From 127c17d6a77c31b5b1ac189fd935c6b19ee3cce4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Caruso?= <niccolo.caruso@skywarder.eu>
Date: Mon, 16 Dec 2024 08:31:01 +0100
Subject: [PATCH] [ARP] Ethernet spoofing for rocket messages
Now the Hub do take into consideration the messages as MAIN for spoofing.
If received from ethernet is treated as if received from the radio.
Also, the messages are also considered if older than 10seconds, to avoid discarding packets if the main has been reset.
---
src/Groundstation/Automated/Hub.cpp | 26 ++++++++++++++++++++++++++
src/Groundstation/Automated/Hub.h | 9 +++++++++
2 files changed, 35 insertions(+)
diff --git a/src/Groundstation/Automated/Hub.cpp b/src/Groundstation/Automated/Hub.cpp
index adc96f2c6..cb56f69e6 100644
--- a/src/Groundstation/Automated/Hub.cpp
+++ b/src/Groundstation/Automated/Hub.cpp
@@ -60,6 +60,7 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
sendNack(msg, 306);
}
+ // Message for ARP
if (msg.sysid == MAV_SYSID_ARP)
{
switch (msg.msgid)
@@ -239,6 +240,18 @@ void Hub::dispatchOutgoingMsg(const mavlink_message_t& msg)
}
}
}
+
+ // In case the message is spoofed from ethernet by another groundstation
+ if (msg.sysid == MAV_SYSID_MAIN)
+ {
+ TRACE(
+ "[info] Hub: A MAIN packet was received from ground packet (not "
+ "radio)\n");
+ /* The message received by ethernet (outgoing) in reality is not a
+ * command but the telemetry spoofed, therefore is then used as incoming
+ */
+ dispatchIncomingMsg(msg);
+ }
}
void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
@@ -255,6 +268,13 @@ void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
{
mavlink_rocket_flight_tm_t rocketTM;
mavlink_msg_rocket_flight_tm_decode(&msg, &rocketTM);
+ uint64_t timestamp = mavlink_msg_rocket_flight_tm_get_timestamp(&msg);
+ /* Messages older and within the discard interval are treated as old
+ * messages*/
+ if (timestamp <= lastFlightTMTimestamp &&
+ lastFlightTMTimestamp > timestamp + DISCARD_MSG_DELAY)
+ return;
+ lastFlightTMTimestamp = timestamp;
NASState nasState{
mavlink_msg_rocket_flight_tm_get_timestamp(&msg),
Eigen::Matrix<float, 13, 1>(
@@ -273,6 +293,12 @@ void Hub::dispatchIncomingMsg(const mavlink_message_t& msg)
{
mavlink_rocket_stats_tm_t rocketST;
mavlink_msg_rocket_stats_tm_decode(&msg, &rocketST);
+ /* Messages older and within the discard interval are treated as old
+ * messages*/
+ if (rocketST.timestamp <= lastStatsTMTimestamp &&
+ lastStatsTMTimestamp > rocketST.timestamp + DISCARD_MSG_DELAY)
+ return;
+ lastStatsTMTimestamp = rocketST.timestamp;
GPSData gpsState;
gpsState = getRocketOrigin();
diff --git a/src/Groundstation/Automated/Hub.h b/src/Groundstation/Automated/Hub.h
index 9130dd058..5453eac7c 100644
--- a/src/Groundstation/Automated/Hub.h
+++ b/src/Groundstation/Automated/Hub.h
@@ -42,6 +42,13 @@ class BoardStatus;
namespace Antennas
{
+/* This is used to avoid discarding messages in case the rocket timestamp is
+ * reset. Therefore if older than the discard msg delay, resets the messages
+ * last timestamp */
+static constexpr uint64_t DISCARD_MSG_DELAY =
+ 10 * 1000000; ///< Maximum time for which the message, if older is
+ ///< discarded. [micros]
+
/**
* @brief Central hub connecting all outgoing and ingoing modules.
*/
@@ -97,6 +104,8 @@ private:
miosix::FastMutex coordinatesMutex;
miosix::FastMutex nasStateMutex;
bool flagNasSet = false;
+ uint64_t lastFlightTMTimestamp;
+ uint64_t lastStatsTMTimestamp;
};
} // namespace Antennas
--
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