Utilize fog default dds profiles

Dockerfile

@@ -23,7 +23,8 @@ RUN apt-get update && apt-get install -y python3-pip && \
 ENTRYPOINT /entrypoint.sh
 COPY entrypoint.sh /entrypoint.sh
 COPY parse_agent_refs.py /parse_agent_refs.py
-COPY agent.refs.mustache /agent.refs.mustache
+COPY combine_default_profiles.py /combine_default_profiles.py
+COPY dds_security_part_mustache.xml /dds_security_part_mustache.xml
 COPY agent.refs /agent.refs
 
 COPY --from=builder /main_ws/ros-*-microxrce-agent_*_amd64.deb /microxrce-agent.deb

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

@@ -1,8 +1,16 @@
 #!/bin/bash -e
 
-unset FASTRTPS_DEFAULT_PROFILES_FILE
+
+if [ "$FASTRTPS_DEFAULT_PROFILES_FILE" != "" ]; then
+        cp $FASTRTPS_DEFAULT_PROFILES_FILE /default_profiles.xml
+else
+        cp agent.refs default_profiles.xml
+fi
 
 ./parse_agent_refs.py
+/combine_default_profiles.py
+
+unset FASTRTPS_DEFAULT_PROFILES_FILE
 
 _term() {
         # FILL UP PROCESS SEARCH PATTERN HERE TO FIND PROPER PROCESS FOR SIGINT:

parse_agent_refs.py

@@ -36,14 +36,14 @@
 with open(key_path, "r") as f:
   key = f.read().rstrip()
 
-agent_refs_must_file = os.path.join(agent_refs_path, "agent.refs.mustache")
+agent_refs_must_file = os.path.join(agent_refs_path, "dds_security_part_mustache.xml")
 with open(agent_refs_must_file, "r") as f:
   tmpl = f.read()
 
 agent_refs_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")
+agent_refs_file = os.path.join(agent_refs_path, "dds_security_part.xml")
 if os.path.exists(agent_refs_file):
   os.remove(agent_refs_file)