The only OpenCyphal/UAVCAN tutorial in the whole network (11) Write a Cyphal protocol parsing tool with candump and gawk tools

It is often necessary to debug the Cyphal protocol. The installation of yakut is troublesome, so a protocol analysis tool is implemented with candump and gawk.

The data exported by this candump is obviously a heartbeat broadcast, 7D55 is the id of the heartbeat broadcast, and it is also a single frame message.

can1 107D552A [8] 00 00 00 00 00 01 A1 E0can1 107D552A [8] 01 00 00 00 00 01 A1 E1can1 107D552A [8] 02 00 00 00 00 01 A1 E2can1 107D552A [8] 03 00 00 00 00 01 A1 E3

Refer to this image for parsing:

PostOn our awk script:

#!/usr/bin/gawkBEGIN {id_name[7509] = "heart_beat";# add your id and name map herecan_id_index = 2;getline#line example: (001.000) can0 11111 [8] 55555if($1 ~/^\(/)can_id_index = 3;while (getline) {# have timestampif(can_id_index == 3) {timestamp = strtonum(substr($1, 2));}#line example: can0 1122233 [8] 5555555can_id = strtonum("0x"$can_id_index);source_id = and(can_id, 0x0000007F);# 0 message