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Commit 52160d80 authored by Gus Grubba's avatar Gus Grubba
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MAVLink signing (WIP)

parent 2826dc72
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Showing with 157 additions and 31 deletions
v2.0 @ 1cc62dc7
Subproject commit 706c8aabcf8a06fe61ae12c9f23a6848edd53579
Subproject commit 1cc62dc73e8484e1c5d8554684ae393b7a1ff367
src/QGCApplication.cc
View file @ 52160d80
......@@ -168,6 +168,7 @@ QGCApplication::QGCApplication(int &argc, char* argv[], bool unitTesting)
, _bluetoothAvailable(false)
{
_app = this;
memset(&m_mavlink_status, 0, sizeof(m_mavlink_status));
// This prevents usage of QQuickWidget to fail since it doesn't support native widget siblings
#ifndef __android__
......
src/Settings/App.SettingsGroup.json
View file @ 52160d80
......@@ -162,5 +162,17 @@
"shortDescription": "Default firmware type for flashing",
"type": "uint32",
"defaultValue": 12
},
{
"name": "Mavlink2Signing",
"shortDescription": "Use MAVLink 2.0 Signing",
"type": "bool",
"defaultValue": false
},
{
"name": "Mavlink2SigningKey",
"shortDescription": "MAVLink 2.0 signing key",
"type": "string",
"defaultValue": ""
}
]
src/Settings/AppSettings.cc
View file @ 52160d80
......@@ -36,6 +36,8 @@ const char* AppSettings::autoLoadMissionsName = "AutoLoa
const char* AppSettings::mapboxTokenName = "MapboxToken";
const char* AppSettings::esriTokenName = "EsriToken";
const char* AppSettings::defaultFirmwareTypeName = "DefaultFirmwareType";
const char* AppSettings::mavlink2SigningName = "Mavlink2Signing";
const char* AppSettings::mavlink2SigningKeyName = "Mavlink2SigningKey";
const char* AppSettings::parameterFileExtension = "params";
const char* AppSettings::planFileExtension = "plan";
......@@ -54,26 +56,28 @@ const char* AppSettings::videoDirectory = "Video";
AppSettings::AppSettings(QObject* parent)
: SettingsGroup(appSettingsGroupName, QString() /* root settings group */, parent)
, _offlineEditingFirmwareTypeFact(NULL)
, _offlineEditingVehicleTypeFact(NULL)
, _offlineEditingCruiseSpeedFact(NULL)
, _offlineEditingHoverSpeedFact(NULL)
, _offlineEditingAscentSpeedFact(NULL)
, _offlineEditingDescentSpeedFact(NULL)
, _batteryPercentRemainingAnnounceFact(NULL)
, _defaultMissionItemAltitudeFact(NULL)
, _telemetrySaveFact(NULL)
, _telemetrySaveNotArmedFact(NULL)
, _audioMutedFact(NULL)
, _virtualJoystickFact(NULL)
, _appFontPointSizeFact(NULL)
, _indoorPaletteFact(NULL)
, _showLargeCompassFact(NULL)
, _savePathFact(NULL)
, _autoLoadMissionsFact(NULL)
, _mapboxTokenFact(NULL)
, _esriTokenFact(NULL)
, _defaultFirmwareTypeFact(NULL)
, _offlineEditingFirmwareTypeFact (NULL)
, _offlineEditingVehicleTypeFact (NULL)
, _offlineEditingCruiseSpeedFact (NULL)
, _offlineEditingHoverSpeedFact (NULL)
, _offlineEditingAscentSpeedFact (NULL)
, _offlineEditingDescentSpeedFact (NULL)
, _batteryPercentRemainingAnnounceFact (NULL)
, _defaultMissionItemAltitudeFact (NULL)
, _telemetrySaveFact (NULL)
, _telemetrySaveNotArmedFact (NULL)
, _audioMutedFact (NULL)
, _virtualJoystickFact (NULL)
, _appFontPointSizeFact (NULL)
, _indoorPaletteFact (NULL)
, _showLargeCompassFact (NULL)
, _savePathFact (NULL)
, _autoLoadMissionsFact (NULL)
, _mapboxTokenFact (NULL)
, _esriTokenFact (NULL)
, _defaultFirmwareTypeFact (NULL)
, _mavlink2Signing (NULL)
, _mavlink2SigningKey (NULL)
