From 0dca9b39e590d6be089917eccf4f34c3b15ab29e Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Tue, 6 Aug 2019 21:59:20 -0700
Subject: [PATCH] Add raw permission type Update schema and transforms as well
 as generating script

Signed-off-by: ruffsl <roxfoxpox@gmail.com>
---
 sros2/scripts/dds_sql_to_sros2_policy.py      |  7 ++--
 sros2/sros2/policy/schemas/policy.xsd         | 11 +++++++
 sros2/sros2/policy/templates/dds/demangle.xsl | 32 +++++++++---------
 .../policy/templates/dds/permissions.xsl      | 33 +++++++++++++++++++
 4 files changed, 63 insertions(+), 20 deletions(-)

diff --git a/sros2/scripts/dds_sql_to_sros2_policy.py b/sros2/scripts/dds_sql_to_sros2_policy.py
index 324b62ab..6c602cde 100755
--- a/sros2/scripts/dds_sql_to_sros2_policy.py
+++ b/sros2/scripts/dds_sql_to_sros2_policy.py
@@ -89,10 +89,10 @@ def df_to_dds_policy(df):
             __df = df.loc[namespace, name, :]
             for mode in __df.index.get_level_values('mode').unique():
                 if not pd.isna(mode):
-                    topics = etree.SubElement(profile, 'dds_topics')
+                    topics = etree.SubElement(profile, 'raws')
                     topics.set(mode, "ALLOW")
                     for dds_topic in df['dds_topic'].loc[namespace, name, mode]:
-                        topic = etree.SubElement(topics, 'dds_topic')
+                        topic = etree.SubElement(topics, 'raw')
                         topic.text = dds_topic
     return dds_policy
 
@@ -107,9 +107,8 @@ def dds_policy_to_sros2_policy(dds_policy):
         etree.parse(
             get_transport_template('dds', 'demangle.xsl')))
 
-    # TODO: update schema for dds_topics?
     # Validate policy schema
-    # policy_xsd.assertValid(dds_policy)
+    policy_xsd.assertValid(dds_policy)
 
     # Transform policy
     sros2_policy = demangle_xsl(dds_policy)
diff --git a/sros2/sros2/policy/schemas/policy.xsd b/sros2/sros2/policy/schemas/policy.xsd
index 8086516e..fa11b28e 100644
--- a/sros2/sros2/policy/schemas/policy.xsd
+++ b/sros2/sros2/policy/schemas/policy.xsd
@@ -24,6 +24,7 @@
     <xs:complexType name="Profile">
         <xs:sequence minOccurs="0" maxOccurs="unbounded">
             <xs:choice minOccurs="1" maxOccurs="1">
+                <xs:element name="raws" minOccurs="1" type="RawExpressionList" />
                 <xs:element name="topics" minOccurs="1" type="TopicExpressionList" />
                 <xs:element name="services" minOccurs="1" type="ServicesExpressionList" />
                 <xs:element name="actions" minOccurs="1" type="ActionsExpressionList" />
@@ -34,6 +35,16 @@
         <xs:attribute ref="xml:base" />
     </xs:complexType>
 
+    <xs:complexType name="RawExpressionList">
+        <xs:sequence minOccurs="1" maxOccurs="unbounded">
+            <xs:element name="raw" type="Expression" />
+        </xs:sequence>
+        <xs:attribute name="publish" type="RuleQualifier" use="optional" />
+        <xs:attribute name="relay" type="RuleQualifier" use="optional" />
+        <xs:attribute name="subscribe" type="RuleQualifier" use="optional" />
+        <xs:attribute ref="xml:base" />
+    </xs:complexType>
+
     <xs:complexType name="TopicExpressionList">
         <xs:sequence minOccurs="1" maxOccurs="unbounded">
             <xs:element name="topic" type="Expression" />
diff --git a/sros2/sros2/policy/templates/dds/demangle.xsl b/sros2/sros2/policy/templates/dds/demangle.xsl
index db800975..3cbdb1b7 100644
--- a/sros2/sros2/policy/templates/dds/demangle.xsl
+++ b/sros2/sros2/policy/templates/dds/demangle.xsl
@@ -227,13 +227,13 @@
   <xsl:param name="qualifier"/>
 
   <xsl:if test="@publish = $qualifier">
-    <xsl:call-template name="dds_topics">
+    <xsl:call-template name="raws">
       <xsl:with-param name="kind" select="'publish'"/>
       <xsl:with-param name="qualifier" select="$qualifier"/>
     </xsl:call-template>
   </xsl:if>
   <xsl:if test="@subscribe = $qualifier">
-    <xsl:call-template name="dds_topics">
+    <xsl:call-template name="raws">
       <xsl:with-param name="kind" select="'subscribe'"/>
       <xsl:with-param name="qualifier" select="$qualifier"/>
     </xsl:call-template>
@@ -241,14 +241,14 @@
 </xsl:template>
 
