transport.cpp

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, Open Source Robotics Foundation, Inc.
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#include "ros/transport/transport.h"
#include "ros/console.h"
#if defined(WIN32)
#include <winsock2.h>
#else
#include <netinet/in.h>
#include <sys/socket.h>
#include <netdb.h>
#endif
 
#if !defined(__ANDROID__) && !defined(WIN32)
#include <ifaddrs.h>
#endif
 
#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;
  else if (ros_ip_env && !strcmp(ros_ip_env, "::1"))
    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");
#if !defined(__ANDROID__) && !defined(WIN32)
  // 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)
  {
    if(NULL == ifa->ifa_addr)
      continue; // ifa_addr can be NULL
    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));
  }
  freeifaddrs(ifaddr);
#endif
}
 
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
}
 
}