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Improve logging in OSNMA receiver

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* substitute std::cout with google log outputs, blend out some couts
* add check that the final time matches the Kroot time during tesla key verification
* introduce variable 'd_validated_key'
This commit is contained in:
cesaaargm 2024-05-06 17:46:33 +02:00
parent e13fc39214
commit 359631b534
2 changed files with 112 additions and 85 deletions
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196
src/core/libs/osnma_msg_receiver.cc
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@ -89,7 +89,7 @@ void osnma_msg_receiver::msg_handler_osnma(const pmt::pmt_t& msg)
{ {
const auto nma_msg = wht::any_cast<std::shared_ptr<OSNMA_msg>>(pmt::any_ref(msg)); const auto nma_msg = wht::any_cast<std::shared_ptr<OSNMA_msg>>(pmt::any_ref(msg));
const auto sat = Gnss_Satellite(std::string("Galileo"), nma_msg->PRN); const auto sat = Gnss_Satellite(std::string("Galileo"), nma_msg->PRN);
std::cout << "Galileo OSNMA: Subframe received starting at " LOG(INFO) << "Galileo OSNMA: Subframe received starting at "
<< "WN=" << "WN="
<< nma_msg->WN_sf0 << nma_msg->WN_sf0
<< ", TOW=" << ", TOW="
@ -126,6 +126,8 @@ void osnma_msg_receiver::msg_handler_osnma(const pmt::pmt_t& msg)
void osnma_msg_receiver::process_osnma_message(const std::shared_ptr<OSNMA_msg>& osnma_msg) void osnma_msg_receiver::process_osnma_message(const std::shared_ptr<OSNMA_msg>& osnma_msg)
{ {
read_nma_header(osnma_msg->hkroot[0]); read_nma_header(osnma_msg->hkroot[0]);
if(d_osnma_data.d_nma_header.nmas == 0 || d_osnma_data.d_nma_header.nmas == 3 /*&& d_kroot_verified*/)
return;
read_dsm_header(osnma_msg->hkroot[1]); read_dsm_header(osnma_msg->hkroot[1]);
read_dsm_block(osnma_msg); read_dsm_block(osnma_msg);
process_dsm_block(osnma_msg); // will process dsm block if received a complete one, then will call mack processing upon re-setting the dsm block to 0 process_dsm_block(osnma_msg); // will process dsm block if received a complete one, then will call mack processing upon re-setting the dsm block to 0
@ -149,7 +151,6 @@ void osnma_msg_receiver::read_nma_header(uint8_t nma_header)
d_osnma_data.d_nma_header.cid = d_dsm_reader->get_cid(nma_header); d_osnma_data.d_nma_header.cid = d_dsm_reader->get_cid(nma_header);
d_osnma_data.d_nma_header.cpks = d_dsm_reader->get_cpks(nma_header); d_osnma_data.d_nma_header.cpks = d_dsm_reader->get_cpks(nma_header);
d_osnma_data.d_nma_header.reserved = d_dsm_reader->get_nma_header_reserved(nma_header); d_osnma_data.d_nma_header.reserved = d_dsm_reader->get_nma_header_reserved(nma_header);
std::cout<< "NMAS: " << static_cast<int>(d_osnma_data.d_nma_header.nmas) << " CPKS: " << static_cast<int>(d_osnma_data.d_nma_header.cpks) << std::endl;
} }
@ -162,9 +163,9 @@ void osnma_msg_receiver::read_dsm_header(uint8_t dsm_header)
{ {
d_osnma_data.d_dsm_header.dsm_id = d_dsm_reader->get_dsm_id(dsm_header); d_osnma_data.d_dsm_header.dsm_id = d_dsm_reader->get_dsm_id(dsm_header);
d_osnma_data.d_dsm_header.dsm_block_id = d_dsm_reader->get_dsm_block_id(dsm_header); // BID d_osnma_data.d_dsm_header.dsm_block_id = d_dsm_reader->get_dsm_block_id(dsm_header); // BID
LOG(WARNING) << "OSNMA: DSM_ID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_id); LOG(INFO) << "OSNMA: DSM_ID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_id);
LOG(WARNING) << "OSNMA: DSM_BID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_block_id); LOG(INFO) << "OSNMA: DSM_BID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_block_id);
std::cout << "Galileo OSNMA: Received block " << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_block_id) LOG(INFO)<< "Galileo OSNMA: Received block " << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_block_id)
<< " from DSM_ID " << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_id) << " from DSM_ID " << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_id)
<< std::endl; << std::endl;
} }
@ -174,7 +175,7 @@ void osnma_msg_receiver::read_dsm_header(uint8_t dsm_header)
* */ * */
void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_msg) void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_msg)
{ {
// Fill d_dsm_message // Fill d_dsm_message. dsm_block_id provides the offset within the dsm message.
