JSObject *
WrapperFactory::Rewrap(JSContext *cx, JSObject *existing, JSObject *obj,
JSObject *wrappedProto, JSObject *parent,
unsigned flags)
{
MOZ_ASSERT(!IsWrapper(obj) ||
GetProxyHandler(obj) == &XrayWaiver ||
js::GetObjectClass(obj)->ext.innerObject,
"wrapped object passed to rewrap");
MOZ_ASSERT(JS_GetClass(obj) != &XrayUtils::HolderClass, "trying to wrap a holder");
MOZ_ASSERT(!js::IsInnerObject(obj));
// We sometimes end up here after nsContentUtils has been shut down but before
// XPConnect has been shut down, so check the context stack the roundabout way.
MOZ_ASSERT(XPCJSRuntime::Get()->GetJSContextStack()->Peek() == cx);
// Compute the information we need to select the right wrapper.
JSCompartment *origin = js::GetObjectCompartment(obj);
JSCompartment *target = js::GetContextCompartment(cx);
bool originIsChrome = AccessCheck::isChrome(origin);
bool targetIsChrome = AccessCheck::isChrome(target);
bool originSubsumesTarget = AccessCheck::subsumes(origin, target);
bool targetSubsumesOrigin = AccessCheck::subsumes(target, origin);
bool sameOrigin = targetSubsumesOrigin && originSubsumesTarget;
XrayType xrayType = GetXrayType(obj);
// By default we use the wrapped proto of the underlying object as the
// prototype for our wrapper, but we may select something different below.
JSObject *proxyProto = wrappedProto;
Wrapper *wrapper;
CompartmentPrivate *targetdata = EnsureCompartmentPrivate(target);
//
// First, handle the special cases.
//
// If UniversalXPConnect is enabled, this is just some dumb mochitest. Use
// a vanilla CCW.
if (xpc::IsUniversalXPConnectEnabled(target)) {
wrapper = &CrossCompartmentWrapper::singleton;
// If this is a chrome object being exposed to content without Xrays, use
// a COW.
} else if (originIsChrome && !targetIsChrome && xrayType == NotXray) {
wrapper = &ChromeObjectWrapper::singleton;
// If content is accessing a Components object or NAC, we need a special filter,
// even if the object is same origin.
} else if (IsComponentsObject(obj) && !AccessCheck::isChrome(target)) {
wrapper = &FilteringWrapper<CrossCompartmentSecurityWrapper,
ComponentsObjectPolicy>::singleton;
} else if (AccessCheck::needsSystemOnlyWrapper(obj) &&
!(targetIsChrome || (targetSubsumesOrigin && nsContentUtils::IsCallerXBL())))
{
wrapper = &FilteringWrapper<CrossCompartmentSecurityWrapper,
OnlyIfSubjectIsSystem>::singleton;
}
//
// Now, handle the regular cases.
//
// These are wrappers we can compute using a rule-based approach. In order
// to do so, we need to compute some parameters.
//
else {
// The wrapper is a security wrapper (protecting the wrappee) if and
// only if the target does not subsume the origin.
bool securityWrapper = !targetSubsumesOrigin;
// Xrays are warranted if either the target or the origin don't trust
// each other. This is generally the case, unless the two are same-origin
// and the caller has not requested same-origin Xrays.
//
// Xrays are a bidirectional protection, since it affords clarity to the
// caller and privacy to the callee.
bool wantXrays = !(sameOrigin && !targetdata->wantXrays);
// If Xrays are warranted, the caller may waive them for non-security
// wrappers.
bool waiveXrays = wantXrays && !securityWrapper &&
(flags & WAIVE_XRAY_WRAPPER_FLAG);
wrapper = SelectWrapper(securityWrapper, wantXrays, xrayType, waiveXrays);
}
// If the prototype of a chrome object being wrapped in content is a prototype
// for a standard class, use the one from the content compartment so
// that we can safely take advantage of things like .forEach().
//
// If the prototype chain of chrome object |obj| looks like this:
//
// obj => foo => bar => chromeWin.StandardClass.prototype
//
// The prototype chain of COW(obj) looks lke this:
//
// COW(obj) => COW(foo) => COW(bar) => contentWin.StandardClass.prototype
if (wrapper == &ChromeObjectWrapper::singleton) {
JSProtoKey key = JSProto_Null;
{
JSAutoCompartment ac(cx, obj);
JSObject *unwrappedProto;
if (!js::GetObjectProto(cx, obj, &unwrappedProto))
return NULL;
if (unwrappedProto && IsCrossCompartmentWrapper(unwrappedProto))
unwrappedProto = Wrapper::wrappedObject(unwrappedProto);
if (unwrappedProto) {
JSAutoCompartment ac2(cx, unwrappedProto);
key = JS_IdentifyClassPrototype(cx, unwrappedProto);
}
}
if (key != JSProto_Null) {
JSObject *homeProto;
if (!JS_GetClassPrototype(cx, key, &homeProto))
return NULL;
MOZ_ASSERT(homeProto);
proxyProto = homeProto;
}
// This shouldn't happen, but do a quick check to make some dumb addon
// doesn't expose chrome eval or Function().
