# SPDX-FileCopyrightText: AISEC Pentesting Team
#
# SPDX-License-Identifier: Apache-2.0
from __future__ import annotations
import asyncio
import errno
import socket as s
import struct
import time
from typing import cast
from can import Message # type: ignore
from pydantic import BaseModel, validator
from gallia.transports.base import BaseTransport, TargetURI
from gallia.utils import auto_int
CANFD_MTU = 72
CAN_MTU = 16
# Socket Constants not available in the socket module,
# see linux/can/isotp.h
# TODO: Can be removed in the future…
# https://github.com/python/cpython/pull/23794
SOL_CAN_ISOTP = s.SOL_CAN_BASE + s.CAN_ISOTP
# Valuetypes for SOL_CAN_ISOTP
CAN_ISOTP_OPTS = 1
CAN_ISOTP_RECV_FC = 2
CAN_ISOTP_TX_STMIN = 3
CAN_ISOTP_RX_STMIN = 4
CAN_ISOTP_LL_OPTS = 5
# Flags for setsockopt CAN_ISOTP_OPTS
CAN_ISOTP_LISTEN_MODE = 0x001
CAN_ISOTP_EXTEND_ADDR = 0x002
CAN_ISOTP_TX_PADDING = 0x004
CAN_ISOTP_RX_PADDING = 0x008
CAN_ISOTP_CHK_PAD_LEN = 0x010
CAN_ISOTP_CHK_PAD_DATA = 0x020
CAN_ISOTP_HALF_DUPLEX = 0x040
CAN_ISOTP_FORCE_TXSTMIN = 0x080
CAN_ISOTP_FORCE_RXSTMIN = 0x100
CAN_ISOTP_RX_EXT_ADDR = 0x200
class ISOTPConfig(BaseModel):
src_addr: int
dst_addr: int
is_extended: bool = False
is_fd: bool = False
frame_txtime: int = 10
ext_address: int | None = None
rx_ext_address: int | None = None
tx_padding: int | None = None
rx_padding: int | None = None
tx_dl: int = 64
_auto_int = validator(
"src_addr",
"dst_addr",
"ext_address",
"rx_ext_address",
pre=True,
allow_reuse=True,
)(auto_int)
[docs]class ISOTPTransport(BaseTransport, scheme="isotp"):
def __init__(self, target: TargetURI, config: ISOTPConfig, sock: s.socket) -> None:
super().__init__(target)
self._sock = sock
self.config = config
[docs] @classmethod
async def connect(
cls,
target: str | TargetURI,
timeout: float | None = None,
) -> ISOTPTransport:
t = target if isinstance(target, TargetURI) else TargetURI(target)
cls.check_scheme(t)
if t.hostname is None:
raise ValueError("empty interface")
config = ISOTPConfig(**t.qs_flat)
sock = s.socket(s.PF_CAN, s.SOCK_DGRAM, s.CAN_ISOTP)
sock.setblocking(False)
src_addr = cls._calc_flags(config.src_addr, config.is_extended)
dst_addr = cls._calc_flags(config.dst_addr, config.is_extended)
cls._setsockopts(
sock,
frame_txtime=config.frame_txtime,
ext_address=config.ext_address,
rx_ext_address=config.rx_ext_address,
tx_padding=config.tx_padding,
rx_padding=config.rx_padding,
)
# If CAN-FD is used, jumbo frames are possible.
# This fails for non-fd configurations.
if config.is_fd:
cls._setsockllopts(sock, canfd=config.is_fd, tx_dl=config.tx_dl)
sock.bind((t.hostname, dst_addr, src_addr))
return cls(t, config, sock)
@staticmethod
def _calc_flags(can_id: int, extended: bool = False) -> int:
if extended:
can_id = can_id & s.CAN_EFF_MASK
return can_id | s.CAN_EFF_FLAG
return can_id & s.CAN_SFF_MASK
@staticmethod
def _setsockopts(
sock: s.socket,
frame_txtime: int,
tx_padding: int | None = None,
rx_padding: int | None = None,
ext_address: int | None = None,
rx_ext_address: int | None = None,
flags: int = 0,
) -> None:
if ext_address is not None:
flags |= CAN_ISOTP_EXTEND_ADDR
else:
ext_address = 0
if rx_ext_address is not None:
flags |= CAN_ISOTP_RX_EXT_ADDR
else:
rx_ext_address = 0
if tx_padding is not None:
flags |= CAN_ISOTP_TX_PADDING
else:
tx_padding = 0
if rx_padding is not None:
flags |= CAN_ISOTP_RX_PADDING
else:
rx_padding = 0
data = struct.pack(
"@IIBBBB",
flags,
frame_txtime,
ext_address,
tx_padding,
rx_padding,
rx_ext_address,
)
sock.setsockopt(SOL_CAN_ISOTP, CAN_ISOTP_OPTS, data)
@staticmethod
def _setsockfcopts(
sock: s.socket,
bs: int = 0,
stmin: int = 0,
wftmax: int = 0,
) -> None:
data = struct.pack("@BBB", bs, stmin, wftmax)
sock.setsockopt(SOL_CAN_ISOTP, CAN_ISOTP_RECV_FC, data)
@staticmethod
def _setsockllopts(sock: s.socket, canfd: bool, tx_dl: int) -> None:
canmtu = 72 if canfd else 16
# The flags are set to 0, since the author marks this as obsolete.
data = struct.pack("@BBB", canmtu, tx_dl, 0)
sock.setsockopt(SOL_CAN_ISOTP, CAN_ISOTP_LL_OPTS, data)
[docs] async def write(
self,
data: bytes,
timeout: float | None = None,
tags: list[str] | None = None,
) -> int:
t = tags + ["write"] if tags is not None else ["write"]
self.logger.trace(data.hex(), extra={"tags": t})
loop = asyncio.get_running_loop()
await asyncio.wait_for(loop.sock_sendall(self._sock, data), timeout)
return len(data)
[docs] async def read(
self, timeout: float | None = None, tags: list[str] | None = None
) -> bytes:
loop = asyncio.get_running_loop()
try:
data = await asyncio.wait_for(
loop.sock_recv(self._sock, self.BUFSIZE), timeout
)
except OSError as e:
if e.errno == errno.ECOMM:
raise BrokenPipeError(f"isotp flow control frame missing: {e}") from e
if e.errno == errno.EILSEQ:
raise BrokenPipeError(f"invalid consecutive frame numbers: {e}") from e
raise e
self.logger.trace(data.hex(), extra={"tags": tags})
return data
[docs] async def close(self) -> None:
pass
class CANMessage(Message): # type: ignore
# https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/tree/include/uapi/linux/can.h
CAN_HEADER_FMT = struct.Struct("=IBB2x")
CANFD_BRS = 0x01
CANFD_ESI = 0x02
def _compose_arbitration_id(self) -> int:
can_id = cast(int, self.arbitration_id)
if self.is_extended_id:
can_id |= s.CAN_EFF_FLAG
if self.is_remote_frame:
can_id |= s.CAN_RTR_FLAG
if self.is_error_frame:
can_id |= s.CAN_ERR_FLAG
return can_id
def pack(self) -> bytes:
can_id = self._compose_arbitration_id()
flags = 0
if self.bitrate_switch:
flags |= self.CANFD_BRS
if self.error_state_indicator:
flags |= self.CANFD_ESI
max_len = 64 if self.is_fd else 8
data = bytes(self.data).ljust(max_len, b"\x00")
return self.CAN_HEADER_FMT.pack(can_id, self.dlc, flags) + data
@staticmethod
def _dissect_can_frame(frame: bytes) -> tuple[int, int, int, bytes]:
can_id, can_dlc, flags = CANMessage.CAN_HEADER_FMT.unpack_from(frame)
if len(frame) != CANFD_MTU:
# Flags not valid in non-FD frames
flags = 0
return can_id, can_dlc, flags, frame[8 : 8 + can_dlc]
@classmethod
def unpack(cls, frame: bytes) -> CANMessage:
can_id, can_dlc, flags, data = cls._dissect_can_frame(frame)
# EXT, RTR, ERR flags -> boolean attributes
# /* special address description flags for the CAN_ID */
# #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
# #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
# #define CAN_ERR_FLAG 0x20000000U /* error frame */
is_extended_frame_format = bool(can_id & s.CAN_EFF_FLAG)
is_remote_transmission_request = bool(can_id & s.CAN_RTR_FLAG)
is_error_frame = bool(can_id & s.CAN_ERR_FLAG)
is_fd = len(frame) == CANFD_MTU
bitrate_switch = bool(flags & cls.CANFD_BRS)
error_state_indicator = bool(flags & cls.CANFD_ESI)
if is_extended_frame_format:
arbitration_id = can_id & s.CAN_EFF_MASK
else:
arbitration_id = can_id & s.CAN_SFF_MASK
return cls(
arbitration_id=arbitration_id,
is_extended_id=is_extended_frame_format,
is_remote_frame=is_remote_transmission_request,
is_error_frame=is_error_frame,
is_fd=is_fd,
bitrate_switch=bitrate_switch,
error_state_indicator=error_state_indicator,
dlc=can_dlc,
data=data,
)
class RawCANConfig(BaseModel):
is_extended: bool = False
is_fd: bool = False
dst_id: int | None = None
_auto_int = validator(
"dst_id",
pre=True,
allow_reuse=True,
