From 478f88f5a756df09ecb44e15921adefaea8fe492 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 22 Jul 2023 08:16:12 +1000
Subject: [PATCH] added RemoteID panel

---
 dronecan_gui_tool/panels/RemoteID_panel.py    | 216 ++++++++++++++++++
 dronecan_gui_tool/panels/__init__.py          |   4 +-
 dronecan_gui_tool/setup_window.py             |  38 +--
 .../widgets/directory_selection.py            |  38 +++
 setup.py                                      |   1 +
 5 files changed, 260 insertions(+), 37 deletions(-)
 create mode 100644 dronecan_gui_tool/panels/RemoteID_panel.py
 create mode 100644 dronecan_gui_tool/widgets/directory_selection.py

diff --git a/dronecan_gui_tool/panels/RemoteID_panel.py b/dronecan_gui_tool/panels/RemoteID_panel.py
new file mode 100644
index 0000000..77672c3
--- /dev/null
+++ b/dronecan_gui_tool/panels/RemoteID_panel.py
@@ -0,0 +1,216 @@
+#
+# Copyright (C) 2023  UAVCAN Development Team  <dronecan.org>
+#
+# This software is distributed under the terms of the MIT License.
+#
+# Author: Andrew Tridgell
+#
+
+import dronecan
+from functools import partial
+from PyQt5.QtWidgets import QVBoxLayout, QWidget, QLabel, QDialog, \
+    QPlainTextEdit, QPushButton, QLineEdit, QFileDialog, QComboBox, QHBoxLayout
+from PyQt5.QtCore import QTimer, Qt
+from logging import getLogger
+from ..widgets import make_icon_button, get_icon, get_monospace_font, directory_selection
+import random
+import base64
+import struct
+
+__all__ = 'PANEL_NAME', 'spawn', 'get_icon'
+
+PANEL_NAME = 'RemoteID Panel'
+
+logger = getLogger(__name__)
+
+_singleton = None
+
+SECURE_COMMAND_GET_REMOTEID_SESSION_KEY = dronecan.dronecan.remoteid.SecureCommand.Request().SECURE_COMMAND_GET_REMOTEID_SESSION_KEY
+SECURE_COMMAND_SET_REMOTEID_CONFIG = dronecan.dronecan.remoteid.SecureCommand.Request().SECURE_COMMAND_SET_REMOTEID_CONFIG
+
+class RemoteIDPanel(QDialog):
+    DEFAULT_INTERVAL = 0.1
+
+    def __init__(self, parent, node):
+        super(RemoteIDPanel, self).__init__(parent)
+        self.setWindowTitle('RemoteID Management Panel')
+        self.setAttribute(Qt.WA_DeleteOnClose)              # This is required to stop background timers!
+
+        self.timeout = 5
+
+        self._node = node
+        self.session_key = None
+        self.sequence = random.randint(0, 0xFFFFFFFF)
+
+        layout = QVBoxLayout()
+
+        self.key_selection = directory_selection.DirectorySelectionWidget(self, 'Secret key file')
+        self.command = QLineEdit(self)
+        self.send = QPushButton('Send', self)
+        self.send.clicked.connect(self.on_send)
+
+        self.node_select = QComboBox()
+
+        self.state = QLineEdit()
+        self.state.setText("")
+        self.state.setReadOnly(True)
+
+        layout.addLayout(self.labelWidget('Node', self.node_select))
+        layout.addWidget(self.key_selection)
+        layout.addLayout(self.labelWidget('Command:', self.command))
+        layout.addLayout(self.labelWidget('Status:', self.state))
+        layout.addWidget(self.send)
+
+        self.setLayout(layout)
+        self.resize(400, 200)
+        QTimer.singleShot(250, self.update_nodes)
+
+
+    def labelWidget(self, label, widget):
+        '''a widget with a label'''
+        hlayout = QHBoxLayout()
+        hlayout.addWidget(QLabel(label, self))
+        hlayout.addWidget(widget)
+        return hlayout
+
+    def on_send(self):
+        '''callback for send button'''
+        priv_key = self.key_selection.get_selection()
+        if priv_key is None:
+            self.status_update("Need to select private key")
+            return
+        self.status_update("Requesting session key")
+        self.request_session_key()
+
+    def status_update(self, text):
+        '''update status line'''
+        self.state.setText(text)
+
+    def update_nodes(self):
+        '''update list of available nodes'''
+        QTimer.singleShot(250, self.update_nodes)
+        from ..widgets.node_monitor import app_node_monitor
+        if app_node_monitor is None:
+            return
+        node_list = []
+        for nid in app_node_monitor._registry.keys():
+            r = app_node_monitor._registry[nid]
+            if r.info is not None:
+                node_list.append("%u: %s" % (nid, r.info.name.decode()))
+            else:
+                node_list.append("%u" % nid)
+        node_list = sorted(node_list)