size_t index = 0; size_t index = 0;
for (const auto* it = osnma_msg->hkroot.cbegin() + 2; it != osnma_msg->hkroot.cend(); ++it) for (const auto* it = osnma_msg->hkroot.cbegin() + 2; it != osnma_msg->hkroot.cend(); ++it)
{ {
@ -207,7 +208,7 @@ void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_
} }
d_number_of_blocks[d_osnma_data.d_dsm_header.dsm_id] = number_of_blocks; d_number_of_blocks[d_osnma_data.d_dsm_header.dsm_id] = number_of_blocks;
LOG(WARNING) << "OSNMA: number_of_blocks=" << static_cast<uint32_t>(number_of_blocks); LOG(INFO) << "OSNMA: number_of_blocks=" << static_cast<uint32_t>(number_of_blocks);
if (number_of_blocks == 0) if (number_of_blocks == 0)
{ {
// Something is wrong, start over // Something is wrong, start over
@ -219,18 +220,18 @@ void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_
// Annotate bid // Annotate bid
d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id][d_osnma_data.d_dsm_header.dsm_block_id] = 1; d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id][d_osnma_data.d_dsm_header.dsm_block_id] = 1;
// TODO FIXME Galileo OSNMA: Available blocks for DSM_ID 6: [ - - - - - X - - - - - - - - - - ] in the first received Sf.. size 16? // TODO FIXME Galileo OSNMA: Available blocks for DSM_ID 6: [ - - - - - X - - - - - - - - - - ] in the first received Sf.. size 16?
std::cout << "Galileo OSNMA: Available blocks for DSM_ID " << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_id) << ": [ "; LOG(INFO) << "Galileo OSNMA: Available blocks for DSM_ID " << static_cast<uint32_t>(d_osnma_data.d_dsm_header.dsm_id) << ": [ ";
if (d_number_of_blocks[d_osnma_data.d_dsm_header.dsm_id] == 0) if (d_number_of_blocks[d_osnma_data.d_dsm_header.dsm_id] == 0) // block 0 not received yet
{ {
for (auto id_received : d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id]) for (auto id_received : d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id])
{ {
if (id_received == 0) if (id_received == 0)
{ {
std::cout << "- "; LOG(INFO) << "- ";
} }
else else
{ {
std::cout << "X "; LOG(INFO) << "X ";
} }
} }
} }
@ -240,15 +241,15 @@ void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_
{ {
if (d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id][k] == 0) if (d_dsm_id_received[d_osnma_data.d_dsm_header.dsm_id][k] == 0)
{ {
std::cout << "- "; LOG(INFO) << "- ";
} }
else else
{ {
std::cout << "X "; LOG(INFO) << "X ";
} }
} }
} }
std::cout << "]" << std::endl; // TODO update documentation LOG(INFO) << "]" << std::endl;
} }
/** /**
@ -262,7 +263,7 @@ void osnma_msg_receiver::local_time_verification(const std::shared_ptr<OSNMA_msg
d_GST_SIS = (osnma_msg->WN_sf0 & 0x00000FFF) << 20 | (osnma_msg->TOW_sf0 & 0x000FFFFF); d_GST_SIS = (osnma_msg->WN_sf0 & 0x00000FFF) << 20 | (osnma_msg->TOW_sf0 & 0x000FFFFF);
//std::cout << "Galileo OSNMA: d_GST_SIS: " << d_GST_SIS << std::endl; //std::cout << "Galileo OSNMA: d_GST_SIS: " << d_GST_SIS << std::endl;
//d_GST_0 = d_osnma_data.d_dsm_kroot_message.towh_k + 604800 * d_osnma_data.d_dsm_kroot_message.wn_k + 30; //d_GST_0 = d_osnma_data.d_dsm_kroot_message.towh_k + 604800 * d_osnma_data.d_dsm_kroot_message.wn_k + 30;
d_GST_0 = ((d_osnma_data.d_dsm_kroot_message.wn_k & 0x00000FFF) << 20 | (d_osnma_data.d_dsm_kroot_message.towh_k & 0x000FFFFF)) + 30; // applicable time (GST_Kroot + 30) d_GST_0 = ((d_osnma_data.d_dsm_kroot_message.wn_k & 0x00000FFF) << 20 | (d_osnma_data.d_dsm_kroot_message.towh_k * 3600 & 0x000FFFFF)); // applicable time (GST_Kroot + 30)
//d_GST_0 = d_osnma_data.d_dsm_kroot_message.towh_k + 604800 * d_osnma_data.d_dsm_kroot_message.wn_k + 30; //d_GST_0 = d_osnma_data.d_dsm_kroot_message.towh_k + 604800 * d_osnma_data.d_dsm_kroot_message.wn_k + 30;
// TODO store list of SVs sending OSNMA and if received ID matches one stored, then just increment time 30s for that ID. // TODO store list of SVs sending OSNMA and if received ID matches one stored, then just increment time 30s for that ID.
