Integrating libcose for CBOR Stream

.gitmodules

@@ -0,0 +1,12 @@
+[submodule "thirdparty/NanoCBOR"]
+	path = thirdparty/NanoCBOR
+	url = https://github.com/bergzand/NanoCBOR
+[submodule "thirdparty/mbedtls"]
+	path = thirdparty/mbedtls
+	url = https://github.com/Mbed-TLS/mbedtls.git
+[submodule "thirdparty/libcose"]
+	path = thirdparty/libcose
+	url = https://github.com/dmochkas/libcose
+[submodule "thirdparty/ascon-c"]
+	path = thirdparty/ascon-c
+	url = https://github.com/dmochkas/ascon-c

CMakeLists.txt

@@ -2,11 +2,15 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rmw_desert)
 
+include(config.cmake)
+
 # Default to C++20
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 20)
 endif()
 
+set(CMAKE_POLICY_VERSION_MINIMUM 3.5)
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic -pthread)
 endif()
@@ -23,9 +27,6 @@ find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rcpputils REQUIRED)
 
-set(CBOR_ROOT cbor)
-include_directories(${CBOR_ROOT}/include)
-
 add_library(rmw_desert
   src/get_node_info_and_types.cpp
   src/init.cpp
@@ -46,21 +47,109 @@ add_library(rmw_desert
   src/desert_classes/DesertClient.cpp
   src/desert_classes/DesertService.cpp
   src/desert_classes/DesertGuardCondition.cpp
-  src/desert_classes/CBorStream.cpp
   src/desert_classes/CStringHelper.cpp
   src/desert_classes/TcpDaemon.cpp
   src/desert_classes/Discovery.cpp
   src/desert_classes/TopicsConfig.cpp
   src/desert_classes/demangle.cpp
-
-  ${CBOR_ROOT}/src/common.c
-  ${CBOR_ROOT}/src/parser.c
-  ${CBOR_ROOT}/src/decoder.c
-  ${CBOR_ROOT}/src/encoder.c
-  ${CBOR_ROOT}/src/helper.c
-  ${CBOR_ROOT}/src/ieee754.c
 )
 
+if (${CBOR_LIB} STREQUAL "libmcu_cbor")
+  set(CBOR_ROOT cbor)
+  include_directories(${CBOR_ROOT}/include)
+  target_sources(rmw_desert PRIVATE
+    ${CBOR_ROOT}/src/common.c
+    ${CBOR_ROOT}/src/parser.c
+    ${CBOR_ROOT}/src/decoder.c
+    ${CBOR_ROOT}/src/encoder.c
+    ${CBOR_ROOT}/src/helper.c
+    ${CBOR_ROOT}/src/ieee754.c
+    src/desert_classes/LibMcuCBorStream.cpp
+  )
+  target_compile_definitions(rmw_desert PRIVATE LIBMCU_CBOR_ENABLED)
+elseif (${CBOR_LIB} STREQUAL "NanoCBOR")
+  set(CBOR_ROOT thirdparty/NanoCBOR)
+  include_directories(${CBOR_ROOT}/include)
+  target_sources(rmw_desert PRIVATE
+    ${CBOR_ROOT}/src/decoder.c
+    ${CBOR_ROOT}/src/encoder.c
+    src/desert_classes/NanoCBorStream.cpp
+  )
+  target_compile_definitions(rmw_desert PRIVATE NANOCBOR_ENABLED)
+else ()
+  message(FATAL_ERROR "At least one CBOR libraty is required")
+endif ()
+
+target_include_directories(rmw_desert PRIVATE ${CBOR_INC_DIR})
+
+if (SECURE_MODE_ENABLED)
+  if (NOT ${CBOR_LIB} STREQUAL "NanoCBOR")
+    message(FATAL_ERROR "Secure mode requires NanoCBOR lib.")
+  endif ()
+
+  add_compile_options(-fPIC)
+
+  set(COSE_ROOT "thirdparty/libcose")
+  set(COSE_LIB "libcose")
+  set(COSE_INC_DIR "${COSE_ROOT}/include")
+  add_library(${COSE_LIB} OBJECT
+    ${COSE_ROOT}/src/cose_common.c
+    ${COSE_ROOT}/src/cose_crypto.c
+    ${COSE_ROOT}/src/cose_encrypt.c
+    ${COSE_ROOT}/src/cose_hdr.c
+    ${COSE_ROOT}/src/cose_hkdf.c
+    ${COSE_ROOT}/src/cose_key.c
+    ${COSE_ROOT}/src/cose_recipient.c
+    ${COSE_ROOT}/src/cose_sign.c
+    ${COSE_ROOT}/src/cose_signature.c
+    ${COSE_ROOT}/src/crypt/keygen_symm.c
+  )
+  target_include_directories(${COSE_LIB} PRIVATE ${COSE_INC_DIR} ${CBOR_INC_DIR})
+
+  if (${CRYPTO_LIB} STREQUAL "mbedtls")
+    add_subdirectory(thirdparty/mbedtls)
+
+    target_sources(${COSE_LIB} PRIVATE ${COSE_ROOT}/src/crypt/mbedtls.c)
+    target_link_libraries(${COSE_LIB} PRIVATE mbedtls)
+    target_link_libraries(rmw_desert PRIVATE mbedtls)
+    add_compile_definitions(CRYPTO_MBEDTLS)
+  elseif (${CRYPTO_LIB} STREQUAL "ascon-c")
+    set(ASCON_LIB "ascon-c")
+    set(ASCON_AEAD_ROOT thirdparty/ascon-c/crypto_aead/asconaead128/opt64)
+    set(ASCON_HASH_ROOT thirdparty/ascon-c/crypto_hash/asconhash256/opt64)
+    add_library(${ASCON_LIB} OBJECT
+            ${ASCON_AEAD_ROOT}/aead.c
+            ${ASCON_AEAD_ROOT}/permutations.c
+            ${ASCON_HASH_ROOT}/hash.c
+    )
+    target_compile_definitions(${ASCON_LIB} PRIVATE ASCON_INLINE_MODE=0)
+
+    target_sources(${COSE_LIB} PRIVATE ${COSE_ROOT}/src/crypt/ascon_c.c)
+    target_sources(rmw_desert PRIVATE $<TARGET_OBJECTS:${ASCON_LIB}>)
+    add_compile_definitions(CRYPTO_ASCON)
+  else ()
+    message(FATAL_ERROR "Cryptolib ${CRYPTO_LIB} is not supported")
+  endif ()
+
+  target_sources(rmw_desert PRIVATE
+    $<TARGET_OBJECTS:${COSE_LIB}>
+    src/desert_classes/security/sec_utils.cpp
+    src/desert_classes/security/AeadParams.cpp
+    src/desert_classes/security/SecurityLayer.cpp
+  )
+  target_include_directories(rmw_desert PRIVATE ${COSE_INC_DIR})
+  target_compile_definitions(rmw_desert PRIVATE SECURE_MODE_ENABLED)
+  target_compile_definitions(rmw_desert PRIVATE
+          AEAD_ALGO="${AEAD_ALGO}"
+          KDF_ALGO="${KDF_ALGO}"
+          PIV_LEN=${PIV_LEN}
+          SENDER_ID="${SENDER_ID}"
+          RECEIVER_ID="${RECEIVER_ID}")
+  if (COSE_STATELESS_COMP_ENABLED)
+    target_compile_definitions(rmw_desert PRIVATE COSE_STATELESS_COMP_ENABLED)
+  endif ()
+endif ()
+
 INCLUDE (FindPkgConfig)
 
