void
KalmanDetectionFilter::checkFilterAges()
{
if(current_filter_ && isOld(current_filter_))
{
current_filter_.reset();
ROS_DEBUG("Filter aged out");
}
}
void
KalmanDetectionFilter::publishFilteredDetections()
{
if(!current_filter_)
return;
if(isOld(current_filter_))
return;
if (current_filter_->statePost.at<float>(3) < config_.max_pub_vel &&
current_filter_->statePost.at<float>(4) < config_.max_pub_vel) {
samplereturn_msgs::NamedPoint point_msg;
current_filter_->toMsg(point_msg, ros::Time::now(), _filter_frame_id);
pub_detection.publish(point_msg);
}
}
int sql_server(AUDIT_ENSEMBLE_REL *data, CACHE_POLICY_CONF *policy) {
char buffer[1024]={0},
srcipstr[32]={0}, dstipstr[32]={0}, srcmac[64]={0}, dstmac[64]={0};
int pkt_type;
int line_num; /* 2015-11-17: select语句返回的行数 */
if (data->request_size <= 0) { fprintf(stderr, "%s:%d:data->reqsize <= 0\n", __FILE__, __LINE__); return 0; }
/* 生成填数据库的缓存文件的完全路径 */
if (0==itemCount[data->thid] || '\0'==curFileName[data->thid][0] || '\0'==curDstFileName[data->thid][0]) {
itemCount[data->thid] = 0;
sprintf(curFileName[data->thid], "%s%s%s_%d_%d", SQLSERVER_SQL_TMP_DIR, SQLSERVER_PREFIX, data->table, fileNameSuffixN[data->thid], data->thid);
sprintf(curDstFileName[data->thid], "%s%s%s_%d_%d", SQLSERVER_SQL_DIR, SQLSERVER_PREFIX, data->table, fileNameSuffixN[data->thid], data->thid);
fileNameSuffixN[data->thid]++;
}
pkt_type = TDS_parser(data->request_data, data->request_size, data->operation, 1024*1024*5-10, &line_num);
if ((pkt_type>=12 && pkt_type<=20) || (pkt_type>=29)) return 0;
//if ((strlen(data->operation)) < 5) {
// unprintToSpace(data->request_data+8, data->request_size-8, data->operation, 1024*1024*5-10);
// trim(data->operation);
// if (strlen(data->operation) < 5) return 0;
//}
/* 点分式ip (cli对应 表里面的src ser 对应des)*/
getStrIp(ntohl(data->userip), srcipstr, 32);
getStrIp(ntohl(data->desip), dstipstr, 32);
/* mac
sprintf(srcmac, "%c%c-%c%c-%c%c-%c%c-%c%c-%c%c",
data->srcmac[0], data->srcmac[1], data->srcmac[2], data->srcmac[3], data->srcmac[4], data->srcmac[5],
data->srcmac[6], data->srcmac[7], data->srcmac[8], data->srcmac[9], data->srcmac[10], data->srcmac[11]);
sprintf(dstmac, "%c%c-%c%c-%c%c-%c%c-%c%c-%c%c",
data->desmac[0], data->desmac[1], data->desmac[2], data->desmac[3], data->desmac[4], data->desmac[5],
data->desmac[6], data->desmac[7], data->desmac[8], data->desmac[9], data->desmac[10], data->desmac[11]);
*/
strcpy(srcmac, data->srcmac);
strcpy(dstmac, data->desmac);
/* 2015-11-16, 新增snmp
char tmpSrcmac[64]={0}, tmpDstmac[64]={0};
get_mac_str(srcipstr, tmpSrcmac);
get_mac_str(dstipstr, tmpDstmac);
if (tmpSrcmac[0] != '\0' && tmpDstmac[0] != '\0') {
strcpy(srcmac, tmpSrcmac);
strcpy(dstmac, tmpDstmac);
}*/
/* 策略匹配 */
//CACHE_POLICY_CONF *policy = (CACHE_POLICY_CONF*)get_audit_cache_policy_shm();
if(NULL == policy){
printf("Fails to get CACHE_POLICY_CONF");
return 0;
}
sprintf(zinfo.cspHead.policytime, "%d", data->policytime);
strcpy(zinfo.cspHead.userip, srcipstr);
zinfo.type = pkt_type;
zinfo.security_level = 0;
if (0 == policy_match(&zinfo, policy)) {
return 0;
}
/* request缓存
operation_command的偏移量不计算偏移内容后的\n */
sprintf(buffer,
"rowkey=%lu"
"|colfam1:table=%s"
"|colfam1:app_id=%d"
"|colfam1:src_ip=%s"
"|colfam1:src_mac=%s"
"|colfam1:src_port=%hu"
"|colfam1:dst_ip=%s"
"|colfam1:dst_mac=%s"
"|colfam1:dst_port=%hu"
"|colfam1:user_id=%hu"
#if GA_TEST
"|colfam1:security_level=%hu"
#endif
"|colfam1:charset=%s"
"|colfam1:interval_time=%lu" /* 2015-11-09新增字段 */
"|colfam1:operation_command=%d"
"|colfam\n",
data->times, data->table, pkt_type, srcipstr, srcmac, data->cliport,
dstipstr, dstmac, data->serport, data->userid,
#if GA_TEST
zinfo.security_level,
#endif
"UTF-8", data->interval_time, strlen(data->operation));
int fd = open(curFileName[data->thid], O_CREAT|O_RDWR|O_APPEND, 0666);
if (fd < 0) { printf("%d:open file failed", __LINE__); return -1; }
write(fd, buffer, strlen(buffer));
write(fd, data->operation, strlen(data->operation));
write(fd, "\n", 1);
/* response缓存 */
data->response[0] = '\0';
if (data->request_size > 0) {
TDS_parser(data->response_data, data->response_size, data->response, 1024*1024*5-10, &line_num);
}
/* response_content的偏移量不计算偏移内容后的\n */
sprintf(buffer,
"rowkey=%lu"
"|colfam1:line_num=%d"
"|colfam1:response_content=%d"
"|colfam\n",
data->times, line_num, strlen(data->response));
write(fd, buffer, strlen(buffer));
write(fd, data->response, strlen(data->response));
write(fd, "\n", 1);
close(fd);
/* 移动填数据库的文件 */
itemCount[data->thid]++;
if (itemCount[data->thid] >= ITEM_MAX || isOld(curFileName[data->thid], 60)) {
rename(curFileName[data->thid], curDstFileName[data->thid]);
unlink(curFileName[data->thid]);
itemCount[data->thid] = 0;
curFileName[data->thid][0] = '\0';
curDstFileName[data->thid][0] = '\0';
}
return 0;
}