if(d_receiver_time != 0) if(d_receiver_time != 0)
@ -284,8 +285,8 @@ void osnma_msg_receiver::local_time_verification(const std::shared_ptr<OSNMA_msg
{ {
d_tags_allowed = tags_to_verify::all; d_tags_allowed = tags_to_verify::all;
d_tags_to_verify = {0,4,12}; d_tags_to_verify = {0,4,12};
std::cout << "Galileo OSNMA: time constraint OK \n"; LOG(INFO) << "Galileo OSNMA: time constraint OK (" << delta_T << "\n";
std::cout << "Galileo OSNMA: d_receiver_time: " << d_receiver_time << " d_GST_SIS: " << d_GST_SIS << "\n"; LOG(INFO) << "Galileo OSNMA: d_receiver_time: " << d_receiver_time << " d_GST_SIS: " << d_GST_SIS << "\n";
//std::cout << "( |local_t - GST_SIS| < T_L ) [ |" << static_cast<int>(d_receiver_time - d_GST_SIS)<< " | < " << static_cast<int>(d_T_L) << " ]" << std::endl; //std::cout << "( |local_t - GST_SIS| < T_L ) [ |" << static_cast<int>(d_receiver_time - d_GST_SIS)<< " | < " << static_cast<int>(d_T_L) << " ]" << std::endl;
// TODO set flag to false to avoid processing dsm and MACK messages // TODO set flag to false to avoid processing dsm and MACK messages
@ -294,18 +295,18 @@ void osnma_msg_receiver::local_time_verification(const std::shared_ptr<OSNMA_msg
{ {
d_tags_allowed = tags_to_verify::slow_eph; d_tags_allowed = tags_to_verify::slow_eph;
d_tags_to_verify = {12}; d_tags_to_verify = {12};
std::cout << "Galileo OSNMA: time constraint allows only slow MACs to be verified\n"; LOG(WARNING) << "Galileo OSNMA: time constraint allows only slow MACs to be verified\n";
std::cout << "Galileo OSNMA: d_receiver_time: " << d_receiver_time << " d_GST_SIS: " << d_GST_SIS << "\n"; LOG(WARNING) << "Galileo OSNMA: d_receiver_time: " << d_receiver_time << " d_GST_SIS: " << d_GST_SIS << "\n";
std::cout << "( |local_t - GST_SIS| < T_L ) [ |" << static_cast<int>(d_receiver_time - d_GST_SIS) << " | < " << static_cast<int>(d_T_L) << " ]" << std::endl; LOG(WARNING)<< "( |local_t - GST_SIS| < T_L ) [ |" << static_cast<int>(d_receiver_time - d_GST_SIS) << " | < " << static_cast<int>(d_T_L) << " ]" << std::endl;
} }
else else
{ {
d_tags_allowed = tags_to_verify::none; d_tags_allowed = tags_to_verify::none;
d_tags_to_verify = {}; d_tags_to_verify = {};
std::cerr << "Galileo OSNMA: time constraint violation\n"; LOG(ERROR) << "Galileo OSNMA: time constraint violation\n";
std::cout << "Galileo OSNMA: d_receiver_time: " << d_receiver_time << " d_GST_SIS: " << d_GST_SIS << "\n"; LOG(ERROR) << "Galileo OSNMA: d_receiver_time: " << d_receiver_time << " d_GST_SIS: " << d_GST_SIS << "\n";
std::cout << "( |local_t - GST_SIS| < T_L ) [ |" << static_cast<int>(d_receiver_time - d_GST_SIS) << " | < " << static_cast<int>(d_T_L) << " ]" << std::endl; LOG(ERROR) << "( |local_t - GST_SIS| < T_L ) [ |" << static_cast<int>(d_receiver_time - d_GST_SIS) << " | < " << static_cast<int>(d_T_L) << " ]" << std::endl;
} }
@ -353,7 +354,7 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
if (d_osnma_data.d_dsm_header.dsm_id < 12) if (d_osnma_data.d_dsm_header.dsm_id < 12)
{ {
// Parse Kroot message // Parse Kroot message
LOG(WARNING) << "OSNMA: DSM-KROOT message received."; LOG(INFO) << "OSNMA: DSM-KROOT message received.";
d_osnma_data.d_dsm_kroot_message.nb_dk = d_dsm_reader->get_number_blocks_index(dsm_msg[0]); d_osnma_data.d_dsm_kroot_message.nb_dk = d_dsm_reader->get_number_blocks_index(dsm_msg[0]);
d_osnma_data.d_dsm_kroot_message.pkid = d_dsm_reader->get_pkid(dsm_msg); d_osnma_data.d_dsm_kroot_message.pkid = d_dsm_reader->get_pkid(dsm_msg);
d_osnma_data.d_dsm_kroot_message.cidkr = d_dsm_reader->get_cidkr(dsm_msg); d_osnma_data.d_dsm_kroot_message.cidkr = d_dsm_reader->get_cidkr(dsm_msg);
@ -397,7 +398,7 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
const uint16_t check_l_dk = 104 * std::ceil(1.0 + static_cast<float>((l_lk_bytes * 8.0) + l_ds_bits) / 104.0); const uint16_t check_l_dk = 104 * std::ceil(1.0 + static_cast<float>((l_lk_bytes * 8.0) + l_ds_bits) / 104.0);
if (l_dk_bits != check_l_dk) if (l_dk_bits != check_l_dk)
{ {
std::cout << "Galileo OSNMA: Failed length reading" << std::endl; LOG(ERROR) << "Galileo OSNMA: Failed length reading" << std::endl;
} }
else else
{ {
@ -439,8 +440,8 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
// Check that the padding bits received match the computed values // Check that the padding bits received match the computed values
if (d_osnma_data.d_dsm_kroot_message.p_dk == p_dk_truncated) if (d_osnma_data.d_dsm_kroot_message.p_dk == p_dk_truncated)
{ {
LOG(WARNING) << "Galileo OSNMA: DSM-KROOT message received ok."; LOG(INFO) << "Galileo OSNMA: DSM-KROOT message received ok.";
std::cout << "Galileo OSNMA: KROOT with CID=" << static_cast<uint32_t>(d_osnma_data.d_nma_header.cid) LOG(INFO) << "Galileo OSNMA: KROOT with CID=" << static_cast<uint32_t>(d_osnma_data.d_nma_header.cid)
<< ", PKID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.pkid) << ", PKID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.pkid)
<< ", WN=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.wn_k) << ", WN=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.wn_k)
<< ", TOW=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.towh_k) * 3600 << std::endl; << ", TOW=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.towh_k) * 3600 << std::endl;
@ -448,20 +449,22 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
d_kroot_verified = d_crypto->verify_signature(message, d_osnma_data.d_dsm_kroot_message.ds); d_kroot_verified = d_crypto->verify_signature(message, d_osnma_data.d_dsm_kroot_message.ds);
