micro-ROS Rolling patch

* micro-ROS changes over dashing

Feature/add security directory (#1)

* Added security directory

* Updated security directory

Feature/avoid filesystem and allocation (#2)

* Included RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION

* Added no filesystem options

* Default allocators write access

* Avoid dynamic allocation and no filesytem on error handling

* Typo

* New flags for filesystem and avoid dynamic

* Error handling template

* New allocator approach

Add test_security_directory test from rcl. (#3)

Merge pull request #4 from micro-ROS/feature/zephyr_fixes

Feature/zephyr fixes

CMake refactor (#5)

Update approach (#6)

* Update approach

* Remove target_compile_definitions and refactor flags install

* Added RCUTILS_NO_FILESYSTEM on new functions

* Added RCUTILS_NO_FILESYSTEM on new functions

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

Updates 17092020


Fix atomics 64bits (#9)


* micro-ROS changes over dashing

Feature/add security directory (#1)

* Added security directory

* Updated security directory

Feature/avoid filesystem and allocation (#2)

* Included RCUTILS_NO_FILESYSTEM and RCUTILS_AVOID_DYNAMIC_ALLOCATION

* Added no filesystem options

* Default allocators write access

* Avoid dynamic allocation and no filesytem on error handling

* Typo

* New flags for filesystem and avoid dynamic

* Error handling template

* New allocator approach

Add test_security_directory test from rcl. (#3)

Merge pull request #4 from micro-ROS/feature/zephyr_fixes

Feature/zephyr fixes

CMake refactor (#5)


Update approach (#6)

* Update approach

* Remove target_compile_definitions and refactor flags install

* Added RCUTILS_NO_FILESYSTEM on new functions

* Added RCUTILS_NO_FILESYSTEM on new functions

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

* Initial changes

* Add hashing and lock pool

* Updates

Co-authored-by: Jose Antonio Moral <joseantoniomoralparras@gmail.com>
Fix atomics 64bits (#9)



Updates 09102020

* Release micro-ROS Foxy (#8)

Update


Cleaning


Update

CMakeLists.txt

@@ -2,6 +2,12 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rcutils)
 
+option(RCUTILS_NO_THREAD_SUPPORT "Disable thread support." OFF)
+option(RCUTILS_NO_FILESYSTEM "Disable filesystem usage." OFF)
+option(RCUTILS_AVOID_DYNAMIC_ALLOCATION "Disable dynamic allocations." OFF)
+option(RCUTILS_NO_64_ATOMIC "Disable support for 64 bits atomic operations." OFF)
+option(RCUTILS_MICROROS "Flag for building micro-ROS." ON)
+
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 11)
@@ -28,7 +34,7 @@ if(UNIX AND NOT APPLE)
   endif()
 endif()
 
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(NOT RCUTILS_MICROROS AND (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang"))
   # enables building a static library but later link it into a dynamic library
   add_compile_options(-fPIC)
 endif()
@@ -74,6 +80,7 @@ set(rcutils_sources
   src/time.c
   ${time_impl_c}
   src/uint8_array.c
+  $<$<BOOL:${RCUTILS_NO_64_ATOMIC}>:src/atomic_64bits.c>
 )
 set_source_files_properties(
   ${rcutils_sources}
@@ -128,6 +135,10 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "RCUTILS_BUILDING_DLL")
 if(BUILD_TESTING AND NOT RCUTILS_DISABLE_FAULT_INJECTION)
   target_compile_definitions(${PROJECT_NAME} PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
 endif()
+configure_file(
+    "${PROJECT_SOURCE_DIR}/include/rcutils/configuration_flags.h.in"
+    "${PROJECT_BINARY_DIR}/include/rcutils/configuration_flags.h"
+)
 
 target_link_libraries(${PROJECT_NAME} ${CMAKE_DL_LIBS})
 

include/rcutils/allocator.h

@@ -83,6 +83,21 @@ RCUTILS_WARN_UNUSED
 rcutils_allocator_t
 rcutils_get_zero_initialized_allocator(void);
 
+/// Set rcutils default allocators.
+/**
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+bool
+rcutils_set_default_allocator(rcutils_allocator_t * allocator);
+
 /// Return a properly initialized rcutils_allocator_t with default values.
 /**
  * This defaults to:

include/rcutils/configuration_flags.h.in

@@ -0,0 +1,18 @@
+
+#ifndef RCUTILS__CONFIGURATION_FLAGS_H_
+#define RCUTILS__CONFIGURATION_FLAGS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#cmakedefine RCUTILS_NO_FILESYSTEM
+#cmakedefine RCUTILS_AVOID_DYNAMIC_ALLOCATION
+#cmakedefine RCUTILS_NO_THREAD_SUPPORT
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCUTILS__CONFIGURATION_FLAGS_H_

include/rcutils/error_handling.h

@@ -39,15 +39,18 @@ extern "C"
 #include "rcutils/testing/fault_injection.h"
 #include "rcutils/types/rcutils_ret.h"
 #include "rcutils/visibility_control.h"
+#include "rcutils/configuration_flags.h"
 
