implement ROS_IP=localhost behavior for roscpp, and for outbound rospy connections

clients/roscpp/CMakeLists.txt

@@ -96,6 +96,7 @@ add_library(roscpp
   src/libros/node_handle.cpp
   src/libros/connection_manager.cpp
   src/libros/file_log.cpp
+  src/libros/transport/transport.cpp
   src/libros/transport/transport_udp.cpp
   src/libros/transport/transport_tcp.cpp
   src/libros/subscriber_link.cpp

clients/roscpp/include/ros/transport/transport.h

@@ -39,6 +39,7 @@
 #include <boost/function.hpp>
 #include <boost/shared_ptr.hpp>
 #include <boost/enable_shared_from_this.hpp>
+#include <vector>
 
 namespace ros
 {
@@ -54,7 +55,7 @@ class Header;
 class Transport : public boost::enable_shared_from_this<Transport>
 {
 public:
-  Transport() {}
+  Transport();
   virtual ~Transport() {}
 
   /**
@@ -134,6 +135,20 @@ class Transport : public boost::enable_shared_from_this<Transport>
   Callback disconnect_cb_;
   Callback read_cb_;
   Callback write_cb_;
+
+  /**
+   * \brief returns true if the transport is allowed to connect to the host passed to it.
+   */
+  bool isHostAllowed(const std::string &host) const;
+
+  /**
+   * \brief returns true if this transport is only allowed to talk to localhost
+   */
+  bool isOnlyLocalhostAllowed() const { return only_localhost_allowed_; }
+
+private:
+  bool only_localhost_allowed_;
+  std::vector<std::string> allowed_hosts_;
 };
 
 }

clients/roscpp/src/libros/transport/transport.cpp

@@ -0,0 +1,117 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2014, Open Source Robotics Foundation, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "ros/transport/transport.h"
+#include "ros/console.h"
+#include <ifaddrs.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <netdb.h>
+
+#ifndef NI_MAXHOST
+  #define NI_MAXHOST 1025
+#endif
+
+namespace ros
+{
+
+Transport::Transport()
+: only_localhost_allowed_(false)
+{
+  char *ros_ip_env = NULL, *ros_hostname_env = NULL;
+  #ifdef _MSC_VER
+    _dupenv_s(&ros_ip_env, NULL, "ROS_IP");
+    _dupenv_s(&ros_hostname_env, NULL, "ROS_HOSTNAME");
+  #else
+    ros_ip_env = getenv("ROS_IP");
+    ros_hostname_env = getenv("ROS_HOSTNAME");
+  #endif
+  if (ros_hostname_env && !strcmp(ros_hostname_env, "localhost"))
+    only_localhost_allowed_ = true;
+  else if (ros_ip_env && !strncmp(ros_ip_env, "127.", 4))
+    only_localhost_allowed_ = true;
+
+  char our_hostname[256] = {0};
+  gethostname(our_hostname, sizeof(our_hostname)-1);
+  allowed_hosts_.push_back(std::string(our_hostname));
+  allowed_hosts_.push_back("localhost");
+  // for ipv4 loopback, we'll explicitly search for 127.* in isHostAllowed()
+  // now we need to iterate all local interfaces and add their addresses
+  // from the getifaddrs manpage:  (maybe something similar for windows ?) 
+  ifaddrs *ifaddr;
+  if (-1 == getifaddrs(&ifaddr))
+  {
+    ROS_ERROR("getifaddr() failed");
+    return;
+  }
+  for (ifaddrs *ifa = ifaddr; ifa; ifa = ifa->ifa_next)
+  {
+    int family = ifa->ifa_addr->sa_family;
+    if (family != AF_INET && family != AF_INET6)
+      continue; // we're only looking for IP addresses
+    char addr[NI_MAXHOST] = {0};
+    if (getnameinfo(ifa->ifa_addr,
+                    (family == AF_INET) ? sizeof(sockaddr_in)
+                                        : sizeof(sockaddr_in6),
+                    addr, NI_MAXHOST,
+                    NULL, 0, NI_NUMERICHOST))
+    {
+      ROS_ERROR("getnameinfo() failed");
+      continue;
+    }
+    allowed_hosts_.push_back(std::string(addr));
+  }
+}
+
+bool Transport::isHostAllowed(const std::string &host) const
+{
+  if (!only_localhost_allowed_)
+    return true; // doesn't matter; we'll connect to anybody
+
+  if (host.length() >= 4 && host.substr(0, 4) == std::string("127."))
+    return true; // ipv4 localhost
+  // now, loop through the list of valid hostnames and see if we find it
+  for (std::vector<std::string>::const_iterator it = allowed_hosts_.begin(); 
+       it != allowed_hosts_.end(); ++it)
+  {
+    if (host == *it)
+      return true; // hooray
+  }
+  ROS_WARN("ROS_HOSTNAME / ROS_IP is set to only allow local connections, so "
+           "a requested connection to '%s' is being rejected.", host.c_str());
+  return false; // sadness
+}
+
+}
+

