A docker container to use Yakut from OpenCyphal.org and github.com/opencyphal and Tshark from Wireshark.
Check out the git submodules to get the latest wire shark filters and the latest Cyphal Regulated Messages.
git submodule init
git submodule updateI use finch locally to build on my Mac.
finch build cyphal-tools cyphal-toolsOn Linux you can use docker
docker buildx build cyphal-tools -t cyphal-toolsfinch run -it --network host --cap-add=NET_RAW --cap-add=NET_ADMIN cyphal-toolsor
docker run -it --net host cyphal-toolsYou can use both the tshark and yakut tools in the container to observer multicast Cyphal/UDP
traffic.
$ tshark -i eth0 -f "udp port 9382"
...
Capturing on 'eth0'
** (tshark:99) 02:02:02.350754 [Main MESSAGE] -- Capture started.
** (tshark:99) 02:02:02.350845 [Main MESSAGE] -- File: "/tmp/wireshark_eth0PHSCO2.pcapng"
1 0.000000000 192.168.5.15 ? 239.0.29.85 CYPHALUDP 77 33667 ? 9382 Len=35
2 0.981301818 192.168.5.15 ? 239.0.29.85 CYPHALUDP 77 33667 ? 9382 Len=35
3 1.995579300 192.168.5.15 ? 239.0.29.85 CYPHALUDP 77 33667 ? 9382 Len=35
4 2.982021528 192.168.5.15 ? 239.0.29.85 CYPHALUDP 77 33667 ? 9382 Len=35
5 3.992935682 192.168.5.15 ? 239.0.29.85 CYPHALUDP 77 33667 ? 9382 Len=35
6 4.981271074 192.168.5.15 ? 239.0.29.85 CYPHALUDP 77 33667 ? 9382 Len=35
7 5.993050351 192.168.5.15 ? 239.0.29.85 CYPHALUDP 77 33667 ? 9382 Len=35
8 6.898101521 192.168.5.15 ? 239.0.29.86 CYPHALUDP 221 38117 ? 9382 Len=179
9 6.978108581 192.168.5.15 ? 239.0.29.85 CYPHALUDP 77 33667 ? 9382 Len=35
10 7.996077225 192.168.5.15 ? 239.0.29.85 CYPHALUDP 77 33667 ? 9382 Len=35
...See Yakut's readme for more information: here
Be sure to set UAVCAN__NODE__ID and UAVCAN__UDP__IFACE as appropriate before running yakut.
# These are incidental to my machine! Don't copy!
export UAVCAN__NODE__ID=44
export UAVCAN__UDP__IFACE=192.168.5.15
yakut monitorWhich results in:
NodID Mode Health VSSC Uptime VProtcl VHardwr VSoftware(major.minor.vcs.crc) Unique-ID
44 oper nomina 13 0d00:07:27 1.0 0.0 0.13 8099d400db13bb3
Legend: pub/cln│sub/srv│(pub+sub)/(cln+srv)│activity│uavcan.node.port.List is published/not│
MESSG 44 ∑t/s ∑B/s
7509 1 1 7 7509
7510 0 0 15 7510
∑t/s 1 1 ↖ t/s
∑B/s 22 22
RQ+RS 44 ∑t/s ∑B/s
384 0 0 0 384
385 0 0 0 385
430 0 0 0 430
∑t/s 0 0 ↖ t/s
∑B/s 0 0
TOTAL 44 ∑t/s ∑B/s
∑t/s 1 1
∑B/s 22 22
Transport errors: 0 Average over 10.0 sec
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