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Improve const correctness

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This commit is contained in:
Carles Fernandez 2024-07-22 09:46:28 +02:00
parent c5c58c8d1d
commit 8fd6e4dc40
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2 changed files with 61 additions and 27 deletions
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75
src/core/libs/osnma_msg_receiver.cc
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@ -1123,7 +1123,7 @@ std::vector<uint8_t> osnma_msg_receiver::get_merkle_tree_leaves(const DSM_PKR_me
} }
bool osnma_msg_receiver::verify_tag(const Tag& tag) bool osnma_msg_receiver::verify_tag(const Tag& tag) const
{ {
// Debug // Debug
// LOG(INFO) << "Galileo OSNMA: Tag verification :: Start for tag Id= " // LOG(INFO) << "Galileo OSNMA: Tag verification :: Start for tag Id= "
@ -1137,12 +1137,28 @@ bool osnma_msg_receiver::verify_tag(const Tag& tag)
std::vector<uint8_t> applicable_key; std::vector<uint8_t> applicable_key;
if (tag.ADKD == 0 || tag.ADKD == 4) if (tag.ADKD == 0 || tag.ADKD == 4)
{ {
applicable_key = d_tesla_keys[tag.TOW + 30]; const auto it = d_tesla_keys.find(tag.TOW + 30);
if(it != d_tesla_keys.cend())
{
applicable_key = it->second;
}
else
{
return false;
}
// LOG(INFO) << "|---> Galileo OSNMA :: applicable key: 0x" << d_helper->convert_to_hex_string(applicable_key) << "TOW="<<static_cast<int>(tag.TOW + 30); // LOG(INFO) << "|---> Galileo OSNMA :: applicable key: 0x" << d_helper->convert_to_hex_string(applicable_key) << "TOW="<<static_cast<int>(tag.TOW + 30);
} }
else // ADKD 12 else // ADKD 12
{ {
applicable_key = d_tesla_keys[tag.TOW + 330]; const auto it = d_tesla_keys.find(tag.TOW + 330);
if(it != d_tesla_keys.cend())
{
applicable_key = it->second;
}
else
{
return false;
}
// LOG(INFO) << "|---> Galileo OSNMA :: applicable key: 0x" << d_helper->convert_to_hex_string(applicable_key) << "TOW="<<static_cast<int>(tag.TOW + 330); // LOG(INFO) << "|---> Galileo OSNMA :: applicable key: 0x" << d_helper->convert_to_hex_string(applicable_key) << "TOW="<<static_cast<int>(tag.TOW + 330);
} }
@ -1222,7 +1238,7 @@ bool osnma_msg_receiver::verify_tag(const Tag& tag)
} }
std::vector<uint8_t> osnma_msg_receiver::build_message(const Tag& tag) std::vector<uint8_t> osnma_msg_receiver::build_message(const Tag& tag) const
{ {
std::vector<uint8_t> m; std::vector<uint8_t> m;
if (tag.CTR != 1) if (tag.CTR != 1)
@ -1245,12 +1261,28 @@ std::vector<uint8_t> osnma_msg_receiver::build_message(const Tag& tag)
std::vector<uint8_t> applicable_nav_data_bytes; std::vector<uint8_t> applicable_nav_data_bytes;
if (tag.ADKD == 0 || tag.ADKD == 12) // note: for ADKD=12 still the same logic applies. Only the Key selection is shifted 10 Subframes into the future. if (tag.ADKD == 0 || tag.ADKD == 12) // note: for ADKD=12 still the same logic applies. Only the Key selection is shifted 10 Subframes into the future.
