| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "ArubaSensor.hpp" | ||
| 10 | |||
| 11 | #include "util/Time/TimeBase.hpp" | ||
| 12 | #include "util/Logger.hpp" | ||
| 13 | #include <libssh/libssh.h> | ||
| 14 | #include <regex> | ||
| 15 | #include <sstream> | ||
| 16 | |||
| 17 | #include "internal/NodeManager.hpp" | ||
| 18 | namespace nm = NAV::NodeManager; | ||
| 19 | #include "internal/FlowManager.hpp" | ||
| 20 | |||
| 21 | #include "NodeData/WiFi/WiFiObs.hpp" | ||
| 22 | |||
| 23 | 112 | NAV::ArubaSensor::ArubaSensor() | |
| 24 |
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896 | : Node(typeStatic()) |
| 25 | { | ||
| 26 | LOG_TRACE("{}: called", name); | ||
| 27 | |||
| 28 | 112 | _onlyRealTime = true; | |
| 29 | 112 | _hasConfig = true; | |
| 30 | 112 | _guiConfigDefaultWindowSize = { 710, 220 }; | |
| 31 | |||
| 32 |
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448 | nm::CreateOutputPin(this, "WiFiObs", Pin::Type::Flow, { NAV::WiFiObs::type() }); |
| 33 | 224 | } | |
| 34 | |||
| 35 | 224 | NAV::ArubaSensor::~ArubaSensor() | |
| 36 | { | ||
| 37 | LOG_TRACE("{}: called", nameId()); | ||
| 38 | 224 | } | |
| 39 | |||
| 40 | 224 | std::string NAV::ArubaSensor::typeStatic() | |
| 41 | { | ||
| 42 |
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448 | return "ArubaSensor"; |
| 43 | } | ||
| 44 | |||
| 45 | ✗ | std::string NAV::ArubaSensor::type() const | |
| 46 | { | ||
| 47 | ✗ | return typeStatic(); | |
| 48 | } | ||
| 49 | |||
| 50 | 112 | std::string NAV::ArubaSensor::category() | |
| 51 | { | ||
| 52 |
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224 | return "Data Provider"; |
| 53 | } | ||
| 54 | |||
| 55 | ✗ | void NAV::ArubaSensor::guiConfig() | |
| 56 | { | ||
| 57 | ✗ | if (ImGui::InputTextWithHint("SSH Host", "192.168.0.0", &_sshHost)) | |
| 58 | { | ||
| 59 | ✗ | LOG_DEBUG("{}: ssh host changed to {}", nameId(), _sshHost); | |
| 60 | ✗ | flow::ApplyChanges(); | |
| 61 | ✗ | doDeinitialize(); | |
| 62 | } | ||
| 63 | ✗ | if (ImGui::InputTextWithHint("SSH User", "admin", &_sshUser)) | |
| 64 | { | ||
| 65 | ✗ | LOG_DEBUG("{}: ssh admin changed to {}", nameId(), _sshUser); | |
| 66 | ✗ | flow::ApplyChanges(); | |
| 67 | ✗ | doDeinitialize(); | |
| 68 | } | ||
| 69 | ✗ | if (ImGui::InputText("SSH Password", &_sshPassword)) | |
| 70 | { | ||
| 71 | ✗ | LOG_DEBUG("{}: ssh password changed to {}", nameId(), _sshPassword); | |
| 72 | ✗ | flow::ApplyChanges(); | |
| 73 | ✗ | doDeinitialize(); | |
| 74 | } | ||
| 75 | ✗ | if (ImGui::InputText("SSH Host Keys", &_sshHostkeys)) | |
| 76 | { | ||
| 77 | ✗ | LOG_DEBUG("{}: ssh host keys changed to {}", nameId(), _sshHostkeys); | |
| 78 | ✗ | flow::ApplyChanges(); | |