JSFunction *fun = JS_GetObjectFunction(obj);
if (fun) {
if (JS_IsBuiltinEvalFunction(fun) || JS_IsBuiltinFunctionConstructor(fun)) {
JS_ReportError(cx, "Not allowed to access chrome eval or Function from content");
return nullptr;
}
}
}
DEBUG_CheckUnwrapSafety(obj, wrapper, origin, target);
if (existing && proxyProto == wrappedProto)
return Wrapper::Renew(cx, existing, obj, wrapper);
return Wrapper::New(cx, obj, proxyProto, parent, wrapper);
}
bool
ExposedPropertiesOnly::check(JSContext* cx, HandleObject wrapper, HandleId id, Wrapper::Action act)
{
RootedObject wrappedObject(cx, Wrapper::wrappedObject(wrapper));
if (act == Wrapper::CALL)
return false;
// For the case of getting a property descriptor, we allow if either GET or SET
// is allowed, and rely on FilteringWrapper to filter out any disallowed accessors.
if (act == Wrapper::GET_PROPERTY_DESCRIPTOR) {
return check(cx, wrapper, id, Wrapper::GET) ||
check(cx, wrapper, id, Wrapper::SET);
}
RootedId exposedPropsId(cx, GetJSIDByIndex(cx, XPCJSContext::IDX_EXPOSEDPROPS));
// We need to enter the wrappee's compartment to look at __exposedProps__,
// but we want to be in the wrapper's compartment if we call Deny().
//
// Unfortunately, |cx| can be in either compartment when we call ::check. :-(
JSAutoCompartment ac(cx, wrappedObject);
bool found = false;
if (!JS_HasPropertyById(cx, wrappedObject, exposedPropsId, &found))
return false;
// If no __exposedProps__ existed, deny access.
if (!found) {
// Previously we automatically granted access to indexed properties and
// .length for Array COWs. We're not doing that anymore, so make sure to
// let people know what's going on.
bool isArray;
if (!JS_IsArrayObject(cx, wrappedObject, &isArray))
return false;
if (!isArray)
isArray = JS_IsTypedArrayObject(wrappedObject);
bool isIndexedAccessOnArray = isArray && JSID_IS_INT(id) && JSID_TO_INT(id) >= 0;
bool isLengthAccessOnArray = isArray && JSID_IS_STRING(id) &&
JS_FlatStringEqualsAscii(JSID_TO_FLAT_STRING(id), "length");
if (isIndexedAccessOnArray || isLengthAccessOnArray) {
JSAutoCompartment ac2(cx, wrapper);
ReportWrapperDenial(cx, id, WrapperDenialForCOW,
"Access to elements and length of privileged Array not permitted");
}
return false;
}
if (id == JSID_VOID)
return true;
Rooted<PropertyDescriptor> desc(cx);
if (!JS_GetPropertyDescriptorById(cx, wrappedObject, exposedPropsId, &desc))
return false;
if (!desc.object())
return false;
if (desc.hasGetterOrSetter()) {
EnterAndThrowASCII(cx, wrapper, "__exposedProps__ must be a value property");
return false;
}
RootedValue exposedProps(cx, desc.value());
if (exposedProps.isNullOrUndefined())
return false;
if (!exposedProps.isObject()) {
EnterAndThrowASCII(cx, wrapper, "__exposedProps__ must be undefined, null, or an Object");
return false;
}
RootedObject hallpass(cx, &exposedProps.toObject());
if (!AccessCheck::subsumes(js::UncheckedUnwrap(hallpass), wrappedObject)) {
EnterAndThrowASCII(cx, wrapper, "Invalid __exposedProps__");
return false;
}
Access access = NO_ACCESS;
if (!JS_GetPropertyDescriptorById(cx, hallpass, id, &desc)) {
return false; // Error
}
if (!desc.object() || !desc.enumerable())
return false;
if (!desc.value().isString()) {
EnterAndThrowASCII(cx, wrapper, "property must be a string");
return false;
}
JSFlatString* flat = JS_FlattenString(cx, desc.value().toString());
if (!flat)
return false;
size_t length = JS_GetStringLength(JS_FORGET_STRING_FLATNESS(flat));
for (size_t i = 0; i < length; ++i) {
char16_t ch = JS_GetFlatStringCharAt(flat, i);
switch (ch) {
case 'r':
if (access & READ) {
EnterAndThrowASCII(cx, wrapper, "duplicate 'readable' property flag");
return false;
}
access = Access(access | READ);
break;
case 'w':
if (access & WRITE) {
EnterAndThrowASCII(cx, wrapper, "duplicate 'writable' property flag");
return false;
}
access = Access(access | WRITE);
break;
default:
EnterAndThrowASCII(cx, wrapper, "properties can only be readable or read and writable");
return false;
}
}
if (access == NO_ACCESS) {
EnterAndThrowASCII(cx, wrapper, "specified properties must have a permission bit set");
return false;
}
if ((act == Wrapper::SET && !(access & WRITE)) ||
(act != Wrapper::SET && !(access & READ))) {
return false;
}
// Inspect the property on the underlying object to check for red flags.
