Rangaprasad Arun Srivatsan

32 papers A* 6A 2C 2Journal 15Unranked 6
YearRankTypeTitle / Venue / Authors
2020 J jnl
Robotica
Murali K. Karnam, Aravind Baskar, Rangaprasad Arun Srivatsan, Sandipan Bandyopadhyay
2020 conf
3DV
Tejas Zodage, Rahul Chakwate, Vinit Sarode, Rangaprasad Arun Srivatsan, Howie Choset
2020 J jnl
CoRR
Tejas Zodage, Rahul Chakwate, Vinit Sarode, Rangaprasad Arun Srivatsan, Howie Choset
2020 conf
3DV
Vinit Sarode, Animesh Dhagat, Rangaprasad Arun Srivatsan, Nicolas Zevallos, Simon Lucey, Howie Choset
2020 J jnl
CoRR
Vinit Sarode, Animesh Dhagat, Rangaprasad Arun Srivatsan, Nicolas Zevallos, Simon Lucey, Howie Choset
2019 A* conf
ICRA
Peng Yin, Lingyun Xu, Xueqian Li, Chen Yin, Yingli Li, Rangaprasad Arun Srivatsan, Lu Li, Jianmin Ji, Yuqing He
2019 J jnl
CoRR
Peng Yin, Lingyun Xu, Xueqian Li, Chen Yin, Yingli Li, Rangaprasad Arun Srivatsan, Lu Li, Jianmin Ji, Yuqing He
2019 J jnl
CoRR
Rangaprasad Arun Srivatsan, Tejas Zodage, Howie Choset
2019 A* conf
ICRA
Peng Yin, Rangaprasad Arun Srivatsan, Yin Chen, Xueqian Li, Hongda Zhang, Lingyun Xu, Lu Li, Zhenzhong Jia, Jianmin Ji, Yuqing He
2019 J jnl
CoRR
Peng Yin, Rangaprasad Arun Srivatsan, Yin Chen, Xueqian Li, Hongda Zhang, Lingyun Xu, Lu Li, Zhenzhong Jia, Jianmin Ji, Yuqing He
2019 J jnl
CoRR
Vinit Sarode, Xueqian Li, Hunter Goforth, Yasuhiro Aoki, Animesh Dhagat, Rangaprasad Arun Srivatsan, Simon Lucey, Howie Choset
2019 J jnl
CoRR
Vinit Sarode, Xueqian Li, Hunter Goforth, Yasuhiro Aoki, Rangaprasad Arun Srivatsan, Simon Lucey, Howie Choset
2019 A* conf
CVPR
Yasuhiro Aoki, Hunter Goforth, Rangaprasad Arun Srivatsan, Simon Lucey
2019 J jnl
CoRR
Yasuhiro Aoki, Hunter Goforth, Rangaprasad Arun Srivatsan, Simon Lucey
2019 J jnl
Int. J. Robotics Res.
Rangaprasad Arun Srivatsan, Nicolas Zevallos, Prasad Vagdargi, Howie Choset
2018 conf
ISMR
Nicolas Zevallos, Rangaprasad Arun Srivatsan, Hadi Salman, Lu Li, Jianing Qian, Saumya Saxena, Mengyun Xu, Kartik Patath, Howie Choset
2018
Rangaprasad Arun Srivatsan
2018 J jnl
Int. J. Robotics Res.
Rangaprasad Arun Srivatsan, Mengyun Xu, Nicolas Zevallos, Howie Choset
2018 A* conf
ICRA
Hadi Salman, Elif Ayvali, Rangaprasad Arun Srivatsan, Yifei Ma, Nicolas Zevallos, Rashid Yasin, Long Wang, Nabil Simaan, Howie Choset
2017 J jnl
CoRR
Nicolas Zevallos, Rangaprasad Arun Srivatsan, Hadi Salman, Lu Li, Jianing Qian, Saumya Saxena, Mengyun Xu, Kartik Patath, Howie Choset
2017 A conf
IROS
Lu Li, Bocheng Yu, Chen Yang, Prasad Vagdargi, Rangaprasad Arun Srivatsan, Howie Choset
2017 C conf
ISRR
Rangaprasad Arun Srivatsan, Prasad Vagdargi, Howie Choset
2017 J jnl
CoRR
Hadi Salman, Elif Ayvali, Rangaprasad Arun Srivatsan, Yifei Ma, Nicolas Zevallos, Rashid Yasin, Long Wang, Nabil Simaan, Howie Choset
2016 A* conf
ICRA
Rangaprasad Arun Srivatsan, Elif Ayvali, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset
2016 conf
Robotics: Science and Systems
Rangaprasad Arun Srivatsan, Gillian T. Rosen, D. Feroze Naina Mohamed, Howie Choset
2016 C conf
WAFR
Rangaprasad Arun Srivatsan, Howie Choset
2016 A* conf
ICRA
Elif Ayvali, Rangaprasad Arun Srivatsan, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset
2015 J jnl
CoRR
Elif Ayvali, Rangaprasad Arun Srivatsan, Long Wang, Rajarshi Roy, Nabil Simaan, Howie Choset
2014 A conf
IROS
Rangaprasad Arun Srivatsan, Matthew J. Travers, Howie Choset
2013 conf
AIR
Rangaprasad Arun Srivatsan, Sandipan Bandyopadhyay
2013 J jnl
Comput. Aided Des.
A. V. Vishwanath, Rangaprasad Arun Srivatsan, M. Ramanathan
2012 conf
SEAL
Jaideep Badduri, Rangaprasad Arun Srivatsan, Gurunathan Saravana Kumar, Sandipan Bandyopadhyay
redb/extractors/decompiler/_archive/GhidraDecompilerScript-v2.java
← Index redb/extractors/decompiler/_archive/GhidraDecompilerScript-v2.java java
import ghidra.app.script.GhidraScript;
import ghidra.program.model.listing.*;
import ghidra.app.decompiler.*;
import ghidra.program.model.block.*;
import ghidra.program.model.symbol.*;
import ghidra.program.model.pcode.*;
import ghidra.program.model.address.*;
import org.json.JSONObject;
import org.json.JSONArray;
import java.security.MessageDigest;
import java.nio.charset.StandardCharsets;

