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Add initial version of embobj wireshark dissector (#111)
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‎README.md‎

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@@ -35,6 +35,20 @@ So far, the repository `icub-firmware-shared` is used to compile only on the pc1
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* Run `make` to generate the correct dependencies required by `icub-main` (actually this step is not strictly required).
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At this point a run of `ccmake ../` in `icub-main` build folder will be able to find the suitable dependencies for `icub-firmware-shared`.
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## Wireshark dissector for embObj
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The repository also contains a [Wireshark Dissector](https://www.wireshark.org/docs/wsdg_html_chunked/ChapterDissection.html) for simplifying the reading of dumps of embObj data in [Wireshark](https://www.wireshark.org/), contained in the source code at [`eth/embobj_wireshark.lua`](./eth/embobj_wireshark.lua) and that is installed at `share/icub_firwmware_shared/embobj_wireshark.lua` .
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To install the Wireshark dissector, locate the "Personal Lua Plugins" used by your WireShark installation by opening Wireshark and navigating to Help -> About Wireshark -> Folders, and find the "Personal Lua Plugins" location, then copy the `embobj_wireshark.lua` file to it.
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For example on linux, you can just copy the `embobj_wireshark.lua` file to `~/.local/lib/wireshark/plugins`:
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~~~bash
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mkdir -p ~/.local/lib/wireshark/plugins
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cp ./eth/embobj_wireshark.lua ~/.local/lib/wireshark/plugins
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~~~
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## Maintainers
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This repository is maintained by:

‎eth/CMakeLists.txt‎

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@@ -251,4 +251,7 @@ if(WITH_EMBOBJ)
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PATTERN "*.h") #TODO check if we need only the header
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install(DIRECTORY robotconfig
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DESTINATION ${icub_firmware_shared_INSTALL_INCLUDE_DIR})
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install(FILES embobj_wireshark.lua
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DESTINATION ${CMAKE_INSTALL_DATADIR}/icub_firmware_shared)
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endif()

‎eth/embobj_wireshark.lua‎

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-- embObj ROP dissector
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-- SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
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-- SPDX-License-Identifier: BSD-3-Clause
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-- The starting point for this dissector was these ChatGPT conversations:
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-- https://chatgpt.com/share/6811f209-2edc-8006-bb06-93580b399e61
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-- https://chatgpt.com/share/6812222c-fbe4-8006-9215-f175e661af3d
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-- https://chatgpt.com/share/68123fba-2654-8006-8d2a-a330a31d4f28
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-- The code has been then modified based on tests.
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local p_rop = Proto("embobj_rop","embObj ROP")
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-- Frame header
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local f_start = ProtoField.uint32 ("embobj_rop.start" , "Start-of-Frame", base.HEX)
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local f_size = ProtoField.uint16 ("embobj_rop.ropsize" , "ROPs byte-count", base.DEC)
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local f_nrops = ProtoField.uint16 ("embobj_rop.nrops" , "# ROPs", base.DEC)
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local f_age = ProtoField.uint64 ("embobj_rop.age" , "Frame age [µs]" , base.DEC)
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local f_seq = ProtoField.uint64 ("embobj_rop.seq" , "Sequence #", base.DEC)
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local f_end = ProtoField.uint32 ("embobj_rop.end" , "End-of-Frame", base.HEX)
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-- ROP header
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local f_ctrl = ProtoField.uint8 ("embobj_rop.ctrl" , "CTRL" , base.HEX)
