Carl Wellington

15 papers A* 3Journal 9Unranked 3
YearRankTypeTitle / Venue / Authors
2022 A* conf
CVPR
Zhaoen Su, Chao Wang, David Bradley, Carlos Vallespi-Gonzalez, Carl Wellington, Nemanja Djuric
2021 J jnl
IEEE Signal Process. Mag.
Siheng Chen, Baoan Liu, Chen Feng, Carlos Vallespi-Gonzalez, Carl Wellington
2021 J jnl
CoRR
Zhaoen Su, Chao Wang, David Bradley, Carlos Vallespi-Gonzalez, Carl Wellington, Nemanja Djuric
2020 J jnl
CoRR
Siheng Chen, Baoan Liu, Chen Feng, Carlos Vallespi-Gonzalez, Carl Wellington
2018 J jnl
J. Field Robotics
Zachary Pezzementi, Trenton Tabor, Peiyun Hu, Jonathan K. Chang, Deva Ramanan, Carl Wellington, Benzun P. Wisely Babu, Herman Herman
2017 J jnl
CoRR
Zachary Pezzementi, Trenton Tabor, Peiyun Hu, Jonathan K. Chang, Deva Ramanan, Carl Wellington, Benzun P. Wisely Babu, Herman Herman
2015 J jnl
J. Field Robotics
Anthony Stentz, Herman Herman, Alonzo Kelly, Eric Meyhofer, G. Clark Haynes, David Stager, Brian Zajac, J. Andrew Bagnell, Jordan Brindza, Christopher M. Dellin, Michael David George, Jose Gonzalez-Mora, Sean Hyde, Morgan Jones, Michel Laverne, Maxim Likhachev, Levi Lister, Matthew Powers, Oscar E. Ramos, Justin Ray, David Rice, Justin Scheifflee, Raumi Sidki, Siddhartha S. Srinivasa, Kyle Strabala, Jean-Philippe Tardif, Jean-Sebastien Valois, Michael Vande Weghe, Michael Wagner, Carl Wellington
2015 conf
SSRR
Trenton Tabor, Zachary Pezzementi, Carlos Vallespí, Carl Wellington
2011 A* conf
ICRA
Cristian Dima, Carl Wellington, Stewart J. Moorehead, Levi Lister, Joan Campoy, Carlos Vallespí, Boyoon Jung, Michio Kise, Zachary Bonefas
2009 J jnl
J. Field Robotics
David A. Johnson, David J. Naffin, Jeffrey S. Puhalla, Julian Sanchez, Carl Wellington
2006 J jnl
Int. J. Robotics Res.
Carl Wellington, Aaron C. Courville, Anthony Stentz
2005 conf
Robotics: Science and Systems
Carl Wellington, Aaron C. Courville, Anthony Stentz
2004 A* conf
ICRA
Carl Wellington, Anthony Stentz
2003 conf
FSR
Carl Wellington, Anthony Stentz
2002 J jnl
Auton. Robots
Anthony Stentz, Cristian Dima, Carl Wellington, Herman Herman, David Stager
redb/extractors/elf_extractors/elf_relocations.py
← Index redb/extractors/elf_extractors/elf_relocations.py python
import inspect
from datetime import datetime, timezone
from typing import Any, List, Dict

from elftools.elf.elffile import ELFFile
from elftools.common.exceptions import ELFError

from redb.extractors.enum import Tag
from redb.extractors.elf_extractor import ELFExtractor
from redb.models.dataclasses import ELFRelocation


class ELFRelocationExtractor(ELFExtractor):

    def __init__(
        self,
        filepath,
        log,
        exporters=None,
        index_prefix=None,
        elastic_index=None,
        known_benign=False,
        known_malicious=False,
        elf=None,
    ):
        super().__init__(
            filepath,
            log,
            exporters,
            index_prefix,
            elastic_index,
            known_benign,
            known_malicious,
            elf,
        )
        self.elf_relocations = []
        self.elastic_index = self.index_prefix + "-elf_relocations"
        self.log.debug(inspect.currentframe().f_code.co_name)

    def _get_relocation_type_string(self, reloc_type: int, machine_arch: str) -> str:
        """Convert relocation type number to human-readable string based on architecture."""
        # This is a simplified mapping - real implementation would need comprehensive
        # architecture-specific relocation type mappings

        common_types = {
            0: "R_NONE",
            1: "R_DIRECT",
            2: "R_PC_RELATIVE",
            3: "R_GOT",
            4: "R_PLT",
            5: "R_COPY",
            6: "R_GLOB_DAT",
            7: "R_JMP_SLOT",
            8: "R_RELATIVE"
        }

        # Architecture-specific mappings could be added here
        if machine_arch == "x86_64":
            x86_64_types = {
                1: "R_X86_64_64",
                2: "R_X86_64_PC32",
                3: "R_X86_64_GOT32",
                4: "R_X86_64_PLT32",
                5: "R_X86_64_COPY",
                6: "R_X86_64_GLOB_DAT",
                7: "R_X86_64_JUMP_SLOT",
                8: "R_X86_64_RELATIVE"
            }
            return x86_64_types.get(reloc_type, f"R_X86_64_{reloc_type}")
        elif machine_arch == "x86":
            i386_types = {
                1: "R_386_32",
                2: "R_386_PC32",
                3: "R_386_GOT32",
                4: "R_386_PLT32",
                5: "R_386_COPY",
                6: "R_386_GLOB_DAT",
                7: "R_386_JMP_SLOT",
                8: "R_386_RELATIVE"
            }
            return i386_types.get(reloc_type, f"R_386_{reloc_type}")

        return common_types.get(reloc_type, f"R_UNKNOWN_{reloc_type}")

    def _extract_relocation_data(self, relocation, section_name: str, machine_arch: str) -> Dict:
        """Extract data from a single relocation entry."""
        try:
            # Get relocation offset
            relocation_offset = relocation.entry.get('r_offset', 0)

