DP7417 C++ Implementation of Secure MAVLink proxy on device-side #563

kjyrinki-unikie · 2023-11-24T07:47:14Z

No description provided.

… CLOCK_MONOTONIC in SITL Signed-off-by: Jukka Laitinen <[email protected]>

Signed-off-by: Jukka Laitinen <[email protected]>

If the client is clearly not executing the callbacks, unregister it to: - Free the resource - Prevent posting the semaphore over its limit (which causes a crash) The unresponsive clients are removed one at a time, to keep the removal mechanism light weight.

There is one semaphore lock per thread already, this same mechanism can be used to pass the callbacks too.

In SITL case the _POSIX_NAME_MAX is only 14, so it fails for every topic. Use NAME_MAX instead to get correct maximum filename value for both posix and nuttx cases.

Signed-off-by: Jukka Laitinen <[email protected]>

…uorb Polling uorb is different than polling stdin due to non-file nature of uorb now Signed-off-by: Jukka Laitinen <[email protected]>

- uORB depends on uorb_msgs (get_orb_meta) - px4_platform_init() should not call param_init, if param module is disabled - px4_protected_layers re-organize the link_library commands into one - reboot does not need to explicitly add px4_platform, it gets it anyway

Fixes build error: arm-none-eabi/bin/ld: NuttX/nuttx/drivers/libdrivers.a(pipe_common.o): in function `pipecommon_close': nuttx/drivers/pipes/pipe_common.c:381: undefined reference to `circbuf_uninit'

Signed-off-by: Jukka Laitinen <[email protected]>

…fork Signed-off-by: Jukka Laitinen <[email protected]>

Forklift platforms/*/microchip support from tiiuae v1.14-beta1 main Signed-off-by: Jukka Laitinen <[email protected]>

Small fix for compilation errors without i2c bus support Signed-off-by: Jukka Laitinen <[email protected]>

Add 4400_ssrc_fog_x, 4401_ssrc_fog_x_tmotor, 50005_ssrc_scout_mini_rover and 50006_ssrc_bunker_rover Add the airframes and the default parameters for communication between flight controller and mission computer Signed-off-by: Jukka Laitinen <[email protected]>

Signed-off-by: Jari Nippula <[email protected]>

Logging to mavlink hangs the TCP connection between PX4 and Gazebo Signed-off-by: Jari Nippula <[email protected]>

Signed-off-by: Jari Nippula <[email protected]>

There is something wrong with publishing sensor_combined when Multi EKF is used Also the real drone doesn't use Multi-EKF Signed-off-by: Jukka Laitinen <[email protected]>

…in git There are some specific settings needed to get safe and precise flying in small indoors location. These parameters can be stored on a config.txt file on the drone sdcard; this is just to store those parameters also in the git for tracking. NOTE: this is not the best location for such settings, and definitely not for upstreaming or such Signed-off-by: Jukka Laitinen <[email protected]>

Signed-off-by: Jukka Laitinen <[email protected]>

The uploader script calculates the crc over the maximum image size. With 32MB images it takes longer than 0.5s, so just wait for longer Signed-off-by: Jukka Laitinen <[email protected]>

The atomic<bool> is not quaranteed to be lock-free, use int instead just in case. Signed-off-by: Jukka Laitinen <[email protected]>

Create a driver which gets PWM values from mixer and controls PWM via standard nuttx pwm interface Signed-off-by: Jukka Laitinen <[email protected]>

Signed-off-by: Jukka Laitinen <[email protected]>

jlaitine · 2023-11-24T13:06:18Z

Please note that px4-firmware is a public repository; I believe that this functionality might be part of "TII" proprietary offering, so maybe move the component in a separate git repository. Now this is publicly visible..

jlaitine · 2023-11-24T13:10:09Z

src/modules/secure_mavlink_udp_proxy/Crypto.hpp

+  bool get_nonce(uint8_t *nonce, size_t *nonce_len);
+  void close() {}
+};
+static void sodium_crypto_init(void) {


Removed sodium_crypto_init, still kept the sodium crypto functions. Overall the purpose of this Crypto wrapper (Crypto.cpp/hpp) is created mainly for testing without HW.