if (d_kroot_verified) if (d_kroot_verified)
{ {
std::cout << "Galileo OSNMA: KROOT authentication successful !" << std::endl; LOG(INFO) << "Galileo OSNMA: KROOT authentication successful !" << std::endl;
std::cout << "Galileo OSNMA: NMA Status is " << d_dsm_reader->get_nmas_status(d_osnma_data.d_nma_header.nmas) << ", " LOG(INFO) << "Galileo OSNMA: KROOT authentication successful !" << std::endl;
LOG(INFO) << "Galileo OSNMA: NMA Status is " << d_dsm_reader->get_nmas_status(d_osnma_data.d_nma_header.nmas) << ", "
<< "Chain in force is " << static_cast<uint32_t>(d_osnma_data.d_nma_header.cid) << ", " << "Chain in force is " << static_cast<uint32_t>(d_osnma_data.d_nma_header.cid) << ", "
<< "Chain and Public Key Status is " << d_dsm_reader->get_cpks_status(d_osnma_data.d_nma_header.cpks) << std::endl; << "Chain and Public Key Status is " << d_dsm_reader->get_cpks_status(d_osnma_data.d_nma_header.cpks) << std::endl;
} }
else else
{ {
std::cout << " Galileo OSNMA: KROOT authentication failed. " << std::endl; LOG(ERROR) << "Galileo OSNMA: KROOT authentication failed. " << std::endl;
LOG(INFO) << "Galileo OSNMA: KROOT authentication failed. " << std::endl;
} }
} }
else else
{ {
std::cout << "Galileo OSNMA: Error computing padding bits." << std::endl; LOG(ERROR) << "Galileo OSNMA: Error computing padding bits." << std::endl;
// TODO - here will have to decide if perform the verification or not. Since this step is not mandatory, one could as well have skipped it. // TODO - here will have to decide if perform the verification or not. Since this step is not mandatory, one could as well have skipped it.
} }
} }
@ -506,7 +509,7 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
uint32_t check_l_dp = 104 * std::ceil(static_cast<float>(1040.0 + l_npk * 8.0) / 104.0); uint32_t check_l_dp = 104 * std::ceil(static_cast<float>(1040.0 + l_npk * 8.0) / 104.0);
if (l_dp != check_l_dp) if (l_dp != check_l_dp)
{ {
std::cout << "Galileo OSNMA: Failed length reading" << std::endl; LOG(ERROR) << "Galileo OSNMA: Failed length reading" << std::endl;
} }
else else
{ {
@ -516,7 +519,7 @@ void osnma_msg_receiver::process_dsm_message(const std::vector<uint8_t>& dsm_msg
d_osnma_data.d_dsm_pkr_message.p_dp[k] = dsm_msg[l_dp - l_pd + k]; d_osnma_data.d_dsm_pkr_message.p_dp[k] = dsm_msg[l_dp - l_pd + k];
} }
// std::vector<uint8_t> mi; // (NPKT + NPKID + NPK) // std::vector<uint8_t> mi; // (NPKT + NPKID + NPK)
std::cout << "Galileo OSNMA: DSM-PKR with CID=" << static_cast<uint32_t>(d_osnma_data.d_nma_header.cid) LOG(INFO) << "Galileo OSNMA: DSM-PKR with CID=" << static_cast<uint32_t>(d_osnma_data.d_nma_header.cid)
<< ", PKID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.pkid) << ", PKID=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.pkid)
<< ", WN=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.wn_k) << ", WN=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.wn_k)
<< ", TOW=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.towh_k) * 3600 << ", TOW=" << static_cast<uint32_t>(d_osnma_data.d_dsm_kroot_message.towh_k) * 3600
@ -564,8 +567,11 @@ void osnma_msg_receiver::read_and_process_mack_block(const std::shared_ptr<OSNMA
// update the structure with newly coming NavData // update the structure with newly coming NavData
d_osnma_data.d_nav_data.init(osnma_msg); // TODO refactor it d_osnma_data.d_nav_data.init(osnma_msg); // TODO refactor it
add_satellite_data(d_osnma_data.d_nav_data.PRNa,d_osnma_data.d_nav_data.TOW_sf0,d_osnma_data.d_nav_data); // TODO change place add_satellite_data(d_osnma_data.d_nav_data.PRNa,d_osnma_data.d_nav_data.TOW_sf0,d_osnma_data.d_nav_data); // TODO change place
// DEBUG PARSING MACK MESSAGES WHEN DSM-KROOT NOT YET AVAILABLE
if (d_osnma_data.d_dsm_kroot_message.ts != 0 /*&& is_next_subframe() && time_constraint && */) // C: 4 ts < ts < 10 // d_osnma_data.d_dsm_kroot_message.ts = 9;
// d_osnma_data.d_dsm_kroot_message.ks = 4;
// d_osnma_data.d_dsm_kroot_message.kroot = std::vector<uint8_t>(16);
if (d_kroot_verified || d_tesla_key_verified || d_osnma_data.d_dsm_kroot_message.ts != 0 /*mack parser needs to know the tag size, otherwise cannot parse mack messages*/) // C: 4 ts < ts < 10
{ // TODO - correct? with this, MACK would not be processed unless a Kroot is available -- no, if TK available MACK sould go on, this has to change in future { // TODO - correct? with this, MACK would not be processed unless a Kroot is available -- no, if TK available MACK sould go on, this has to change in future
read_mack_header(); read_mack_header();
read_mack_body(); read_mack_body();
@ -838,14 +844,15 @@ void osnma_msg_receiver::read_mack_body()
*/ */
void osnma_msg_receiver::process_mack_message() void osnma_msg_receiver::process_mack_message()
{ {
d_flag_debug = true;
if(d_kroot_verified == false && d_tesla_key_verified == false) if(d_kroot_verified == false && d_tesla_key_verified == false)
{ {
std::cerr << "Galileo OSNMA: MACK cannot be processed. "<< ", " LOG(WARNING) << "Galileo OSNMA: MACK cannot be processed. "<< ", "
<< "No Kroot nor TESLA key available" << std::endl; << "No Kroot nor TESLA key available" << std::endl;
if(!d_flag_debug) if(!d_flag_debug){
return; // early return, cannot proceed further without one of the two verified. this equals to having Kroot but no TESLa key yet. return; // early return, cannot proceed further without one of the two verified. this equals to having Kroot but no TESLa key yet.
