_cert_path = os.path.join(
-        _keystore.get_keystore_public_dir(keystore_path), 'ca.cert.pem')
-    keystore_ca_key_path = os.path.join(
-        _keystore.get_keystore_private_dir(keystore_path), 'ca.key.pem')
-    _utilities.create_smime_signed_file(
-        keystore_ca_cert_path, keystore_ca_key_path, permissions_path, signed_permissions_path)
-
-
 def create_key(keystore_path, identity):
     if not _keystore.is_valid_keystore(keystore_path):
         print("'%s' is not a valid keystore " % keystore_path)
@@ -197,7 +143,7 @@ def create_key(keystore_path, identity):
     context_element.attrib['path'] = identity
 
     permissions_path = os.path.join(key_dir, 'permissions.xml')
-    create_permission_file(permissions_path, _utilities.domain_id(), policy_element)
+    _permission.create_permission_file(permissions_path, _utilities.domain_id(), policy_element)
 
     signed_permissions_path = os.path.join(key_dir, 'permissions.p7s')
     keystore_permissions_ca_key_path = os.path.join(
@@ -258,7 +204,7 @@ def generate_artifacts(keystore_path=None, identity_names=[], policy_files=[]):
                 if not create_key(keystore_path, identity_name):
                     return False
             policy_element = _policy.get_policy_from_tree(identity_name, policy_tree)
-            create_permissions_from_policy_element(
+            _permission.create_permissions_from_policy_element(
                 keystore_path, identity_name, policy_element)
     return True
 

sros2/sros2/api/_permission.py

@@ -0,0 +1,73 @@
+# Copyright 2016-2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from lxml import etree
+
+from rclpy.utilities import get_rmw_implementation_identifier
+
+from sros2.policy import get_transport_schema, get_transport_template
+
+from . import _keystore, _policy, _utilities
+
+
+_RMW_WITH_ROS_GRAPH_INFO_TOPIC = ('rmw_fastrtps_cpp', 'rmw_fastrtps_dynamic_cpp')
+
+
+def create_permission(keystore_path, identity, policy_file_path):
+    policy_element = _policy.get_policy(identity, policy_file_path)
+    create_permissions_from_policy_element(keystore_path, identity, policy_element)
+    return True
+
+
+def create_permissions_from_policy_element(keystore_path, identity, policy_element):
+    relative_path = os.path.normpath(identity.lstrip('/'))
+    key_dir = os.path.join(_keystore.keystore_context_dir(keystore_path), relative_path)
+    print("creating permission file for identity: '%s'" % identity)
+    permissions_path = os.path.join(key_dir, 'permissions.xml')
+    create_permission_file(permissions_path, _utilities.domain_id(), policy_element)
+
+    signed_permissions_path = os.path.join(key_dir, 'permissions.p7s')
+    keystore_ca_cert_path = os.path.join(
+        _keystore.keystore_public_dir(keystore_path), 'ca.cert.pem')
+    keystore_ca_key_path = os.path.join(
+        _keystore.keystore_private_dir(keystore_path), 'ca.key.pem')
+    _utilities.create_smime_signed_file(
+        keystore_ca_cert_path, keystore_ca_key_path, permissions_path, signed_permissions_path)
+
+
+def create_permission_file(path, domain_id, policy_element):
+    print('creating permission')
+    permissions_xsl_path = get_transport_template('dds', 'permissions.xsl')
+    permissions_xsl = etree.XSLT(etree.parse(permissions_xsl_path))
+    permissions_xsd_path = get_transport_schema('dds', 'permissions.xsd')
+    permissions_xsd = etree.XMLSchema(etree.parse(permissions_xsd_path))
+
+    kwargs = {}
+    if get_rmw_implementation_identifier() in _RMW_WITH_ROS_GRAPH_INFO_TOPIC:
+        kwargs['allow_ros_discovery_topic'] = etree.XSLT.strparam('1')
+    permissions_xml = permissions_xsl(policy_element, **kwargs)
+
+    domain_id_elements = permissions_xml.findall('permissions/grant/*/domains/id')
+    for domain_id_element in domain_id_elements:
+        domain_id_element.text = domain_id
+
+    try:
+        permissions_xsd.assertValid(permissions_xml)
+    except etree.DocumentInvalid as e:
+        raise RuntimeError(str(e))
+
+    with open(path, 'wb') as f:
+        f.write(etree.tostring(permissions_xml, pretty_print=True))

sros2/sros2/verb/create_permission.py

@@ -23,7 +23,7 @@ def DirectoriesCompleter():
     def FilesCompleter(*, allowednames, directories):
         return None
 
-from sros2.api import create_permission
+from sros2.api import _permission
 from sros2.verb import VerbExtension
 
 
@@ -41,7 +41,7 @@ def add_arguments(self, parser, cli_name):
 
     def main(self, *, args):
         try:
-            success = create_permission(args.ROOT, args.NAME, args.POLICY_FILE_PATH)
+            success = _permission.create_permission(args.ROOT, args.NAME, args.POLICY_FILE_PATH)
         except FileNotFoundError as e:
             raise RuntimeError(str(e))
         return 0 if success else 1