Combination of multiple dependabot updates: build(deps): bump scipy build(deps): bump actions/upload-artifact from 2.pre.preview to 3.1.3 build(deps): bump docker/setup-buildx-action from 2 to 3 build(deps): bump stefanzweifel/git-auto-commit-action from 4 to 5 build(deps): bump codecov/codecov-action from 1 to 3 build(deps): bump actions/cache from 2 to 3 Signed-off-by: dependabot[bot] <[email protected]>

kjyrinki-unikie · 2023-11-27T11:44:11Z

I have moved implementation into separate submodule.

Signed-off-by: Jukka Laitinen <[email protected]>

jlaitine · 2023-11-28T06:43:22Z

btw. use of exit() is a bit fishy in NuttX context; in case of flat build, there are no processes, so it is not clear what all it wants to kill. If the program has been launched from the terminal (nsh shell), exit() will most likely also kill the shell at the same ;) Also as long as you don't intend to use atexit, you could as well call _exit().

Even though exit() is handy, I would recommend not using exit, but just letting threads run to the end / returning error values to the highest level and returning the error value.

jlaitine · 2023-11-28T07:07:12Z

The config.yaml is not added to the ROMFS filesystem anywhere for PX4 build; is this intentional?

AFAIK, there is no clean way to put in files from within module; it will need to be added separately in ROMFS/ build files.

Maybe it is cleaner to make the ports etc. as command line arguments (with some sane defaults hardocoded perhaps), and just skip the yaml file parsing for embedded build ?

Signed-off-by: Jukka Laitinen <[email protected]>

jlaitine and others added 30 commits October 25, 2023 13:35

platforms/common/uORB/SubscriptionBlocking.hpp: Fix CLOCK_REALTIME ->…

556c3a3

… CLOCK_MONOTONIC in SITL Signed-off-by: Jukka Laitinen <[email protected]>

Re-write uORB around posix shm

0bb76ff

Signed-off-by: Jukka Laitinen <[email protected]>

uORB/uORBManager: Use adjusted stack size for orb_callback

03a9738

uorb: Move global _callback_ptr to per thread callback pointer

92457fb

There is one semaphore lock per thread already, this same mechanism can be used to pass the callbacks too.

Print error if device name too long

0e80c6b

uorb: _POSIX_NAME_MAX -> NAME_MAX

da0d636

In SITL case the _POSIX_NAME_MAX is only 14, so it fails for every topic. Use NAME_MAX instead to get correct maximum filename value for both posix and nuttx cases.

cdev: remove poll interface

7446b60

Signed-off-by: Jukka Laitinen <[email protected]>

src/systemcmds/topic_listener: Change topic listener to poll only on …

0b60318

…uorb Polling uorb is different than polling stdin due to non-file nature of uorb now Signed-off-by: Jukka Laitinen <[email protected]>

platforms/nuttx: nuttx_drivers needs nuttx_mm on link interface

22a2705

Fixes build error: arm-none-eabi/bin/ld: NuttX/nuttx/drivers/libdrivers.a(pipe_common.o): in function `pipecommon_close': nuttx/drivers/pipes/pipe_common.c:381: undefined reference to `circbuf_uninit'

Add boards/ssrc targets as submodules

cea5733

Signed-off-by: Jukka Laitinen <[email protected]>

Add boards/ssrc/icicle target for building for icicle board

90ad141

Signed-off-by: Jukka Laitinen <[email protected]>

Add SSRC crypto submodules

a0ad687

Signed-off-by: Jukka Laitinen <[email protected]>

Add SSRC CI buils scripts

325f5f2

Signed-off-by: Jukka Laitinen <[email protected]>

Switch src/modules/microdds_client/Micro-XRCE-DDS-Client into tiiuae …

2355f1d

…fork Signed-off-by: Jukka Laitinen <[email protected]>

Add basic files to support PX4_SOC_ARCH_ID_MPFS

0878c81

Forklift platforms/*/microchip support from tiiuae v1.14-beta1 main Signed-off-by: Jukka Laitinen <[email protected]>

[TO_UPSTREAM] px4_mtd: Add forward declaration for struct i2c_master_s

6e8edbd

Small fix for compilation errors without i2c bus support Signed-off-by: Jukka Laitinen <[email protected]>

Add SSRC airframes

a88e4b7

Add 4400_ssrc_fog_x, 4401_ssrc_fog_x_tmotor, 50005_ssrc_scout_mini_rover and 50006_ssrc_bunker_rover Add the airframes and the default parameters for communication between flight controller and mission computer Signed-off-by: Jukka Laitinen <[email protected]>

