ComArmor Example

talker_listener.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from IPython.display import display, Markdown\n",
    "from xml.etree import ElementTree\n",
    "import comarmor\n",
    "from comarmor.xml.utils import beautify_xml"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
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    "def display_xml_markdown(data):\n",
    "    if type(data) is str:\n",
    "        display(Markdown('``` xml\\n' + data + '\\n```'))\n",
    "    elif type(data) is ElementTree.Element:\n",
    "        display(Markdown('``` xml\\n' + ElementTree.tostring(data).decode('utf-8') + '\\n```'))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "commarmor_profile_dir = ['/home/ruffsl/Desktop/keymint_ws/profile/comarmor.d']"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "profile_storage = comarmor.parse_profiles(commarmor_profile_dir)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "profile = profile_storage.filter_profile('/foo/bar/talker')[0]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/markdown": [
       "``` xml\n",
       "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n",
       "<profiles>\n",
       "  <profile name=\"My Talker Profile\">\n",
       "    <attachments>\n",
       "      <attachment>*/talker</attachment>\n",
       "    </attachments>\n",
       "    <profile name=\"Node\">\n",
       "      <attachments>\n",
       "        <attachment>/*</attachment>\n",
       "      </attachments>\n",
       "      <profile name=\"Node/Time\">\n",
       "        <attachments>\n",
       "          <attachment>/*</attachment>\n",
       "        </attachments>\n",
       "        <ros_topic qualifier=\"ALLOW\">\n",
       "          <attachments>\n",
       "            <attachment>/clock</attachment>\n",
       "          </attachments>\n",
       "          <permissions>\n",
       "            <subscribe/>\n",
       "          </permissions>\n",
       "        </ros_topic>\n",
       "      </profile>\n",
       "      <profile name=\"Node/Parameters\">\n",
       "        <attachments>\n",
       "          <attachment>/*</attachment>\n",
       "        </attachments>\n",
       "        <ros_topic qualifier=\"ALLOW\">\n",
       "          <attachments>\n",
       "            <attachment>/foo/bar/parameter_events</attachment>\n",
       "          </attachments>\n",
       "          <permissions>\n",
       "            <publish/>\n",
       "            <subscribe/>\n",
       "          </permissions>\n",
       "        </ros_topic>\n",
       "        <ros_service qualifier=\"ALLOW\">\n",
       "          <attachments>\n",
       "            <attachment>/foo/bar/talker/describe_parameters</attachment>\n",
       "            <attachment>/foo/bar/talker/get_parameter_types</attachment>\n",
       "            <attachment>/foo/bar/talker/get_parameters</attachment>\n",
       "            <attachment>/foo/bar/talker/list_parameters</attachment>\n",
       "            <attachment>/foo/bar/talker/set_parameters</attachment>\n",
       "            <attachment>/foo/bar/talker/set_parameters_atomically</attachment>\n",
       "          </attachments>\n",
       "          <permissions>\n",
       "            <request/>\n",
       "          </permissions>\n",
       "        </ros_service>\n",
       "      </profile>\n",
       "    </profile>\n",
       "    <ros_topic qualifier=\"ALLOW\">\n",
       "      <attachments>\n",
       "        <attachment>/foo/bar/chatter</attachment>\n",
       "      </attachments>\n",
       "      <permissions>\n",
       "        <publish/>\n",
       "      </permissions>\n",
       "    </ros_topic>\n",
       "  </profile>\n",
       "</profiles>\n",
       "\n",
       "```"
      ],
      "text/plain": [
       "<IPython.core.display.Markdown object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "display_xml_markdown(beautify_xml(profile.tree.getroot()))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/markdown": [
       "``` xml\n",
       "<?xml version=\"1.0\" encoding=\"utf-8\"?>\n",
       "<rules>\n",
       "  <ros_topic qualifier=\"ALLOW\">\n",
       "    <attachments>\n",
       "      <attachment>/clock</attachment>\n",
       "    </attachments>\n",
       "    <permissions>\n",
       "      <subscribe/>\n",
       "    </permissions>\n",
       "  </ros_topic>\n",
       "  <ros_topic qualifier=\"ALLOW\">\n",
       "    <attachments>\n",
       "      <attachment>/foo/bar/parameter_events</attachment>\n",
       "    </attachments>\n",
       "    <permissions>\n",
       "      <publish/>\n",
       "      <subscribe/>\n",
       "    </permissions>\n",
       "  </ros_topic>\n",
       "  <ros_topic qualifier=\"ALLOW\">\n",
       "    <attachments>\n",
       "      <attachment>/foo/bar/chatter</attachment>\n",
       "    </attachments>\n",
       "    <permissions>\n",
       "      <publish/>\n",
       "    </permissions>\n",
       "  </ros_topic>\n",
       "</rules>\n",
       "\n",
       "```"
      ],
      "text/plain": [
       "<IPython.core.display.Markdown object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "ros_topic_rules = profile.extract_rules('ros_topic')\n",
    "display_xml_markdown(beautify_xml(ros_topic_rules))"
   ]
  }
 ],
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