Walter Schumacher

24 papers A* 4A 1C 2Misc 2Journal 6Unranked 5
YearRankTypeTitle / Venue / Authors
2019 C conf
IECON
Florian Hans, Martin Oeltze, Walter Schumacher
2019 J jnl
IEEE Trans. Ind. Electron.
Florian Hans, Walter Schumacher, Shih-Feng Chou, Xiongfei Wang
2019 J jnl
Autom.
Walter Schumacher
2014 J jnl
Autom.
Marita Blank, Mauro Calabria, Rene Dietz, Felix Fuchs, Thole Klingenberg, Sebastian Lehnhoff, Axel Mertens, Walter Schumacher
2014 J jnl
CoRR
Fred W. Rauskolb, Kai Berger, Christian Lipski, Marcus A. Magnor, Karsten Cornelsen, Jan Effertz, Thomas Form, Fabian Graefe, Sebastian Ohl, Walter Schumacher, Jörn-Marten Wille, Peter Hecker, Tobias Nothdurft, Michael Doering, Kai Homeier, Johannes Morgenroth, Lars C. Wolf, Christian Basarke, Christian Berger, Tim Gülke, Felix Klose, Bernhard Rumpe
2013 conf
EnviroInfo
Mauro Calabria, Walter Schumacher
2013 conf
ICM
Yevgen Sklyarenko, Frank Schreiber, Walter Schumacher
2012 Misc conf
MMAR
Frank Schreiber, Yevgen Sklyarenko, Gundula Runge, Walter Schumacher
2012 Misc conf
MMAR
Mauro Calabria, Frank Schreiber, Yevgen Sklyarenko, David Inkermann, Annika Raatz, Thomas Vietor, Walter Schumacher
2011 ch.
Robotic Systems for Handling and Assembly
Michael Kolbus, Frank Wobbe, Thomas Reisinger, Walter Schumacher
2011 ch.
Robotic Systems for Handling and Assembly
Thomas Reisinger, Frank Wobbe, Michael Kolbus, Walter Schumacher
2011 ch.
Robotic Systems for Handling and Assembly
Krzysztof Stachera, Frank Schreiber, Walter Schumacher
2011 ch.
Robotic Systems for Handling and Assembly
Sönke Kock, Walter Schumacher
2011 conf
ROBIO
Frank Schreiber, Yevgen Sklyarenko, Kathrin Schluter, Jan Schmitt, Sven Rost, Annika Raatz, Walter Schumacher
2010 J jnl
IEEE Trans. Ind. Electron.
Stefan Grubic, Bernd Amlang, Walter Schumacher, Andree Wenzel
2010 A* conf
ICRA
Frank Wobbe, Dang Hung Nguyen, Walter Schumacher
2010 A conf
IROS
Franz Dietrich, Dirk Buchholz, Frank Wobbe, Frank Sowinski, Annika Raatz, Walter Schumacher, Friedrich M. Wahl
2009 conf
The DARPA Urban Challenge
Fred W. Rauskolb, Kai Berger, Christian Lipski, Marcus A. Magnor, Karsten Cornelsen, Jan Effertz, Thomas Form, Fabian Graefe, Sebastian Ohl, Walter Schumacher, Jörn-Marten Wille, Peter Hecker, Tobias Nothdurft, Michael Doering, Kai Homeier, Johannes Morgenroth, Lars C. Wolf, Christian Basarke, Christian Berger, Tim Gülke, Felix Klose, Bernhard Rumpe
2009 conf
ROBIO
Yevgen Sklyarenko, Frank Schreiber, Michael Kolbus, Frank Wobbe, Walter Schumacher
2008 J jnl
J. Field Robotics
Fred W. Rauskolb, Kai Berger, Christian Lipski, Marcus A. Magnor, Karsten Cornelsen, Jan Effertz, Thomas Form, Fabian Graefe, Sebastian Ohl, Walter Schumacher, Jörn-Marten Wille, Peter Hecker, Tobias Nothdurft, Michael Doering, Kai Homeier, Johannes Morgenroth, Lars C. Wolf, Christian Basarke, Christian Berger, Tim Gülke, Felix Klose, Bernhard Rumpe
2005 C conf
ICINCO
Fabian Graefe, Walter Schumacher, Raul Queiroz Feitosa, Diogo Menezes Duarte
2000 A* conf
ICRA
Sönke Kock, Walter Schumacher
2000 A* conf
ICRA
Sönke Kock, Walter Schumacher
1998 A* conf
ICRA
Sönke Kock, Walter Schumacher
redb/extractors/apk_extractors/apk_signature.py
← Index redb/extractors/apk_extractors/apk_signature.py python
import hashlib
import inspect
from datetime import datetime, timezone
from typing import Any, Optional, Tuple