            # Get relocation type
            relocation_type = relocation.entry.get('r_info_type', 0)

            # Get symbol index
            relocation_symbol_index = relocation.entry.get('r_info_sym', 0)

            # Get addend (only present in RELA sections)
            relocation_addend = None
            if hasattr(relocation.entry, 'r_addend'):
                relocation_addend = relocation.entry.get('r_addend', 0)

            # Get symbol name if available
            relocation_symbol_name = ""
            if hasattr(relocation, 'symbol') and relocation.symbol:
                relocation_symbol_name = relocation.symbol.name or f"<symbol_{relocation_symbol_index}>"
            else:
                relocation_symbol_name = f"<symbol_{relocation_symbol_index}>"

            # Get type string mapping
            relocation_type_str = self._get_relocation_type_string(relocation_type, machine_arch)

            return ELFRelocation(
                relocation_offset=relocation_offset,
                relocation_type=relocation_type,
                relocation_type_str=relocation_type_str,
                relocation_symbol_index=relocation_symbol_index,
                relocation_symbol_name=relocation_symbol_name,
                relocation_section=section_name,
                relocation_addend=relocation_addend
            )

        except Exception as e:
            self.log.error(f"Error extracting relocation data: {e}")
            return None

    def _extract_relocations_from_section(self, section, machine_arch: str) -> List[Dict]:
        """Extract all relocations from a relocation section."""
        relocations = []

        try:
            if not hasattr(section, 'iter_relocations'):
                return relocations

            section_name = section.name or f"<unnamed_section>"

            for relocation in section.iter_relocations():
                reloc_data = self._extract_relocation_data(relocation, section_name, machine_arch)
                if reloc_data:
                    relocations.append(reloc_data)

        except Exception as e:
            self.log.error(f"Error extracting relocations from section {section.name}: {e}")

        return relocations

    def tag(self):
        return Tag.ELF_RELOCATIONS.value if hasattr(Tag, 'ELF_RELOCATIONS') else "elf_relocations"

    def extract(self):
        try:
            self.log.debug(inspect.currentframe().f_code.co_name)

            def extract_data(elf):
                # Get architecture for relocation type mapping
                machine_arch = self._get_architecture()
                all_relocations = []

                # Iterate through all sections looking for relocation sections with per-section error handling
                for section_index, section in enumerate(elf.iter_sections()):
                    try:
                        # Check if this is a relocation section (.rel or .rela)
                        if (section.name and
                            (section.name.startswith('.rel') or section.name.startswith('.rela')) and
                            hasattr(section, 'iter_relocations')):

                            section_relocations = self._extract_relocations_from_section(section, machine_arch)
                            all_relocations.extend(section_relocations)
                            self.log.debug(f"Extracted {len(section_relocations)} relocations from section {section.name}")
                    except Exception as e:
                        section_name = getattr(section, 'name', f'section_{section_index}')
                        self.log.warning(f"Error processing relocation section {section_name}: {e}")
                        # Continue processing other sections

                return all_relocations

            if not self._is_elf_file():
                return None

            result = self._with_elf_file(extract_data)
            if result is None:
                return None

            self.elf_relocations = result
            return self.elf_relocations

        except Exception as e:
            self.log.error(f"Error extracting ELF relocations {self.hash.sha256}: {e}")
            return None

    def prepare_export_data(self, exporter_type: str) -> Any:
        self.log.debug(inspect.currentframe().f_code.co_name)

        if exporter_type == "ElasticsearchExporter":
            return self.elf_relocations
        elif exporter_type == "ClickHouseExporter":
            try:
                # Return valid empty structure if no relocations (e.g., statically linked binary)
                # None is reserved for actual errors

                # Prepare data arrays for all relocations
                data = []
                current_time = datetime.now(timezone.utc)
                for reloc in self.elf_relocations:
                    row = [
                        self.sha256,
                        self.md5,
                        self.sha1,
                        reloc.relocation_offset,
                        reloc.relocation_type,
                        reloc.relocation_type_str,
                        reloc.relocation_symbol_index,
                        reloc.relocation_symbol_name,
                        reloc.relocation_addend,
                        reloc.relocation_section,
                        current_time
                    ]
                    data.append(row)

                column_names = [
                    'sha256', 'md5', 'sha1',
                    'relocation_offset', 'relocation_type', 'relocation_type_str',
                    'relocation_symbol_index', 'relocation_symbol_name',
                    'relocation_addend', 'relocation_section',
                    'analysis_date'
                ]

                if not data:
                    return None

                column_type_names = [
                    'FixedString(64)', 'FixedString(32)', 'FixedString(40)',
                    'UInt64', 'UInt32', 'LowCardinality(String)',
                    'UInt32', 'LowCardinality(String)',
                    'Nullable(Int64)', 'LowCardinality(String)',
                    'DateTime64(3, \'UTC\')'
                ]

                return (data, column_names, column_type_names)

            except Exception as e:
                self.log.error(f"Error preparing export data: {e}")
                raise

    def get_clickhouse_table(self) -> str:
        return "redb_elf_relocations"