| 79 | ✗ | doDeinitialize(); | |
| 80 | } | ||
| 81 | ✗ | if (ImGui::InputText("SSH Key Exchange", &_sshKeyExchange)) | |
| 82 | { | ||
| 83 | ✗ | LOG_DEBUG("{}: ssh key exchange changed to {}", nameId(), _sshKeyExchange); | |
| 84 | ✗ | flow::ApplyChanges(); | |
| 85 | ✗ | doDeinitialize(); | |
| 86 | } | ||
| 87 | ✗ | if (ImGui::InputText("SSH Publickey Accepted Types", &_sshPublickeyAcceptedTypes)) | |
| 88 | { | ||
| 89 | ✗ | LOG_DEBUG("{}: ssh publickey accepted types changed to {}", nameId(), _sshPublickeyAcceptedTypes); | |
| 90 | ✗ | flow::ApplyChanges(); | |
| 91 | ✗ | doDeinitialize(); | |
| 92 | } | ||
| 93 | ✗ | ImGui::Spacing(); // Add spacing here | |
| 94 | ✗ | ImGui::Separator(); // Add a horizontal line | |
| 95 | ✗ | if (ImGui::InputInt("Output interval [ms]", &_outputInterval)) | |
| 96 | { | ||
| 97 | ✗ | LOG_DEBUG("{}: output interval changed to {}", nameId(), _outputInterval); | |
| 98 | ✗ | flow::ApplyChanges(); | |
| 99 | } | ||
| 100 | ✗ | } | |
| 101 | |||
| 102 | ✗ | [[nodiscard]] json NAV::ArubaSensor::save() const | |
| 103 | { | ||
| 104 | LOG_TRACE("{}: called", nameId()); | ||
| 105 | |||
| 106 | ✗ | json j; | |
| 107 | |||
| 108 | ✗ | j["sshHost"] = _sshHost; | |
| 109 | ✗ | j["sshUser"] = _sshUser; | |
| 110 | ✗ | j["sshPassword"] = _sshPassword; | |
| 111 | ✗ | j["sshHostkeys"] = _sshHostkeys; | |
| 112 | ✗ | j["sshKeyExchange"] = _sshKeyExchange; | |
| 113 | ✗ | j["sshPublickeyAcceptedTypes"] = _sshPublickeyAcceptedTypes; | |
| 114 | ✗ | j["outputInterval"] = _outputInterval; | |
| 115 | |||
| 116 | ✗ | return j; | |
| 117 | ✗ | } | |
| 118 | |||
| 119 | ✗ | void NAV::ArubaSensor::restore(json const& j) | |
| 120 | { | ||
| 121 | LOG_TRACE("{}: called", nameId()); | ||
| 122 | |||
| 123 | ✗ | if (j.contains("sshHost")) | |
| 124 | { | ||
| 125 | ✗ | j.at("sshHost").get_to(_sshHost); | |
| 126 | } | ||
| 127 | ✗ | if (j.contains("sshUser")) | |
| 128 | { | ||
| 129 | ✗ | j.at("sshUser").get_to(_sshUser); | |
| 130 | } | ||
| 131 | ✗ | if (j.contains("sshPassword")) | |
| 132 | { | ||
| 133 | ✗ | j.at("sshPassword").get_to(_sshPassword); | |
| 134 | } | ||
| 135 | ✗ | if (j.contains("sshHostkeys")) | |
| 136 | { | ||
| 137 | ✗ | j.at("sshHostkeys").get_to(_sshHostkeys); | |
| 138 | } | ||
| 139 | ✗ | if (j.contains("sshKeyExchange")) | |
| 140 | { | ||
| 141 | ✗ | j.at("sshKeyExchange").get_to(_sshKeyExchange); | |
| 142 | } | ||
| 143 | ✗ | if (j.contains("sshPublickeyAcceptedTypes")) | |
| 144 | { | ||
| 145 | ✗ | j.at("sshPublickeyAcceptedTypes").get_to(_sshPublickeyAcceptedTypes); | |
| 146 | } | ||
| 147 | ✗ | if (j.contains("outputInterval")) | |
| 148 | { | ||
| 149 | ✗ | j.at("outputInterval").get_to(_outputInterval); | |