public class GhidraDecompilerScript extends GhidraScript {
    private DecompInterface decompInterface;
    private BasicBlockModel basicBlockModel;

    @Override
    public void run() throws Exception {
        System.err.println("{\"debug\": \"Script starting\"}");

        // Get binary hash and filepath from arguments
        String[] args = getScriptArgs();
        if (args.length < 2) {
            System.err.println("{\"error\": \"Both SHA256 and filepath arguments are required\"}");
            return;
        }
        String sha256 = args[0];
        String filepath = args[1];

        // Add debug output after setup
        System.err.println("{\"debug\": \"Processing file: " + args[1] + "\"}");

        // Initialize analysis components
        setupDecompiler();
        basicBlockModel = new BasicBlockModel(currentProgram);

        // Create the main JSON object for output
        JSONObject output = new JSONObject();
        output.put("sha256", sha256);
        output.put("decompiled", new JSONArray());
        output.put("disassembled", new JSONArray());
        output.put("cfg", new JSONArray());

        // Process all functions
        FunctionIterator functions = currentProgram.getFunctionManager().getFunctions(true);
        for (Function function : functions) {
            processFunction(function, output);
        }

        System.err.println("{\"debug\": \"Preparing final output\"}");
        // Output the final JSON to stdout
        System.out.println(output.toString());
    }

    private void setupDecompiler() {
        decompInterface = new DecompInterface();
        DecompileOptions options = new DecompileOptions();
        decompInterface.setOptions(options);
        decompInterface.openProgram(currentProgram);
    }

    private void processFunction(Function function, JSONObject output) {
        try {
            Address entry = function.getEntryPoint();
            String functionName = function.getName();
            String functionAddress = entry.toString();

            // Process each analysis type independently
            boolean hasAnyResults = false;

            try {
                if (processDecompiledCode(function, output.getJSONArray("decompiled"),
                                        functionName, functionAddress)) {
                    hasAnyResults = true;
                }
            } catch (Exception e) {
                System.err.println(String.format(
                    "{\"error\": \"Decompilation failed for function %s: %s\"}",
                    functionName, e.getMessage().replace("\"", "'")));
            }

            try {
                if (processDisassembledCode(function, output.getJSONArray("disassembled"),
                                        functionName, functionAddress)) {
                    hasAnyResults = true;
                }
            } catch (Exception e) {
                System.err.println(String.format(
                    "{\"error\": \"Disassembly failed for function %s: %s\"}",
                    functionName, e.getMessage().replace("\"", "'")));
            }

