diff options
| -rw-r--r-- | package.json | 8 | ||||
| -rw-r--r-- | src/public/css/style.css | 36 | ||||
| -rw-r--r-- | src/public/example.py | 42 | ||||
| -rw-r--r-- | src/public/js/form.js | 45 | ||||
| -rw-r--r-- | src/public/lib/prism.css | 3 | ||||
| -rw-r--r-- | src/public/lib/prism.js | 4 | ||||
| -rw-r--r-- | src/routes/api.ts | 112 | ||||
| -rw-r--r-- | src/views/pages/about.ejs | 6 | ||||
| -rw-r--r-- | src/views/pages/index.ejs | 35 | ||||
| -rw-r--r-- | src/views/partials/nav.ejs | 2 | ||||
| -rw-r--r-- | yarn.lock | 33 |
11 files changed, 224 insertions, 102 deletions
diff --git a/package.json b/package.json index 7116af3..57b1c43 100644 --- a/package.json +++ b/package.json @@ -6,16 +6,16 @@ "express": "^4.17.2", "express-fileupload": "^1.3.1", "express-rate-limit": "^6.2.1", - "express-slow-down": "^1.4.0", - "helmet": "^5.0.2" + "helmet": "^5.0.2", + "shell-quote": "^1.7.3" }, "devDependencies": { "@types/cookie-parser": "^1.4.2", "@types/csurf": "^1.11.2", "@types/express": "^4.17.13", "@types/express-fileupload": "^1.2.2", - "@types/express-slow-down": "^1.3.2", "@types/node": "^17.0.17", + "@types/shell-quote": "^1.7.1", "@typescript-eslint/eslint-plugin": "^5.11.0", "@typescript-eslint/parser": "^5.11.0", "eslint": "^8.9.0", @@ -45,4 +45,4 @@ "repository": "https: //github.com/RosstheRoss/4951w-pendulum", "license": "MIT", "private": true -}
\ No newline at end of file +} diff --git a/src/public/css/style.css b/src/public/css/style.css index 0e7892d..d48e8b9 100644 --- a/src/public/css/style.css +++ b/src/public/css/style.css @@ -7,8 +7,6 @@ body { } .header { - - /* top: 30px; */ margin: 5px; font-family: "Times New Roman", Times, serif; } @@ -55,44 +53,21 @@ p { a { - color: white; + color: blue; text-decoration: none; } -/* Used for id=main */ +/* Used for the about page*/ -#main { +.about { color: white; - /* border-style: solid; */ - /* border: 1px solid maroon; */ text-align: center; margin: 5px; -} - -#about { font-size: large; } - -/* Used for id=title2 */ - -#title2 { - font-size: xx-large; - font-weight: bold; - margin-top: 20px; -} - - -/* Used for id=title3 */ - -#title3 { - font-size: xx-large; - font-weight: bold; - margin-top: 15px; -} - #Background { color: #ffbb00; } @@ -140,4 +115,9 @@ a { color: #000000; /* Remove underlines from links */ text-decoration: none; +} + +.error { + color: red; + font-size: larger; }
\ No newline at end of file diff --git a/src/public/example.py b/src/public/example.py new file mode 100644 index 0000000..27f5835 --- /dev/null +++ b/src/public/example.py @@ -0,0 +1,42 @@ +import sys +sys.path.insert(0, '/home/pi/pendulum/System') +from System.system import System +import time +from sys import exit +sys.path.insert(0, '/home/pi/pendulum/System') +from encoder import Encoder +import RPi.GPIO as GPIO + +clk_pin = 3 +cs_pin = 23 +data_pin = 2 + +e = Encoder(clk_pin, cs_pin, data_pin) +e.set_zero() +sys = System(angular_units = 'Radians') + +for x in range(4,20): + linear = 0 + + print("beginning of test with speed " + str(x)) + + while linear > -7: + sys.adjust(-5) + angle, linear = sys.measure() + print("Angle: " + str(angle) + ", Linear: " + str(linear)) + time.sleep(0.1) + sys.adjust(0) + time.sleep(3) + sys.add_log("this is a test with speed " + str(x)) + + while linear < 7: + sys.adjust(x) + angle, linear = sys.measure() + print("Angle: " + str(angle) + ", Linear: " + str(linear)) + sys.add_results(e.read_position('Degrees'), linear, x) + time.sleep(0.1) + sys.adjust(0) + print("end of test with speed " + str(x)) + time.sleep(3) +deinitialize() +exit() diff --git a/src/public/js/form.js b/src/public/js/form.js index 7085422..f58a27f 100644 --- a/src/public/js/form.js +++ b/src/public/js/form.js @@ -1,5 +1,14 @@ +window.onload = function () { + document.getElementById('nojs').hidden = true; + document.getElementById('block').hidden = false; +}; + // File submit AJAX request document.getElementById('upload').onsubmit = function () { + // Reset error message + document.getElementById('upload-err').innerText = ''; + document.getElementById('actuate-err').innerText = ''; + // Make AJAX request let xhr = new XMLHttpRequest(); xhr.open('POST', '/api/v1/upload'); let formData = new FormData(this); @@ -8,11 +17,41 @@ document.getElementById('upload').onsubmit = function () { if (xhr.readyState === 4) { let response = JSON.parse(xhr.responseText); if (xhr.status === 200) { - console.log(response); + actuate(response); } else { - console.log(response.error); + // Display upload error message to the user + document.getElementById('upload-err').innerText = response.error; + // DEBUG: Print full error if unknown error occurs + if (xhr.status === 500) + console.error(response.error_msg); } } }; return false; -};
\ No newline at end of file +}; + +function actuate(file) { + let xhr = new XMLHttpRequest(); + xhr.open('POST', '/api/v1/actuate'); + let data = { + name: file.name, + path: file.path, + }; + xhr.setRequestHeader('Content-Type', 'application/json; charset=utf-8'); + xhr.setRequestHeader('X-CSRF-TOKEN', file.csrf); + xhr.send(JSON.stringify(data)); + xhr.onreadystatechange = function () { + if (xhr.readyState === 4) { + let response = JSON.parse(xhr.responseText); + if (xhr.status === 200) { + console.log(response); + } else { + // Display upload error message to the user + document.getElementById('actuate-err').innerText = response.error; + // DEBUG: Print full error if unknown error occurs + if (xhr.status === 500) + console.error(response.error_msg); + } + } + }; +}
\ No newline at end of file diff --git a/src/public/lib/prism.css b/src/public/lib/prism.css new file mode 100644 index 0000000..4fb0a7c --- /dev/null +++ b/src/public/lib/prism.css @@ -0,0 +1,3 @@ +/* PrismJS 1.26.0 +https://prismjs.com/download.html#themes=prism-okaidia&languages=python */ +code[class*=language-],pre[class*=language-]{color:#f8f8f2;background:0 0;text-shadow:0 1px rgba(0,0,0,.3);font-family:Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace;font-size:1em;text-align:left;white-space:pre;word-spacing:normal;word-break:normal;word-wrap:normal;line-height:1.5;-moz-tab-size:4;-o-tab-size:4;tab-size:4;-webkit-hyphens:none;-moz-hyphens:none;-ms-hyphens:none;hyphens:none}pre[class*=language-]{padding:1em;margin:.5em 0;overflow:auto;border-radius:.3em}:not(pre)>code[class*=language-],pre[class*=language-]{background:#272822}:not(pre)>code[class*=language-]{padding:.1em;border-radius:.3em;white-space:normal}.token.cdata,.token.comment,.token.doctype,.token.prolog{color:#8292a2}.token.punctuation{color:#f8f8f2}.token.namespace{opacity:.7}.token.constant,.token.deleted,.token.property,.token.symbol,.token.tag{color:#f92672}.token.boolean,.token.number{color:#ae81ff}.token.attr-name,.token.builtin,.token.char,.token.inserted,.token.selector,.token.string{color:#a6e22e}.language-css .token.string,.style .token.string,.token.entity,.token.operator,.token.url,.token.variable{color:#f8f8f2}.token.atrule,.token.attr-value,.token.class-name,.token.function{color:#e6db74}.token.keyword{color:#66d9ef}.token.important,.token.regex{color:#fd971f}.token.bold,.token.important{font-weight:700}.token.italic{font-style:italic}.token.entity{cursor:help} diff --git a/src/public/lib/prism.js b/src/public/lib/prism.js 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diff --git a/src/routes/api.ts b/src/routes/api.ts index e360709..1e9cd49 100644 --- a/src/routes/api.ts +++ b/src/routes/api.ts @@ -2,38 +2,104 @@ import