 # specific order: dependents before dependencies

config.cmake

@@ -0,0 +1,9 @@
+set(CBOR_LIB "NanoCBOR" CACHE STRING "Cbor library.") # libmcu_cbor, NanoCBOR
+option(SECURE_MODE_ENABLED "Enable COSE Security Layer." ON)
+option(COSE_STATELESS_COMP_ENABLED "Enable COSE stateless compression." ON)
+set(CRYPTO_LIB "ascon-c" CACHE STRING "Crypto library.") # ascon-c, mbedtls
+set(AEAD_ALGO "Ascon-AEAD128" CACHE STRING "Algorithm for authenticated encryption with additional data.") # Ascon-AEAD128, Ascon-AEAD128-64, Ascon-AEAD128-32
+set(KDF_ALGO "HKDF-Ascon256" CACHE STRING "Algorithm for key derivation.")
+set(PIV_LEN 2 CACHE STRING "Length of Partial IV.") # Max 16
+set(SENDER_ID "0x01" CACHE STRING "Sender ID in hex.")
+set(RECEIVER_ID "0x02" CACHE STRING "Receiver ID in hex.")

src/desert_classes/CBorStream.h

@@ -52,12 +52,6 @@
 
 /** @endcond */
 
-#include "cbor/encoder.h"
-#include "cbor/ieee754.h"
-#include "cbor/decoder.h"
-#include "cbor/parser.h"
-#include "cbor/helper.h"
-
 #include "half.hpp"
 
 #define PUBLISHER_TYPE  0
@@ -225,16 +219,20 @@ class TxStream
     }
 
   private:
+    // Forward declarations to abstract the implementation
+    struct WRITER;
+    struct ERROR;
+
     uint8_t _stream_type;
     std::string _stream_name;
     uint8_t _stream_identifier;
 
     bool _overflow;
-    uint8_t *  _packet;
-    cbor_writer_t *  _writer;
+    uint8_t * _packet;
+    WRITER * _writer;
 
     void new_packet();
-    void handle_overrun(cbor_error_t result);
+    void handle_overrun(ERROR result);
 
     std::string toUTF8(const std::u16string source);
 
@@ -317,13 +315,6 @@ class RxStream
     */
     RxStream & operator>>(int8_t & n);
 
-   /**
-    * @brief Decode a generic integer
-    * @param n Field to decode
-    */
-    template<typename T>
-    RxStream & deserialize_integer(T & n);
-
    /**
     * @brief Decode char
     * @param n Field to decode
@@ -428,6 +419,9 @@ class RxStream
     static void interpret_packets();
 
   private:
+    // Forward declarations to abstract the implementation
+    struct ITEM;
+
     uint8_t _stream_type;
     std::string _stream_name;
     uint8_t _stream_identifier;
@@ -455,7 +449,7 @@ class RxStream
 
     static std::mutex _rx_mutex;
 
-    static std::pair<void *, int> interpret_field(cbor_item_t * items, size_t i, union _cbor_value & val);
+    static std::pair<void *, int> interpret_field(ITEM * items, size_t i, union _cbor_value & val);
     std::u16string toUTF16(const std::string source);
 };