+        current_node = sorted([self.node_select.itemText(i) for i in range(self.node_select.count())])
+        for n in node_list:
+            if not n in current_node:
+                self.node_select.addItem(n)
+        
+    def get_session_key_response(self, reply):
+        '''handle session key response'''
+        if not reply:
+            self.status_update("timed out")
+            return
+        self.session_key = bytearray(reply.response.data)
+        self.status_update("Got session key")
+        self.send_config_change()
+
+    def get_private_key(self):
+        '''get private key, return 32 byte key or None'''
+        priv_key_file = self.key_selection.get_selection()
+        if priv_key_file is None:
+            self.status_update("Please select private key file")
+            return None
+        try:
+            d = open(priv_key_file,'r').read()
+        except Exception as ex:
+            print(ex)
+            return None
+        ktype = "PRIVATE_KEYV1:"
+        if not d.startswith(ktype):
+            return None
+        return base64.b64decode(d[len(ktype):])
+    
+    def make_signature(self, seq, command, data):
+        '''make a signature'''
+        import monocypher
+        private_key = self.get_private_key()
+        d = struct.pack("<II", seq, command)
+        d += data
+        if command != SECURE_COMMAND_GET_REMOTEID_SESSION_KEY:
+            if self.session_key is None:
+                raise Exception("No session key")
+            d += self.session_key
+        return monocypher.signature_sign(private_key, d)
+
+    def get_target_node(self):
+        '''get the target node'''
+        return int(self.node_select.currentText().split(':')[0])
+
+    def request_session_key(self):
+        '''request a session key'''
+        sig = self.make_signature(self.sequence, SECURE_COMMAND_GET_REMOTEID_SESSION_KEY, bytes())
+        self._node.request(dronecan.dronecan.remoteid.SecureCommand.Request(
+            sequence=self.sequence,
+            operation=SECURE_COMMAND_GET_REMOTEID_SESSION_KEY,
+            sig_length=len(sig),
+            data=sig,
+            timeout=self.timeout),
+            self.get_target_node(),
+            self.get_session_key_response)
+        self.sequence = (self.sequence+1) % (1<<32)
+        print("Requested session key")
+
+    def config_change_response(self, reply):
+        if not reply:
+            self.status_update("timed out")
+            return
+        result_map = {
+            0: "ACCEPTED",
+            1: "TEMPORARILY_REJECTED",
+            2: "DENIED",
+            3: "UNSUPPORTED",
+            4: "FAILED" }
+        result = result_map.get(reply.response.result, "invalid")
+        self.status_update("Got change response: %s" % result)
+
+    def send_config_change(self):
+        '''send remoteid config change'''
+        req = self.command.text().encode('utf-8')
+        sig = self.make_signature(self.sequence, SECURE_COMMAND_SET_REMOTEID_CONFIG, req)
+        self._node.request(dronecan.dronecan.remoteid.SecureCommand.Request(
+            sequence=self.sequence,
+            operation=SECURE_COMMAND_SET_REMOTEID_CONFIG,
+            sig_length=len(sig),
+            data=req+sig,
+            timeout=self.timeout),
+            self.get_target_node(),
+            self.config_change_response)
+        self.sequence = (self.sequence+1) % (1<<32)
+        self.status_update("Requested config change")
+
+    def __del__(self):
+        global _singleton
+        _singleton = None
+
+    def closeEvent(self, event):
+        global _singleton
+        _singleton = None
+        super(RemoteIDPanel, self).closeEvent(event)
+
+
+def spawn(parent, node):
+    global _singleton
+    if _singleton is None:
+        try:
+            _singleton = RemoteIDPanel(parent, node)
+        except Exception as ex:
+            print(ex)
+
+    _singleton.show()
+    _singleton.raise_()
+    _singleton.activateWindow()
+
+    return _singleton
+
+
+get_icon = partial(get_icon, 'asterisk')
diff --git a/dronecan_gui_tool/panels/__init__.py b/dronecan_gui_tool/panels/__init__.py
index f1907f0..7605a6d 100644
--- a/dronecan_gui_tool/panels/__init__.py
+++ b/dronecan_gui_tool/panels/__init__.py
@@ -14,6 +14,7 @@
 from . import RTK_panel
 from . import serial_panel
 from . import stats_panel
+from . import RemoteID_panel
 