express, { Request, Response } from 'express'; import csurf from 'csurf'; import cookieParser from 'cookie-parser'; import fileUpload, { UploadedFile } from 'express-fileupload'; -import slowDown from 'express-slow-down'; +import rateLimit from 'express-rate-limit'; +import { access, stat } from 'fs/promises'; +import { quote } from 'shell-quote'; +import { exec } from 'child_process'; const api = express.Router(); // For file uploads -api.use(fileUpload()); - -// Slow down everything to prevent DoS attacks -const speedLimiter = slowDown({ - windowMs: 5 * 60 * 1000, // 5 minutes - delayAfter: 50, // allow 50 requests per 5 minutes, then... - delayMs: 500 // begin adding 500ms of delay per request above 100: - // request # 101 is delayed by 500ms - // request # 102 is delayed by 1000ms - // request # 103 is delayed by 1500ms - // etc. +api.use(fileUpload({ + preserveExtension: true, // Preserve file extension on upload + safeFileNames: true, // Only allow alphanumeric characters in file names + limits: { fileSize: 1 * 1024 * 1024 }, // Limit file size to 1MB + useTempFiles: true, // Store files in temp instead of memory + tempFileDir: '/tmp/', // Store files in /tmp/ + debug: false, // Log debug information +})); + +// Slow down frequent requests to prevent DoS attacks +const rateLimiter = rateLimit({ + windowMs: 1 * 60 * 1000, // 1 minute + max: 10, // Limit each IP to 10 requests per `window` (here, per 1 minutes) + standardHeaders: true, // Return rate limit info in the `RateLimit-*` headers + legacyHeaders: false, // Disable the `X-RateLimit-*` headers }); -api.use(speedLimiter); +api.use(rateLimiter); // CSRF protection api.use(cookieParser()); const csrf = csurf({ cookie: true }); -api.post('/upload', csrf, (req: Request, res: Response) => { - // Check if there is a file - if (!req.files || Object.keys(req.files).length === 0) - return res.status(400).json({ error: 'No file uploaded' }); - const file: UploadedFile = req.files.file as UploadedFile; // Kludge to prevent a compiler error - // Check if the file is a python file - if (file.mimetype !== 'text/x-python') - return res.status(400).json({ error: 'Not a Python file' }); - res.status(200).json({ file: file.name }); -}); +api.use(express.json()); +api.route('/upload') + .post(csrf, (req: Request, res: Response) => { + try { + // Check if anything was actually uploaded + if (!req.files || Object.keys(req.files).length === 0) + return res.status(400).json({ error: 'No file uploaded.' }); + + const file: UploadedFile = req.files.file as UploadedFile; // Kludge to prevent a compiler error, only one file gets uploaded so this should be fine + + // Check if the file is too large (see fileUpload.limits for the limit) + if (file.truncated) + return res.status(413).json({ error: 'File uploaded was too large.' }); + + // Check if the file is a python file + if (file.mimetype !== 'text/x-python') + return res.status(415).json({ error: 'File uploaded was not a Python file.' }); + + res.status(200).json({ file: file.name, path: file.tempFilePath, csrf: req.csrfToken() }); + } catch (err) { + // Generic error handler + res.status(500).json({ error: 'An unknown error occurred while uploading the file.', error_msg: err }); + } + }) + // Fallback + .all(csrf, (req: Request, res: Response) => { + res.set('Allow', 'POST'); + res.status(405).json({ error: 'Method not allowed.' }); + }); + +/* + This route is probably a complete security hole. It allows anyone with a login cookie access to run arbitrary Python code on the server. + + Minimizing PE vectors like running this as a low privilege user is a must. +*/ +api.route('/actuate') + .post(csrf, async (req: Request, res: Response) => { + // Make sure the file being requested to run