| 150 | } | ||
| 151 | ✗ | } | |
| 152 | |||
| 153 | ✗ | bool NAV::ArubaSensor::resetNode() | |
| 154 | { | ||
| 155 | ✗ | return true; | |
| 156 | } | ||
| 157 | |||
| 158 | ✗ | bool NAV::ArubaSensor::initialize() | |
| 159 | { | ||
| 160 | LOG_TRACE("{}: called", nameId()); | ||
| 161 | |||
| 162 | // SSH session | ||
| 163 | ✗ | _session = ssh_new(); | |
| 164 | ✗ | if (_session == nullptr) | |
| 165 | { | ||
| 166 | ✗ | LOG_INFO("{}: Failed to create SSH _session", nameId()); | |
| 167 | ✗ | return false; | |
| 168 | } | ||
| 169 | ✗ | LOG_DEBUG("{}: Successfully created SSH _session", nameId()); | |
| 170 | |||
| 171 | ✗ | ssh_options_set(_session, SSH_OPTIONS_HOST, "192.168.178.45"); | |
| 172 | ✗ | ssh_options_set(_session, SSH_OPTIONS_USER, "admin"); | |
| 173 | ✗ | ssh_options_set(_session, SSH_OPTIONS_HOSTKEYS, "ssh-rsa"); | |
| 174 | ✗ | ssh_options_set(_session, SSH_OPTIONS_KEY_EXCHANGE, "ecdh-sha2-nistp256"); | |
| 175 | ✗ | ssh_options_set(_session, SSH_OPTIONS_PUBLICKEY_ACCEPTED_TYPES, "ssh-rsa"); | |
| 176 | |||
| 177 | // connect | ||
| 178 | ✗ | if (ssh_connect(_session) != SSH_OK) | |
| 179 | { | ||
| 180 | ✗ | LOG_INFO("{}: Failed to connect to the router", nameId()); | |
| 181 | ✗ | ssh_free(_session); | |
| 182 | ✗ | return false; | |
| 183 | } | ||
| 184 | ✗ | LOG_DEBUG("{}: Successfully connected to the router", nameId()); | |
| 185 | |||
| 186 | // authenticate | ||
| 187 | ✗ | if (ssh_userauth_password(_session, nullptr, _sshPassword.c_str()) != SSH_AUTH_SUCCESS) | |
| 188 | { | ||
| 189 | ✗ | LOG_INFO("{}: Authentication failed", nameId()); | |
| 190 | ✗ | ssh_disconnect(_session); | |
| 191 | ✗ | ssh_free(_session); | |
| 192 | ✗ | return false; | |
| 193 | } | ||
| 194 | ✗ | LOG_DEBUG("{}: Authentication succeeded", nameId()); | |
| 195 | |||
| 196 | // channel | ||
| 197 | ✗ | _channel = ssh_channel_new(_session); | |
| 198 | ✗ | if (_channel == nullptr) | |
| 199 | { | ||
| 200 | ✗ | LOG_INFO("{}: Failed to create SSH channel", nameId()); | |
| 201 | ✗ | ssh_disconnect(_session); | |
| 202 | ✗ | ssh_free(_session); | |
| 203 | ✗ | return false; | |
| 204 | } | ||
| 205 | ✗ | LOG_DEBUG("{}: Successfully created SSH channel", nameId()); | |
| 206 | |||
| 207 | // open _session | ||
| 208 | ✗ | if (ssh_channel_open_session(_channel) != SSH_OK) | |
| 209 | { | ||
| 210 | ✗ | LOG_INFO("{}: Failed to open an SSH _session", nameId()); | |
| 211 | ✗ | ssh_channel_free(_channel); | |
| 212 | ✗ | ssh_disconnect(_session); | |
| 213 | ✗ | ssh_free(_session); | |
| 214 | ✗ | return false; | |
| 215 | } | ||
| 216 | ✗ | LOG_DEBUG("{}: Successfully opened an SSH _session", nameId()); | |
| 217 | |||
