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Showing content from http://docs.aws.amazon.com/iot/latest/developerguide/iot-create-role.html below:

Granting an AWS IoT rule the access it requires

Use IAM roles to control the AWS resources to which each rule has access. Before you create a rule, you must create an IAM role with a policy that allows access to the required AWS resources. AWS IoT assumes this role when implementing a rule.

1. Save the following trust policy document, which grants AWS IoT permission to assume the role, to a file named iot-role-trust.json.

   JSON

   {
       "Version": "2012-10-17",
       "Statement": [
           {
               "Effect": "Allow",
               "Principal": {
                   "Service": "iot.amazonaws.com"
               },
               "Action": "sts:AssumeRole",
               "Condition": {
                   "StringEquals": {
                       "aws:SourceAccount": "123456789012"
                   },
                   "ArnLike": {
                       "aws:SourceArn": "arn:aws:iot:us-east-1:123456789012:rule/rulename"
                   }
               }
           }
       ]
   }
   

   Use the create-role command to create an IAM role specifying the iot-role-trust.json file:

   aws iam create-role --role-name my-iot-role --assume-role-policy-document file://iot-role-trust.json

   The output of this command looks like the following:

   {
   	"Role": {
   		"AssumeRolePolicyDocument": "url-encoded-json",
   		"RoleId": "AKIAIOSFODNN7EXAMPLE",
   		"CreateDate": "2015-09-30T18:43:32.821Z",
   		"RoleName": "my-iot-role",
   		"Path": "/",
   		"Arn": "arn:aws:iam::123456789012:role/my-iot-role"
   	}
   }

2. Save the following JSON into a file named my-iot-policy.json.

   JSON

   {
   	"Version": "2012-10-17",
   	"Statement": [
   		{
   			"Effect": "Allow",
   			"Action": "dynamodb:*",
   			"Resource": "*"
   		}
   	]
   }
   

   This JSON is an example policy document that grants AWS IoT administrator access to DynamoDB.

   Use the create-policy command to grant AWS IoT access to your AWS resources upon assuming the role, passing in the my-iot-policy.json file:

   aws iam create-policy --policy-name my-iot-policy --policy-document file://my-iot-policy.json

   For more information about how to grant access to AWS services in policies for AWS IoT, see Creating an AWS IoT rule.

   The output of the create-policy command contains the ARN of the policy. Attach the policy to a role.

   {
   	"Policy": {
   		"PolicyName": "my-iot-policy",
   		"CreateDate": "2015-09-30T19:31:18.620Z",
   		"AttachmentCount": 0,
   		"IsAttachable": true,
   		"PolicyId": "ZXR6A36LTYANPAI7NJ5UV",
   		"DefaultVersionId": "v1",
   		"Path": "/",
   		"Arn": "arn:aws:iam::123456789012:policy/my-iot-policy",
   		"UpdateDate": "2015-09-30T19:31:18.620Z"
   	}
   }

3. Use the attach-role-policy command to attach your policy to your role:

   aws iam attach-role-policy --role-name my-iot-role --policy-arn "arn:aws:iam::123456789012:policy/my-iot-policy"

To immediately revoke rule engine access, do the following

Rules

Pass role permissions

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