exists + try { + await access(req.body.path); + } catch (err) { + return res.status(403).json({ error: 'File is not accessible.' }); + } + + + const stats = await stat(req.body.path); + // Make sure the file being requested to run is a regular file + if (!stats.isFile()) + return res.status(403).json({ error: 'File is not a regular file.' }); + // Make sure the file being requested to run is not a directory + if (stats.isDirectory()) + return res.status(403).json({ error: 'File is a directory.' }); + + const escaped = quote([ 'python', req.body.path]); + // Run the code + exec(escaped, (err, stdout, stderr) => { + if (err) + return res.status(500).json({ error: 'An unknown error occurred while executing the file.', error_msg: stderr }); + + // Return the output + res.status(200).json({ output: stdout }); + }); + }) + // Fallback + .all(csrf, (req: Request, res: Response) => { + res.set('Allow', 'POST'); + res.status(405).json({ error: 'Method not allowed.' }); + }); + export default api;
\ No newline at end of file diff --git a/src/views/pages/about.ejs b/src/views/pages/about.ejs index 2feede5..26e5687 100644 --- a/src/views/pages/about.ejs +++ b/src/views/pages/about.ejs @@ -15,9 +15,8 @@ <h1>Remotely Accessible Inverted Pendulum</h1> </div> - <div id="main"> - <div id="about"> - <h3 id="subtitle"> + <div class="about"> + <h3> Created by <br /> Abrar Nair Islam, Brendan Lake, Cory Ohnsted, Matt Strapp, Kiflu Woldegiorgis (2022) <br /> Sam Hansen, Rezkath Awal, Donovan Peterson, Joseph Jewett (2021) <br /> @@ -35,7 +34,6 @@ <p> A vertical pendulum that is balanced via the base moving. <br /> Controlled movements are determined by measuring the position and speed of the pendulum and base. </p> - </div> </div> </body> diff --git a/src/views/pages/index.ejs b/src/views/pages/index.ejs index 8b5f044..81624f6 100644 --- a/src/views/pages/index.ejs +++ b/src/views/pages/index.ejs @@ -2,25 +2,36 @@ <html lang="en"> <head> - <!-- HTML headers information --> + <!-- HTML headers --> <%- include('../partials/head.ejs') %> + <title>Upload your code here!</title> <script type="module" src="public/js/form.js" defer></script> </head> <body> <!-- Get the navbar --> <%- include('../partials/nav.ejs') %> - <br /> - <h2>Please upload a Python file (.py file extension) to run on the Inverted Pendulum.</h2> - <br /> <br /> - <form id="upload" enctype="multipart/form-data"> - <input type="hidden" name="_csrf" value="<%= csrfToken %>"> - <input type="file" name="file" accept=".py" /> - <br /> <br /> - <br /> <br /> - <label id="Start">Start pendulum: </label> - <input type="submit" id="actuate_but" value="Actuate!" /> - </form> + <div id="nojs"> + <h1>Please enable JavaScript to use the inverted pendulum.</h1> + </div> + <div id="block" hidden="true"> + <br /> + <h1>Please upload a Python file (.py file extension) to run on the Inverted Pendulum.</h1> + <h3>A heavily documented example can be <a href="public/example.py">found here</a>.</h3> + <h2> + <span class="error" id="upload-err"></span> + <span class="error" id="actuate-err"></span> + </h2> + + <form id="upload" enctype="multipart/form-data"> + <input type="hidden" name="_csrf" value="<%= csrfToken %>"> + <input type="file" name="file" accept=".py" /> + <br /> <br /> + <label id="Start">Start pendulum: </label> + <input type="submit" id="actuate_but" value="Actuate!" /> + </form> + </span> + </body> </html>
\ No newline at end of file diff --git a/src/views/partials/nav.ejs b/src/views/partials/nav.ejs index 1ee6c00..b36e72e 100644 --- a/src/views/partials/nav.ejs +++ b/src/views/partials/nav.ejs @@ -2,6 +2,6 @@ <ul class="navbar"> <li><a href="/">Home</a></li> <li><a href="/about">About the Inverted Pendulum</a></li> - <li><a href="https://github.com/RosstheRoss/4951w-pendulum">GitHub Repo</a></li> + <li><a href="https://github.com/RosstheRoss/4951w-pendulum" style="right: 0px">GitHub Repo</a></li> </ul> </nav>