}
else
LOG(WARNING) << "But it will be processed for debugging purposes.";
} }
// verify tesla key and add it to the container of verified keys if successful // verify tesla key and add it to the container of verified keys if successful
bool retV = verify_tesla_key(d_osnma_data.d_mack_message.key, d_osnma_data.d_nav_data.TOW_sf0); bool retV = verify_tesla_key(d_osnma_data.d_mack_message.key, d_osnma_data.d_nav_data.TOW_sf0);
@ -863,6 +870,7 @@ void osnma_msg_receiver::process_mack_message()
{ {
Tag t(tag, mack->TOW, mack->PRNa); Tag t(tag, mack->TOW, mack->PRNa);
d_tags_awaiting_verify.insert(std::pair(mack->TOW, t)); d_tags_awaiting_verify.insert(std::pair(mack->TOW, t));
LOG(WARNING) << "Galileo OSNMA: MACSEQ verification :: SUCCESS for Mack at TOW=" << mack->TOW << ", PRN" << mack->PRNa;
} }
mack = d_macks_awaiting_MACSEQ_verification.erase(mack); mack = d_macks_awaiting_MACSEQ_verification.erase(mack);
} }
@ -892,7 +900,7 @@ void osnma_msg_receiver::process_mack_message()
if(ret) if(ret)
{ {
it.second.status = Tag::SUCCESS; it.second.status = Tag::SUCCESS;
std::cout << "Galileo OSNMA: Tag verification failure for tag Id= " LOG(WARNING) << "Galileo OSNMA: Tag verification :: SUCCESS for tag Id= "
<< it.second.tag_id << it.second.tag_id
<< ", TOW=" << ", TOW="
<< it.second.TOW << it.second.TOW
@ -909,7 +917,7 @@ void osnma_msg_receiver::process_mack_message()
else else
{ {
it.second.status = Tag::FAIL; it.second.status = Tag::FAIL;
std::cout << "Galileo OSNMA: Tag verification failure for tag Id= " LOG(ERROR) << "Galileo OSNMA: Tag verification failure for tag Id= "
<< it.second.tag_id << it.second.tag_id
<< ", TOW=" << ", TOW="
<< it.second.TOW << it.second.TOW
@ -921,7 +929,7 @@ void osnma_msg_receiver::process_mack_message()
} }
} }
else { else {
std::cout << "Galileo OSNMA: Tag verification skipped for Tag Id= " LOG(INFO) << "Galileo OSNMA: Tag verification skipped for Tag Id= "
<< it.second.tag_id << it.second.tag_id
<< ", TOW=" << ", TOW="
<< it.second.TOW << it.second.TOW
@ -929,7 +937,7 @@ void osnma_msg_receiver::process_mack_message()
<< static_cast<unsigned>(it.second.ADKD) << static_cast<unsigned>(it.second.ADKD)
<< ", from satellite " << ", from satellite "
<< it.second.PRNa << it.second.PRNa
<< std::endl; << " due to missing key or navData. ";
} }
} }
@ -973,12 +981,12 @@ bool osnma_msg_receiver::verify_dsm_pkr(DSM_PKR_message message)
if(x_4 == d_crypto->getMerkleRoot()) if(x_4 == d_crypto->getMerkleRoot())
{ {
std::cout << "Galileo OSNMA: DSM-PKR verified successfully! " << std::endl; LOG(INFO) << "Galileo OSNMA: DSM-PKR verified successfully! " << std::endl;
return true; return true;
} }
else else
{ {
std::cout << "Galileo OSNMA: DSM-PKR verification unsuccessful !" << std::endl; LOG(INFO) << "Galileo OSNMA: DSM-PKR verification unsuccessful !" << std::endl;
return false; return false;
} }
} }
@ -1075,7 +1083,7 @@ void osnma_msg_receiver::add_satellite_data(uint32_t SV_ID, uint32_t TOW, const
} }
//d_osnma_data[TOW] = crypto; // crypto //d_osnma_data[TOW] = crypto; // crypto
d_satellite_nav_data[SV_ID][TOW] = data; // nav d_satellite_nav_data[SV_ID][TOW] = data; // nav
std::cout << "Galileo OSNMA: added element, size is " << d_satellite_nav_data[SV_ID].size() << std::endl; //std::cout << "Galileo OSNMA: added element, size is " << d_satellite_nav_data[SV_ID].size() << std::endl;
} }
void osnma_msg_receiver::display_data() void osnma_msg_receiver::display_data()
{ {
@ -1096,42 +1104,40 @@ void osnma_msg_receiver::display_data()
bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key, uint32_t TOW) bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key, uint32_t TOW)
{ {
uint32_t num_of_hashes_needed; uint32_t num_of_hashes_needed;
uint32_t GST_SFi = d_receiver_time - 30; uint32_t GST_SFi = d_receiver_time - 30; // GST of target key is to be used.