clients/roscpp/src/libros/transport/transport_tcp.cpp

@@ -211,6 +211,9 @@ void TransportTCP::setKeepAlive(bool use, uint32_t idle, uint32_t interval, uint
 
 bool TransportTCP::connect(const std::string& host, int port)
 {
+  if (!isHostAllowed(host))
+    return false; // adios amigo
+
   sock_ = socket(s_use_ipv6_ ? AF_INET6 : AF_INET, SOCK_STREAM, 0);
   connected_host_ = host;
   connected_port_ = port;
@@ -357,7 +360,9 @@ bool TransportTCP::listen(int port, int backlog, const AcceptCallback& accept_cb
     sock_ = socket(AF_INET6, SOCK_STREAM, 0);
     sockaddr_in6 *address = (sockaddr_in6 *)&server_address_;
     address->sin6_family = AF_INET6;
-    address->sin6_addr = in6addr_any;
+    address->sin6_addr = isOnlyLocalhostAllowed() ? 
+                         in6addr_loopback : 
+                         in6addr_any;
     address->sin6_port = htons(port);
     sa_len_ = sizeof(sockaddr_in6);
   }
@@ -366,7 +371,9 @@ bool TransportTCP::listen(int port, int backlog, const AcceptCallback& accept_cb
     sock_ = socket(AF_INET, SOCK_STREAM, 0);
     sockaddr_in *address = (sockaddr_in *)&server_address_;
     address->sin_family = AF_INET;
-    address->sin_addr.s_addr = INADDR_ANY;
+    address->sin_addr.s_addr = isOnlyLocalhostAllowed() ? 
+                               htonl(INADDR_LOOPBACK) : 
+                               INADDR_ANY;
     address->sin_port = htons(port);
     sa_len_ = sizeof(sockaddr_in);
   }
@@ -377,7 +384,6 @@ bool TransportTCP::listen(int port, int backlog, const AcceptCallback& accept_cb
     return false;
   }
 
-
   if (bind(sock_, (sockaddr *)&server_address_, sa_len_) < 0)
   {
     ROS_ERROR("bind() failed with error [%s]", last_socket_error_string());

clients/roscpp/src/libros/transport/transport_udp.cpp

@@ -142,6 +142,9 @@ std::string TransportUDP::getTransportInfo()
 
 bool TransportUDP::connect(const std::string& host, int port, int connection_id)
 {
+  if (!isHostAllowed(host))
+    return false; // adios amigo
+
   sock_ = socket(AF_INET, SOCK_DGRAM, 0);
   connection_id_ = connection_id;
 
@@ -242,7 +245,9 @@ bool TransportUDP::createIncoming(int port, bool is_server)
 
   server_address_.sin_family = AF_INET;
   server_address_.sin_port = htons(port);
-  server_address_.sin_addr.s_addr = INADDR_ANY;
+  server_address_.sin_addr.s_addr = isOnlyLocalhostAllowed() ? 
+                                    htonl(INADDR_LOOPBACK) :
+                                    INADDR_ANY;
   if (bind(sock_, (sockaddr *)&server_address_, sizeof(server_address_)) < 0)
   {
     ROS_ERROR("bind() failed with error [%s]",  last_socket_error_string());

clients/rospy/src/rospy/impl/tcpros_base.py

@@ -518,6 +518,16 @@ def connect(self, dest_addr, dest_port, endpoint_id, timeout=None):
         @type  timeout: float
         @raise TransportInitError: if unable to create connection
         """
+        # first make sure that if ROS_IP=localhost, we will not attempt
+        # to connect to anything other than localhost
+        if ("ROS_HOSTNAME" in os.environ) and (os.environ["ROS_HOSTNAME"] == "localhost"):
+          if not rosgraph.network.is_local_address(dest_addr):
+            msg = "attempted to connect to non-local host [%s] from a node launched with ROS_HOSTNAME=localhost" % (dest_addr)
+            logwarn(msg)
+            self.close()
+            raise TransportInitError(msg)  # bubble up
+
+        # now we can proceed with trying to connect.
         try:
             self.endpoint_id = endpoint_id
             self.dest_address = (dest_addr, dest_port)