{
QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
qmlRegisterUncreatableType<AppSettings>("QGroundControl.SettingsManager", 1, 0, "AppSettings", "Reference only");
......@@ -388,3 +392,21 @@ Fact* AppSettings::defaultFirmwareType(void)
return _defaultFirmwareTypeFact;
}
Fact* AppSettings::mavlink2Signing(void)
{
if (!_mavlink2Signing) {
_mavlink2Signing = _createSettingsFact(mavlink2SigningName);
}
return _mavlink2Signing;
}
Fact* AppSettings::mavlink2SigningKey(void)
{
if (!_mavlink2SigningKey) {
_mavlink2SigningKey = _createSettingsFact(mavlink2SigningKeyName);
}
return _mavlink2SigningKey;
}
src/Settings/AppSettings.h
View file @ 52160d80
......@@ -40,6 +40,8 @@ public:
Q_PROPERTY(Fact* mapboxToken READ mapboxToken CONSTANT)
Q_PROPERTY(Fact* esriToken READ esriToken CONSTANT)
Q_PROPERTY(Fact* defaultFirmwareType READ defaultFirmwareType CONSTANT)
Q_PROPERTY(Fact* mavlink2Signing READ mavlink2Signing CONSTANT)
Q_PROPERTY(Fact* mavlink2SigningKey READ mavlink2SigningKey CONSTANT)
Q_PROPERTY(QString missionSavePath READ missionSavePath NOTIFY savePathsChanged)
Q_PROPERTY(QString parameterSavePath READ parameterSavePath NOTIFY savePathsChanged)
......@@ -74,6 +76,8 @@ public:
Fact* mapboxToken (void);
Fact* esriToken (void);
Fact* defaultFirmwareType (void);
Fact* mavlink2Signing (void);
Fact* mavlink2SigningKey (void);
QString missionSavePath (void);
QString parameterSavePath (void);
......@@ -106,6 +110,8 @@ public:
static const char* mapboxTokenName;
static const char* esriTokenName;
static const char* defaultFirmwareTypeName;
static const char* mavlink2SigningName;
static const char* mavlink2SigningKeyName;
// Application wide file extensions
static const char* parameterFileExtension;
......@@ -152,6 +158,8 @@ private:
SettingsFact* _mapboxTokenFact;
SettingsFact* _esriTokenFact;
SettingsFact* _defaultFirmwareTypeFact;
SettingsFact* _mavlink2Signing;
SettingsFact* _mavlink2SigningKey;
};
#endif
src/comm/LinkInterface.cc
View file @ 52160d80
......@@ -28,6 +28,7 @@ LinkInterface::LinkInterface(SharedLinkConfigurationPointer& config)
, _enableRateCollection(false)
, _decodedFirstMavlinkPacket(false)
{
memset(&signing, 0, sizeof(mavlink_signing_t));
_config->setLink(this);
// Initialize everything for the data rate calculation buffers.
......
src/comm/LinkInterface.h
View file @ 52160d80
......@@ -124,6 +124,9 @@ public:
bool connect(void);
bool disconnect(void);
/// Signing structure for mavlink 2 signing
mavlink_signing_t signing;
public slots:
/**
......
src/comm/MAVLinkProtocol.cc
View file @ 52160d80
......@@ -26,6 +26,7 @@
#include <QMetaType>
#include <QDir>
#include <QFileInfo>
#include <QCryptographicHash>
#include "MAVLinkProtocol.h"
#include "UASInterface.h"
......@@ -46,6 +47,16 @@ QGC_LOGGING_CATEGORY(MAVLinkProtocolLog, "MAVLinkProtocolLog")
const char* MAVLinkProtocol::_tempLogFileTemplate = "FlightDataXXXXXX"; ///< Template for temporary log file
const char* MAVLinkProtocol::_logFileExtension = "mavlink"; ///< Extension for log files
static mavlink_signing_streams_t signing_streams;
extern "C" {
static bool accept_unsigned_callback(const mavlink_status_t *status, uint32_t msgId)
{
Q_UNUSED(status);
return msgId == MAVLINK_MSG_ID_RADIO_STATUS;
}
}
/**
* The default constructor will create a new MAVLink object sending heartbeats at
* the MAVLINK_HEARTBEAT_DEFAULT_RATE to all connected links.
