#!/usr/sbin/nft -f
# The robot's audio (4713), MCP (8765) and face webhook (8766) ports are reachable only over the
# USB link, and only from the host at 10.55.0.1. Every other interface, Wi-Fi included, is dropped.
# ROS 2's DDS has no authentication, and /camera/* and /vision/faces carry video and recognised
# names, so its ports (domain 42: 17900-18149 with Fast DDS's default offsets) are dropped on every
# interface but usb0 and loopback too.
# SSH and everything else are left alone: that policy is the owner's call.

table inet robot
delete table inet robot

table inet robot {
    chain input {
        type filter hook input priority 0; policy accept;
        iif "lo" accept
        iifname "usb0" ip saddr 10.55.0.1 tcp dport { 4713, 8765, 8766 } accept
        tcp dport { 4713, 8765, 8766 } drop
        iifname != { "lo", "usb0" } udp dport 17900-18149 drop
    }
}