Include enclave in liveliness tokens

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -1038,15 +1038,15 @@ rmw_ret_t GraphCache::get_entity_names_and_types_by_node(
   // Check if namespace exists.
   NamespaceMap::const_iterator ns_it = graph_.find(node_namespace);
   if (ns_it == graph_.end()) {
-    return RMW_RET_OK;
+    return RMW_RET_NODE_NAME_NON_EXISTENT;
   }
 
   // Check if node exists.
   // Since NodeMap is a multimap, this will return the first node with the same
   // name that is found.
   NodeMap::const_iterator node_it = ns_it->second.find(node_name);
   if (node_it == ns_it->second.end()) {
-    return RMW_RET_OK;
+    return RMW_RET_NODE_NAME_NON_EXISTENT;
   }
 
   // TODO(Yadunund): Support service and client when ready.
@@ -1059,10 +1059,8 @@ rmw_ret_t GraphCache::get_entity_names_and_types_by_node(
   } else if (entity_type == EntityType::Client) {
     return fill_names_and_types(node_it->second->clients_, allocator, names_and_types);
   } else {
-    return RMW_RET_OK;
+    return RMW_RET_UNSUPPORTED;
   }
-
-  return RMW_RET_OK;
 }
 
 

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

@@ -70,6 +70,7 @@ enum KeyexprIndex
   Nid,
   Id,
   EntityStr,
+  Enclave,
   Namespace,
   NodeName,
   TopicName,
@@ -263,6 +264,7 @@ Entity::Entity(
   // An empty namespace from rcl will contain "/" but zenoh does not allow keys with "//".
   // Hence we mangle the empty namespace such that splitting the key
   // will always result in 5 parts.
+  keyexpr_parts[KeyexprIndex::Enclave] = mangle_name(node_info_.enclave_);
   keyexpr_parts[KeyexprIndex::Namespace] = mangle_name(node_info_.ns_);
   keyexpr_parts[KeyexprIndex::NodeName] = mangle_name(node_info_.name_);
   // If this entity has a topic info, append it to the token.
@@ -336,14 +338,16 @@ std::shared_ptr<Entity> Entity::make(const std::string & keyexpr)
   if (parts.size() < KEYEXPR_INDEX_MIN + 1) {
     RCUTILS_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
-      "Received invalid liveliness token");
+      "Received invalid liveliness token with %lu/%d parts: %s",
+      parts.size(),
+      KEYEXPR_INDEX_MIN + 1, keyexpr.c_str());
     return nullptr;
   }
   for (const std::string & p : parts) {
     if (p.empty()) {
       RCUTILS_LOG_ERROR_NAMED(
         "rmw_zenoh_cpp",
-        "Received invalid liveliness token");
+        "Received invalid liveliness token with empty parts: %s", keyexpr.c_str());
       return nullptr;
     }
   }
@@ -371,6 +375,7 @@ std::shared_ptr<Entity> Entity::make(const std::string & keyexpr)
   std::string & zid = parts[KeyexprIndex::Zid];
   std::string & nid = parts[KeyexprIndex::Nid];
   std::string & id = parts[KeyexprIndex::Id];
+  std::string enclave = demangle_name(std::move(parts[KeyexprIndex::Enclave]));
   std::string ns = demangle_name(std::move(parts[KeyexprIndex::Namespace]));
   std::string node_name = demangle_name(std::move(parts[KeyexprIndex::NodeName]));
   std::optional<TopicInfo> topic_info = std::nullopt;
@@ -403,7 +408,7 @@ std::shared_ptr<Entity> Entity::make(const std::string & keyexpr)
         std::move(nid),
         std::move(id),
         std::move(entity_type),
-        NodeInfo{std::move(domain_id), std::move(ns), std::move(node_name), ""},
+        NodeInfo{std::move(domain_id), std::move(ns), std::move(node_name), std::move(enclave)},
         std::move(topic_info)});
 }
 

rmw_zenoh_cpp/src/detail/rmw_data_types.hpp

@@ -43,6 +43,9 @@
 class rmw_context_impl_s final
 {
 public:
+  // Enclave, name used to find security artifacts in a sros2 keystore.
+  char * enclave;
+
   // An owned session.
   z_owned_session_t session;
 

rmw_zenoh_cpp/src/rmw_init.cpp

@@ -144,6 +144,9 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
       }
     });
 
+  // Set the enclave.
+  context->impl->enclave = options->enclave;
+
   // Initialize context's implementation
   context->impl->is_shutdown = false;
 