std::vector<uint8_t> hash; std::vector<uint8_t> hash;
const uint8_t lk_bytes = d_dsm_reader->get_lk_bits(d_osnma_data.d_dsm_kroot_message.ks)/8; const uint8_t lk_bytes = d_dsm_reader->get_lk_bits(d_osnma_data.d_dsm_kroot_message.ks)/8;
std::vector<uint8_t> validated_key; //std::vector<uint8_t> validated_key;
if(d_tesla_key_verified){ // have to go up to last verified key if(d_tesla_key_verified){ // have to go up to last verified key
validated_key = d_tesla_keys.rbegin()->second; d_validated_key = d_tesla_keys.rbegin()->second;
num_of_hashes_needed = (d_receiver_time - d_last_verified_key_GST) / 30; // Eq. 19 ICD modified num_of_hashes_needed = (d_receiver_time - d_last_verified_key_GST) / 30; // Eq. 19 ICD modified
std::cout << "Galileo OSNMA: TESLA verification ("<< num_of_hashes_needed << " hashes) need to be performed up to closest verified TESLA key " << std::endl; LOG(INFO) << "Galileo OSNMA: TESLA verification ("<< num_of_hashes_needed << " hashes) need to be performed up to closest verified TESLA key " << std::endl;
hash = hash_chain(num_of_hashes_needed, key, GST_SFi, lk_bytes); hash = hash_chain(num_of_hashes_needed, key, GST_SFi, lk_bytes);
} }
else{// have to go until Kroot else{// have to go until Kroot
validated_key = d_osnma_data.d_dsm_kroot_message.kroot; d_validated_key = d_osnma_data.d_dsm_kroot_message.kroot;
num_of_hashes_needed = (d_receiver_time - d_GST_0) / 30 + 1; // Eq. 19 ICD num_of_hashes_needed = (d_receiver_time - d_GST_0) / 30 + 1; // Eq. 19 IC
std::cout << "Galileo OSNMA: TESLA verification ("<< num_of_hashes_needed << " hashes) need to be performed up to Kroot " << std::endl; LOG(INFO) << "Galileo OSNMA: TESLA verification ("<< num_of_hashes_needed << " hashes) need to be performed up to Kroot " << std::endl;
hash = hash_chain(num_of_hashes_needed, key, GST_SFi, lk_bytes); hash = hash_chain(num_of_hashes_needed, key, GST_SFi, lk_bytes);
} }
// truncate hash
if(hash.size() != key.size()) std::vector<uint8_t> computed_key;
computed_key.reserve(key.size());
for (uint16_t i = 0; i < key.size(); i++)
{ {
std::cout << "Galileo OSNMA: Error during tesla key verification. " << std::endl; computed_key.push_back(hash[i]);
return false;
} }
if (hash == validated_key) if (computed_key == d_validated_key && num_of_hashes_needed > 0)
{ {
std::cout << "Galileo OSNMA: tesla key verified successfully " << std::endl; LOG(WARNING) << "Galileo OSNMA:: TESLA key verification :: SUCCESS! " << std::endl;
d_tesla_keys.insert(std::pair(TOW,key)); d_tesla_keys.insert(std::pair(TOW,key));
d_tesla_key_verified = true; d_tesla_key_verified = true;
d_last_verified_key_GST = d_receiver_time; d_last_verified_key_GST = d_receiver_time;
// TODO - propagate result
// TODO - save current tesla key as latest one? propose a map with <GST_Sf, TeslaKey>
// TODO - Tags Sequence Verification: check ADKD[i] follows MACLT sequence
} }
else{ else if(num_of_hashes_needed > 0){
std::cerr << "Galileo OSNMA: Error during tesla key verification. " << std::endl; LOG(ERROR) << "Galileo OSNMA:: TESLA key verification :: FAILED " << std::endl;
if(d_flag_debug){ if(d_flag_debug){
d_tesla_keys.insert(std::pair(TOW,key)); d_tesla_keys.insert(std::pair(TOW,key));
d_last_verified_key_GST = d_receiver_time; d_last_verified_key_GST = d_receiver_time;
@ -1152,7 +1158,7 @@ void osnma_msg_receiver::remove_verified_tags()
for (auto it = d_tags_awaiting_verify.begin(); it != d_tags_awaiting_verify.end() ; ){ for (auto it = d_tags_awaiting_verify.begin(); it != d_tags_awaiting_verify.end() ; ){
if (it->second.status == Tag::SUCCESS || it->second.status == Tag::FAIL) if (it->second.status == Tag::SUCCESS || it->second.status == Tag::FAIL)
{ {
std::cout << "Galileo OSNMA: delete tag for tag Id= " LOG(INFO) << "Galileo OSNMA: delete tag for tag Id= "
<< it->second.tag_id << ", PRN_a= " << it->second.tag_id << ", PRN_a= "
<< it->second.PRNa << ", TOW=" << it->second.PRNa << ", TOW="
<< it->second.TOW << ", ADKD= " << it->second.TOW << ", ADKD= "
@ -1176,6 +1182,7 @@ void osnma_msg_receiver::control_tags_awaiting_verify_size()
{ {
while(d_tags_awaiting_verify.size() > 60) while(d_tags_awaiting_verify.size() > 60)
{ {
LOG(WARNING) << "Galileo OSNMA: delete tag due to exceeding buffer size. ";
d_tags_awaiting_verify.erase(d_tags_awaiting_verify.begin()); d_tags_awaiting_verify.erase(d_tags_awaiting_verify.begin());
} }