-#ifdef __STDC_LIB_EXT1__
+#if defined(__STDC_LIB_EXT1__) && !defined(RCUTILS_NO_FILESYSTEM)
 // Limit the buffer size in the `fwrite` call to give an upper bound to buffer overrun in the case
 // of non-null terminated `msg`.
 #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \
   do {fwrite(msg, sizeof(char), strnlen_s(msg, 4096), stderr);} while (0)
-#else
+#elif !defined(RCUTILS_NO_FILESYSTEM)
 #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \
   do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0)
+#else 
+  #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg)
 #endif
 
 /// Set the error message to stderr using a format string and format arguments.
@@ -220,8 +223,12 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
  *
  * \param[in] msg The error message to be set.
  */
+#ifdef RCUTILS_AVOID_DYNAMIC_ALLOCATION
+  #define RCUTILS_SET_ERROR_MSG(msg)
+#else
 #define RCUTILS_SET_ERROR_MSG(msg) \
   do {rcutils_set_error_state(msg, __FILE__, __LINE__);} while (0)
+#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION
 
 /// Set the error message using a format string and format arguments.
 /**
@@ -232,6 +239,9 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
  * \param[in] format_string The string to be used as the format of the error message.
  * \param[in] ... Arguments for the format string.
  */
+#ifdef RCUTILS_AVOID_DYNAMIC_ALLOCATION
+  #define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...)
+#else
 #define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...) \
   do { \
     char output_msg[RCUTILS_ERROR_MESSAGE_MAX_LENGTH]; \
@@ -242,6 +252,8 @@ rcutils_set_error_state(const char * error_string, const char * file, size_t lin
       RCUTILS_SET_ERROR_MSG(output_msg); \
     } \
   } while (0)
+#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION
+
 
 /// Indicate that the function intends to set an error message and return an error value.
 /**

include/rcutils/macros.h

@@ -20,6 +20,8 @@ extern "C"
 {
 #endif
 
+#include "rcutils/configuration_flags.h"
+
 #ifndef _WIN32
 #define RCUTILS_WARN_UNUSED __attribute__((warn_unused_result))
 #else
@@ -28,7 +30,9 @@ extern "C"
 
 // Note: this block was migrated from rmw/macros.h
 // This block either sets RCUTILS_THREAD_LOCAL or RCUTILS_THREAD_LOCAL_PTHREAD.
-#if defined _WIN32 || defined __CYGWIN__
+#if defined(RCUTILS_NO_THREAD_SUPPORT)
+    #define RCUTILS_THREAD_LOCAL
+#elif defined _WIN32 || defined __CYGWIN__
 // Windows or Cygwin
   #define RCUTILS_THREAD_LOCAL __declspec(thread)
 #elif defined __APPLE__

include/rcutils/security_directory.h

@@ -0,0 +1,67 @@
+// Copyright 2018 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.
+
+#ifndef RCUTILS__SECURITY_DIRECTORY_H_
+#define RCUTILS__SECURITY_DIRECTORY_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rcutils/allocator.h"
+#include "rcutils/visibility_control.h"
+
+#ifndef ROS_SECURITY_NODE_DIRECTORY_VAR_NAME
+  #define ROS_SECURITY_NODE_DIRECTORY_VAR_NAME "ROS_SECURITY_NODE_DIRECTORY"
+#endif
+
+#ifndef ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME
+  #define ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "ROS_SECURITY_ROOT_DIRECTORY"
+#endif
+
+#ifndef ROS_SECURITY_LOOKUP_TYPE_VAR_NAME
+  #define ROS_SECURITY_LOOKUP_TYPE_VAR_NAME "ROS_SECURITY_LOOKUP_TYPE"
+#endif
+
+/// Return the secure root directory associated with a node given its validated name and namespace.
+/**
+ * E.g. for a node named "c" in namespace "/a/b", the secure root path will be
+ * "a/b/c", where the delimiter "/" is native for target file system (e.g. "\\" for _WIN32).
+ * If no exact match is found for the node name, a best match would be used instead
+ * (by performing longest-prefix matching).
+ *
+ * However, this expansion can be overridden by setting the secure node directory environment
+ * variable, allowing users to explicitly specify the exact secure root directory to be utilized.
+ * Such an override is useful for where the FQN of a node is non-deterministic before runtime,
+ * or when testing and using additional tools that may not otherwise be easily provisioned.
+ *
+ * \param[in] node_name validated node name (a single token)
+ * \param[in] node_namespace validated, absolute namespace (starting with "/")
+ * \param[in] allocator the allocator to use for allocation
+ * \returns machine specific (absolute) node secure root path or NULL on failure
+ *          returned pointer must be deallocated by the caller of this function
+ */
+RCUTILS_PUBLIC
+char * rcutils_get_secure_root(
+  const char * node_name,
+  const char * node_namespace,
+  const rcutils_allocator_t * allocator
+);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCUTILS__SECURITY_DIRECTORY_H_

include/rcutils/testing/fault_injection.h

@@ -83,6 +83,8 @@ RCUTILS_WARN_UNUSED
 int_least64_t
 _rcutils_fault_injection_maybe_fail(void);
 