from redb.extractors.enum import Tag
from redb.extractors.apk_extractor import APKExtractor
from redb.models.dataclasses import APKCertificate, APKCodeSigningInfo


# OID to RFC 4514 short name mapping
_OID_SHORT_NAMES = {
    '2.5.4.3': 'CN', '2.5.4.6': 'C', '2.5.4.7': 'L', '2.5.4.8': 'ST',
    '2.5.4.10': 'O', '2.5.4.11': 'OU', '1.2.840.113549.1.9.1': 'E',
    '2.5.4.5': 'SERIALNUMBER', '2.5.4.12': 'T', '2.5.4.42': 'GN',
    '2.5.4.4': 'SN', '2.5.4.9': 'STREET', '2.5.4.17': 'POSTALCODE',
}


def _asn1_name_to_rfc4514(name):
    """Convert an asn1crypto x509.Name to RFC 4514 string (CN=..., O=...)."""
    parts = []
    for rdn in name.chosen:
        for attr in rdn:
            oid = attr['type'].dotted
            val = attr['value'].native
            short = _OID_SHORT_NAMES.get(oid, oid)
            parts.append(f'{short}={val}')
    return ', '.join(parts)


class APKSignatureExtractor(APKExtractor):

    def __init__(
        self, filepath, log, exporters=None, index_prefix=None,
        known_benign=False, known_malicious=False,
        apk=None,
    ):
        super().__init__(
            filepath, log, exporters, index_prefix,
            known_benign, known_malicious, apk,
        )
        self.signing_info = None
        self.log.debug(inspect.currentframe().f_code.co_name)

    def tag(self):
        return Tag.APK_SIGNATURE.value

    def _detect_signature_schemes(self):
        """Detect which APK signature schemes are present."""
        schemes = []
        try:
            if self.apk.is_signed_v1():
                schemes.append(1)
        except Exception:
            pass
        try:
            if self.apk.is_signed_v2():
                schemes.append(2)
        except Exception:
            pass
        try:
            if self.apk.is_signed_v3():
                schemes.append(3)
        except Exception:
            pass
        return schemes

    def _extract_certificate_info(self, cert, source_scheme=None):
        """Extract certificate details from an androguard certificate object."""
        try:
            # Subject and Issuer — asn1crypto doesn't have rfc4514_string, convert manually
            subject = _asn1_name_to_rfc4514(cert.subject)
            issuer = _asn1_name_to_rfc4514(cert.issuer)

            # Serial number
            serial = str(cert.serial_number)

            # Validity
            valid_from = cert.not_valid_before
            valid_to = cert.not_valid_after
            if isinstance(valid_from, datetime):
                valid_from = valid_from.strftime("%Y-%m-%d %H:%M:%S")
            else:
                valid_from = str(valid_from)
            if isinstance(valid_to, datetime):
                valid_to = valid_to.strftime("%Y-%m-%d %H:%M:%S")
            else:
                valid_to = str(valid_to)

            # Thumbprints
            cert_der = cert.dump()
            thumbprint_sha1 = hashlib.sha1(cert_der).hexdigest()
            thumbprint_sha256 = hashlib.sha256(cert_der).hexdigest()