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local f_ctrl_cinfo = ProtoField.uint8 ("embobj_rop.ctrl.cinfo","Confirmation",base.DEC,nil,0x03)
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local f_ctrl_ptime = ProtoField.bool ("embobj_rop.ctrl.ptime","+TIME" ,8,{"yes","no"},0x04)
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local f_ctrl_psign = ProtoField.bool ("embobj_rop.ctrl.psign","+SIGN" ,8,{"yes","no"},0x08)
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local f_ctrl_rtime = ProtoField.bool ("embobj_rop.ctrl.rqtime","Req.TIME" ,8,nil,0x10)
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local f_ctrl_rconf = ProtoField.bool ("embobj_rop.ctrl.rqconf","Req.CONF" ,8,nil,0x20)
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local f_ctrl_ver = ProtoField.uint8 ("embobj_rop.ctrl.ver","Ver" ,base.DEC,nil,0xC0)
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local f_opcode = ProtoField.uint8 ("embobj_rop.opc" , "OpCode",base.DEC,{
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[1]="ASK",[2]="SAY",[3]="SET",[4]="SIG",[5]="RST"})
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local f_dsize = ProtoField.uint16 ("embobj_rop.dsize" , "Data len",base.DEC)
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local f_id32 = ProtoField.uint32 ("embobj_rop.id32" , "ID32", base.HEX)
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-- sub-fields for ID32 (one byte each)
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local f_id32_ep = ProtoField.uint8 ("embobj_rop.id32.ep" , "Endpoint",base.DEC)
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local f_id32_ent = ProtoField.uint8 ("embobj_rop.id32.ent" , "Entity" ,base.DEC)
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local f_id32_idx = ProtoField.uint8 ("embobj_rop.id32.idx" , "Index" ,base.DEC)
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local f_id32_tag = ProtoField.uint8 ("embobj_rop.id32.tag" , "Tag" ,base.HEX)
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local f_sign = ProtoField.uint32 ("embobj_rop.sign" , "Signature",base.HEX)
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local f_time = ProtoField.uint64 ("embobj_rop.time" , "Time [µs]",base.DEC)
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p_rop.fields = {f_start,f_size,f_nrops,f_age,f_seq,f_end,
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f_ctrl,f_ctrl_cinfo,f_ctrl_ptime,f_ctrl_psign,
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f_ctrl_rtime,f_ctrl_rconf,f_ctrl_ver,
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f_opcode,f_dsize,f_id32,f_id32_ep,f_id32_ent,
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f_id32_idx,f_id32_tag,f_sign,f_time}
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-- These are endpoint names, as defined in eOprot_endpoint_t
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-- see eth/embobj/plus/comm-v2/protocol/api/EoProtocol.h
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local function endpoint_name(val)
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local lookup = {
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[0] = "management",
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[1] = "motioncontrol",
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[2] = "analogsensors",
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[3] = "skin",
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[254] = "all",
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[255] = "none",
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}
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return lookup[val] or "?"
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end
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-- These are entity names, as defined in eOprot_entity_t
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-- see eth/embobj/plus/comm-v2/protocol/api/EoProtocol.h
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local function entity_name(endpoint_name, val)
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if val == 255 then return "none" end
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local ent_names = {
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management = { [0]="comm",[1]="appl",[2]="info",[3]="service" },
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motioncontrol = { [0]="joint",[1]="motor",[2]="controller" },
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analogsensors = { [0]="strain",[1]="mais",[2]="temperature",[3]="inertial3",[4]="psc",[5]="pos",[6]="ft",[7]="battery" },
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skin = { [0]="skin" },
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}
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-- Defensive lookup
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local endpoint = ent_names[endpoint_name]
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return endpoint and endpoint[val] or "?"
