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packet-simplemessage.lua
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packet-simplemessage.lua
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--[[
Routines for ROS-Industrial SimpleMessage dissection
Copyright (c) 2013-2016, G.A. vd. Hoorn, TU Delft Robotics Institute
All rights reserved.
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
---
Wireshark dissector in Lua for the ROS-Industrial SimpleMessage protocol.
For more information on the protocol, see [1].
Written for the 'groovy' version of the SimpleMessage protocol.
Known issues and open feature requests, see [2].
Author: G.A. vd. Hoorn, TU Delft Robotics Institute
[1] http://ros.org/wiki/simple_message
[2] https://github.com/ros-industrial/packet-simplemessage/issues
]]
do
-- feature detection
assert (set_plugin_info and Pref.range, "This dissector (ROS-Industrial SimpleMessage) requires Wireshark 2 or newer.")
--
-- constants
--
local DISSECTOR_VERSION = "0.1.11"
local MIN_PKT_LEN = 44
local MSG_PING = 0x01
local MSG_JOINT_POSITION = 0x0A
local MSG_JOINT_TRAJ_PT = 0x0B
local MSG_JOINT_TRAJ = 0x0C
local MSG_STATUS = 0x0D
local MSG_JOINT_TRAJ_PT_FULL = 0x0E
local MSG_JOINT_FEEDBACK = 0x0F
local MSG_READ_INPUT = 0x14
local MSG_WRITE_OUTPUT = 0x15
local MSG_MOTO_BEGIN = 0x7D0
local MSG_MOTO_MOTION_CTRL = 0x7D1
local MSG_MOTO_MOTION_REPLY = 0x7D2
local MSG_MOTO_READ_SINGLE_IO = 0x7D3
local MSG_MOTO_READ_SINGLE_IO_REPLY = 0x7D4
local MSG_MOTO_WRITE_SINGLE_IO = 0x7D5
local MSG_MOTO_WRITE_SINGLE_IO_REPLY = 0x7D6
local MSG_MOTO_JOINT_TRAJ_PT_FULL_EX = 0x7E0
local MSG_MOTO_JOINT_FEEDBACK_EX = 0x7E1
local COMM_INVALID = 0x00
local COMM_TOPIC = 0x01
local COMM_SERVICE_REQUEST = 0x02
local COMM_SERVICE_REPL = 0x03
local REPLY_INVALID = 0x00
local REPLY_SUCCESS = 0x01
local REPLY_FAILURE = 0x02
local START_TRAJECTORY_DOWNLOAD = -1
-- NOTE: typo is intentional (see simple_message/joint_traj_pt(_full).h)
local START_TRAJECOTRY_STREAMING = -2
local END_TRAJECTORY = -3
local STOP_TRAJECTORY = -4
local VALID_FIELD_TYPE_TIME = 0x01
local VALID_FIELD_TYPE_POSITION = 0x02
local VALID_FIELD_TYPE_VELOCITY = 0x04
local VALID_FIELD_TYPE_ACCELERATION = 0x08
local STATUS_ROBOTMODE_UNKNOWN = -1
local STATUS_ROBOTMODE_MANUAL = 1
local STATUS_ROBOTMODE_AUTO = 2
local STATUS_TRISTATE_UNKNOWN = -1
local STATUS_TRISTATE_OFF = 0
local STATUS_TRISTATE_FALSE = 0
local STATUS_TRISTATE_ON = 1
local STATUS_TRISTATE_TRUE = 1
local MOTO_MOTION_CTRL_CMD_UNDEFINED = 0
local MOTO_MOTION_CTRL_CMD_JOINT_TRAJ_PT_FULL = MSG_JOINT_TRAJ_PT_FULL
local MOTO_MOTION_CTRL_CMD_JOINT_TRAJ_PT_FULL_EX = MSG_MOTO_JOINT_TRAJ_PT_FULL_EX
local MOTO_MOTION_CTRL_CMD_CHECK_MOTION_READY = 200101
local MOTO_MOTION_CTRL_CMD_CHECK_QUEUE_CNT = 200102
local MOTO_MOTION_CTRL_CMD_STOP_MOTION = 200111
local MOTO_MOTION_CTRL_CMD_START_TRAJ_MODE = 200121
local MOTO_MOTION_CTRL_CMD_STOP_TRAJ_MODE = 200122
local MOTO_MOTION_REPLY_RESULT_SUCCESS = 0
local MOTO_MOTION_REPLY_RESULT_TRUE = 0
local MOTO_MOTION_REPLY_RESULT_BUSY = 1
local MOTO_MOTION_REPLY_RESULT_FAILURE = 2
local MOTO_MOTION_REPLY_RESULT_FALSE = 2
local MOTO_MOTION_REPLY_RESULT_INVALID = 3