} }
@ -1214,11 +1221,11 @@ bool osnma_msg_receiver::verify_macseq(const MACK_message& mack)
} }
else else
{ {
std::cout << "Galileo OSNMA: Mismatch in the GST verification. " << std::endl; LOG(ERROR) << "Galileo OSNMA: Mismatch in the GST verification. " << std::endl;
} }
if(mack.tag_and_info.size() != applicable_sequence.size() - 1) if(mack.tag_and_info.size() != applicable_sequence.size() - 1)
{ {
std::cout << "Galileo OSNMA: Number of retrieved tags does not match MACLT sequence size!" << std::endl; LOG(ERROR) << "Galileo OSNMA: Number of retrieved tags does not match MACLT sequence size!" << std::endl;
return false; return false;
} }
std::vector<uint8_t> flxTags {}; std::vector<uint8_t> flxTags {};
@ -1232,11 +1239,16 @@ bool osnma_msg_receiver::verify_macseq(const MACK_message& mack)
flxTags.push_back(i); // C: just need to save the index in the sequence flxTags.push_back(i); // C: just need to save the index in the sequence
} }
else if(mack.tag_and_info[i].tag_info.ADKD != std::stoi(applicable_sequence[i+1])) else if(mack.tag_and_info[i].tag_info.ADKD != std::stoi(applicable_sequence[i+1]))
{ std::cout << "Galileo OSNMA: Unsuccessful verification of MACSEQ - received ADKD against MAC Look-up table. " << std::endl; {
LOG(WARNING) << "Galileo OSNMA: MACSEQ verification :: FAILURE :: ADKD mismatch against MAC Look-up table. " << std::endl;
return false; // C: suffices one incorrect to abort and not process the rest of the tags return false; // C: suffices one incorrect to abort and not process the rest of the tags
} }
} }
if(flxTags.empty()){
LOG(WARNING) << "Galileo OSNMA: MACSEQ verification :: SUCCESS :: ADKD matches MAC Look-up table. " << std::endl;
return true;
}
// Fixed as well as FLX Tags share first part - Eq. 22 ICD // Fixed as well as FLX Tags share first part - Eq. 22 ICD
std::vector<uint8_t> m(5 + 2 * flxTags.size()); // each flx tag brings two bytes std::vector<uint8_t> m(5 + 2 * flxTags.size()); // each flx tag brings two bytes
m[0] = static_cast<uint8_t>(mack.PRNa); // PRN_A - SVID of the satellite transmiting the tag m[0] = static_cast<uint8_t>(mack.PRNa); // PRN_A - SVID of the satellite transmiting the tag
@ -1272,17 +1284,23 @@ bool osnma_msg_receiver::verify_macseq(const MACK_message& mack)
mac_msb = (mac[0] << 8) + mac[1]; mac_msb = (mac[0] << 8) + mac[1];
} }
uint16_t computed_macseq = (mac_msb & 0xFFF0) >> 4; uint16_t computed_macseq = (mac_msb & 0xFFF0) >> 4;
if (computed_macseq == mack.header.macseq && !flxTags.empty()) if (computed_macseq == mack.header.macseq){
return true; LOG(WARNING) << "Galileo OSNMA: MACSEQ verification :: SUCCESS :: FLX tags verification OK " << std::endl;
else return true;
return false; }
else{
LOG(ERROR) << "Galileo OSNMA: MACSEQ verification :: FAILURE :: FLX tags verification failed " << std::endl;
return false;
}
} }
bool osnma_msg_receiver::tag_has_nav_data_available(Tag& t) bool osnma_msg_receiver::tag_has_nav_data_available(Tag& t)
{ {
auto prn_it = d_satellite_nav_data.find(t.PRNa); auto prn_it = d_satellite_nav_data.find(t.PRNa);
if (prn_it != d_satellite_nav_data.end()) { if (prn_it != d_satellite_nav_data.end()) {
// PRN was found, check if TOW exists in inner map // PRN was found, check if TOW exists in inner map
std::cout << "Galileo OSNMA: hasData = true " << std::endl; LOG(INFO) << "Galileo OSNMA: hasData = true " << std::endl;
std::map<uint32_t, NavData>& tow_map = prn_it->second; std::map<uint32_t, NavData>& tow_map = prn_it->second;
auto tow_it = tow_map.find(t.TOW); auto tow_it = tow_map.find(t.TOW);
if (tow_it != tow_map.end()) { if (tow_it != tow_map.end()) {
@ -1293,7 +1311,7 @@ bool osnma_msg_receiver::tag_has_nav_data_available(Tag& t)
} }
} else { } else {
// PRN was not found // PRN was not found
std::cout << "Galileo OSNMA: hasData = false " << std::endl; LOG(INFO) << "Galileo OSNMA: hasData = false " << std::endl;
return false; return false;
} }
return false; return false;
@ -1309,7 +1327,7 @@ bool osnma_msg_receiver::tag_has_key_available(Tag& t){
auto it = d_tesla_keys.find(t.TOW + 30); auto it = d_tesla_keys.find(t.TOW + 30);
if (it != d_tesla_keys.end()) if (it != d_tesla_keys.end())
{ {
std::cout << "Galileo OSNMA: hasKey = true " << std::endl; LOG(INFO) << "Galileo OSNMA: hasKey = true " << std::endl;
return true; return true;
} }
} }
@ -1318,19 +1336,18 @@ bool osnma_msg_receiver::tag_has_key_available(Tag& t){
