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Refactor tag verification logic - solve build errors

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This commit is contained in:
cesaaargm 2024-04-02 18:04:19 +02:00
parent a4d9b720dc
commit 8fa1a86f24
3 changed files with 72 additions and 54 deletions
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116
src/core/libs/osnma_msg_receiver.cc
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@ -259,10 +259,10 @@ void osnma_msg_receiver::read_dsm_block(const std::shared_ptr<OSNMA_msg>& osnma_
void osnma_msg_receiver::local_time_verification(const std::shared_ptr<OSNMA_msg>& osnma_msg)
{
// compute local time based on GST_SIS and GST_0
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;
//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;
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;
//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.
if(d_receiver_time != 0)
@ -568,7 +568,7 @@ void osnma_msg_receiver::read_and_process_mack_block(const std::shared_ptr<OSNMA
{ // 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_body();
process_mack_message(osnma_msg);
process_mack_message();
// TODO - shorten the MACK processing for the cases where no TK verified or no Kroot verified (warm and cold start)
// still, for instance the NAvData and Mack storage (within process_mack_message) makes sense.
}
@ -834,7 +834,7 @@ void osnma_msg_receiver::read_mack_body()
* \post Number of tags bits verified for each ADKD. MACSEQ verification success
* @param osnma_msg A reference to OSNMA_msg containing the MACK message to be processed.
*/
void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>& osnma_msg)
void osnma_msg_receiver::process_mack_message()
{
d_flag_debug = true;
@ -846,7 +846,7 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
return; // early return, cannot proceed further without one of the two verified.
}
// 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);
bool retV = verify_tesla_key(d_osnma_data.d_mack_message.key, d_osnma_data.d_mack_message.TOW);
if(retV){
d_tesla_keys.insert(std::pair(d_osnma_data.d_nav_data.TOW_sf0, d_osnma_data.d_mack_message.key));
}
@ -855,7 +855,7 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
auto mack = d_macks_awaiting_MACSEQ_verification.begin();
while (mack != d_macks_awaiting_MACSEQ_verification.end()){
if(d_tesla_keys.find(mack->TOW) != d_tesla_keys.end()){
bool ret = verify_macseq(*mack);
bool ret = verify_macseq();
if (ret || d_flag_debug){
for(auto& tag:mack->tag_and_info)
{
@ -899,14 +899,27 @@ void osnma_msg_receiver::process_mack_message(const std::shared_ptr<OSNMA_msg>&
* - NavData the tag verifies (min. number of bits verified to consider NavData OK)
* */
if(ret)
int a;
std::cout << "Galileo OSNMA: Tag verification failure at "
<< "TOW="
<< it.second.TOW
<< ", ADKD="
<< it.second.ADKD
<< ", from satellite "
<< it.second.PRN_d
<< std::endl;
/* TODO notify PVT via pmt
* have_new_data() true
* signal which one is verified
* communicate to PVT*/
else
int a;
// also
std::cout << "Galileo OSNMA: Tag verification failure at "
<< "TOW="
<< it.second.TOW
<< ", ADKD="
<< it.second.ADKD
<< ", from satellite "
<< it.second.PRN_d
<< std::endl;
}
}
@ -1316,43 +1329,44 @@ bool osnma_msg_receiver::verify_tag(Tag& tag)
* @param sharedPtr A shared pointer to an instance of OSNMA_msg.
* @return True if the current subframe is the next subframe, False otherwise.
*/
bool osnma_msg_receiver::is_next_subframe()
{
bool is_bigger = d_GST_SIS > d_old_GST_SIS;
if(d_GST_SIS != d_old_GST_SIS + 30 && d_old_GST_SIS != 0){
std::cout << "Galileo OSNMA:: Mack processing - skip " << std::endl;
}
d_old_GST_SIS = d_GST_SIS;
return is_bigger;
}
//bool osnma_msg_receiver::is_next_subframe()
//{
// bool is_bigger = d_GST_SIS > d_old_GST_SIS;
// if(d_GST_SIS != d_old_GST_SIS + 30 && d_old_GST_SIS != 0){
// std::cout << "Galileo OSNMA:: Mack processing - skip " << std::endl;
// }
//
// d_old_GST_SIS = d_GST_SIS;
//
// return is_bigger;
//}
void osnma_msg_receiver::add_satellite_data(uint32_t SV_ID, uint32_t TOW, const NavData& data)
{
while (d_satellite_data[SV_ID].size() >= 25) {
d_satellite_data[SV_ID].erase(d_satellite_data[SV_ID].begin());
// control size of container
while (d_satellite_nav_data[SV_ID].size() >= 25) {
d_satellite_nav_data[SV_ID].erase(d_satellite_nav_data[SV_ID].begin());
}
d_osnma_data[TOW] = crypto; // crypto
d_satellite_data[SV_ID][TOW] = data; // nav
std::cout << "Galileo OSNMA: added element, size is " << d_satellite_data[SV_ID].size() << std::endl;
//d_osnma_data[TOW] = crypto; // crypto
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;
}
void osnma_msg_receiver::display_data()
{
if(d_satellite_data.empty())
return;
for(const auto& satellite : d_satellite_data) {
std::cout << "SV_ID: " << satellite.first << std::endl;
for(const auto& towData : satellite.second) {
std::cout << "\tTOW: " << towData.first << " key: ";
for(size_t i = 0; i < towData.second.d_mack_message.key.size(); i++) {
std::cout << std::hex << std::setfill('0') << std::setw(2)
<< static_cast<int>(towData.second.d_mack_message.key[i]) << " ";
}
}
}
// if(d_satellite_nav_data.empty())
// return;
//
// for(const auto& satellite : d_satellite_nav_data) {
// std::cout << "SV_ID: " << satellite.first << std::endl;
// for(const auto& towData : satellite.second) {
// std::cout << "\tTOW: " << towData.first << " key: ";
// for(size_t i = 0; i < towData.second.d_mack_message.key.size(); i++) {
// std::cout << std::hex << std::setfill('0') << std::setw(2)
// << static_cast<int>(towData.second.d_mack_message.key[i]) << " ";
// }
// }
// }
}
bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key)
bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key, uint32_t TOW)
{
if(d_tesla_key_verified || d_flag_debug)
{
@ -1360,6 +1374,7 @@ bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key)
// retrieve latest tesla key
// compute hashes needed
// hash current key until num_hashes and compare
return false;
}
else
{// have to go until Kroot
@ -1367,7 +1382,7 @@ bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key)
std::cout << "Galileo OSNMA: TESLA verification ("<< num_of_hashes_needed << " hashes) need to be performed. " << std::endl;
auto start = std::chrono::high_resolution_clock::now();
uint32_t GST_SFi = d_GST_SIS;
std::vector<uint8_t> K_II = applicable_MACK.key;
std::vector<uint8_t> K_II = key;
std::vector<uint8_t> K_I; // result of the recursive hash operations
const uint8_t lk_bytes = d_dsm_reader->get_lk_bits(d_osnma_data.d_dsm_kroot_message.ks)/8;
// compute the tesla key for current SF (GST_SFi and K_II change in each iteration)
@ -1418,15 +1433,15 @@ bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key)
std::chrono::duration<double> elapsed = end - start;
std::cout << "Galileo OSNMA: TESLA verification ("<< num_of_hashes_needed << " hashes) took " << elapsed.count() << " seconds.\n";
if(K_II.size() != applicable_MACK.key.size())
if(K_II.size() != key.size())
{
std::cout << "Galileo OSNMA: Error during tesla key verification. " << std::endl;
return;
return false;
}
if (K_II == applicable_MACK.key)
if (K_II == key)
{
std::cout << "Galileo OSNMA: tesla key verified successfully " << std::endl;
d_keys.insert(std::pair(applicable_MACK.TOW,applicable_MACK.key));
d_tesla_keys.insert(std::pair(TOW,key));
d_tesla_key_verified = true;
// TODO - propagate result
// TODO - save current tesla key as latest one? propose a map with <GST_Sf, TeslaKey>
@ -1436,9 +1451,10 @@ bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key)
{
std::cerr << "Galileo OSNMA: Error during tesla key verification. " << std::endl;
if(!d_flag_debug)
return;
if(d_flag_debug)
d_tesla_key_verified = true;
}
return d_tesla_key_verified;
}
}
@ -1479,7 +1495,7 @@ void osnma_msg_receiver::control_tags_awaiting_verify_size()
* @param message The MACK_message to verify.
* @return True if the MACSEQ is valid, false otherwise.
*/
bool osnma_msg_receiver::verify_macseq(MACK_message& message)
bool osnma_msg_receiver::verify_macseq()
{
// MACSEQ verification
@ -1515,7 +1531,7 @@ bool osnma_msg_receiver::verify_macseq(MACK_message& message)
if(applicable_OSNMA.d_mack_message.tag_and_info.size() != applicable_sequence.size()-1)
{
std::cout << "Galileo OSNMA: Number of retrieved tags does not match MACLT sequence size!" << std::endl;
return;
return false;
}
std::vector<uint8_t> flxTags {};
std::string tempADKD;
@ -1529,7 +1545,7 @@ bool osnma_msg_receiver::verify_macseq(MACK_message& message)
}
else if(applicable_OSNMA.d_mack_message.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;
return; // 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
}
}
@ -1573,7 +1589,7 @@ bool osnma_msg_receiver::verify_macseq(MACK_message& message)
else
return false;
}
bool osnma_msg_receiver::nav_data_available(Tag t)
bool osnma_msg_receiver::nav_data_available(Tag& t)
{
auto prn_it = d_satellite_nav_data.find(t.PRNa);
if (prn_it != d_satellite_nav_data.end()) {