{ {
applicable_nav_data = d_satellite_nav_data[tag.PRN_d][tag.TOW - 30].ephemeris_iono_vector_2; const auto it = d_satellite_nav_data.find(tag.PRN_d);
if (it != d_satellite_nav_data.cend())
{
const auto it2 = it->second.find(tag.TOW - 30);
if (it2 != it->second.cend())
{
applicable_nav_data = it2->second.ephemeris_iono_vector_2;
}
}
// LOG(INFO) << "|---> Galileo OSNMA :: applicable NavData (PRN_d="<< static_cast<int>(tag.PRN_d) << ", TOW=" << tag.TOW - 30 <<"): 0b" << applicable_nav_data; // LOG(INFO) << "|---> Galileo OSNMA :: applicable NavData (PRN_d="<< static_cast<int>(tag.PRN_d) << ", TOW=" << tag.TOW - 30 <<"): 0b" << applicable_nav_data;
} }
else if (tag.ADKD == 4) else if (tag.ADKD == 4)
{ {
applicable_nav_data = d_satellite_nav_data[tag.PRN_d][tag.TOW - 30].utc_vector_2; const auto it = d_satellite_nav_data.find(tag.PRN_d);
if (it != d_satellite_nav_data.cend())
{
const auto it2 = it->second.find(tag.TOW - 30);
if (it2 != it->second.cend())
{
applicable_nav_data = it2->second.utc_vector_2;
}
}
// LOG(INFO) << "|---> Galileo OSNMA :: applicable NavData (PRN_d="<< static_cast<int>(tag.PRN_d) << ", TOW=" << tag.TOW - 30 <<"): 0b" << applicable_nav_data; // LOG(INFO) << "|---> Galileo OSNMA :: applicable NavData (PRN_d="<< static_cast<int>(tag.PRN_d) << ", TOW=" << tag.TOW - 30 <<"): 0b" << applicable_nav_data;
} }
else else
@ -1327,10 +1359,10 @@ bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key, uint32_t TO
uint32_t GST_SFi = d_receiver_time - 30; // GST of target key is to be used. 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) if (d_tesla_key_verified)
{ // have to go up to last verified key { // have to go up to last verified key
d_validated_key = d_tesla_keys.rbegin()->second; 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
LOG(INFO) << "Galileo OSNMA: TESLA verification (" << num_of_hashes_needed << " hashes) need to be performed up to closest verified TESLA key"; LOG(INFO) << "Galileo OSNMA: TESLA verification (" << num_of_hashes_needed << " hashes) need to be performed up to closest verified TESLA key";
@ -1338,7 +1370,7 @@ bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key, uint32_t TO
} }
else else
{ // have to go until Kroot { // have to go until Kroot
d_validated_key = d_osnma_data.d_dsm_kroot_message.kroot; validated_key = d_osnma_data.d_dsm_kroot_message.kroot;
num_of_hashes_needed = (d_receiver_time - d_GST_0) / 30 + 1; // Eq. 19 IC num_of_hashes_needed = (d_receiver_time - d_GST_0) / 30 + 1; // Eq. 19 IC
LOG(INFO) << "Galileo OSNMA: TESLA verification (" << num_of_hashes_needed << " hashes) need to be performed up to Kroot"; LOG(INFO) << "Galileo OSNMA: TESLA verification (" << num_of_hashes_needed << " hashes) need to be performed up to Kroot";
@ -1351,7 +1383,7 @@ bool osnma_msg_receiver::verify_tesla_key(std::vector<uint8_t>& key, uint32_t TO
{ {
computed_key.push_back(hash[i]); computed_key.push_back(hash[i]);
} }
if (computed_key == d_validated_key && num_of_hashes_needed > 0) if (computed_key == validated_key && num_of_hashes_needed > 0)
{ {
LOG(INFO) << "Galileo OSNMA: TESLA key verification :: SUCCESS!"; LOG(INFO) << "Galileo OSNMA: TESLA key verification :: SUCCESS!";
std::cout << "Galileo OSNMA: TESLA key verification :: SUCCESS!" << std::endl; std::cout << "Galileo OSNMA: TESLA key verification :: SUCCESS!" << std::endl;
@ -1494,7 +1526,7 @@ bool osnma_msg_receiver::verify_macseq(const MACK_message& mack)
std::vector<uint8_t> flxTags{}; std::vector<uint8_t> flxTags{};