Set QGC remote address for docker container usage

52beeed

Signed-off-by: Jari Nippula <[email protected]>

SITL logging to file only

1c0f0f1

Logging to mavlink hangs the TCP connection between PX4 and Gazebo Signed-off-by: Jari Nippula <[email protected]>

Add ssrc_fog_x as SITL target

071c6fe

Signed-off-by: Jari Nippula <[email protected]>

Disable Multi EKF for 4400_ssrc_fog_x sitl

1e91adc

There is something wrong with publishing sensor_combined when Multi EKF is used Also the real drone doesn't use Multi-EKF Signed-off-by: Jukka Laitinen <[email protected]>

px_uploader: Sp2 header to MAVLINK_REBOOT command

38fd1bf

Tools/px_uploader.py: send reset command also via eth

c77087a

Signed-off-by: Jukka Laitinen <[email protected]>

px_uploader.py: Increase maximum timeout value for crc32 calculation

e891666

The uploader script calculates the crc over the maximum image size. With 32MB images it takes longer than 0.5s, so just wait for longer Signed-off-by: Jukka Laitinen <[email protected]>

add gazebo-data build

c9a2ce6

Use atomic<int> type for atomic bool on RISC-V

afb42b4

The atomic<bool> is not quaranteed to be lock-free, use int instead just in case. Signed-off-by: Jukka Laitinen <[email protected]>

Add pwm_esc driver

12aa750

Create a driver which gets PWM values from mixer and controls PWM via standard nuttx pwm interface Signed-off-by: Jukka Laitinen <[email protected]>

jlaitine added 2 commits November 23, 2023 16:02

Update pf crypto submodules

01ee597

Signed-off-by: Jukka Laitinen <[email protected]>

Add crypto tests

897ab52

Signed-off-by: Jukka Laitinen <[email protected]>

kjyrinki-unikie requested review from jnippula and jlaitine November 24, 2023 07:47

jlaitine reviewed Nov 24, 2023

View reviewed changes

jlaitine and others added 4 commits November 27, 2023 14:25

Update pfsoc crypto submodules

7c0c1af

Signed-off-by: Jukka Laitinen <[email protected]>

DP7417 C++ Implementation of Secure MAVLink proxy on device-side

b540b32

DP7417 Added Kcofig and code formatting for secure_mavlink_udp_proxy.cpp

3d5b68d

DP7417 Moved implementation into own submodule.

ba1ae0e

update proxy

157f4ff

Signed-off-by: Jukka Laitinen <[email protected]>

jlaitine force-pushed the DP-7417-secure-mavlink-udp-proxy-cxx branch from adb7632 to 157f4ff Compare November 28, 2023 08:07

kjyrinki-unikie and others added 4 commits November 29, 2023 17:47

DP7417 Updated submodules

46aceaa

DP7417 Updated secure_mavlink_udp_proxy submodule

771bcf2

update platforms/nuttx/NuttX/extern/pf_crypto

9d03327

saluki-v2: start secure mavlink instance and proxy

ebedb60

jnippula force-pushed the DP-7417-secure-mavlink-udp-proxy-cxx branch from e1f1ed4 to ebedb60 Compare November 30, 2023 08:40

jnippula added 7 commits November 30, 2023 10:41

clone_public update: skip secure mavlink

c10eeb1

Update secure_mavlink_udp_proxy

53cdf62

update pf_crypto

587fd51

update Saluki-v2

58a3673

Update nuttx

d98b35c

pf_crypto dma fix

be38a22

update Saluki-v2: IOB fix for kernel mode

071d32b

jnippula force-pushed the DP-7417-secure-mavlink-udp-proxy-cxx branch from 4fb9a06 to 071d32b Compare December 14, 2023 10:38

jlaitine force-pushed the main branch from fa62431 to 8daafb7 Compare November 18, 2024 07:17

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DP7417 C++ Implementation of Secure MAVLink proxy on device-side #563

DP7417 C++ Implementation of Secure MAVLink proxy on device-side #563

kjyrinki-unikie commented Nov 24, 2023

jlaitine commented Nov 24, 2023

jlaitine Nov 24, 2023

kjyrinki-unikie Nov 27, 2023

kjyrinki-unikie commented Nov 27, 2023

jlaitine commented Nov 28, 2023

jlaitine commented Nov 28, 2023

DP7417 C++ Implementation of Secure MAVLink proxy on device-side #563

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DP7417 C++ Implementation of Secure MAVLink proxy on device-side #563

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