auto it = d_tesla_keys.find(t.TOW + 300); auto it = d_tesla_keys.find(t.TOW + 300);
if (it != d_tesla_keys.end()) if (it != d_tesla_keys.end())
{ {
std::cout << "Galileo OSNMA: hasKey = true " << std::endl; LOG(INFO)<< "Galileo OSNMA: hasKey = true " << std::endl;
return true; return true;
} }
} }
std::cout << "Galileo OSNMA: hasKey = false " << std::endl; LOG(INFO) << "Galileo OSNMA: hasKey = false " << std::endl;
return false; return false;
} }
std::vector<uint8_t> osnma_msg_receiver::hash_chain(uint32_t num_of_hashes_needed, std::vector<uint8_t> key, uint32_t GST_SFi, const uint8_t lk_bytes) std::vector<uint8_t> osnma_msg_receiver::hash_chain(uint32_t num_of_hashes_needed, std::vector<uint8_t> key, uint32_t GST_SFi, const uint8_t lk_bytes)
{ {
auto start = std::chrono::high_resolution_clock::now(); auto start = std::chrono::high_resolution_clock::now();
std::vector<uint8_t> K_II = {0x2D,0xC3,0xA3,0xCD,0xB1,0x17,0xFA,0xAD,0xB8,0x3B,0x5F,0x0B,0x6F,0xEA,0x88,0xEB};//key; std::vector<uint8_t> K_II = key;
std::vector<uint8_t> K_I; // result of the recursive hash operations std::vector<uint8_t> K_I; // result of the recursive hash operations
GST_SFi = 0x4E054600;
std::vector<uint8_t> msg; std::vector<uint8_t> msg;
// compute the tesla key for current SF (GST_SFi and K_II change in each iteration) // compute the tesla key for current SF (GST_SFi and K_II change in each iteration)
for (uint32_t i = 1; i <= num_of_hashes_needed ; i++) for (uint32_t i = 1; i <= num_of_hashes_needed ; i++)
@ -1343,8 +1360,8 @@ std::vector<uint8_t> osnma_msg_receiver::hash_chain(uint32_t num_of_hashes_neede
msg.push_back((GST_SFi & 0x00FF0000) >> 16); msg.push_back((GST_SFi & 0x00FF0000) >> 16);
msg.push_back((GST_SFi & 0x0000FF00) >> 8); msg.push_back((GST_SFi & 0x0000FF00) >> 8);
msg.push_back(GST_SFi & 0x000000FF); msg.push_back(GST_SFi & 0x000000FF);
// extract alpha // extract alpha
d_osnma_data.d_dsm_kroot_message.alpha = 0x610BDF26D77B; // d_osnma_data.d_dsm_kroot_message.alpha = 0xa06221261ad9;
for (int k = 5; k >= 0;k--) for (int k = 5; k >= 0;k--)
{ {
// TODO: static extracts the MSB in case from larger to shorter int? // TODO: static extracts the MSB in case from larger to shorter int?
@ -1376,11 +1393,20 @@ std::vector<uint8_t> osnma_msg_receiver::hash_chain(uint32_t num_of_hashes_neede
K_I.clear(); // empty the actual one for a new computation K_I.clear(); // empty the actual one for a new computation
msg.clear(); msg.clear();
} }
if(GST_SFi + 30 != d_GST_0 - 30 && d_tesla_key_verified == false)
std::cout << "Galileo OSNMA: TESLA verification error. Kroot time mismatch! \n"; // ICD. Eq. 18 // check that the final time matches the Kroot time
bool check;
if(!d_tesla_key_verified)
check = GST_SFi + 30 == d_GST_0 - 30;
else
check = GST_SFi + 30 == d_last_verified_key_GST;
if(!check)
LOG(ERROR) << "Galileo OSNMA: TESLA verification error. Kroot time mismatch! \n"; // ICD. Eq. 18
else
LOG(INFO) << "Galileo OSNMA: TESLA verification. Kroot time matches! \n"; // ICD. Eq. 18
// compare computed current key against received key // compare computed current key against received key
auto end = std::chrono::high_resolution_clock::now(); auto end = std::chrono::high_resolution_clock::now();
std::chrono::duration<double> elapsed = end - start; std::chrono::duration<double> elapsed = end - start;
std::cout << "Galileo OSNMA: TESLA verification ("<< num_of_hashes_needed << " hashes) took " << elapsed.count() << " seconds.\n"; LOG(INFO) << "Galileo OSNMA: TESLA verification ("<< num_of_hashes_needed << " hashes) took " << elapsed.count() << " seconds.\n";
return K_II; return K_II;
} }

1
src/core/libs/osnma_msg_receiver.h
View File

@ -113,6 +113,7 @@ private:
enum tags_to_verify{all,utc,slow_eph, eph, none}; // TODO is this safe? I hope so enum tags_to_verify{all,utc,slow_eph, eph, none}; // TODO is this safe? I hope so
tags_to_verify d_tags_allowed{tags_to_verify::all}; tags_to_verify d_tags_allowed{tags_to_verify::all};
std::vector<uint8_t> d_tags_to_verify{0,4,12}; std::vector<uint8_t> d_tags_to_verify{0,4,12};
std::vector<uint8_t> d_validated_key{};
void remove_verified_tags(); void remove_verified_tags();
void control_tags_awaiting_verify_size(); void control_tags_awaiting_verify_size();
bool verify_macseq(const MACK_message& mack); bool verify_macseq(const MACK_message& mack);