| 218 | // pty | ||
| 219 | ✗ | if (ssh_channel_request_pty(_channel) != SSH_OK) | |
| 220 | { | ||
| 221 | ✗ | LOG_INFO("{}: Failed to open pty", nameId()); | |
| 222 | ✗ | ssh_channel_free(_channel); | |
| 223 | ✗ | ssh_disconnect(_session); | |
| 224 | ✗ | ssh_free(_session); | |
| 225 | ✗ | return false; | |
| 226 | } | ||
| 227 | ✗ | LOG_DEBUG("{}: Successfully opened pty", nameId()); | |
| 228 | |||
| 229 | // shell | ||
| 230 | ✗ | if (ssh_channel_request_shell(_channel) != SSH_OK) | |
| 231 | { | ||
| 232 | ✗ | LOG_INFO("{}: Failed to open shell", nameId()); | |
| 233 | ✗ | ssh_channel_free(_channel); | |
| 234 | ✗ | ssh_disconnect(_session); | |
| 235 | ✗ | ssh_free(_session); | |
| 236 | ✗ | return false; | |
| 237 | } | ||
| 238 | ✗ | LOG_DEBUG("{}: Successfully opened shell", nameId()); | |
| 239 | |||
| 240 | ✗ | _timer.start(_outputInterval, readSensorDataThread, this); | |
| 241 | |||
| 242 | ✗ | return true; | |
| 243 | } | ||
| 244 | |||
| 245 | ✗ | void NAV::ArubaSensor::deinitialize() | |
| 246 | { | ||
| 247 | LOG_TRACE("{}: called", nameId()); | ||
| 248 | |||
| 249 | ✗ | if (!isInitialized()) | |
| 250 | { | ||
| 251 | ✗ | return; | |
| 252 | } | ||
| 253 | |||
| 254 | ✗ | ssh_channel_write(_channel, "exit\n", strlen("exit\n")); | |
| 255 | ✗ | ssh_channel_free(_channel); | |
| 256 | ✗ | ssh_disconnect(_session); | |
| 257 | ✗ | ssh_free(_session); | |
| 258 | |||
| 259 | ✗ | if (_timer.is_running()) | |
| 260 | { | ||
| 261 | ✗ | _timer.stop(); | |
| 262 | } | ||
| 263 | } | ||
| 264 | |||
| 265 | ✗ | void NAV::ArubaSensor::readSensorDataThread(void* userData) | |
| 266 | { | ||
| 267 | ✗ | auto* node = static_cast<ArubaSensor*>(userData); | |
| 268 | ✗ | auto obs = std::make_shared<WiFiObs>(); | |
| 269 | |||
| 270 | ✗ | std::array<char, 1024> buffer{}; | |
| 271 | ✗ | std::string receivedData; | |
| 272 | ✗ | size_t bytesRead = 0; | |
| 273 | // Send command to access point | ||
| 274 | ✗ | ssh_channel_write(node->_channel, "show ap range scanning-results\n", strlen("show ap range scanning-results\n")); | |
| 275 | // Read output | ||
| 276 | do { | ||
| 277 | ✗ | bytesRead = static_cast<size_t>(ssh_channel_read_timeout(node->_channel, buffer.data(), sizeof(buffer), 0, 10)); // timeout in ms | |
| 278 | ✗ | if (bytesRead > 0) | |
| 279 | { | ||
| 280 | ✗ | receivedData.append(buffer.data(), bytesRead); | |
| 281 | } | ||
| 282 | ✗ | } while (bytesRead > 0); | |
| 283 | // Send command to clear output | ||
| 284 | ✗ | ssh_channel_write(node->_channel, "clear range-scanning-result\n", strlen("clear range-scanning-result\n")); | |
| 285 | |||
| 286 | // Parse the received data | ||
| 287 | ✗ | std::istringstream iss(receivedData); | |