8
src/core/libs/osnma_msg_receiver.h
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@ -71,10 +71,10 @@ private:
void read_and_process_mack_block(const std::shared_ptr<OSNMA_msg>& osnma_msg);
void read_mack_header();
void read_mack_body();
void process_mack_message(const std::shared_ptr<OSNMA_msg>& osnma_msg);
void process_mack_message();
void add_satellite_data(uint32_t SV_ID, uint32_t TOW, const NavData &data);
bool verify_tesla_key(std::vector<uint8_t>& key);
void const display_data();
bool verify_tesla_key(std::vector<uint8_t>& key, uint32_t TOW);
void display_data();
bool verify_tag(MACK_tag_and_info tag_and_info, OSNMA_data applicable_OSNMA, uint8_t tag_position, const std::vector<uint8_t>& applicable_key, NavData applicable_NavData);
bool verify_tag(Tag& tag);
bool is_next_subframe();
@ -114,7 +114,7 @@ private:
std::vector<uint8_t> d_tags_to_verify{0,4,12};
void remove_verified_tags();
void control_tags_awaiting_verify_size();
bool verify_macseq(MACK_message& message);
bool verify_macseq();
};

2
src/core/system_parameters/osnma_data.cc
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@ -23,6 +23,8 @@
* \details Packs the ephemeris, iono and utc data from the current subframe into the NavData structure. It also gets the PRNa and the GST.
* @param osnma_msg The shared pointer to the OSNMA_msg object.
*/
uint32_t Tag::id_counter = 0;
void NavData::init(const std::shared_ptr<OSNMA_msg> &osnma_msg)
{
EphemerisData = osnma_msg->EphemerisData;