            # Algorithm
            algorithm = None
            try:
                algorithm = cert.hash_algo
            except Exception:
                try:
                    algorithm = cert.signature_algo
                except Exception:
                    pass

            # Key size
            key_size = None
            try:
                pub_key = cert.public_key
                if hasattr(pub_key, 'bit_size'):
                    key_size = pub_key.bit_size
                elif hasattr(pub_key, 'key_size'):
                    key_size = pub_key.key_size
            except Exception:
                pass

            # Self-signed check
            is_self_signed = cert.subject == cert.issuer

            return APKCertificate(
                subject=subject,
                issuer=issuer,
                serial_number=serial,
                valid_from=valid_from,
                valid_to=valid_to,
                thumbprint_sha1=thumbprint_sha1,
                thumbprint_sha256=thumbprint_sha256,
                algorithm=algorithm,
                key_size=key_size,
                is_self_signed=is_self_signed,
                certificate_source_scheme=source_scheme,
            )
        except Exception as e:
            self.log.error(f"Error extracting certificate info: {e}")
            return None

    def _get_signer_certificate(self, schemes) -> Tuple[Optional[APKCertificate], Optional[str]]:
        """Identify the actual signer certificate using V3>V2>V1 priority.

        V2/V3: certificates[0] is the signer per spec.
        V1: androguard's get_certificate() does SignerInfo matching internally.

        Returns (signer_cert_info, source_scheme) or (None, None).
        """
        # V3 takes priority (Android 9+)
        if 3 in schemes:
            try:
                certs = self.apk.get_certificates_v3()
                if certs:
                    cert_info = self._extract_certificate_info(certs[0], source_scheme='v3')
                    if cert_info:
                        return cert_info, 'v3'
            except Exception as e:
                self.log.debug(f"V3 signer extraction failed: {e}")

        # V2 next (Android 7.0+)
        if 2 in schemes:
            try:
                certs = self.apk.get_certificates_v2()
                if certs:
                    cert_info = self._extract_certificate_info(certs[0], source_scheme='v2')
                    if cert_info:
                        return cert_info, 'v2'
            except Exception as e:
                self.log.debug(f"V2 signer extraction failed: {e}")

        # V1 fallback — androguard does SignerInfo.issuerAndSerialNumber matching
        if 1 in schemes:
            try:
                names = self.apk.get_signature_names()
                if names:
                    cert = self.apk.get_certificate(names[0])
                    if cert:
                        cert_info = self._extract_certificate_info(cert, source_scheme='v1')
                        if cert_info:
                            return cert_info, 'v1'
            except Exception as e:
                self.log.debug(f"V1 signer extraction failed: {e}")

        return None, None

    def _extract_all_certificates(self, schemes):
        """Extract all certificates with their source scheme tracked.

        Uses scheme-specific methods to preserve source information,
        deduplicating by thumbprint_sha1 and merging source schemes.
        """
        # cert thumbprint -> (APKCertificate, set of source schemes)
        seen = {}

        for scheme_num, method_name in [
            (3, 'get_certificates_v3'),
            (2, 'get_certificates_v2'),
            (1, 'get_certificates_v1'),
        ]:
            if scheme_num not in schemes:
                continue
            try:
                method = getattr(self.apk, method_name, None)
                if method is None:
                    continue
                certs = method()
                if not certs:
                    continue
                for cert in certs:
                    cert_info = self._extract_certificate_info(cert, source_scheme=f'v{scheme_num}')
                    if cert_info:
                        key = cert_info.thumbprint_sha1
                        if key in seen:
                            # Merge source schemes
                            existing_cert, existing_schemes = seen[key]
                            existing_schemes.add(f'v{scheme_num}')
                        else:
                            seen[key] = (cert_info, {f'v{scheme_num}'})
            except Exception as e:
                self.log.warning(f"Error extracting v{scheme_num} certificates: {e}")