+#ifdef RCUTILS_ENABLE_FAULT_INJECTION
+
 /**
  * \def RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR
  * \brief This macro checks and decrements a static global variable atomic counter and returns
@@ -199,6 +201,17 @@ _rcutils_fault_injection_maybe_fail(void);
     rcutils_fault_injection_set_count(no_fault_injection_count); \
   } while (0)
 
+#else
+
+// Mocks for micro-ROS when fault injection not enabled
+
+#define RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR(return_value_on_error)
+#define RCUTILS_FAULT_INJECTION_MAYBE_FAIL(failure_code)
+#define RCUTILS_FAULT_INJECTION_TEST(code)
+#define RCUTILS_NO_FAULT_INJECTION(code) 
+
+#endif
+
 #ifdef __cplusplus
 }
 #endif

src/allocator.c

@@ -75,16 +75,31 @@ rcutils_get_zero_initialized_allocator(void)
   return zero_allocator;
 }
 
-rcutils_allocator_t
-rcutils_get_default_allocator()
-{
-  static rcutils_allocator_t default_allocator = {
+static rcutils_allocator_t default_allocator = {
     .allocate = __default_allocate,
     .deallocate = __default_deallocate,
     .reallocate = __default_reallocate,
     .zero_allocate = __default_zero_allocate,
     .state = NULL,
   };
+
+bool
+rcutils_set_default_allocator(rcutils_allocator_t * allocator){
+  if (rcutils_allocator_is_valid(allocator))
+  {
+    default_allocator.allocate = allocator->allocate;
+    default_allocator.deallocate = allocator->deallocate;
+    default_allocator.reallocate = allocator->reallocate;
+    default_allocator.zero_allocate = allocator->zero_allocate;
+    default_allocator.state = NULL;
+    return true;
+  }
+  return false;
+}
+
+rcutils_allocator_t
+rcutils_get_default_allocator()
+{
   return default_allocator;
 }
 

src/atomic_64bits.c

@@ -0,0 +1,92 @@
+// Copyright 2020 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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.
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#define FLAGS_LEN	23
+
+static bool * get_memory_lock(void *address)
+{
+  static bool memory_locks[FLAGS_LEN] = { 0 };
+  uintptr_t a = (uintptr_t)(address);
+
+  // Public domain hash function taken from http://burtleburtle.net/bob/hash/integer.html
+  a = (a ^ 61) ^ (a >> 16);
+  a = a + (a << 3);
+  a = a ^ (a >> 4);
+  a = a * 0x27d4eb2d;
+  a = a ^ (a >> 15);
+
+  a = a % FLAGS_LEN;
+  return memory_locks + a;
+}
+
+void lock_memory(uint64_t *address){
+  bool * memory_lock = get_memory_lock(address);
+
+  while (__atomic_test_and_set(memory_lock, __ATOMIC_ACQUIRE) == 1);
+}
+
+void unlock_memory(uint64_t *address){
+  bool * memory_lock = get_memory_lock(address);
+
+  __atomic_clear(memory_lock, __ATOMIC_RELEASE);
+}
+
+uint64_t __atomic_load_8(uint64_t *mem, int model) { 
+  (void) model;
+
+  lock_memory(mem); 
+  uint64_t ret = *mem; 
+  unlock_memory(mem); 
+  return ret; 
+}
+
+void __atomic_store_8(uint64_t *mem, uint64_t val, int model) { 
+  (void) model;
+
+  lock_memory(mem); 
+  *mem = val; 
+  unlock_memory(mem); 
+}
+
+uint64_t __atomic_exchange_8(uint64_t *mem, uint64_t val, int model) { 
+  (void) model;
+
+  lock_memory(mem); 
+  uint64_t ret = *mem; 
+  *mem = val; 
+  unlock_memory(mem); 
+  return ret; 
+}
+
+uint64_t __atomic_fetch_add_8(uint64_t *mem, uint64_t val, int model) { 
+  (void) model;
+
+  lock_memory(mem); 
+  uint64_t ret = *mem; 
+  *mem += val; 
+  unlock_memory(mem); 
+  return ret; 
+}
+
+#ifdef __cplusplus
+}
+#endif