Support latched topics in udp bridge #33
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timonegk
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the idea behind the message delimiter and the looping receive was that using that method larger messages than 65535 could be sent over the wire by splitting them into multiple udp packets.
This was never implemented on the sending side though :/
You could think about whether that is a useful property to have. If all relevant data packets including images are small enough then I agree that you won't need it.
udp_bridge/aes_helper.py
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| return Fernet(key=self.encryption_key).encrypt(bytes(message, encoding="UTF-8")) | ||
| return Fernet(key=self.encryption_key).encrypt(message) | ||
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| def decrypt(self, enc: bytes) -> str: | ||
| if len(enc) == 0: | ||
| raise ValueError("Cannot decrypt empty data") | ||
| if self.encryption_key is None: | ||
| return str(enc, encoding="UTF-8") | ||
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| return str(Fernet(key=self.encryption_key).decrypt(enc), encoding="UTF-8") |
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As far as I'm aware the official documentation says that bytes are used as input to encrypt and output of decrypt.
https://cryptography.io/en/latest/fernet/#cryptography.fernet.Fernet.encrypt
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Sorry, I forgot to update the type hints. message is now bytes.
timonegk
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It would be nice to be able to do that, but the current state did not work for packets bigger than that size and even for packets smaller than that size, merging the packets did not actually work :/ (e.g. size 12000 bytes) |
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Also, I am not sure if that can even work because packets might arrive in a different order. |
yes they might; using udp is always on a best-effort basis.
That might be because the sending side never actually did split the packets so they would just be chopped by the linux kernels udp handling. |
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Btw. maybe we should use the standard ROS serializer, instead of pickle. This might have security and compatibility reasons. |
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