......@@ -67,6 +78,7 @@ MAVLinkProtocol::MAVLinkProtocol(QGCApplication* app, QGCToolbox* toolbox)
memset(&totalErrorCounter, 0, sizeof(totalErrorCounter));
memset(&currReceiveCounter, 0, sizeof(currReceiveCounter));
memset(&currLossCounter, 0, sizeof(currLossCounter));
memset(&signing_streams, 0, sizeof(signing_streams));
}
MAVLinkProtocol::~MAVLinkProtocol()
......@@ -81,6 +93,7 @@ void MAVLinkProtocol::setToolbox(QGCToolbox *toolbox)
_linkMgr = _toolbox->linkManager();
_multiVehicleManager = _toolbox->multiVehicleManager();
_appSettings = _toolbox->settingsManager()->appSettings();
qRegisterMetaType<mavlink_message_t>("mavlink_message_t");
......@@ -161,16 +174,17 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
// receiveMutex.lock();
mavlink_message_t message;
mavlink_status_t status;
int mavlinkChannel = link->mavlinkChannel();
// the channel mavlink status is needed in other to be able to parse the signed packages
mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
static int nonmavlinkCount = 0;
static bool checkedUserNonMavlink = false;
static bool warnedUserNonMavlink = false;
for (int position = 0; position < b.size(); position++) {
unsigned int decodeState = mavlink_parse_char(mavlinkChannel, (uint8_t)(b[position]), &message, &status);
unsigned int decodeState = mavlink_parse_char(mavlinkChannel, (uint8_t)(b[position]), &message, mavlinkStatus);
if (decodeState == 0 && !link->decodedFirstMavlinkPacket())
{
......@@ -194,10 +208,48 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
if (decodeState == 1)
{
if (!link->decodedFirstMavlinkPacket()) {
mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(mavlinkChannel);
if (!(mavlinkStatus->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) && (mavlinkStatus->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1)) {
qDebug() << "Switching outbound to mavlink 2.0 due to incoming mavlink 2.0 packet:" << mavlinkStatus << mavlinkChannel << mavlinkStatus->flags;
mavlinkStatus->flags &= ~MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
// Set all links to v2
// setVersion needs to be re-instated on merge
// setVersion(200);
// Setup mavlink 2 signing
//-- Check if signing is enabled
if (_appSettings->mavlink2Signing()->rawValue().toBool()) {
mavlink_setup_signing_t setupSigning;
//-- Get saved signature seed
QString key = _appSettings->mavlink2SigningKey()->rawValue().toString();
if(key.isEmpty()) {
qWarning() << "MAVLink signing key is empty";
}
setupSigning.target_system = message.sysid;
setupSigning.target_component = message.compid;
setupSigning.initial_timestamp = QDateTime(QDate(2015, 1, 1)).msecsTo(QDateTime::currentDateTimeUtc()) * 100;
memcpy(setupSigning.secret_key, QCryptographicHash::hash(key.toUtf8(), QCryptographicHash::Sha256).data(), 32);
mavlink_message_t msg;
mavlink_msg_setup_signing_encode(
getSystemId(),
getComponentId(),
&msg,
&setupSigning);
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
int len = mavlink_msg_to_send_buffer(buffer, &msg);
// Send twice in case of lossy connection
link->writeBytesSafe((const char*)buffer, len);
link->writeBytesSafe((const char*)buffer, len);
mavlink_signing_t& signing = link->signing;
memcpy(signing.secret_key, setupSigning.secret_key, 32);
signing.link_id = (uint8_t)mavlinkChannel;
signing.timestamp = setupSigning.initial_timestamp;
