aztarna.ros.sros package

Submodules

aztarna.ros.sros.helpers module

SROS Scanner helpers classes module. :author Alias Robotics SL (https://aliasrobotics.com)

class aztarna.ros.sros.helpers.SROSHost[source]

Bases: aztarna.ros.commons.BaseHostROS

Class for keeping all the attributes of a SROS Node.Extends:class:aztarna.commons.BaseHostROS

class aztarna.ros.sros.helpers.SROSNode[source]

Bases: aztarna.ros.commons.BaseNodeROS

Class for keeping all the attributes of a SROS Node. Extends aztarna.commons.BaseNodeROS

class aztarna.ros.sros.helpers.SROSPolicy[source]

Bases: object

Class for representing a SROS Policy, containing the possible types for it, the value and its permissions.

POLICY_ALLOWED = True
POLICY_DENIED = False
TYPE_EXECUTABLE_SVCS = 'Executable services'
TYPE_PUBLISHABLE_TOPICS = 'Publishable topics'
TYPE_READABLE_PARAMS = 'Readable parameters'
TYPE_SUBSCRIPTABLE_TOPICS = 'Subscriptable topics'
TYPE_UNKNOWN = 'Unknown'
aztarna.ros.sros.helpers.check_port(ip, port)[source]

Check if a port is open. :param ip: Address of the host :param port: Port to check :return: Returns the port if it is open. None otherwise.

aztarna.ros.sros.helpers.check_port_sem(sem, ip, port)[source]

Check ports from a host, limiting concurrency with a semaphore.

Parameters

  • sem – Asyncio semaphore.

  • ip – Address of the host.

  • port – Port to be checked.

Returns

The result of aztarna.sros.helpers.check_port().

aztarna.ros.sros.helpers.find_node_ports(address, ports)[source]

Find all the open ports for a host.

Parameters

  • address – IP address of the host.

  • ports – Port to check.

Returns

A list of the found open ports.

aztarna.ros.sros.helpers.get_node_info(cert)[source]

Extract all the information for a node, based on it’s certificate. :param cert: The input certificate in X509 format. :return: aztarna.sros.helpers.SROSNode The extracted node info from the certificate.

aztarna.ros.sros.helpers.get_policies(cert)[source]

Get the related policies from an input SROS Node certificate. :param cert: Certificate in X509 format. :return: List containing all policies as instances of aztarna.sros.helpers.SROSPolicy

aztarna.ros.sros.helpers.get_sros_certificate(address, port, timeout=3)[source]

Function to connect to a SROS Node, simulate the TLS handshake, and get it’s server certificate on the process. :param address: Address of the node. :param port: Port of the node. :param timeout: Timeout for the connection. :return: A tuple containing the address, port and certificate if found, otherwise, a tuple containing address, port and None.

aztarna.ros.sros.scanner module

SROS Scanner module.

:author Alias Robotics SL (https://aliasrobotics.com)

class aztarna.ros.sros.scanner.SROSScanner[source]

Bases: aztarna.commons.RobotAdapter

SROS Scanner class, extending aztarna.commons.BaseScanner.

print_results()[source]

Print the results of the scan into console. Extended from aztarna.commons.BaseScanner.

scan()[source]

Run the scan for SROS hosts. Extended from aztarna.commons.BaseScanner. This function is the one to be called externally in order to run the scans. Internally those scans are run with the help of asyncio.

scan_host(address: str, master_port: int, timeout=1)[source]

Scan a single SROS host and return a aztarna.sros.helpers.SROSHost instance with all the data if found.

Parameters

  • address – Host IP address.

  • master_port – Master node port.

  • timeout – Timeout for the connection.

Returns

aztarna.sros.helpers.SROSHost instance.

scan_network()[source]

Scan all the hosts specified in the internal hosts list self.hosts.

Returns

A list of aztarna.sros.helpers.SROSHost containing all the found hosts.

scan_pipe()[source]
scan_pipe_main()[source]
write_to_file(out_file: str)[source]

Write the results to the specified output file. Extended from aztarna.commons.BaseScanner.

Parameters

out_file – Output file name in which the results will be writen.

Module contents