local MOTO_MOTION_REPLY_RESULT_ALARM = 4
local MOTO_MOTION_REPLY_RESULT_NOT_READY = 5
local MOTO_MOTION_REPLY_RESULT_MP_FAILURE = 6
local MOTO_MOTION_REPLY_SUBCODE_INVALID_UNSPECIFIED = 3000
local MOTO_MOTION_REPLY_SUBCODE_INVALID_MSGSIZE = 3001
local MOTO_MOTION_REPLY_SUBCODE_INVALID_MSGHEADER = 3002
local MOTO_MOTION_REPLY_SUBCODE_INVALID_MSGTYPE = 3003
local MOTO_MOTION_REPLY_SUBCODE_INVALID_GROUPNO = 3004
local MOTO_MOTION_REPLY_SUBCODE_INVALID_SEQUENCE = 3005
local MOTO_MOTION_REPLY_SUBCODE_INVALID_COMMAND = 3006
local MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA = 3010
local MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA_START_POS = 3011
local MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA_POSITION = 3012
local MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA_SPEED = 3013
local MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA_ACCEL = 3013
local MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA_INSUFFICIENT = 3014
local MOTO_MOTION_REPLY_NOTREADY_CODE_UNSPECIFIED = 5000
local MOTO_MOTION_REPLY_NOTREADY_CODE_ALARM = 5001
local MOTO_MOTION_REPLY_NOTREADY_CODE_ERROR = 5002
local MOTO_MOTION_REPLY_NOTREADY_CODE_ESTOP = 5003
local MOTO_MOTION_REPLY_NOTREADY_CODE_NOT_PLAY = 5004
local MOTO_MOTION_REPLY_NOTREADY_CODE_NOT_REMOTE = 5005
local MOTO_MOTION_REPLY_NOTREADY_CODE_SERVO_OFF = 5006
local MOTO_MOTION_REPLY_NOTREADY_CODE_HOLD = 5007
local MOTO_MOTION_REPLY_NOTREADY_CODE_NOT_STARTED = 5008
local MOTO_MOTION_REPLY_NOTREADY_CODE_WAITING_ROS = 5009
--
-- misc
--
-- cache globals to local for speed
local _F = string.format
-- wireshark API globals
local Pref = Pref
-- minimal config
local config = {
target_be = true,
autodetect_endianness = true,
display_invalid_fields = true
}
-- register version info with wireshark
set_plugin_info({version = DISSECTOR_VERSION})
--
-- constant -> string rep tables
--
local set_not_set_str = {
[0] = "Not set",
[1] = "Set"
}
local in_valid_str = {
[0] = "Invalid",
[1] = "Valid"
}
local pkt_types_str = {
[MSG_PING ] = "Ping",
[MSG_JOINT_POSITION ] = "Joint Position",
[MSG_JOINT_TRAJ_PT ] = "Joint Trajectory Point",
[MSG_JOINT_TRAJ ] = "Joint Trajectory",
[MSG_STATUS ] = "Status",
[MSG_JOINT_TRAJ_PT_FULL ] = "Joint Trajectory Point Full",
[MSG_JOINT_FEEDBACK ] = "Joint Feedback",
[MSG_READ_INPUT ] = "Read Input",
[MSG_WRITE_OUTPUT ] = "Write Output",
[MSG_MOTO_BEGIN ] = "Motoman Msg Begin (BUG)",
[MSG_MOTO_MOTION_CTRL ] = "Motoman Motion Ctrl",
[MSG_MOTO_MOTION_REPLY ] = "Motoman Motion Reply",
[MSG_MOTO_READ_SINGLE_IO ] = "Motoman Read Single IO",
[MSG_MOTO_READ_SINGLE_IO_REPLY ] = "Motoman Read Single IO Reply",
[MSG_MOTO_WRITE_SINGLE_IO ] = "Motoman Write Single IO",
[MSG_MOTO_WRITE_SINGLE_IO_REPLY] = "Motoman Write Single IO Reply",
[MSG_MOTO_JOINT_TRAJ_PT_FULL_EX] = "Motoman Joint Trajectory Point Full Extended",
[MSG_MOTO_JOINT_FEEDBACK_EX ] = "Motoman Joint Feedback Extended",
-- facilitate dissection of legacy captures (before renumbering of
-- Motoman msgs). See packet-simplemessage issue 12.
-- TODO: this will need to be removed once IDs 0x10 and 0x11 are
-- assigned to other msgs.
