Make connext use Connext's openssl on all platforms

Ubuntu Focal, Homebrew and chocolatey now provide OpenSSL 1.1.1
RTI Connext 5.3.1 supports only 1.0.2 so we need to modify the library path and the path for connext's version of openssl be used when running tests with connext. Use system OpenSSL for other rmw implementations

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>

Author: mikaelarguedas

test_security/CMakeLists.txt

@@ -72,8 +72,6 @@ if(BUILD_TESTING)
       RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
       RMW_IMPLEMENTATION=${rmw_implementation}
       ROS_SECURITY_ROOT_DIRECTORY=${KEYSTORE_DIRECTORY_NATIVE_PATH}
-      # on bionic, Connext needs RTI's OpenSSL binaries to be on the PATH
-      # at runtime as the system version of OpenSSL is not supported
       PATH="${TEST_PATH}"
     )
     if(TARGET ${target}${target_suffix})
@@ -159,8 +157,6 @@ if(BUILD_TESTING)
             "${CMAKE_CURRENT_BINARY_DIR}/test_secure_publisher_subscriber${test_suffix}_$<CONFIG>.py"
             TARGET test_secure_publisher_subscriber${test_suffix}
             APPEND_LIBRARY_DIRS "${append_library_dirs}"
-            # on bionic, Connext needs RTI's OpenSSL binaries to be on the PATH
-            # at runtime as the system version of OpenSSL is not supported
             ENV
             PATH="${TEST_PATH}"
             TIMEOUT 20
@@ -201,8 +197,6 @@ if(BUILD_TESTING)
             "${CMAKE_CURRENT_BINARY_DIR}/test_secure_publisher_subscriber${test_suffix}_$<CONFIG>.py"
             TARGET test_secure_publisher_subscriber${test_suffix}
             APPEND_LIBRARY_DIRS "${append_library_dirs}"
-            # on bionic, Connext needs RTI's OpenSSL binaries to be on the PATH
-            # at runtime as the system version of OpenSSL is not supported
             ENV
             PATH="${TEST_PATH}"
             TIMEOUT 20
@@ -243,8 +237,6 @@ if(BUILD_TESTING)
             "${CMAKE_CURRENT_BINARY_DIR}/test_secure_publisher_subscriber${test_suffix}_$<CONFIG>.py"
             TARGET test_secure_publisher_subscriber${test_suffix}
             APPEND_LIBRARY_DIRS "${append_library_dirs}"
-            # on bionic, Connext needs RTI's OpenSSL binaries to be on the PATH
-            # at runtime as the system version of OpenSSL is not supported
             ENV
             PATH="${TEST_PATH}"
             TIMEOUT 20
@@ -265,15 +257,11 @@ if(BUILD_TESTING)
     file(TO_CMAKE_PATH "${ENV_PATH}" ENV_PATH)
     set(TEST_PATH "${ENV_PATH}")
     if(rmw_implementation STREQUAL "rmw_connext_cpp")
-      if(UNIX AND NOT APPLE)
-        # TODO(mikaelarguedas) remove this condition the day we want to use RTI's OpenSSL libraries
-        #  on all platforms
-        # on bionic, Connext needs RTI's OpenSSL binaries to be on the PATH
-        # at runtime as the system version of OpenSSL is not supported
-        set(RTI_BIN_PATH "$ENV{RTI_OPENSSL_BIN}")
-        file(TO_CMAKE_PATH "${RTI_BIN_PATH}" RTI_BIN_PATH)
-        set(TEST_PATH "${RTI_BIN_PATH};${ENV_PATH}")
-      endif()
+      # Connext 5.3.1 needs RTI's OpenSSL binaries (based on EOL 1.0.2) to be
+      # on the PATH at runtime as the system version of OpenSSL is not supported
+      set(RTI_BIN_PATH "$ENV{RTI_OPENSSL_BIN}")
+      file(TO_CMAKE_PATH "${RTI_BIN_PATH}" RTI_BIN_PATH)
+      set(TEST_PATH "${RTI_BIN_PATH};${ENV_PATH}")
     endif()
 
     if(NOT WIN32)
@@ -304,29 +292,28 @@ if(BUILD_TESTING)
       "test/test_secure_subscriber.cpp")
 
     set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
+    set(append_library_dirs "${append_library_dirs}:$ENV{RTI_OPENSSL_LIBS}")
     if(WIN32)
       set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
-    elseif(APPLE)
-      # connext need the openssl libraries to be on the DYLD_LIBRARY_PATH at runtime
-      # as SIP strips these variables on recent MacOS we populate them here
-      # see https://github.com/ros2/ros2/issues/409
-      execute_process(
-        COMMAND "brew" "--prefix" "openssl"
-        RESULT_VARIABLE _retcode
-        OUTPUT_VARIABLE _out_var
-        ERROR_VARIABLE _error_var
-      )
-      if(NOT _retcode EQUAL 0)
-        message(FATAL_ERROR "command 'brew --prefix openssl' failed with error code '${_retcode}' and error message '${_error_var}'")
-      endif()
-      string(STRIP "${_out_var}" _out_var)
-      set(openssl_lib_path "${_out_var}/lib")
-      file(TO_NATIVE_PATH "${openssl_lib_path}" openssl_lib_path)
-      set(append_library_dirs "${append_library_dirs};${openssl_lib_path}")
-    elseif(UNIX)
-      # on bionic, Connext needs RTI's OpenSSL libraries to be on the LD_LIBRARY_PATH
-      # at runtime as the system version of OpenSSL is not supported
-      set(append_library_dirs "${append_library_dirs}:$ENV{RTI_OPENSSL_LIBS}")
+    # TODO(mikaelarguedas) uncomment this once Connext supports OpenSSL 1.1.1
+    # in the meantime use RTI_OPENSSL_LIBS
+    # elseif(APPLE)
+    #   # connext need the openssl libraries to be on the DYLD_LIBRARY_PATH at runtime
+    #   # as SIP strips these variables on recent MacOS we populate them here
+    #   # see https://github.com/ros2/ros2/issues/409
+    #   execute_process(
+    #     COMMAND "brew" "--prefix" "openssl"
+    #     RESULT_VARIABLE _retcode
+    #     OUTPUT_VARIABLE _out_var
+    #     ERROR_VARIABLE _error_var
+    #   )
+    #   if(NOT _retcode EQUAL 0)
+    #     message(FATAL_ERROR "command 'brew --prefix openssl' failed with error code '${_retcode}' and error message '${_error_var}'")
+    #   endif()
+    #   string(STRIP "${_out_var}" _out_var)
+    #   set(openssl_lib_path "${_out_var}/lib")
+    #   file(TO_NATIVE_PATH "${openssl_lib_path}" openssl_lib_path)
+    #   set(append_library_dirs "${append_library_dirs};${openssl_lib_path}")
     endif()
 
     # finding gtest once in the highest scope