<!DOCTYPE busconfig PUBLIC
          "-//freedesktop//DTD D-BUS Bus Configuration 1.0//EN"
          "http://www.freedesktop.org/standards/dbus/1.0/busconfig.dtd">
<busconfig>

  <!-- Only root can own the Aseba service -->
  <policy user="root">
    <allow own="ch.epfl.mobots.Aseba"/>
  </policy>

  <!-- Allow anyone to invoke methods on Avahi server, except SetHostName -->
  <policy context="default">
    <allow send_destination="ch.epfl.mobots.Aseba"/>
    <allow receive_sender="ch.epfl.mobots.Aseba"/>
  </policy>

</busconfig>