            try {
                if (processCFG(function, output.getJSONArray("cfg"), functionAddress)) {
                    hasAnyResults = true;
                }
            } catch (Exception e) {
                System.err.println(String.format(
                    "{\"error\": \"CFG extraction failed for function %s: %s\"}",
                    functionName, e.getMessage().replace("\"", "'")));
            }

            if (!hasAnyResults) {
                System.err.println(String.format(
                    "{\"warning\": \"No results obtained for function %s\"}",
                    functionName));
            }

        } catch (Exception e) {
            System.err.println(String.format(
                "{\"error\": \"Failed to process function: %s\"}",
                e.getMessage().replace("\"", "'")));
        }
    }

    private boolean processDecompiledCode(Function function, JSONArray decompArray,
                                        String functionName, String functionAddress) {
        try {
            DecompileResults results = decompInterface.decompileFunction(function, 30, monitor);
            if (results == null || !results.decompileCompleted()) {
                System.err.println(String.format(
                    "{\"warning\": \"Decompilation incomplete for function %s\"}",
                    functionName));
                return false;
            }

            String decompiledCode = results.getDecompiledFunction().getC();
            if (decompiledCode == null || decompiledCode.trim().isEmpty()) {
                System.err.println(String.format(
                    "{\"warning\": \"Empty decompilation result for function %s\"}",
                    functionName));
                return false;
            }

            String contentHash = calculateHash(decompiledCode);

            JSONObject functionObj = new JSONObject();
            functionObj.put("decompiled_content_hash", contentHash);
            functionObj.put("decompiled_function_name", functionName);
            functionObj.put("decompiled_function_address", functionAddress);
            functionObj.put("decompiled_function", decompiledCode);

            decompArray.put(functionObj);
            return true;

        } catch (Exception e) {
            throw new RuntimeException("Decompilation error: " + e.getMessage(), e);
        }
    }

    private boolean processDisassembledCode(Function function, JSONArray disasmArray,
                                        String functionName, String functionAddress) {
        try {
            StringBuilder disassembly = new StringBuilder();
            StringBuilder normalized = new StringBuilder();
            int instructionCount = 0;
            boolean hasValidInstructions = false;

            Listing listing = currentProgram.getListing();
            AddressSetView functionBody = function.getBody();
            InstructionIterator instructions = listing.getInstructions(functionBody, true);

            while (instructions.hasNext()) {
                try {
                    Instruction instr = instructions.next();
                    if (instr != null) {
                        String disasmLine = instr.toString();
                        if (disasmLine != null && !disasmLine.trim().isEmpty()) {
                            disassembly.append(disasmLine).append("\n");
                            normalized.append(normalizeInstruction(disasmLine)).append("\n");
                            instructionCount++;
                            hasValidInstructions = true;
                        }
                    }
                } catch (Exception e) {
                    System.err.println(String.format(
                        "{\"warning\": \"Skipped invalid instruction in %s: %s\"}",
                        functionName, e.getMessage().replace("\"", "'")));
                }
            }

            if (!hasValidInstructions) {
                System.err.println(String.format(
                    "{\"warning\": \"No valid instructions found in function %s\"}",
                    functionName));
                return false;
            }

            String disassembledCode = disassembly.toString();
            String contentHash = calculateHash(disassembledCode);

            JSONObject functionObj = new JSONObject();
            functionObj.put("disassembled_content_hash", contentHash);
            functionObj.put("disassembled_function_name", functionName);
            functionObj.put("disassembled_function_address", functionAddress);
            functionObj.put("disassembled_function", disassembledCode);
            functionObj.put("normalized_disassembly", normalized.toString());
            functionObj.put("instruction_count", instructionCount);

            // Initialize similarity fields as null
            functionObj.put("minhash_signature", JSONObject.NULL);
            functionObj.put("opcode_frequency_vector", JSONObject.NULL);
            functionObj.put("api_calls_vector", JSONObject.NULL);
            functionObj.put("instruction_embedding", JSONObject.NULL);

            disasmArray.put(functionObj);
            return true;