[0x10 ] = "Motoman Joint Traj. Pt Full Ext. (OLD ID)",
[0x11 ] = "Motoman Joint Feedback Ext. (OLD ID)",
}
local comm_types_str = {
[COMM_INVALID ] = "Unused / Invalid",
[COMM_TOPIC ] = "Topic",
[COMM_SERVICE_REQUEST] = "Service Request",
[COMM_SERVICE_REPL ] = "Service Reply"
}
local reply_code_str = {
[REPLY_INVALID] = "Unused / Invalid",
[REPLY_SUCCESS] = "Success",
[REPLY_FAILURE] = "Failure"
}
local special_seq_nr_str = {
[START_TRAJECTORY_DOWNLOAD ] = "Start Trajectory Download",
[START_TRAJECOTRY_STREAMING] = "Start Trajectory Streaming",
[END_TRAJECTORY ] = "End Trajectory",
[STOP_TRAJECTORY ] = "Stop Trajectory",
}
local valid_field_type_str = {
[VALID_FIELD_TYPE_TIME ] = "Time",
[VALID_FIELD_TYPE_POSITION ] = "Position",
[VALID_FIELD_TYPE_VELOCITY ] = "Velocity",
[VALID_FIELD_TYPE_ACCELERATION] = "Acceleration"
}
local status_robotmode_str = {
[STATUS_ROBOTMODE_UNKNOWN] = "Unknown",
[STATUS_ROBOTMODE_MANUAL ] = "Manual",
[STATUS_ROBOTMODE_AUTO ] = "Auto"
}
local status_tristate_str = {
[STATUS_TRISTATE_UNKNOWN] = "Unknown",
[STATUS_TRISTATE_FALSE ] = "False",
[STATUS_TRISTATE_TRUE ] = "True"
}
local motoman_ctrl_cmd_str = {
[MOTO_MOTION_CTRL_CMD_UNDEFINED ] = "Undefined",
[MOTO_MOTION_CTRL_CMD_JOINT_TRAJ_PT_FULL ] = "Joint_Traj_Pt_Full",
[MOTO_MOTION_CTRL_CMD_JOINT_TRAJ_PT_FULL_EX] = "Joint_Traj_Pt_Full_Ex",
[MOTO_MOTION_CTRL_CMD_CHECK_MOTION_READY ] = "Motion Ready",
[MOTO_MOTION_CTRL_CMD_CHECK_QUEUE_CNT ] = "Check Queue Count",
[MOTO_MOTION_CTRL_CMD_STOP_MOTION ] = "Stop Motion",
[MOTO_MOTION_CTRL_CMD_START_TRAJ_MODE ] = "Start Traj Mode",
[MOTO_MOTION_CTRL_CMD_STOP_TRAJ_MODE ] = "Stop Traj Mode"
}
local motoman_reply_results_str = {
[MOTO_MOTION_REPLY_RESULT_SUCCESS ] = "Success/True",
[MOTO_MOTION_REPLY_RESULT_BUSY ] = "Busy",
[MOTO_MOTION_REPLY_RESULT_FAILURE ] = "Failure/False",
[MOTO_MOTION_REPLY_RESULT_INVALID ] = "Invalid",
[MOTO_MOTION_REPLY_RESULT_ALARM ] = "Alarm",
[MOTO_MOTION_REPLY_RESULT_NOT_READY ] = "Not Ready",
[MOTO_MOTION_REPLY_RESULT_MP_FAILURE] = "MP Failure"
}
local motoman_reply_subcodes_str = {
[MOTO_MOTION_REPLY_SUBCODE_INVALID_UNSPECIFIED ] = "Unspecified",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_MSGSIZE ] = "Message Size",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_MSGHEADER ] = "Message Header",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_MSGTYPE ] = "Message Type",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_GROUPNO ] = "Group Number",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_SEQUENCE ] = "Sequence",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_COMMAND ] = "Command",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA ] = "Data",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA_START_POS ] = "Data Start Pos",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA_POSITION ] = "Data Position",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA_SPEED ] = "Data Speed",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA_ACCEL ] = "Data Acceleration",
[MOTO_MOTION_REPLY_SUBCODE_INVALID_DATA_INSUFFICIENT] = "Data Insufficient"
}
local motoman_not_read_code_str = {
[MOTO_MOTION_REPLY_NOTREADY_CODE_UNSPECIFIED] = "Unspecified",
[MOTO_MOTION_REPLY_NOTREADY_CODE_ALARM ] = "Alarm",
[MOTO_MOTION_REPLY_NOTREADY_CODE_ERROR ] = "Error",
[MOTO_MOTION_REPLY_NOTREADY_CODE_ESTOP ] = "E-Stop",
[MOTO_MOTION_REPLY_NOTREADY_CODE_NOT_PLAY ] = "Not Play",
[MOTO_MOTION_REPLY_NOTREADY_CODE_NOT_REMOTE ] = "Not Remote",
[MOTO_MOTION_REPLY_NOTREADY_CODE_SERVO_OFF ] = "Servo Off",
[MOTO_MOTION_REPLY_NOTREADY_CODE_HOLD ] = "Hold",
[MOTO_MOTION_REPLY_NOTREADY_CODE_NOT_STARTED] = "Not Started",
[MOTO_MOTION_REPLY_NOTREADY_CODE_WAITING_ROS] = "Waiting ROS"
}
--
-- Protocol object creation and setup
--
local p_simplemsg_tcp = Proto("SIMPLEMESSAGE", "ROS-Industrial SimpleMessage")
-- preferences
p_simplemsg_tcp.prefs["version_txt"] = Pref.statictext(_F("Dissector version: v%s", DISSECTOR_VERSION), "Shows dissector information.")