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -195,6 +195,10 @@ rmw_create_node(
     context->impl,
     "expected initialized context",
     return nullptr);
+  RMW_CHECK_FOR_NULL_WITH_MSG(
+    context->impl->enclave,
+    "expected initialized enclave",
+    return nullptr);
   if (context->impl->is_shutdown) {
     RCUTILS_SET_ERROR_MSG("context has been shutdown");
     return nullptr;
@@ -279,7 +283,8 @@ rmw_create_node(
     std::to_string(node_data->id),
     std::to_string(node_data->id),
     rmw_zenoh_cpp::liveliness::EntityType::Node,
-    rmw_zenoh_cpp::liveliness::NodeInfo{context->actual_domain_id, namespace_, name, ""});
+    rmw_zenoh_cpp::liveliness::NodeInfo{context->actual_domain_id, namespace_, name,
+      context->impl->enclave});
   if (node_data->entity == nullptr) {
     RCUTILS_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
@@ -470,6 +475,10 @@ rmw_create_publisher(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  RMW_CHECK_FOR_NULL_WITH_MSG(
+    context_impl->enclave,
+    "expected initialized enclave",
+    return nullptr);
   if (!z_check(context_impl->session)) {
     RMW_SET_ERROR_MSG("zenoh session is invalid");
     return nullptr;
@@ -630,7 +639,7 @@ rmw_create_publisher(
       context_impl->get_next_entity_id()),
     rmw_zenoh_cpp::liveliness::EntityType::Publisher,
     rmw_zenoh_cpp::liveliness::NodeInfo{
-      node->context->actual_domain_id, node->namespace_, node->name, ""},
+      node->context->actual_domain_id, node->namespace_, node->name, context_impl->enclave},
     rmw_zenoh_cpp::liveliness::TopicInfo{rmw_publisher->topic_name,
       publisher_data->type_support->get_name(), publisher_data->adapted_qos_profile}
   );
@@ -1258,6 +1267,10 @@ rmw_create_subscription(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  RMW_CHECK_FOR_NULL_WITH_MSG(
+    context_impl->enclave,
+    "expected initialized enclave",
+    return nullptr);
   if (!z_check(context_impl->session)) {
     RMW_SET_ERROR_MSG("zenoh session is invalid");
     return nullptr;
@@ -1440,7 +1453,7 @@ rmw_create_subscription(
       context_impl->get_next_entity_id()),
     rmw_zenoh_cpp::liveliness::EntityType::Subscription,
     rmw_zenoh_cpp::liveliness::NodeInfo{
-      node->context->actual_domain_id, node->namespace_, node->name, ""},
+      node->context->actual_domain_id, node->namespace_, node->name, context_impl->enclave},
     rmw_zenoh_cpp::liveliness::TopicInfo{rmw_subscription->topic_name,
       sub_data->type_support->get_name(), sub_data->adapted_qos_profile}
   );
@@ -1902,6 +1915,10 @@ rmw_create_client(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  RMW_CHECK_FOR_NULL_WITH_MSG(
+    context_impl->enclave,
+    "expected initialized enclave",
+    return nullptr);
   if (!z_check(context_impl->session)) {
     RMW_SET_ERROR_MSG("zenoh session is invalid");
     return nullptr;
@@ -2087,7 +2104,7 @@ rmw_create_client(
       context_impl->get_next_entity_id()),
     rmw_zenoh_cpp::liveliness::EntityType::Client,
     rmw_zenoh_cpp::liveliness::NodeInfo{
-      node->context->actual_domain_id, node->namespace_, node->name, ""},
+      node->context->actual_domain_id, node->namespace_, node->name, context_impl->enclave},
     rmw_zenoh_cpp::liveliness::TopicInfo{rmw_client->service_name,
       std::move(service_type), client_data->adapted_qos_profile}
   );
@@ -2464,6 +2481,10 @@ rmw_create_service(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  RMW_CHECK_FOR_NULL_WITH_MSG(
+    context_impl->enclave,
+    "expected initialized enclave",
+    return nullptr);
   if (!z_check(context_impl->session)) {
     RMW_SET_ERROR_MSG("zenoh session is invalid");
     return nullptr;
@@ -2645,7 +2666,7 @@ rmw_create_service(
       context_impl->get_next_entity_id()),
     rmw_zenoh_cpp::liveliness::EntityType::Service,
     rmw_zenoh_cpp::liveliness::NodeInfo{
-      node->context->actual_domain_id, node->namespace_, node->name, ""},
+      node->context->actual_domain_id, node->namespace_, node->name, context_impl->enclave},
     rmw_zenoh_cpp::liveliness::TopicInfo{rmw_service->service_name,
       std::move(service_type), service_data->adapted_qos_profile}
   );