)(auto_int)
[docs]class RawCANTransport(BaseTransport, scheme="can-raw"):
# Flags for setsockopt CAN_RAW_FILTER
CAN_INV_FILTER = 0x20000000
def __init__(self, target: TargetURI, config: RawCANConfig, sock: s.socket) -> None:
super().__init__(target)
self._sock = sock
self.config = config
[docs] @classmethod
async def connect(
cls, target: str | TargetURI, timeout: float | None = None
) -> RawCANTransport:
t = target if isinstance(target, TargetURI) else TargetURI(target)
cls.check_scheme(t)
if t.hostname is None:
raise ValueError("empty interface")
sock = s.socket(s.PF_CAN, s.SOCK_RAW, s.CAN_RAW)
sock.bind((t.hostname,))
config = RawCANConfig(**t.qs_flat)
if config.is_fd is True:
sock.setsockopt(s.SOL_CAN_RAW, s.CAN_RAW_FD_FRAMES, 1)
sock.setblocking(False)
return cls(t, config, sock)
def set_filter(self, can_ids: list[int], inv_filter: bool = False) -> None:
if not can_ids:
return
filter_mask = s.CAN_EFF_MASK if self.config.is_extended else s.CAN_SFF_MASK
data = b""
for can_id in can_ids:
if inv_filter:
can_id |= self.CAN_INV_FILTER
data += struct.pack("@II", can_id, filter_mask)
self._sock.setsockopt(s.SOL_CAN_RAW, s.CAN_RAW_FILTER, data)
if inv_filter:
self._sock.setsockopt(s.SOL_CAN_RAW, s.CAN_RAW_JOIN_FILTERS, 1)
[docs] async def read(
self,
timeout: float | None = None,
tags: list[str] | None = None,
) -> bytes:
raise RuntimeError("RawCANTransport is a special snowflake")
[docs] async def write(
self,
data: bytes,
timeout: float | None = None,
tags: list[str] | None = None,
) -> int:
if self.config.dst_id:
return await self.sendto(data, self.config.dst_id, timeout, tags)
raise ValueError("dst_id not set")
async def sendto(
self,
data: bytes,
dst: int,
timeout: float | None = None,
tags: list[str] | None = None,
) -> int:
msg = CANMessage(
arbitration_id=dst,
data=data,
is_extended_id=self.config.is_extended,
is_fd=self.config.is_fd,
check=True,
)
t = tags + ["write"] if tags is not None else ["write"]
if self.config.is_extended:
self.logger.trace(f"{dst:08x}#{data.hex()}", extra={"tags": t})
else:
self.logger.trace(f"{dst:03x}#{data.hex()}", extra={"tags": t})
loop = asyncio.get_running_loop()
await asyncio.wait_for(loop.sock_sendall(self._sock, msg.pack()), timeout)
return len(data)
async def recvfrom(
self, timeout: float | None = None, tags: list[str] | None = None
) -> tuple[int, bytes]:
loop = asyncio.get_running_loop()
can_frame = await asyncio.wait_for(
loop.sock_recv(self._sock, self.BUFSIZE), timeout
)
msg = CANMessage.unpack(can_frame)
t = tags + ["read"] if tags is not None else ["read"]
if msg.is_extended_id:
self.logger.trace(
f"{msg.arbitration_id:08x}#{msg.data.hex()}", extra={"tags": t}
)
else:
self.logger.trace(
f"{msg.arbitration_id:03x}#{msg.data.hex()}", extra={"tags": t}
)
return msg.arbitration_id, msg.data
[docs] async def close(self) -> None:
pass
[docs] async def get_idle_traffic(self, sniff_time: float) -> list[int]:
"""Listen to traffic on the bus and return list of IDs
which are seen in the specified period of time.
The output of this function can be used as input to set_filter.
"""
addr_idle: list[int] = []
t1 = time.time()
while time.time() - t1 < sniff_time:
try:
addr, _ = await self.recvfrom(timeout=1)
if addr not in addr_idle:
self.logger.info(f"Received a message from {addr:03x}")
addr_idle.append(addr)
except asyncio.TimeoutError:
continue
addr_idle.sort()
return addr_idle