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end
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-- These are tag names, as defined in the header of each end point, see inline comments :
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local function tag_name(endpoint_name, entity_name, val)
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if val == 255 then return "none" end
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local tag_names = {
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-- eth/embobj/plus/comm-v2/protocol/api/EoProtocolMN.h
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management = {
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-- eOprot_tag_mn_comm_t
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comm = {
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[0] = "wholeitem",
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[1] = "status",
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[2] = "status_managementprotocolversion",
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[3] = "cmmnds_command_querynumof",
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[4] = "cmmnds_command_queryarray",
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[5] = "cmmnds_command_replynumof",
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[6] = "cmmnds_command_replyarray",
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[7] = "cmmnds_command_config",
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},
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-- eOprot_tag_mn_appl_t
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appl = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "config_txratedivider",
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[3] = "status",
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[4] = "cmmnds_go2state",
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[5] = "cmmnds_timeset",
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},
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-- eOprot_tag_mn_info_t
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info = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "config_enabled",
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[3] = "status",
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[4] = "status_basic",
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},
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-- eOprot_tag_mn_service_t
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service = {
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[0] = "wholeitem",
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[1] = "status_commandresult",
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[2] = "cmmnds_command",
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},
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},
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-- eth/embobj/plus/comm-v2/protocol/api/EoProtocolMC.h
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motioncontrol = {
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-- eOprot_tag_mc_joint_t
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joint = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "config_pidposition",
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[3] = "config_pidvelocity",
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[4] = "config_pidtorque",
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[5] = "config_userlimits",
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[6] = "config_impedance",
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[7] = "config_motor_params",
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[8] = "config_tcfiltertype",
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[9] = "status",
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[10] = "status_core",
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[11] = "status_target",
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[12] = "status_core_modes_controlmodestatus",
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[13] = "status_core_modes_interactionmodestatus",
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[14] = "status_core_modes_ismotiondone",
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[15] = "status_addinfo_multienc",
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[16] = "status_debug",
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[17] = "inputs",
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[18] = "inputs_externallymeasuredtorque",
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[19] = "cmmnds_calibration",
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[20] = "cmmnds_setpoint",
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[21] = "cmmnds_stoptrajectory",
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[22] = "cmmnds_controlmode",
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[23] = "cmmnds_interactionmode",
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},
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-- eOprot_tag_mc_motor_t
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motor = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "config_currentlimits",
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[3] = "config_gearbox_M2J",
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[4] = "config_rotorencoder",
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[5] = "config_pwmlimit",
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[6] = "config_temperaturelimit",
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[7] = "config_pidcurrent",
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[8] = "config_pidspeed",
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[9] = "status",
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[10] = "status_basic",
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},
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-- eOprot_tag_mc_controller_t
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controller = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "status",
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},
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},
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-- eth/embobj/plus/comm-v2/protocol/api/EoProtocolAS.h
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analogsensors = {
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-- eOprot_tag_as_strain_t
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strain = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "status",
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[3] = "status_fullscale",
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[4] = "status_calibratedvalues",
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[5] = "status_uncalibratedvalues",
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},
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-- eOprot_tag_as_mais_t
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mais = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "config_mode",
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[3] = "config_datarate",
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[4] = "config_resolution",
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[5] = "status",
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[6] = "status_the15values",
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},
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-- eOprot_tag_as_temperature_t
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temperature = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "status",
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[3] = "cmmnds_enable",
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},
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-- eOprot_tag_as_inertial3_t
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inertial3 = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "status",
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[3] = "cmmnds_enable",
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},
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-- eOprot_tag_as_psc_t
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psc = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "status",
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[3] = "cmmnds_enable",
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},
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-- eOprot_tag_as_pos_t
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pos = {
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[0] = "wholeitem",
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[1] = "config",
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[2] = "status",
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[3] = "cmmnds_enable",
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},
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-- eOprot_tag_as_ft_t
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ft = {
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[0] = "config",
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[1] = "cmmnds_enable",
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[2] = "status",
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[3] = "status_timedvalue",
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[4] = "status_fullscale",
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},
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-- eOprot_tag_as_battery_t
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battery = {
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[0] = "config",
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[1] = "cmmnds_enable",
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[2] = "status",
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[3] = "status_timedvalue",
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},
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},
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-- =========================== skin ==============================
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-- eth/embobj/plus/comm-v2/protocol/api/EoProtocolSK.h
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skin = {
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-- eOprot_tag_sk_skin_t
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skin = {
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[0] = "wholeitem",
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[1] = "config_sigmode",
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[2] = "status_arrayofcandata",
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[3] = "cmmnds_boardscfg",
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[4] = "cmmnds_trianglescfg",
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},
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},
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}
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-- Defensive lookup
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local ep = tag_names[endpoint_name]
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local ent = ep and ep[entity_name]
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return ent and ent[val] or "?"