std::string tempADKD; std::string tempADKD;
// MACLT verification // MACLT verification
for (uint8_t i = 0; i < mack.tag_and_info.size(); i++) for (size_t i = 0; i < mack.tag_and_info.size(); i++)
{ {
tempADKD = applicable_sequence[i + 1]; tempADKD = applicable_sequence[i + 1];
if (tempADKD == "FLX") if (tempADKD == "FLX")
@ -1558,14 +1590,14 @@ bool osnma_msg_receiver::verify_macseq(const MACK_message& mack)
} }
bool osnma_msg_receiver::tag_has_nav_data_available(const Tag& t) bool osnma_msg_receiver::tag_has_nav_data_available(const Tag& t) const
{ {
auto prn_it = d_satellite_nav_data.find(t.PRN_d); auto prn_it = d_satellite_nav_data.find(t.PRN_d);
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
//LOG(INFO) << "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 - 30); auto tow_it = tow_map.find(t.TOW - 30);
if (tow_it != tow_map.end()) if (tow_it != tow_map.end())
{ {
@ -1587,7 +1619,7 @@ bool osnma_msg_receiver::tag_has_nav_data_available(const Tag& t)
} }
bool osnma_msg_receiver::tag_has_key_available(const Tag& t) bool osnma_msg_receiver::tag_has_key_available(const Tag& t) const
{ {
// check adkd of tag // check adkd of tag
// if adkd = 0 or 4 => look for d_tesla_keys[t.TOW+30] // if adkd = 0 or 4 => look for d_tesla_keys[t.TOW+30]
@ -1617,7 +1649,7 @@ bool osnma_msg_receiver::tag_has_key_available(const Tag& t)
} }
std::vector<uint8_t> osnma_msg_receiver::hash_chain(uint32_t num_of_hashes_needed, const 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, const std::vector<uint8_t>& key, uint32_t GST_SFi, const uint8_t lk_bytes) const
{ {
std::vector<uint8_t> K_II = 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
@ -1705,8 +1737,13 @@ std::vector<MACK_tag_and_info> osnma_msg_receiver::verify_macseq_new(const MACK_
std::vector<MACK_tag_and_info> verified_tags{}; std::vector<MACK_tag_and_info> verified_tags{};
// MACSEQ verification // MACSEQ verification
d_GST_Sf = d_receiver_time - 30; // time of the start of SF containing MACSEQ // TODO buffer with times? since out of debug not every 30 s a Sf is necessarily received.. d_GST_Sf = d_receiver_time - 30; // time of the start of SF containing MACSEQ // TODO buffer with times? since out of debug not every 30 s a Sf is necessarily received.
std::vector<uint8_t> applicable_key = d_tesla_keys[mack.TOW + 30]; // current tesla key ie transmitted in the next subframe std::vector<uint8_t> applicable_key;
const auto key_it = d_tesla_keys.find(mack.TOW + 30); // current tesla key ie transmitted in the next subframe
if (key_it != d_tesla_keys.cend())
{
applicable_key = key_it->second;
}
std::vector<std::string> sq1{}; std::vector<std::string> sq1{};
std::vector<std::string> sq2{}; std::vector<std::string> sq2{};
std::vector<std::string> applicable_sequence; std::vector<std::string> applicable_sequence;
@ -1734,7 +1771,7 @@ std::vector<MACK_tag_and_info> osnma_msg_receiver::verify_macseq_new(const MACK_
std::vector<uint8_t> flxTags{}; std::vector<uint8_t> flxTags{};
std::string tempADKD; std::string tempADKD;
// MACLT verification // MACLT verification
for (uint8_t i = 0; i < mack.tag_and_info.size(); i++) for (size_t i = 0; i < mack.tag_and_info.size(); i++)
{ {
tempADKD = applicable_sequence[i + 1]; tempADKD = applicable_sequence[i + 1];
if (tempADKD == "FLX") if (tempADKD == "FLX")
@ -1771,7 +1808,7 @@ std::vector<MACK_tag_and_info> osnma_msg_receiver::verify_macseq_new(const MACK_
m[3] = static_cast<uint8_t>((d_GST_Sf & 0x0000FF00) >> 8); m[3] = static_cast<uint8_t>((d_GST_Sf & 0x0000FF00) >> 8);
