filterable-rosmaster.py

#!/usr/bin/env python2
# Copyright (c) 2020 TOYOTA MOTOR CORPORATION
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import rosgraph.xmlrpc
import rosmaster
import xmlrpclib
import time

class FilterableXMLRPCRequestHandler(rosgraph.xmlrpc.SilenceableXMLRPCRequestHandler):
    def __init__(self, request, client_address, server):
        self.client_address = client_address
        rosgraph.xmlrpc.SilenceableXMLRPCRequestHandler.__init__(self, request, client_address, server)

    def decode_request_content(self, data):
        data = rosgraph.xmlrpc.SilenceableXMLRPCRequestHandler.decode_request_content(self, data)
        if self.client_address[0] != '127.0.0.1':
            params, method = xmlrpclib.loads(data)
            #if method == 'system.multicall':
            #   print params[0]
            if method == 'registerPublisher':
               if params[1] == '/score':
                  print 'detect invalid publish to /score topic from external host'
                  print self.client_address
                  params[1] = '/rosmaster_filter_rejected'
                  return xmlrpclib.dumps(params, method)
               elif params[1].find('/gazebo/') == 0:
                  print 'detect invalid publish to /gazebo topic from external host'
                  print self.client_address
                  params[1] = '/rosmaster_filter_rejected'
                  return xmlrpclib.dumps(params, method)
            elif method == 'lookupService' or  method == 'registerSubscriber':
               if params[1].find('/gazebo/') == 0:
                  print 'detect invalid access to /gazebo topic from external host'
                  print self.client_address
                  params[1] = '/rosmaster_filter_rejected'
                  return xmlrpclib.dumps(params, method)
        return data

master = rosmaster.master.Master(11311, 10)
master.start()
master.master_node.server.RequestHandlerClass = FilterableXMLRPCRequestHandler
while master.ok():
    time.sleep(0.1)