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end
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-- constants
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local START_MAGIC = 0x12345678
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local END_MAGIC = 0x87654321
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local HEADER_LEN = 24
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local ROP_HEADLEN = 8
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-- helpers
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local function name_or(tbl,val) -- small helper: returns a string or "?"
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local v = tbl[val]
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return v and v or "?"
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end
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-- ROP dissection
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local function dissect_single_rop(tvb,off,tree,idx)
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local sub = tree:add(p_rop,string.format("ROP [%d]",idx))
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-- CTRL
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sub:add_le(f_ctrl ,tvb(off,1))
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sub:add_le(f_ctrl_cinfo ,tvb(off,1))
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sub:add_le(f_ctrl_ptime ,tvb(off,1))
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sub:add_le(f_ctrl_psign ,tvb(off,1))
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sub:add_le(f_ctrl_rtime ,tvb(off,1))
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sub:add_le(f_ctrl_rconf ,tvb(off,1))
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sub:add_le(f_ctrl_ver ,tvb(off,1))
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local ctrl = tvb(off,1):le_uint()
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local ptime = bit.band(ctrl,0x04)~=0
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local psign = bit.band(ctrl,0x08)~=0
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off = off+1
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-- OPC / DSIZE
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sub:add(f_opcode,tvb(off,1)); off=off+1
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local dlen = tvb(off,2):le_uint()
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sub:add_le(f_dsize ,tvb(off,2)); off=off+2
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-- ID32
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sub:add_le(f_id32 ,tvb(off,4))
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-- break the 32 bits into 4 bytes (little-endian on the wire)
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local id32_le = tvb(off,4):le_uint()
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local ep = bit.rshift(id32_le,24) & 0xFF
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local ent = bit.rshift(id32_le,16) & 0xFF
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local idx = bit.rshift(id32_le, 8) & 0xFF
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local tag = bit.band (id32_le,0xFF)
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local epname = endpoint_name(ep)
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local entname = entity_name(epname,ent)
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local tagname = tag_name(epname,entname,tag)
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local idnode = sub:add(p_rop, tvb(off,4),
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string.format("ID32 → EP:%d (%s) ENT:%d (%s) IDX:%d TAG:0x%02X (%s)",
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ep,epname, ent,entname, idx, tag, tagname))
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idnode:add_le(f_id32_ep ,tvb(off+3,1)):append_text(" ("..epname..")")
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idnode:add_le(f_id32_ent,tvb(off+2,1)):append_text(" ("..entname..")")
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idnode:add_le(f_id32_idx,tvb(off+1,1))
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idnode:add_le(f_id32_tag,tvb(off ,1)):append_text(" ("..tagname..")")
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off = off+4
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-- optional SIGN / TIME
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if psign then sub:add_le(f_sign ,tvb(off,4)); off=off+4 end
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if ptime then sub:add_le(f_time ,tvb(off,8)); off=off+8 end
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-- DATA
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if dlen>0 then
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sub:add(tvb(off,dlen),"Data ("..dlen.." B)")
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off = off + dlen
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end
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-- 32-bit padding
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if off %4 ~=0 then off = off + (4 - (off%4)) end
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return off
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end
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-- dissector (frame) / registration
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function p_rop.dissector(tvb,pinfo,tree)
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pinfo.cols.protocol = "embObj-ROP"
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local len = tvb:len()
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if len < HEADER_LEN+4 then return end
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if tvb(0,4):le_uint() ~= START_MAGIC then return end
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local roptree = tree:add(p_rop, tvb(),"embObj ROP Frame")
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roptree:add_le(f_start,tvb(0,4))
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roptree:add_le(f_size ,tvb(4,2))
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roptree:add_le(f_nrops,tvb(6,2))
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roptree:add_le(f_age ,tvb( 8,8))
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roptree:add_le(f_seq ,tvb(16,8))
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local off = HEADER_LEN
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for i=1,tvb(6,2):le_uint() do
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off = dissect_single_rop(tvb,off,roptree,i)
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end
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roptree:add_le(f_end,tvb(off,4))
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end
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local udp_table = DissectorTable.get("udp.port")
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udp_table:add(12345,p_rop)

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