1 ➡️ 2

Signed-off-by: Louise Poubel <[email protected]>

.github/ci/packages.apt

@@ -0,0 +1,19 @@
+binutils-dev
+libgflags-dev
+libignition-cmake2-dev
+libignition-common3-dev
+libignition-fuel-tools4-dev
+libignition-gazebo3-dev
+libignition-gui3-dev
+libignition-math6-dev
+libignition-math6-eigen3-dev
+libignition-msgs5-dev
+libignition-physics2-dev
+libignition-plugin-dev
+libignition-sensors3-dev
+libignition-tools-dev
+libignition-transport8-dev
+libsdformat9-dev
+libtinyxml2-dev
+libwebsockets-dev
+libyaml-dev

.github/workflows/ci.yml

@@ -0,0 +1,27 @@
+name: Ubuntu CI
+
+on: [push]
+
+jobs:
+  bionic-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Bionic CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@master
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@focal
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}

.gitignore

@@ -5,6 +5,7 @@ build-*
 
 # OS generated files
 .DS_Store
+*.bak
 *.swp
 *.swo
 *.orig

Changelog.md

@@ -20,6 +20,33 @@
 
 ## Ignition Launch 1.x
 
+### Ignition Launch 1.8.0 (2020-07-28)
+
+1. Added `<max_connections>` to the websocket server that supports
+   specifying the maximum allowed websocket connections.
+    * [Pull Request 40](https://github.com/ignitionrobotics/ign-launch/pull/40)
+
+### Ignition Launch 1.7.1 (2020-06-23)
+
+1. Improve websocket performance by throttling the busy loop, and fix empty SSL
+   XML elements.
+    * [Pull Request 37](https://github.com/ignitionrobotics/ign-launch/pull/37)
+
+### Ignition Launch 1.7.0 (2020-06-16)
+
+1. Added SSL to websocket server.
+    * [Pull Request 34](https://github.com/ignitionrobotics/ign-launch/pull/34)
+
+### Ignition Launch 1.6.0 (2020-06-11)
+
+1. Improved websockets by: adding simple authentication, access to
+   protobuf message definitions, access to scene and world information, and
+   definition of custom message framing.
+    * [Pull Request 22](https://github.com/ignitionrobotics/ign-launch/pull/22)
+    * [Pull Request 21](https://github.com/ignitionrobotics/ign-launch/pull/21)
+    * [Pull Request 17](https://github.com/ignitionrobotics/ign-launch/pull/17)
+    * [Pull Request 33](https://github.com/ignitionrobotics/ign-launch/pull/33)
+
 ### Ignition Launch 1.5.0 (2020-05-20)
 
 1. Added support for spawning multiple entities in the same simulation step.

examples/websocket.ign

@@ -5,6 +5,24 @@
        topic -->
   <plugin name="ignition::launch::WebsocketServer"
           filename="libignition-launch-websocket-server.so">
+    <publication_hz>30</publication_hz>
+    <port>9002</port>
+    <authorization_key>auth_key</authorization_key>
+    <admin_authorization_key>admin_key</admin_authorization_key>
+
+    <!-- The maximum number of allowed connections. If this element is not
+         defined or negative, then a limit is not enforced. -->
+    <max_connections>0</max_connections>
+
+    <!-- SSL configuration -->
+    <!-- Specify the path to both the certificate and private key. -->
+    <!-- Sample self-signed SSL certifacts are located in the
+         `plugins/websocket_server/` directory with the names `localhost.cert`
+         and `localhost.key`. -->
+    <!--<ssl>
+      <cert_file>PATH_TO_CERT_FILE</cert_file>
+      <private_key_file>PATH_TO_KEY_FILE</private_key_file>
+    </ssl> -->
   </plugin>
 
 </ignition>

plugins/websocket_server/CMakeLists.txt

@@ -3,6 +3,17 @@ if (websockets_FOUND)
   set (sources WebsocketServer.cc)
 
   add_library(${plugin} SHARED ${sources})
+
+  file (READ combined.proto WEBSOCKETSERVER_MESSAGE_DEFINITIONS)
+  configure_file("MessageDefinitions.hh.in"
+    "${CMAKE_CURRENT_BINARY_DIR}/MessageDefinitions.hh" @ONLY)
+  # Add a dependency on binary source dir so that you can change the
+  # combinded.proto file and `make` will rebuild the plugin.
+  set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS combined.proto)
+  target_include_directories(${plugin} PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/>
+  )
+
   target_link_libraries(${plugin}
     PRIVATE
       ${websockets_LIBRARIES}

plugins/websocket_server/MessageDefinitions.hh.in

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_LAUNCH_WEBSOCKETSERVER_MESSAGEDEFINITIONS_HH_
+#define IGNITION_LAUNCH_WEBSOCKETSERVER_MESSAGEDEFINITIONS_HH_
+
+namespace ignition
+{
+  namespace launch
+  {
+    /// \brief All of the protobuf messages provided by the websocket
+    /// server.
+    ///
+    /// \todo Get this information from a running simulation. The problem
+    /// right now is that Ignition Transport does not show subscribers.
+    static const std::string kWebSocketServerMessageDefinitions =
+      R"protos(@WEBSOCKETSERVER_MESSAGE_DEFINITIONS@)protos";
+  }
+}
+#endif

plugins/websocket_server/README.md

@@ -32,3 +32,49 @@ ign launch -f examples/websocket.ign -v 4
 ```
 firefox plugins/websocket_server/index.html
 ```
+
+
+# Authorization
+
+The `websocket_server` plugin accepts to authentication keys:
+
+* `<authorization_key>` : If this is set, then a connection must provide the
+matching key using an "auth" call on the websocket. If the `<admin_authorization_key>` is set, then the connection can provide that key.
+
+* `<admin_authorization_key>` : If this is set, then a connection must provide the matching key using an "auth" call on the websocket. If the `<authorization_key>` is set, then the connection can provide that key.
+
+Two keys are used in order to support authorization of different users.
+A competition scenario may require admin access while prohibiting user
+access.
+
+# SSL
+
+1. Use the `localhost.cert` and `localhost.key` files for testing purposes.
+Configure the websocket plugin using:
+
+```
+  <ssl>
+    <cert_file>PATH_TO_localhost.cert</cert_file>
+    <private_key_file>PATH_TO_localhost.key</private_key_file>
+  </ssl>
+```
+
+   * You can create your own self-signed certificates using the following
+   command. Use "localhost" for the  "Common Name" question.
+
+   ```
+   openssl req -x509 -nodes -days 365 -newkey rsa:2048 -keyout server.key -out server.cert
+   ```
+
+2. Run the plugin.
+
+3. Run a browser, such as firefox, with the `index.html` file.
+
+```
+firefox index.html
+```
+
+4. Open another browser tab, and go to `https://localhost:9002`. Accept the
+   certificate.
+
+5. Refresh the `index.html` browser tab.