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Allow chrooting the application

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This commit is contained in:
Lorenz Meier
2015-12-22 09:48:11 +01:00
parent e1597c2aa9
commit 23e9693641
2 changed files with 46 additions and 4 deletions
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15
Tools/sitl_run.sh
View File

@@ -14,6 +14,15 @@ echo program: $program
echo model: $model echo model: $model
echo build_path: $build_path echo build_path: $build_path
if [ "$chroot" == "1" ]
then
chroot_enabled=-c
sudo_enabled=sudo
else
chroot_enabled=""
sudo_enabled=""
fi
if [ "$model" == "" ] || [ "$model" == "none" ] if [ "$model" == "" ] || [ "$model" == "none" ]
then then
echo "empty model, setting iris as default" echo "empty model, setting iris as default"
@@ -48,7 +57,7 @@ if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
then then
cd Tools/jMAVSim cd Tools/jMAVSim
ant ant
nice -n -10 java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 & java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
SIM_PID=`echo $!` SIM_PID=`echo $!`
elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ] elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ]
then then
@@ -65,7 +74,7 @@ then
cd Tools/sitl_gazebo/Build cd Tools/sitl_gazebo/Build
cmake -Wno-dev .. cmake -Wno-dev ..
make -j4 make -j4
nice -n -10 gzserver --verbose ../worlds/${model}.world & gzserver --verbose ../worlds/${model}.world &
SIM_PID=`echo $!` SIM_PID=`echo $!`
gzclient --verbose & gzclient --verbose &
GUI_PID=`echo $!` GUI_PID=`echo $!`
@@ -96,7 +105,7 @@ elif [ "$debugger" == "valgrind" ]
then then
valgrind ./mainapp ../../../../${rc_script}_${program}_${model} valgrind ./mainapp ../../../../${rc_script}_${program}_${model}
else else
nice -n -10 ./mainapp ../../../../${rc_script}_${program}_${model} $sudo_enabled ./mainapp $chroot_enabled ../../../../${rc_script}_${program}_${model}
fi fi
if [ "$program" == "jmavsim" ] if [ "$program" == "jmavsim" ]

35
src/platforms/posix/main.cpp
View File

@@ -44,6 +44,7 @@
#include <sstream> #include <sstream>
#include <vector> #include <vector>
#include <signal.h> #include <signal.h>
#include <unistd.h>
#include "apps.h" #include "apps.h"
#include "px4_middleware.h" #include "px4_middleware.h"
#include "DriverFramework.hpp" #include "DriverFramework.hpp"
@@ -157,6 +158,7 @@ static void process_line(string &line, bool exit_on_fail)
int main(int argc, char **argv) int main(int argc, char **argv)
{ {
bool daemon_mode = false; bool daemon_mode = false;
bool chroot_on = false;
signal(SIGINT, _SigIntHandler); signal(SIGINT, _SigIntHandler);
signal(SIGFPE, _SigFpeHandler); signal(SIGFPE, _SigFpeHandler);
@@ -174,6 +176,9 @@ int main(int argc, char **argv)
usage(); usage();
return 0; return 0;
} else if (strcmp(argv[index], "-c") == 0) {
chroot_on = true;
} else { } else {
PX4_WARN("Unknown/unhandled parameter: %s", argv[index]); PX4_WARN("Unknown/unhandled parameter: %s", argv[index]);
return 1; return 1;
@@ -203,7 +208,7 @@ int main(int argc, char **argv)
px4::init(argc, argv, "mainapp"); px4::init(argc, argv, "mainapp");
//if commandfile is present, process the commands from the file // if commandfile is present, process the commands from the file
if (commands_file != nullptr) { if (commands_file != nullptr) {
ifstream infile(commands_file); ifstream infile(commands_file);
@@ -217,6 +222,34 @@ int main(int argc, char **argv)
} }
} }
if (chroot_on) {
// Lock this application in the current working dir
// this is not an attempt to secure the environment,
// rather, to replicate a deployed file system.
char pwd_path[PATH_MAX];
const char *folderpath = "/rootfs/";
if (nullptr == getcwd(pwd_path, sizeof(pwd_path))) {
PX4_ERR("Failed aquiring working dir, abort.");
exit(1);
}
if (nullptr == strcat(pwd_path, folderpath)) {
PX4_ERR("Failed completing path, abort.");
exit(1);
}
if (chroot(pwd_path)) {
PX4_ERR("Failed chrooting application, path: %s, error: %s.", pwd_path, strerror(errno));
exit(1);
}
if (chdir("/")) {
PX4_ERR("Failed changing to root dir, path: %s, error: %s.", pwd_path, strerror(errno));
exit(1);
}
}
if (!daemon_mode) { if (!daemon_mode) {
string mystr = ""; string mystr = "";
string string_buffer[CMD_BUFF_SIZE]; string string_buffer[CMD_BUFF_SIZE];