if (!JS_GetPropertyDescriptorById(cx, wrappedObject, id, &desc))
return false;
// Reject accessor properties.
if (desc.hasGetterOrSetter()) {
EnterAndThrowASCII(cx, wrapper, "Exposing privileged accessor properties is prohibited");
return false;
}
// Reject privileged or cross-origin callables.
if (desc.value().isObject()) {
RootedObject maybeCallable(cx, js::UncheckedUnwrap(&desc.value().toObject()));
if (JS::IsCallable(maybeCallable) && !AccessCheck::subsumes(wrapper, maybeCallable)) {
EnterAndThrowASCII(cx, wrapper, "Exposing privileged or cross-origin callable is prohibited");
return false;
}
}
return true;
}
int main(int argc, char** argv){
ros::init(argc, argv, "simple_navigation_goals");
//tell the action client that we want to spin a thread by default
MoveBaseClient ac("move_base", true);
move_base_msgs::MoveBaseGoal goal;
goal.target_pose.header.frame_id = "map";
goal.target_pose.header.stamp = ros::Time::now();
MoveBaseClient ac2("move_base", true);
MoveBaseClient ac0("move_base", true);
ros::Rate r(100);
ros::NodeHandle n;
int flag = 0;
int sum = 0;
ros::Publisher updown_flag = n.advertise<std_msgs::UInt8>("updown_flag",1);
//std_msgs::UInt8 ud_flag;
while(ros::ok())
{
ROS_INFO("sum \t%d",sum);
ROS_INFO("flag \t%d",flag);
sum ++;
switch(flag)
{
case 0:{
ROS_INFO("Hooray, the base moved 0 meter forward 0");
//wait for the action server to come up
while(!ac.waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the move_base action server to come up");
}
goal.target_pose.pose.position.x = 20;
goal.target_pose.pose.position.y = 2.1;
goal.target_pose.pose.orientation.z = 0;
goal.target_pose.pose.orientation.w = 1;
ROS_INFO("Sending goal");
ac.sendGoal(goal);
ac.waitForResult();
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO("Hooray, the base moved 0 meter forward ");
//ud_flag.data = 1;
//updown_flag.publish(ud_flag);
ros::Duration(120).sleep();
//ud_flag.data = 2;
//updown_flag.publish(ud_flag);
//ros::Duration(23).sleep();
flag = 1;
}
else
ROS_INFO("The base failed to move forward 0 meter for some reason");
break;
}
case 1:{
//wait for the action server to come up
while(!ac.waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the move_base action server to come up");
}
goal.target_pose.pose.position.x = 0;
goal.target_pose.pose.position.y = 0;
goal.target_pose.pose.orientation.z = 0;
goal.target_pose.pose.orientation.w = 1;
ROS_INFO("Sending goal");
ac.sendGoal(goal);
ac.waitForResult();
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO("Hooray, the base moved 1 meter forward");
//ud_flag.data = 1;
//updown_flag.publish(ud_flag);
ros::Duration(2000).sleep();
//ud_flag.data = 2;
//updown_flag.publish(ud_flag);
//ros::Duration(23).sleep();
flag = 2;
}
else
ROS_INFO("The base failed to move forward 1 meter for some reason");
break;
}
case 2: {
ROS_INFO("Hooray, the base moved 2 meter forward 0");
//wait for the action server to come up
while(!ac.waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the move_base action server to come up");
}
goal.target_pose.pose.position.x = 0;
goal.target_pose.pose.position.y = 0;
goal.target_pose.pose.orientation.z = 0;
goal.target_pose.pose.orientation.w = 1;
ROS_INFO("Sending goal");
ac.sendGoal(goal);
ac.waitForResult();
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
{
ROS_INFO("Hooray, the base moved 2 meter forward");
//ud_flag.data = 1;
//updown_flag.publish(ud_flag);
ros::Duration(20).sleep();
//ud_flag.data = 2;
//updown_flag.publish(ud_flag);
//ros::Duration(60).sleep();
flag = 0;
}
else
ROS_INFO("The base failed to move forward 2 meter for some reason");
break;
}
}
}
return 0;
}
