### 配置文件路径
> 根据请求的Url查找配置文件里的Url匹配选项，去增加选项

```shell
# OpenResty
/usr/local/openresty/nginx/conf/conf.d/*.conf
# Nginx
/etc/nginx/conf.d/*.conf
```

### 跨域问题
```
proxy_set_header Access-Control-Allow-Origin *.uing.vip;
proxy_set_header Access-Control-Allow-Credentials true;
proxy_set_header Access-Control-Allow-Headers: Origin,X-Requested-With,Content-Type,Accept,Authorization;
proxy_set_header Access-Control-Allow-Methods GET,POST,PUT,DELETE,OPTIONS,PATCH;
```

### 转发真实 IP
```
proxy_set_header Host $host;
proxy_set_header X-Real-IP $remote_addr;
proxy_set_header X-Real-Port $remote_port;
proxy_set_header X-Forwarded-For $proxy_add_x_forwarded_for;
```

### 代理转发
```
  location /ws {  
    if ($http_upgrade != "websocket") {  
      return 404;
    }
    proxy_pass http://127.0.0.1:1080;
    proxy_http_version 1.1;
    proxy_set_header Upgrade $http_upgrade;
    proxy_set_header Connection "upgrade";
    proxy_set_header Host $host;
    proxy_set_header X-Real-IP $remote_addr;
    proxy_set_header X-Forwarded-For $proxy_add_x_forwarded_for;
  }
```

```
server {  
  listen 80 default_server;
  listen [::]:80 default_server;
  return 301 https://$host$request_uri;
}  
  
server {  
  listen 443 ssl http2;
  listen [::]:443 ssl http2;
  server_name uing.vip;
  
  ssl_certificate /etc/ssl/cert.pem;
  ssl_certificate_key /etc/ssl/key.pem;
  ssl_client_certificate /etc/ssl/certificate.crt;
  ssl_verify_client on;
  ssl_session_timeout 1d;
  ssl_session_cache shared:MozSSL:10m;# about 40000 sessions  
  ssl_session_tickets off;
  # intermediate configuration
  ssl_protocols TLSv1.2 TLSv1.3;
  ssl_ciphers ECDHE-ECDSA-AES128-GCM-SHA256:ECDHE-RSA-AES128-GCM-SHA256:ECDHE-ECDSA-AES256-GCM-SHA384:ECDHE-RSA-AES256-GCM-SHA384:ECDHE-ECDSA-CHACHA20-POLY1305:ECDHE-RSA-CHACHA20-POLY1305:DHE-RSA-AES128-GCM-SHA256:DHE-RSA-AES256-GCM-SHA384;
  ssl_prefer_server_ciphers off;
  # HSTS (ngx_http_headers_module is required) (63072000 seconds)  
  add_header Strict-Transport-Security "max-age=63072000" always;
  root /var/www/html;
  index index.html index.htm index.nginx-debian.html;
  
  
  location / {
    try_files $uri $uri/ =404;
  }
  
  location /XXX {
    if ($http_upgrade != "websocket") {
      return 404;
    }
    proxy_redirect off;
    proxy_pass http://127.0.0.1:10000;
    proxy_http_version 1.1;
    proxy_set_header Upgrade $http_upgrade;
    proxy_set_header Connection "upgrade";
    proxy_set_header Host $host;
  
    proxy_set_header X-Real-IP $remote_addr;
    proxy_set_header X-Forwarded-For $proxy_add_x_forwarded_for;
  }
}
```


### 创建 HTTP 身份验证文件
```bash
sudo apt install apache2-utils -y

htpasswd -Bc htpasswd cainiao
# 输入密码
```

Nginx & OpenResty

# Golang 环境搭建

配置 GO
```shell
go env -w GOPATH=C:\\source\\mycode\\Go
go env -w GOPROXY=https://mirrors.aliyun.com/goproxy/,direct
```

跨平台 build
```shell
CGO_ENABLED=0 GOOS=Windows GOARCH=amd64 go build xxx.go
CGO_ENABLED=0 GOOS=linux GOARCH=amd64 go build xxx.go
CGO_ENABLED=0 GOOS=darwin GOARCH=amd64 go build xxx.go
```


Golang 环境搭建

# GoLang 逆向分析

### 获取二进制Go语言版本
```shell
go version XXX
```

### 获取二进制所依赖的模块信息
```shell
go version -m XXX
```

### 提取二进制参与编译的GO文件列表
```shell
strings XXX | grep -E '^/.+\.go\>' | sort | uniq -u > go_src_files.txt

# 过滤掉Go自带库
strings XXX | grep -E '^/.+\.go\>' | grep -v '/usr/local/go/src/' | sort > go_src_files.txt
```