 
-<xsl:template name="dds_topics">
+<xsl:template name="raws">
   <xsl:param name="kind"/>
   <xsl:param name="qualifier"/>
 
-  <xsl:for-each select="dds_topic">
-    <xsl:variable name="dds_topic_" select="text()" />
-    <xsl:variable name="prefix" select="substring-before($dds_topic_, '/')" />
-    <xsl:variable name="_dds_topic" select="substring-after($dds_topic_, $prefix)" />
+  <xsl:for-each select="raw">
+    <xsl:variable name="raw_" select="text()" />
+    <xsl:variable name="prefix" select="substring-before($raw_, '/')" />
+    <xsl:variable name="_raw" select="substring-after($raw_, $prefix)" />
 
     <xsl:variable name="actions_"
       select="document('')/xsl:stylesheet/
@@ -263,11 +263,11 @@
       <xsl:variable name="action_match">      
         <xsl:for-each select="$actions_">
           <xsl:variable name="suffix" select="
-            substring($_dds_topic,
-            string-length($_dds_topic) - string-length(@suffix) +1)" />
+            substring($_raw,
+            string-length($_raw) - string-length(@suffix) +1)" />
           <xsl:if test="$suffix = @suffix">
-            <xsl:variable name="object" select="substring($_dds_topic, 1, 
-                  string-length($_dds_topic) - string-length($suffix))" />
+            <xsl:variable name="object" select="substring($_raw, 1, 
+                  string-length($_raw) - string-length($suffix))" />
             <xsl:call-template name="actions">
               <xsl:with-param name="action" select="$object"/>
               <xsl:with-param name="kind" select="$kind"/>
@@ -282,11 +282,11 @@
       <xsl:variable name="service_match">      
         <xsl:for-each select="$services_">
           <xsl:variable name="suffix" select="
-            substring($_dds_topic,
-            string-length($_dds_topic) - string-length(@suffix) +1)" />
+            substring($_raw,
+            string-length($_raw) - string-length(@suffix) +1)" />
           <xsl:if test="$suffix = @suffix">
-            <xsl:variable name="object" select="substring($_dds_topic, 1, 
-                  string-length($_dds_topic) - string-length($suffix))" />
+            <xsl:variable name="object" select="substring($_raw, 1, 
+                  string-length($_raw) - string-length($suffix))" />
             <xsl:call-template name="services">
               <xsl:with-param name="service" select="$object"/>
               <xsl:with-param name="kind" select="$kind"/>
@@ -301,7 +301,7 @@
       <xsl:variable name="topic_match">      
         <xsl:for-each select="$topics_">
           <xsl:call-template name="topics">
-            <xsl:with-param name="topic" select="$_dds_topic"/>
+            <xsl:with-param name="topic" select="$_raw"/>
             <xsl:with-param name="kind" select="$kind"/>
             <xsl:with-param name="type" select="
             $topics_[@prefix=$prefix and @suffix='']/@type"/>
diff --git a/sros2/sros2/policy/templates/dds/permissions.xsl b/sros2/sros2/policy/templates/dds/permissions.xsl
index 5e855992..a5b86d2f 100644
--- a/sros2/sros2/policy/templates/dds/permissions.xsl
+++ b/sros2/sros2/policy/templates/dds/permissions.xsl
@@ -73,6 +73,9 @@
   <xsl:if test="@publish = $qualifier">
     <xsl:apply-templates select="." mode="publish"/>
   </xsl:if>
+  <xsl:if test="@relay = $qualifier">
+    <xsl:apply-templates select="." mode="relay"/>
+  </xsl:if>
   <xsl:if test="@subscribe = $qualifier">
     <xsl:apply-templates select="." mode="subscribe"/>
   </xsl:if>
@@ -90,6 +93,36 @@
   </xsl:if>
 </xsl:template>
 
+<xsl:template match="raws" mode="publish">
+  <publish>
+    <topics>
+      <xsl:for-each select="raw">
+        <topic><xsl:value-of select="text()"/></topic>
+      </xsl:for-each>
+    </topics>
+  </publish>
+</xsl:template>
+
+<xsl:template match="raws" mode="relay">
+  <relay>
+    <topics>
+      <xsl:for-each select="raw">
+        <topic><xsl:value-of select="text()"/></topic>
+      </xsl:for-each>
+    </topics>
+  </relay>
+</xsl:template>
+
+<xsl:template match="raws" mode="subscribe">
+  <subscribe>
+    <topics>
+      <xsl:for-each select="raw">
+        <topic><xsl:value-of select="text()"/></topic>
+      </xsl:for-each>
+    </topics>
+  </subscribe>
+</xsl:template>
+
 <xsl:template match="topics" mode="publish">
   <publish>
     <topics>