 class PanelDescriptor:
     def __init__(self, module):
@@ -39,5 +40,6 @@ def safe_spawn(self, parent, node):
     PanelDescriptor(actuator_panel),
     PanelDescriptor(RTK_panel),
     PanelDescriptor(serial_panel),
-    PanelDescriptor(stats_panel)
+    PanelDescriptor(stats_panel),
+    PanelDescriptor(RemoteID_panel)
 ], key=lambda x: x.name)
diff --git a/dronecan_gui_tool/setup_window.py b/dronecan_gui_tool/setup_window.py
index df20b67..fdf8646 100644
--- a/dronecan_gui_tool/setup_window.py
+++ b/dronecan_gui_tool/setup_window.py
@@ -11,7 +11,7 @@
 import time
 import threading
 import copy
-from .widgets import show_error, get_monospace_font
+from .widgets import show_error, get_monospace_font, directory_selection
 from PyQt5.QtWidgets import QComboBox, QCompleter, QDialog, QDirModel, QFileDialog, QGroupBox, QHBoxLayout, QLabel, \
     QLineEdit, QPushButton, QSpinBox, QVBoxLayout, QGridLayout, QCheckBox
 from qtwidgets import PasswordEdit
@@ -150,40 +150,6 @@ def get_list(self):
             return copy.copy(self._ifaces)
 
 
-class DirectorySelectionWidget(QGroupBox):
-    def __init__(self, parent, dsdl_path=None):
-        super(DirectorySelectionWidget, self).__init__('Location of custom DSDL definitions [optional]', parent)
-        self._dir_selection = dsdl_path
-        dir_textbox = QLineEdit(self)
-        dir_textbox.setText(self._dir_selection)
-
-        dir_text_completer = QCompleter(self)
-        dir_text_completer.setCaseSensitivity(Qt.CaseSensitive)
-        dir_text_completer.setModel(QDirModel(self))
-        dir_textbox.setCompleter(dir_text_completer)
-
-        def on_edit():
-            self._dir_selection = str(dir_textbox.text())
-
-        dir_textbox.textChanged.connect(on_edit)
-
-        dir_browser = QPushButton('Browse', self)
-
-        def on_browse():
-            self._dir_selection = str(QFileDialog.getExistingDirectory(self, 'Select Directory'))
-            dir_textbox.setText(self._dir_selection)
-
-        dir_browser.clicked.connect(on_browse)
-
-        layout = QHBoxLayout(self)
-        layout.addWidget(dir_textbox)
-        layout.addWidget(dir_browser)
-        self.setLayout(layout)
-
-    def get_selection(self):
-        return self._dir_selection
-
-
 def run_setup_window(icon, dsdl_path=None):
     win = QDialog()
     win.setWindowTitle('Application Setup')
@@ -235,7 +201,7 @@ def run_setup_window(icon, dsdl_path=None):
 
     signing_key = PasswordEdit(win)
 
-    dir_selection = DirectorySelectionWidget(win, dsdl_path)
+    dir_selection = directory_selection.DirectorySelectionWidget(win, dsdl_path, directory_only=True)
 
     ok = QPushButton('OK', win)
 
diff --git a/dronecan_gui_tool/widgets/directory_selection.py b/dronecan_gui_tool/widgets/directory_selection.py
new file mode 100644
index 0000000..a1ebaf2
--- /dev/null
+++ b/dronecan_gui_tool/widgets/directory_selection.py
@@ -0,0 +1,38 @@
+from PyQt5.QtWidgets import QGroupBox, QLineEdit, QCompleter, QPushButton, QDirModel, QHBoxLayout, QFileDialog
+from PyQt5.QtCore import Qt
+
+class DirectorySelectionWidget(QGroupBox):
+    def __init__(self, parent, label, path=None, directory_only=False):
+        super(DirectorySelectionWidget, self).__init__(label, parent)
+        self._selection = path
+        dir_textbox = QLineEdit(self)
+        dir_textbox.setText(self._selection)
+
+        dir_text_completer = QCompleter(self)
+        dir_text_completer.setCaseSensitivity(Qt.CaseSensitive)
+        dir_text_completer.setModel(QDirModel(self))
+        dir_textbox.setCompleter(dir_text_completer)
+
+        def on_edit():
+            self._selection = str(dir_textbox.text())
+
+        dir_textbox.textChanged.connect(on_edit)
+
+        dir_browser = QPushButton('Browse', self)
+
+        def on_browse():
+            if directory_only:
+                self._selection = str(QFileDialog.getExistingDirectory(self, 'Select Directory'))
+            else:
+                self._selection = QFileDialog.getOpenFileName(self, 'Select File')[0]
+            dir_textbox.setText(self._selection)
+
+        dir_browser.clicked.connect(on_browse)
+
+        layout = QHBoxLayout(self)
+        layout.addWidget(dir_textbox)
+        layout.addWidget(dir_browser)
+        self.setLayout(layout)
+
+    def get_selection(self):
+        return self._selection
diff --git a/setup.py b/setup.py
index 439bc78..85c356c 100755
--- a/setup.py
+++ b/setup.py
@@ -47,6 +47,7 @@
         'qtconsole>=4.2.0',
         'pyyaml>=5.1',
         'easywebdav>=1.2',
+        'pymonocypher',
         'numpy',
         'pyqt5',
         'traitlets',