        } catch (Exception e) {
            throw new RuntimeException("Disassembly error: " + e.getMessage(), e);
        }
    }

    private boolean processCFG(Function function, JSONArray cfgArray, String functionAddress) {
        try {
            CodeBlockIterator blocks = basicBlockModel.getCodeBlocksContaining(
                function.getBody(), monitor);

            boolean hasValidBlocks = false;

            while (blocks.hasNext()) {
                try {
                    CodeBlock block = blocks.next();
                    String blockInstructions = getBlockInstructions(block);

                    if (blockInstructions == null || blockInstructions.trim().isEmpty()) {
                        continue;
                    }

                    String blockId = calculateHash(blockInstructions);

                    JSONObject blockObj = new JSONObject();
                    blockObj.put("block_id", blockId);
                    blockObj.put("function_address", functionAddress);
                    blockObj.put("block_instructions", blockInstructions);

                    // Process successors with error handling
                    JSONArray successorAddresses = new JSONArray();
                    try {
                        CodeBlockReferenceIterator successors = block.getDestinations(monitor);
                        while (successors.hasNext()) {
                            try {
                                CodeBlockReference ref = successors.next();
                                if (ref != null && ref.getDestinationAddress() != null) {
                                    successorAddresses.put(ref.getDestinationAddress().toString());
                                }
                            } catch (Exception e) {
                                System.err.println(String.format(
                                    "{\"warning\": \"Skipped invalid successor in block %s: %s\"}",
                                    blockId, e.getMessage().replace("\"", "'")));
                            }
                        }
                    } catch (Exception e) {
                        System.err.println(String.format(
                            "{\"warning\": \"Error processing successors for block %s: %s\"}",
                            blockId, e.getMessage().replace("\"", "'")));
                    }

                    blockObj.put("successor_blocks", successorAddresses);
                    cfgArray.put(blockObj);
                    hasValidBlocks = true;

                } catch (Exception e) {
                    System.err.println(String.format(
                        "{\"warning\": \"Skipped invalid block in function %s: %s\"}",
                        functionAddress, e.getMessage().replace("\"", "'")));
                }
            }

            return hasValidBlocks;

        } catch (Exception e) {
            throw new RuntimeException("CFG extraction error: " + e.getMessage(), e);
        }
    }

    private String getBlockInstructions(CodeBlock block) {
        StringBuilder instructions = new StringBuilder();
        try {
            AddressIterator addresses = block.getAddresses(true);
            while (addresses.hasNext()) {
                try {
                    Address addr = addresses.next();
                    if (addr != null) {
                        Instruction instr = currentProgram.getListing().getInstructionAt(addr);
                        if (instr != null) {
                            instructions.append(instr.toString()).append("\n");
                        }
                    }
                } catch (Exception e) {
                    System.err.println(String.format(
                        "{\"warning\": \"Skipped invalid instruction at address %s: %s\"}",
                        addresses.next(), e.getMessage().replace("\"", "'")));
                }
            }
        } catch (Exception e) {
            System.err.println(String.format(
                "{\"warning\": \"Error getting block instructions: %s\"}",
                e.getMessage().replace("\"", "'")));
        }
        return instructions.toString();
    }

    private String normalizeInstruction(String instruction) {
        try {
            if (instruction == null || instruction.trim().isEmpty()) {
                return "";
            }
            return instruction.replaceAll("0x[0-9a-fA-F]+", "IMM")
                            .replaceAll("\\b\\d+\\b", "NUM")
                            .replaceAll("[\\[\\]\\+\\-\\*/%&|^]+", "_OP_");
        } catch (Exception e) {
            System.err.println(String.format(
                "{\"warning\": \"Error normalizing instruction: %s\"}",
                e.getMessage().replace("\"", "'")));
            return instruction;
        }
    }

    private String calculateHash(String content) {
        try {
            if (content == null || content.trim().isEmpty()) {
                return "";
            }
            MessageDigest digest = MessageDigest.getInstance("SHA-256");
            byte[] hash = digest.digest(content.getBytes(StandardCharsets.UTF_8));
            StringBuilder hexString = new StringBuilder();
            for (byte b : hash) {
                hexString.append(String.format("%02x", b));
            }
            return hexString.toString();
        } catch (Exception e) {
            System.err.println(String.format(
                "{\"error\": \"Error calculating hash: %s\"}",
                e.getMessage().replace("\"", "'")));
            return "";
        }
    }
}