\ No newline at end of file @@ -117,13 +117,6 @@ "@types/qs" "*" "@types/range-parser" "*" -"@types/express-slow-down@^1.3.2": - version "1.3.2" - resolved "https://registry.yarnpkg.com/@types/express-slow-down/-/express-slow-down-1.3.2.tgz#99a5513b3f465efb1cb4f2db6375d36d7ab72fa4" - integrity sha512-Jw/orNMX+htFMYMugjhLotS5eRkdId4V5/89vqNXoUfxaHBU8VVIshItDh5YuWeyGeKuPli2fh94ORjYz/dkxA== - dependencies: - "@types/express" "*" - "@types/express@*", "@types/express@^4.17.13": version "4.17.13" resolved "https://registry.yarnpkg.com/@types/express/-/express-4.17.13.tgz#a76e2995728999bab51a33fabce1d705a3709034" @@ -172,6 +165,11 @@ "@types/mime" "^1" "@types/node" "*" +"@types/shell-quote@^1.7.1": + version "1.7.1" + resolved "https://registry.yarnpkg.com/@types/shell-quote/-/shell-quote-1.7.1.tgz#2d059091214a02c29f003f591032172b2aff77e8" + integrity sha512-SWZ2Nom1pkyXCDohRSrkSKvDh8QOG9RfAsrt5/NsPQC4UQJ55eG0qClA40I+Gkez4KTQ0uDUT8ELRXThf3J5jw== + "@typescript-eslint/eslint-plugin@^5.11.0": version "5.11.0" resolved "https://registry.yarnpkg.com/@typescript-eslint/eslint-plugin/-/eslint-plugin-5.11.0.tgz#3b866371d8d75c70f9b81535e7f7d3aa26527c7a" @@ -506,11 +504,6 @@ clone-response@^1.0.2: dependencies: mimic-response "^1.0.0" -clone@^1.0.2: - version "1.0.4" - resolved "https://registry.yarnpkg.com/clone/-/clone-1.0.4.tgz#da309cc263df15994c688ca902179ca3c7cd7c7e" - integrity sha1-2jCcwmPfFZlMaIypAheco8fNfH4= - color-convert@^1.9.0: version "1.9.3" resolved "https://registry.yarnpkg.com/color-convert/-/color-convert-1.9.3.tgz#bb71850690e1f136567de629d2d5471deda4c1e8" @@ -674,13 +667,6 @@ deep-is@^0.1.3: resolved "https://registry.yarnpkg.com/deep-is/-/deep-is-0.1.4.tgz#a6f2dce612fadd2ef1f519b73551f17e85199831" integrity sha512-oIPzksmTg4/MriiaYGO+okXDT7ztn/w3Eptv/+gSIdMdKsJo0u4CfYNFJPy+4SKMuCqGw2wxnA+URMg3t8a/bQ== -defaults@^1.0.3: - version "1.0.3" - resolved "https://registry.yarnpkg.com/defaults/-/defaults-1.0.3.tgz#c656051e9817d9ff08ed881477f3fe4019f3ef7d" - integrity sha1-xlYFHpgX2f8I7YgUd/P+QBnz730= - dependencies: - clone "^1.0.2" - defer-to-connect@^1.0.1: version "1.1.3" resolved "https://registry.yarnpkg.com/defer-to-connect/-/defer-to-connect-1.1.3.tgz#331ae050c08dcf789f8c83a7b81f0ed94f4ac591" @@ -1008,13 +994,6 @@ express-rate-limit@^6.2.1: resolved "https://registry.yarnpkg.com/express-rate-limit/-/express-rate-limit-6.2.1.tgz#4a7619634fb24417ae723ad2ac3707b38e2e1c64" integrity sha512-22ovnpEiKR5iAMXDOQ7A6aOvb078JLvoHGlyrrWBl3PeJ34coyakaviPelj4Nc8d+yDoVIWYmaUNP5aYT4ICDQ== -express-slow-down@^1.4.0: - version "1.4.0" - resolved "https://registry.yarnpkg.com/express-slow-down/-/express-slow-down-1.4.0.tgz#89e0aef6c3bb3602b70f06e0824889bd2362cc21" - integrity sha512-Tw5aa0plPj2STiuc2SyMw2VSjMvBgLGQHHoPhkIL4iPQcFZDueWBaiLxFZ3SrwrJhiu3b3sHNcsP6lXeWnbwAw== - dependencies: - defaults "^1.0.3" - express@^4.17.2: version "4.17.2" resolved "https://registry.yarnpkg.com/express/-/express-4.17.2.tgz#c18369f265297319beed4e5558753cc8c1364cb3" @@ -2293,7 +2272,7 @@ shebang-regex@^3.0.0: resolved "https://registry.yarnpkg.com/shebang-regex/-/shebang-regex-3.0.0.tgz#ae16f1644d873ecad843b0307b143362d4c42172" integrity sha512-7++dFhtcx3353uBaq8DDR4NuxBetBzC7ZQOhmTQInHEd6bSrXdiEyzCvG07Z44UYdLShWUyXt5M/yhz8ekcb1A== -shell-quote@^1.6.1: +shell-quote@^1.6.1, shell-quote@^1.7.3: version "1.7.3" resolved "https://registry.yarnpkg.com/shell-quote/-/shell-quote-1.7.3.tgz#aa40edac170445b9a431e17bb62c0b881b9c4123" integrity sha512-Vpfqwm4EnqGdlsBFNmHhxhElJYrdfcxPThu+ryKS5J8L/fhAwLazFZtq+S+TWZ9ANj2piSQLGj6NQg+lKPmxrw== |