        # Build final list with merged source schemes
        result = []
        for cert_info, source_schemes in seen.values():
            cert_info.certificate_source_scheme = ','.join(sorted(source_schemes))
            result.append(cert_info)

        return result

    def extract(self):
        if not self._is_valid_apk():
            self.log.error(f"Invalid APK for {self.hash.sha256}")
            return None

        schemes = self._detect_signature_schemes()
        is_signed = len(schemes) > 0

        # Extract all certificates with source scheme tracking
        certificates = self._extract_all_certificates(schemes)

        # Identify the actual signer using V3>V2>V1 priority
        signer_cert, signer_scheme = self._get_signer_certificate(schemes)

        apk_signer_subject = signer_cert.subject if signer_cert else None
        apk_signer_issuer = signer_cert.issuer if signer_cert else None

        self.signing_info = APKCodeSigningInfo(
            _id=self.sha256,
            is_signed=is_signed,
            signature_scheme_versions=schemes,
            number_of_certificates=len(certificates),
            x509_certificates=certificates if certificates else None,
            apk_signer_subject=apk_signer_subject,
            apk_signer_issuer=apk_signer_issuer,
        )
        return self.signing_info

    def prepare_export_data(self, exporter_type: str) -> Any:
        if exporter_type == "ClickHouseExporter":
            if not self.signing_info:
                return None

            current_time = datetime.now(timezone.utc)
            sig = self.signing_info

            # Signature summary table
            signature_data = [[
                self.sha256,
                int(sig.is_signed),
                sig.signature_scheme_versions,
                sig.number_of_certificates,
                sig.apk_signer_subject,
                sig.apk_signer_issuer,
                current_time,
            ]]

            # Certificates table (one row per certificate)
            certificates_data = []
            if sig.x509_certificates:
                for cert in sig.x509_certificates:
                    certificates_data.append([
                        self.sha256,
                        cert.subject,
                        cert.issuer,
                        cert.serial_number,
                        datetime.strptime(cert.valid_from, "%Y-%m-%d %H:%M:%S") if cert.valid_from else None,
                        datetime.strptime(cert.valid_to, "%Y-%m-%d %H:%M:%S") if cert.valid_to else None,
                        cert.thumbprint_sha1,
                        cert.algorithm,
                        cert.key_size,
                        int(cert.is_self_signed),
                        cert.certificate_source_scheme,
                        current_time,
                    ])

            return {
                'multi_table': True,
                'signature': {
                    'table': 'redb_apk_signature',
                    'data': signature_data,
                    'column_names': [
                        'sha256',
                        'is_signed', 'signature_scheme_versions',
                        'number_of_certificates',
                        'apk_signer_subject', 'apk_signer_issuer',
                        'analysis_date',
                    ],
                    'column_type_names': [
                        'FixedString(64)',
                        'UInt8', 'Array(UInt8)',
                        'UInt8',
                        'Nullable(String)', 'Nullable(String)',
                        "DateTime64(3, 'UTC')",
                    ],
                },
                'certificates': {
                    'table': 'redb_apk_certificates',
                    'data': certificates_data,
                    'column_names': [
                        'sha256', 'certificate_subject', 'certificate_issuer',
                        'certificate_serial_number',
                        'certificate_valid_from', 'certificate_valid_to',
                        'certificate_thumbprint',
                        'certificate_algorithm', 'key_size', 'is_self_signed',
                        'certificate_source_scheme',
                        'analysis_date',
                    ],
                    'column_type_names': [
                        'FixedString(64)', 'String', 'String', 'String',
                        "DateTime64(3, 'UTC')", "DateTime64(3, 'UTC')",
                        'FixedString(40)',
                        'LowCardinality(String)', 'Nullable(UInt16)', 'UInt8',
                        'LowCardinality(String)',
                        "DateTime64(3, 'UTC')",
                    ],
                },
            }

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