signing.flags = MAVLINK_SIGNING_FLAG_SIGN_OUTGOING;
signing.accept_unsigned_callback = accept_unsigned_callback;
mavlinkStatus->signing = &signing;
mavlinkStatus->signing_streams = &signing_streams;
}
}
link->setDecodedFirstMavlinkPacket(true);
}
......@@ -362,7 +414,7 @@ void MAVLinkProtocol::_startLogging(void)
}
#ifdef __mobile__
//-- Mobile build don't write to /tmp unless told to do so
if (!_app->toolbox()->settingsManager()->appSettings()->telemetrySave()->rawValue().toBool()) {
if (!_appSettings->telemetrySave()->rawValue().toBool()) {
return;
}
#endif
......@@ -390,8 +442,8 @@ void MAVLinkProtocol::_stopLogging(void)
{
if (_tempLogFile.isOpen()) {
if (_closeLogFile()) {
if ((_vehicleWasArmed || _app->toolbox()->settingsManager()->appSettings()->telemetrySaveNotArmed()->rawValue().toBool()) &&
_app->toolbox()->settingsManager()->appSettings()->telemetrySave()->rawValue().toBool()) {
if ((_vehicleWasArmed || _appSettings->telemetrySaveNotArmed()->rawValue().toBool()) &&
_appSettings->telemetrySave()->rawValue().toBool()) {
emit saveTelemetryLog(_tempLogFile.fileName());
} else {
QFile::remove(_tempLogFile.fileName());
......@@ -439,4 +491,3 @@ void MAVLinkProtocol::deleteTempLogFiles(void)
QFile::remove(fileInfo.filePath());
}
}
src/comm/MAVLinkProtocol.h
View file @ 52160d80
......@@ -28,6 +28,7 @@
class LinkManager;
class MultiVehicleManager;
class QGCApplication;
class AppSettings;
Q_DECLARE_LOGGING_CATEGORY(MAVLinkProtocolLog)
......@@ -180,6 +181,7 @@ private:
LinkManager* _linkMgr;
MultiVehicleManager* _multiVehicleManager;
AppSettings* _appSettings;
};
#endif // MAVLINKPROTOCOL_H_
src/comm/MockLink.cc
View file @ 52160d80
......@@ -860,7 +860,10 @@ void MockLink::_handleCommandLong(const mavlink_message_t& msg)
&commandAck,
request.command,
commandResult,
0);
0,
0, // int32_t result_param2
0, // uint8_t target_system
0); // uint8_t target_component
respondWithMavlinkMessage(commandAck);
}
......
src/ui/preferences/MavlinkSettings.qml
View file @ 52160d80
......@@ -14,11 +14,12 @@ import QtQuick.Controls.Styles 1.4
import QtQuick.Dialogs 1.2
import QGroundControl 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.Controls 1.0
import QGroundControl.ScreenTools 1.0
import QGroundControl.FactControls 1.0
import QGroundControl.FactSystem 1.0
import QGroundControl.MultiVehicleManager 1.0
import QGroundControl.Palette 1.0
import QGroundControl.ScreenTools 1.0
Rectangle {
id: __mavlinkRoot
......@@ -149,6 +150,28 @@ Rectangle {
QGroundControl.isVersionCheckEnabled = checked
}
}
//-----------------------------------------------------------------
//-- Mavlink 2 signing key
Row {
spacing: ScreenTools.defaultFontPixelWidth
FactCheckBox {
id: signingKeyCheckBox
fact: _mavlink2Signing
text: qsTr("MAVLink 2 Signing Key:")
width: _labelWidth
visible: _mavlink2Signing.visible
anchors.verticalCenter: parent.verticalCenter
property Fact _mavlink2Signing: QGroundControl.settingsManager.appSettings.mavlink2Signing
}
FactTextField {
id: signingKeyField
fact: _mavlink2SigningKey
enabled: signingKeyCheckBox.checked
visible: _mavlink2SigningKey.visible
anchors.verticalCenter: parent.verticalCenter
property Fact _mavlink2SigningKey: QGroundControl.settingsManager.appSettings.mavlink2SigningKey
}
}
}
}
//-----------------------------------------------------------------
......
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