### 提取指定包名中的方法
```shell
strings XXX | grep -E '^包名' | sort | uniq -u > go_package_methods.txt
```

### 使用 **redress**  还原出 Go 二进制内部信息
> https://github.com/goretk/redress
```shell
redress -compiler -pkg -unknown -vendor -std  runtool > go_info.txt
redress -src runtool > go_src.txt
redress -type runtool > go_type.txt
redress -struct runtool > go_struct.txt
redress -method runtool > go_method.txt
redress -interface runtool > go_interface.txt
```


GoLang 逆向分析

## ROS2 系统安装

1. 设置编码
```shell
sudo apt update && sudo apt install -y locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 
export LANG=en_US.UTF-8
```
2. 添加安装源
```shell
sudo apt update
sudo wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.cloud.tencent.com/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
```
如遇报错“Failed to connect to raw.githubusercontent.com”，可[参考](https://www.guyuehome.com/37844)

3. 安装ROS2
```shell
sudo apt update
ROS_DISTRO=jazzy # 24.04
# ROS_DISTRO=humble # 22.04
# 桌面安装（推荐）：ROS、RViz、演示、教程。
# sudo apt install -y ros-${ROS_DISTRO}-desktop
# ROS-Base：通信库、消息包、命令行工具。 没有 GUI 工具。
# sudo apt install -y ros-humble-ros-base
# 桌面全家桶
sudo apt install -y ros-${ROS_DISTRO}-desktop-full
```

4. 设置环境变量
```shell
echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
``` 
至此，ROS2就已经在系统中安装好了。

## 安装相关的开发工具
```shell
sudo apt install -y ros-dev-tools git # 开发工具
sudo rosdep init && rosdep update
```

## 开发环境配置

1. 创建工作空间
了解了工作空间的概念和结果，接下来我们可以使用如下命令创建一个工作空间，并且下载教程的代码：
```shell
mkdir -p ~/dev_ws/src
cd ~/dev_ws/src
git clone https://gitee.com/guyuehome/ros2_21_tutorials.git
```

2. 编译工作空间
依赖安装完成后，就可以使用如下命令编译工作空间啦，如果有缺少的依赖，或者代码有错误，编译过程中会有报错，否则编译过程应该不会出现任何错误：
```shell
cd ~/dev_ws/
rosdep install -i --from-path src --rosdistro ${ROS_DISTRO} -y
colcon build

# 跳过测试
colcon build --catkin-skip-building-tests
```

3. 设置环境变量
编译成功后，为了让系统能够找到我们的功能包和可执行文件，还需要设置环境变量：
```shell
source install/local_setup.sh # 仅在当前终端生效
echo "source ~/dev_ws/install/local_setup.sh" >> ~/.bashrc # 所有终端均生效
```
至此，我们就完成了工作空间的创建、编译和配置。

ROS2 开发环境搭建

配置免密登录
```shell
# 创建SSH密钥对。
ssh-keygen -t rsa -b 4096

# 获取SSH公钥。
cat ~/.ssh/id_rsa.pub

# 配置免密登录的服务器主机。
ssh-copy-id root@uing.vip
```

配置 root 用户登录
``` shell
vi /etc/ssh/sshd_config
# root 用户登录
# prohibit-password / without-password:禁止密码登录 root
# yes: 允许使用密码登录 root
# no: 禁止登录 root
# PermitRootLogin yes
# 能否使用密码登录SSH (包括其它用户)
# PasswordAuthentication no

echo "PermitRootLogin yes" | sudo tee /etc/ssh/sshd_config
systemctl restart sshd
```

解除（清除）信任主机公钥
```shell
ssh-keygen -R uing.vip
```

# SSH 跳板机连接方法
```bash
ssh username@目标机器IP -p 22 -J username@跳板机IP:22
```

产生64bit随机数
```bash
openssl rand -base64 64
```

---


### 遇到的问题

使用过时的密钥算法
```
Unable to negotiate with 192.168.2.21 port 22: no matching host key type found. Their offer: ssh-rsa,ssh-dss
```
解决
```shell
# 增加 -oHostKeyAlgorithms=+ssh-dss 选项
ssh -oHostKeyAlgorithms=+ssh-dss root@192.168.2.21
```