| 288 | ✗ | std::string line; | |
| 289 | |||
| 290 | ✗ | while (std::getline(iss, line) && line.find("Peer-bssid") == std::string::npos) {} // Skip lines until the header "Peer-bssid" is found | |
| 291 | |||
| 292 | // Skip the header lines | ||
| 293 | ✗ | std::getline(iss, line); | |
| 294 | ✗ | std::getline(iss, line); | |
| 295 | |||
| 296 | // MAC address validation | ||
| 297 | ✗ | std::regex macRegex("^([0-9A-Fa-f]{2}[:-]){5}([0-9A-Fa-f]{2})$"); | |
| 298 | |||
| 299 | ✗ | while (std::getline(iss, line) && !line.empty()) | |
| 300 | { | ||
| 301 | ✗ | std::istringstream lineStream(line); | |
| 302 | ✗ | std::string value; | |
| 303 | ✗ | std::string macAddress; | |
| 304 | ✗ | lineStream >> macAddress; | |
| 305 | |||
| 306 | ✗ | int rtt = 0; | |
| 307 | ✗ | int rssi = 0; | |
| 308 | ✗ | int stdValue = 0; | |
| 309 | |||
| 310 | ✗ | lineStream >> rtt >> rssi >> stdValue; | |
| 311 | |||
| 312 | ✗ | std::regex timeRegex(R"(\d{4}-\d{2}-\d{2})"); // Time format: YYYY-MM-DD | |
| 313 | ✗ | std::string timeStamp1; | |
| 314 | ✗ | std::string timeStamp2; | |
| 315 | ✗ | lineStream >> timeStamp1; | |
| 316 | ✗ | lineStream >> timeStamp2; | |
| 317 | ✗ | while (lineStream >> value) | |
| 318 | { | ||
| 319 | ✗ | if (std::regex_match(value, timeRegex)) // Check if the value is a time stamp | |
| 320 | { | ||
| 321 | ✗ | timeStamp1 = value; | |
| 322 | ✗ | break; | |
| 323 | } | ||
| 324 | } | ||
| 325 | ✗ | lineStream >> value; | |
| 326 | ✗ | timeStamp2 = value; | |
| 327 | ✗ | double measuredDistance = static_cast<double>(rtt) * 1e-9 / 2 * InsConst::C_AIR; | |
| 328 | ✗ | double measuredDistanceStd = static_cast<double>(stdValue) * 1e-9 / 2 * InsConst::C_AIR; | |
| 329 | ✗ | if (std::regex_match(macAddress, macRegex)) // Check if the MAC address is valid | |
| 330 | { | ||
| 331 | ✗ | InsTime_YMDHMS yearMonthDayHMS(std::stoi(timeStamp1.substr(0, 4)), std::stoi(timeStamp1.substr(5, 2)), std::stoi(timeStamp1.substr(8, 2)), std::stoi(timeStamp2.substr(0, 2)), std::stoi(timeStamp2.substr(3, 2)), std::stoi(timeStamp2.substr(6, 2))); | |
| 332 | ✗ | InsTime timeOfMeasurement(yearMonthDayHMS, UTC); | |
| 333 | ✗ | std::ranges::transform(macAddress, macAddress.begin(), ::toupper); // Convert to uppercase | |
| 334 | ✗ | obs->distance = measuredDistance; | |
| 335 | ✗ | obs->distanceStd = measuredDistanceStd; | |
| 336 | ✗ | obs->macAddress = macAddress; | |
| 337 | ✗ | obs->insTime = timeOfMeasurement; | |
| 338 | // obs->insTime = util::time::GetCurrentInsTime(); // if you want to use the instinct time instead | ||
| 339 | ✗ | node->invokeCallbacks(OUTPUT_PORT_INDEX_WIFI_OBS, obs); | |
| 340 | } | ||
| 341 | ✗ | } | |
| 342 | ✗ | } | |
| 343 |