m[4] = static_cast<uint8_t>(d_GST_Sf & 0x000000FF); m[4] = static_cast<uint8_t>(d_GST_Sf & 0x000000FF);
// Case tags flexible - Eq. 21 ICD // Case tags flexible - Eq. 21 ICD
for (uint8_t i = 0; i < flxTags.size(); i++) for (size_t i = 0; i < flxTags.size(); i++)
{ {
m[2 * i + 5] = mack.tag_and_info[flxTags[i]].tag_info.PRN_d; m[2 * i + 5] = mack.tag_and_info[flxTags[i]].tag_info.PRN_d;
m[2 * i + 6] = mack.tag_and_info[flxTags[i]].tag_info.ADKD << 4 | m[2 * i + 6] = mack.tag_and_info[flxTags[i]].tag_info.ADKD << 4 |

13
src/core/libs/osnma_msg_receiver.h
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@ -82,19 +82,17 @@ private:
void control_tags_awaiting_verify_size(); void control_tags_awaiting_verify_size();
void display_data(); 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_tesla_key(std::vector<uint8_t>& key, uint32_t TOW); bool verify_tesla_key(std::vector<uint8_t>& key, uint32_t TOW);
bool verify_tag(const Tag& tag); bool verify_tag(const Tag& tag) const;
bool is_next_subframe(); bool tag_has_nav_data_available(const Tag& t) const;
bool tag_has_nav_data_available(const Tag& t); bool tag_has_key_available(const Tag& t) const;
bool tag_has_key_available(const Tag& t);
bool verify_macseq(const MACK_message& mack); bool verify_macseq(const MACK_message& mack);
bool verify_dsm_pkr(const DSM_PKR_message& message) const; bool verify_dsm_pkr(const DSM_PKR_message& message) const;
std::vector<uint8_t> get_merkle_tree_leaves(const DSM_PKR_message& dsm_pkr_message) const; std::vector<uint8_t> get_merkle_tree_leaves(const DSM_PKR_message& dsm_pkr_message) const;
std::vector<uint8_t> compute_merkle_root(const DSM_PKR_message& dsm_pkr_message, const std::vector<uint8_t>& m_i) const; std::vector<uint8_t> compute_merkle_root(const DSM_PKR_message& dsm_pkr_message, const std::vector<uint8_t>& m_i) const;
std::vector<uint8_t> build_message(const Tag& tag); std::vector<uint8_t> build_message(const Tag& tag) const;
std::vector<uint8_t> hash_chain(uint32_t num_of_hashes_needed, const std::vector<uint8_t>& key, uint32_t GST_SFi, const uint8_t lk_bytes); std::vector<uint8_t> hash_chain(uint32_t num_of_hashes_needed, const std::vector<uint8_t>& key, uint32_t GST_SFi, const uint8_t lk_bytes) const;
std::vector<MACK_tag_and_info> verify_macseq_new(const MACK_message& mack); std::vector<MACK_tag_and_info> verify_macseq_new(const MACK_message& mack);
std::map<uint32_t, std::map<uint32_t, NavData>> d_satellite_nav_data; // map holding NavData sorted by SVID (first key) and TOW (second key). std::map<uint32_t, std::map<uint32_t, NavData>> d_satellite_nav_data; // map holding NavData sorted by SVID (first key) and TOW (second key).
@ -102,7 +100,6 @@ private:
std::multimap<uint32_t, Tag> d_tags_awaiting_verify; // container with tags to verify from arbitrary SVIDs, sorted by TOW std::multimap<uint32_t, Tag> d_tags_awaiting_verify; // container with tags to verify from arbitrary SVIDs, sorted by TOW
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{};
std::vector<MACK_message> d_macks_awaiting_MACSEQ_verification; std::vector<MACK_message> d_macks_awaiting_MACSEQ_verification;
std::array<std::array<uint8_t, 256>, 16> d_dsm_message{}; // structure for recording DSM blocks, when filled it sends them to parse and resets itself. std::array<std::array<uint8_t, 256>, 16> d_dsm_message{}; // structure for recording DSM blocks, when filled it sends them to parse and resets itself.