Merge branch 'master' into doc_fixes

Author: olaldiko

docs/source/index.rst

@@ -14,6 +14,11 @@ Welcome to ROS Fuzzer's documentation!
    usage
    module
 
+This is the documentation for the ROS1 Fuzzer developed by Alias Robotics.
+This fuzzer allows to test ROS applications against limit cases that could cause failures or pose a security risk.
+Currently the fuzzer allows to test ROS messages of any type by dynamically setting up the fuzz cases for each of the
+message elements.
+
 
 Indices and tables
 ==================

docs/source/install.rst

@@ -1,8 +1,14 @@
 Installation
 ============
 
+
 Install the ROS fuzzer by directly downloading from PyPi:
 
+.. toctree::
+   :maxdepth: 4
+   :caption: Contents:
+   
+
 ::
 
     pip install ros_fuzzer

docs/source/module.rst

@@ -4,7 +4,9 @@ ROS fuzzer modules
 ==================
 
 .. toctree::
-   :maxdepth: 4
+    :maxdepth: 4
+    :caption: Contents
+
 
 ..  automodule:: ros1_fuzzer.ros_basic_strategies
     :members:

docs/source/usage.rst

@@ -1,9 +1,15 @@
 Fuzzer usage
 ============
 
+
 The fuzzer works in a standalone manner, by calling it to fuzz a full message structure via CLI,
 or by designing custom tests that fuzz or exclude different fields of the messages.
 
+.. toctree::
+   :maxdepth: 4
+   :caption: Contents:
+
+
 
 CLI Usage
 ---------
@@ -59,3 +65,33 @@ The :func:`hypothesis.given` decorator runs the decorated function with all the
         self.pub.publish(log)
 
 
+The following examples show a trajectory message fuzzer utilized for fuzzing the ABB control
+node of the `Link ROS Industrial <https://github.com/ros-industrial>`project.
+Notice the settings block, which serves as a way to set the fuzz cases to launch and the output of the fuzzer.
+The :class:`ros_commons.ProcessHandler` class serves to detect changes in the target node,
+detecting when this node has crashed.
+
+.. code-block:: python
+    :caption: Joint Trajectory message fuzzing used on REDROS-I ROSIN project for ABB node fuzzing.
+
+    @settings(max_examples=5000, verbosity=Verbosity.verbose)
+    @given(array(elements=float64(), min_size=6, max_size=6))
+    def fuzz_message_jointstate_effort(process_handler, fuzzed_fields):
+        joint_state_message.effort = fuzzed_fields
+        pub.publish(joint_state_message)
+        assert process_handler.check_if_alive() is True
+
+    @settings(max_examples=5000, verbosity=Verbosity.verbose)
+    @given(array(elements=float64(), min_size=6, max_size=6),
+           array(elements=float64(), min_size=6, max_size=6),
+           array(elements=float64(), min_size=6, max_size=6))
+    def fuzz_message_jointstate_all(process_handler, positions, velocities, efforts):
+        joint_state_message.position = positions
+        joint_state_message.velocity = velocities
+        joint_state_message.effort = efforts
+        pub.publish(joint_state_message)
+        assert process_handler.check_if_alive() is True
+
+
+
+

ros1_fuzzer/process_handling.py

@@ -0,0 +1,35 @@
+try:
+    from xmlrpc.client import ServerProxy
+except ImportError:
+    from xmlrpclib import ServerProxy
+import psutil
+
+
+class FuzzedLocalProcessHandler:
+    def __init__(self, node_name):
+        self.node_name = node_name
+        self.node_pid = -1
+        self.master_conn = ServerProxy('http://127.0.0.1:11311')
+        self.get_node_pid()
+
+
+    def get_node_pid(self):
+
+        code, msg, val = self.master_conn.lookupNode('', self.node_name)
+        if code == 1:
+            node_conn = ServerProxy(val)
+            node_code, node_msg, node_val = node_conn.getPid('')
+            if code == 1:
+                self.node_pid = int(node_val)
+        else:
+            raise Exception(msg)
+
+
+    def check_if_alive(self):
+        return psutil.pid_exists(self.node_pid)
+
+
+
+
+
+

setup.py

@@ -17,6 +17,7 @@
         'hypothesis==3.82',
         'attrs==19.1.0',
         'enum34==1.1.6',
+        'psutil==5.6.2'
     ],
     include_package_data=True,
 )