Accept protected interpreter submessages

Interpreter submessage protection not in spec, accept for compatibility.

src/rtps/message_receiver.rs

@@ -932,6 +932,11 @@ impl MessageReceiver {
               error!("Destination GUID did not match the handle used for decoding.");
             }
           }
+          Ok(DecodeOutcome::Success(DecodedSubmessage::Interpreter(interpreter_submessage))) => {
+            // This is not defined in the specification, but we accept for compatibility, as
+            // we would also accept unprotected ones.
+            self.handle_interpreter_submessage(interpreter_submessage);
+          }
           Ok(DecodeOutcome::KeysNotFound(header_key_id)) => {
             trace!(
               "No matching submessage decode keys found for the key id {:?} for the remote \
@@ -955,10 +960,10 @@ impl MessageReceiver {
     };
   }
 
-  fn handle_interpreter_submessage(&mut self, interp_subm: InterpreterSubmessage)
+  fn handle_interpreter_submessage(&mut self, interpreter_submessage: InterpreterSubmessage)
   // no return value, just change state of self.
   {
-    match interp_subm {
+    match interpreter_submessage {
       InterpreterSubmessage::InfoTimestamp(ts_struct, _flags) => {
         // flags value was used already when parsing timestamp into an Option
         self.source_timestamp = ts_struct.timestamp;

src/security/cryptographic/cryptographic_builtin/crypto_transform.rs

@@ -1,7 +1,7 @@
 use bytes::Bytes;
 use enumflags2::BitFlags;
 use speedy::{Readable, Writable};
-use log::warn;
+use log::{info, warn};
 
 use crate::{
   messages::submessages::{
@@ -733,10 +733,16 @@ impl CryptoTransform for CryptographicBuiltin {
         }
       }
 
-      SubmessageBody::Interpreter(_) => Err(security_error!(
-        "Interpreter submessage after successful submessage decryption. This is not in the \
-         specification."
-      )),
+      SubmessageBody::Interpreter(interpreter_submessage) => {
+        info!(
+          "Interpreter submessage after successful submessage decryption. This is not in the \
+           specification, but we accept for compatibility as we also accept unprotected \
+           interpreter submessages."
+        );
+        Ok(DecodeOutcome::Success(DecodedSubmessage::Interpreter(
+          interpreter_submessage,
+        )))
+      }
       SubmessageBody::Security(_) => Err(security_error!(
         "Security submessage after successful submessage decryption."
       )),

src/security/cryptographic/types.rs

@@ -4,7 +4,7 @@ use serde::{Deserialize, Serialize};
 use speedy::{Readable, Writable};
 
 use crate::{
-  messages::submessages::submessage::{ReaderSubmessage, WriterSubmessage},
+  messages::submessages::submessage::{InterpreterSubmessage, ReaderSubmessage, WriterSubmessage},
   rtps::Submessage,
   security::types::DataHolder,
   structure::guid::GuidPrefix,
@@ -116,7 +116,7 @@ impl From<EncodedSubmessage> for Vec<Submessage> {
 pub enum DecodedSubmessage {
   // TODO: Should we support interpreter submessages here? The specification is unclear on this.
   // See 8.5.1.6
-  //Interpreter(InterpreterSubmessage),
+  Interpreter(InterpreterSubmessage),
   Writer(WriterSubmessage, Vec<EndpointCryptoHandle>),
   Reader(ReaderSubmessage, Vec<EndpointCryptoHandle>),
 }