permission api: use _keystore.get_* functions

[kyrofa]

Proof that we're still completely missing test coverage of some verbs (logged as #193) :cry: . Added some here.

[codecov[bot]]

Codecov Report

Merging #194 into master will increase coverage by 4.95%. The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master     #194      +/-   ##
==========================================
+ Coverage   55.38%   60.34%   +4.95%     
==========================================
  Files          17       17              
  Lines         585      585              
  Branches       52       52              
==========================================
+ Hits          324      353      +29     
+ Misses        247      218      -29     
  Partials       14       14              

Flag	Coverage Δ
#unittests	60.34% <100.00%> (+4.95%)	:arrow_up:

Impacted Files	Coverage Δ
sros2/sros2/api/_permission.py	92.30% <100.00%> (+30.76%)	:arrow_up:
sros2/sros2/verb/create_permission.py	68.00% <0.00%> (+68.00%)	:arrow_up:

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[kyrofa]

It changes it to a... segfault? What the heck? Any chance that's Focal/SSL-related? I just ran ros2 security create_permission for the basic talker/listener example and got AttributeErrors without this patch, and success with it (on Bionic).

[mikaelarguedas]

I just ran ros2 security create_permission for the basic talker/listener example and got AttributeErrors without this patch, and success with it.

I confirmed I have a segfault on Focal with the repo state before all the refactoring so not related to this PR. Not great but at least clears this ...

As mentionned offline, committing a simple test along this PR would be great, full coverage can be done at another time.

[kyrofa]

committing a simple test along this PR would be great, full coverage can be done at another time.

Done. Couldn't let codecov own me like that. I'm afraid that I rebased instead of merged though, I'm sorry. At least the diff is tiny.

[ruffsl]

Later on, it might be easier to just compare the permission.xml tree to a reference xml file, and just pre-processes steps to remove/sanitize known diffs, like <validity>, or <domains> matches the ros domain env, or exceptional rules for logging and discovery. Once you filter out those tags, the rest of the tree for the _test_identity grant name your checking should be the same when pretty printed.

https://github.com/ros2/sros2/blob/1984821f52d23c245452275c0f7820461cd590bc/sros2/test/policies/permissions/talker_listener/permissions.xml#L2-L4