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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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289 lines
8.3 KiB
C++
289 lines
8.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 Intel Corporation. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "arm_auth.h"
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#include <string.h>
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#include <unistd.h>
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#include <px4_defines.h>
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#include <px4_config.h>
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#include <systemlib/mavlink_log.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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static orb_advert_t handle_vehicle_command_pub;
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static orb_advert_t *mavlink_log_pub;
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static int command_ack_sub = -1;
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static param_t param_arm_parameters;
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static hrt_abstime auth_timeout;
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static enum {
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ARM_AUTH_IDLE = 0,
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ARM_AUTH_WAITING_AUTH,
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ARM_AUTH_WAITING_AUTH_WITH_ACK,
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ARM_AUTH_MISSION_APPROVED
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} state = ARM_AUTH_IDLE;
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struct packed_struct {
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uint8_t authorizer_system_id;
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union {
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uint16_t auth_method_arm_timeout_msec;
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uint16_t auth_method_two_arm_timeout_msec;
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} auth_method_param;
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uint8_t authentication_method;
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} arm_parameters;
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static uint8_t *system_id;
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static uint8_t _auth_method_arm_req_check();
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static uint8_t _auth_method_two_arm_check();
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static uint8_t (*arm_check_method[ARM_AUTH_METHOD_LAST])() = {
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_auth_method_arm_req_check,
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_auth_method_two_arm_check,
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};
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static void arm_auth_request_msg_send()
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{
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vehicle_command_s vcmd = {};
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vcmd.timestamp = hrt_absolute_time();
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vcmd.command = vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST;
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vcmd.target_system = arm_parameters.authorizer_system_id;
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if (handle_vehicle_command_pub == nullptr) {
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handle_vehicle_command_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
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} else {
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orb_publish(ORB_ID(vehicle_command), handle_vehicle_command_pub, &vcmd);
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}
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}
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static uint8_t _auth_method_arm_req_check()
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{
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switch (state) {
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case ARM_AUTH_IDLE:
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/* no authentication in process? handle bellow */
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break;
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case ARM_AUTH_MISSION_APPROVED:
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return vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
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default:
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return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
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}
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/* handling ARM_AUTH_IDLE */
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arm_auth_request_msg_send();
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hrt_abstime now = hrt_absolute_time();
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auth_timeout = now + (arm_parameters.auth_method_param.auth_method_arm_timeout_msec * 1000);
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state = ARM_AUTH_WAITING_AUTH;
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while (now < auth_timeout) {
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arm_auth_update(now);
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if (state != ARM_AUTH_WAITING_AUTH && state != ARM_AUTH_WAITING_AUTH_WITH_ACK) {
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break;
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}
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/* 0.5ms */
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px4_usleep(500);
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now = hrt_absolute_time();
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}
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switch (state) {
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case ARM_AUTH_WAITING_AUTH:
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case ARM_AUTH_WAITING_AUTH_WITH_ACK:
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state = ARM_AUTH_IDLE;
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mavlink_log_critical(mavlink_log_pub, "Arm auth: No response");
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break;
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default:
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break;
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}
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return state == ARM_AUTH_MISSION_APPROVED ?
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vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
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}
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static uint8_t _auth_method_two_arm_check()
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{
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switch (state) {
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case ARM_AUTH_IDLE:
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/* no authentication in process? handle bellow */
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break;
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case ARM_AUTH_MISSION_APPROVED:
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return vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
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case ARM_AUTH_WAITING_AUTH:
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case ARM_AUTH_WAITING_AUTH_WITH_ACK:
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return vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
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default:
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return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
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}
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/* handling ARM_AUTH_IDLE */
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arm_auth_request_msg_send();
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hrt_abstime now = hrt_absolute_time();
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auth_timeout = now + (arm_parameters.auth_method_param.auth_method_arm_timeout_msec * 1000);
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state = ARM_AUTH_WAITING_AUTH;
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mavlink_log_critical(mavlink_log_pub, "Arm auth: Requesting authorization...");
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return vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
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}
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uint8_t arm_auth_check()
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{
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if (arm_parameters.authentication_method < ARM_AUTH_METHOD_LAST) {
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return arm_check_method[arm_parameters.authentication_method]();
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}
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return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
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}
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void arm_auth_update(hrt_abstime now, bool param_update)
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{
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if (param_update) {
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param_get(param_arm_parameters, (int32_t *)&arm_parameters);
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}
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switch (state) {
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case ARM_AUTH_WAITING_AUTH:
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case ARM_AUTH_WAITING_AUTH_WITH_ACK:
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/* handle bellow */
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break;
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case ARM_AUTH_MISSION_APPROVED:
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if (now > auth_timeout) {
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state = ARM_AUTH_IDLE;
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}
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return;
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case ARM_AUTH_IDLE:
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default:
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return;
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}
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/*
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* handling ARM_AUTH_WAITING_AUTH, ARM_AUTH_WAITING_AUTH_WITH_ACK
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*/
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vehicle_command_ack_s command_ack;
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bool updated = false;
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orb_check(command_ack_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_command_ack), command_ack_sub, &command_ack);
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}
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if (updated
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&& command_ack.command == vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST
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&& command_ack.target_system == *system_id) {
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switch (command_ack.result) {
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case vehicle_command_ack_s::VEHICLE_RESULT_IN_PROGRESS:
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state = ARM_AUTH_WAITING_AUTH_WITH_ACK;
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break;
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case vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED:
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mavlink_log_critical(mavlink_log_pub,
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"Arm auth: Authorized for the next %u seconds",
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command_ack.result_param2);
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state = ARM_AUTH_MISSION_APPROVED;
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auth_timeout = now + (command_ack.result_param2 * 1000000);
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return;
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case vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED:
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mavlink_log_critical(mavlink_log_pub, "Arm auth: Temporarily rejected");
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state = ARM_AUTH_IDLE;
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return;
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case vehicle_command_ack_s::VEHICLE_RESULT_DENIED:
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default:
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switch (command_ack.result_param1) {
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case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_NONE:
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/* Authorizer will send reason to ground station */
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break;
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case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT:
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mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied, waypoint %i have a invalid value", command_ack.result_param2);
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break;
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case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_TIMEOUT:
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mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied by timeout in authorizer");
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break;
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case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE:
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mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied because airspace is in use");
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break;
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case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_BAD_WEATHER:
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mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied because of bad weather");
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break;
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case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_GENERIC:
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default:
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mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied");
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}
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state = ARM_AUTH_IDLE;
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return;
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}
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}
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if (now > auth_timeout) {
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mavlink_log_critical(mavlink_log_pub, "Arm auth: No response");
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state = ARM_AUTH_IDLE;
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}
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}
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void arm_auth_init(orb_advert_t *mav_log_pub, uint8_t *sys_id)
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{
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system_id = sys_id;
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param_arm_parameters = param_find("COM_ARM_AUTH");
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command_ack_sub = orb_subscribe(ORB_ID(vehicle_command_ack));
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mavlink_log_pub = mav_log_pub;
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}
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enum arm_auth_methods arm_auth_method_get()
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{
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return (enum arm_auth_methods) arm_parameters.authentication_method;
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}
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