DronLomaly: Runtime Log-based Anomaly Detector for DJI Drones

Anomaly Detector Project

This Python project has 2 functions:

1. Pytorch LSTM model for anomaly detection, and
2. RPC Server at http://localhost:8000.

Telemetry Subscriber Project

This C++ project has 2 functions:

1. OSDK Telemetry data stream from Drone Controller
2. RPC Client sending drone state to http://localhost:8000.

To run, navigate to /path/to/Onboard-SDK/build/bin, and run ./dji-telemetry-sample UserConfig.txt

Rudimentary RPC Client and Server

RPC Server (Python)

import xmlrpc.server

class MyServer:
    def test(self, msg: str):
        print("Received: ", msg)
        return "Hello back from server!"

server = xmlrpc.server.SimpleXMLRPCServer(('localhost', 8000))
server.register_instance(MyServer())
server.serve_forever()

RPC Client (C++)

#include <cstdlib>
#include <string>
#include <iostream>
#include <cassert>

using namespace std;

#include <xmlrpc-c/girerr.hpp>
#include <xmlrpc-c/base.hpp>
#include <xmlrpc-c/client_simple.hpp>


int main(int argc, char **){
    xmlrpc_c::clientXmlTransport_curl myTransport(
            xmlrpc_c::clientXmlTransport_curl::constrOpt()
            .timeout(10000)
            .user_agent("test/1.0")
    );
    xmlrpc_c::client_xml myClient(&myTransport);
    
    string const methodName("test");
    
    xmlrpc_c::paramList sampleAddParms;
    sampleAddParms.add(xmlrpc_c::value_string("My"));
    sampleAddParms.add(xmlrpc_c::value_string("Name"));
    sampleAddParms.add(xmlrpc_c::value_string("is"));
    sampleAddParms.add(xmlrpc_c::value_string("Wei"));

    xmlrpc_c::rpcPtr myRpcP(methodName, sampleAddParms);

    string const serverUrl("http://localhost:8000/RPC2");

    xmlrpc_c::carriageParm_curl0 myCarriageParm(serverUrl);
    myRpcP-> call(&myClient, &myCarriageParm);
    assert(myRpcP->isFinished());
}

When compiling, you add link the xmlrpc modules inside the g++ command using:

g++ cclient.cc -o cclient.o -lxmlrpc++ -lxmlrpc_client++  -lxmlrpc_util

Steps to modifying the OSDK Telemetry Project

Become RPC Client

Navigate to Telemetry module inside OSDK Sample apps, and append following to its CMakeLists.txt for RPC Client:

target_link_libraries(${PROJECT_NAME} 
xmlrpc++
xmlrpc_client++ 
xmlrpc_util
)

Filesystem Management for Log files

Cast the Unix epoch time to String as the file name of the new log file and create the entire path to the log file:

#include <time.h>
#include <boost/filesystem.hpp>

std::string logPath = "/home/droneteam/Documents/Onboard-SDK/logs/";
boost::filesystem::create_directories(logPath);
std::string fileName = logPath + std::to_string((int)time(NULL)) + "_log.txt";

Add boost_filesystem and boost_system to target_link_libraries directive inside CMakeLists.txt for creating directory for telemetry log files:

target_link_libraries(${PROJECT_NAME} 
xmlrpc++
xmlrpc_client++ 
xmlrpc_util

# for file system management
boost_filesystem
boost_system
)

Stream additional topics

Add flight_sample.cpp file from to use the function for converting Quaternion to Euler:

FILE(GLOB SOURCE_FILES *.hpp *.cpp
    ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_environment.cpp
    ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_helpers.cpp
    ${CMAKE_CURRENT_SOURCE_DIR}/../hal/*.c
    ${CMAKE_CURRENT_SOURCE_DIR}/../osal/*.c

    # for euler angle function
    ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/src/flight_sample.cpp
    )

# for euler angle function
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../../../core/inc)

Then install XML RPC files in the Ubuntu development environment:

# sudo apt install libxmlrpc-c++8-dev

Afterwards, naviate to /path/to/Onboard-SDK/build and compile using make ; to update the changes to binaries.