p_simplemsg_tcp.prefs["target_be"] = Pref.bool("Target is big-endian" , true, "Is the target using big-endian transfers?")
p_simplemsg_tcp.prefs["autodetect_endianness"] = Pref.bool("Auto-detect endianness", true, "Should endianness of data be auto-detected?")
p_simplemsg_tcp.prefs["display_invalid_fields"] = Pref.bool("Show invalid fields" , true, "Should values for invalid fields be displayed (in messages with a 'valid fields' field)?")
p_simplemsg_tcp.prefs["tcp_ports" ] = Pref.range("TCP Ports", "11000,11002,50240,50241,50242", "TCP ports the dissector should be registered for (default: 11000 (traj. relay), 11002 (state), 50240 (MotoROS traj. relay), 50241 (MotorROS state) and 50242 (MotorROS IO)).", 65535)
--
-- protocol fields
--
local f = p_simplemsg_tcp.fields
-- protocol fields: prefix and header
f.pfx_hdr_len = ProtoField.int32 ("simplemessage.pfx.length" , "Packet Length" , base.DEC, nil , nil, "Total size of packet in bytes, excluding prefix")
f.hdr_msg_type = ProtoField.uint32("simplemessage.hdr.msg_type" , "Message Type" , base.HEX, pkt_types_str , nil, "Message type identifier")
f.hdr_comm_type = ProtoField.int32 ("simplemessage.hdr.comm_type" , "Communications Type", base.DEC, comm_types_str, nil, "Communications type idenfier (service, topic)")
f.hdr_reply_type = ProtoField.int32 ("simplemessage.hdr.reply_code", "Reply Code" , base.DEC, reply_code_str, nil, "Reply code (only for services)")
-- protocol fields: JOINT_POSITION
f.jp_seq_nr = ProtoField.int32("simplemessage.jp.seq" , "Sequence Number", base.DEC, nil, nil, "Index of point in trajectory")
-- protocol fields: JOINT_TRAJ_PT
f.jtpt_seq_nr = ProtoField.int32("simplemessage.jtpt.seq" , "Sequence Number", base.DEC, nil, nil, "Index of point in trajectory")
f.jtpt_vel = ProtoField.float("simplemessage.jtpt.velocity", "Velocity" , "Velocity (controller specific) to be attained at this point")
f.jtpt_dur = ProtoField.float("simplemessage.jtpt.duration", "Duration" , "Time (in seconds) allotted for motion to this point")
-- protocol fields: STATUS
f.rs_mode = ProtoField.int32("simplemessage.rs.mode" , "Mode " , base.DEC, status_robotmode_str, nil, "Mode the controller is currently in")
f.rs_estop = ProtoField.int32("simplemessage.rs.e_stopped" , "E-Stopped " , base.DEC, status_tristate_str , nil, "Status of the e-stop on the controller")
f.rs_drv_pwd = ProtoField.int32("simplemessage.rs.drives_powered" , "Drives Powered " , base.DEC, status_tristate_str , nil, "Status of servo power")
f.rs_motpos = ProtoField.int32("simplemessage.rs.motion_possible" , "Motion Possible" , base.DEC, status_tristate_str , nil, "Controller is ok to receive motion commands")
f.rs_inmot = ProtoField.int32("simplemessage.rs.in_motion" , "In Motion " , base.DEC, status_tristate_str , nil, "Robot is currently executing a command")
f.rs_inerr = ProtoField.int32("simplemessage.rs.in_error" , "In Error " , base.DEC, status_tristate_str , nil, "Controller in error mode")
f.rs_errcode = ProtoField.int32("simplemessage.rs.error_code" , "Error Code " , base.DEC, nil , nil, "If not zero: error code (controller specific)")
-- protocol fields: JOINT_TRAJ_PT_FULL
f.jtptf_robotid = ProtoField.int32("simplemessage.jtptf.rid" , "Robot ID" , base.DEC, nil , nil , "Robot identifier")
f.jtptf_seq_nr = ProtoField.int32("simplemessage.jtptf.seq" , "Sequence Number", base.DEC, nil , nil , "Index of point in trajectory")
f.jtptf_vf = ProtoField.uint8("simplemessage.jtptf.vf" , "Valid Fields" , base.HEX, nil , nil , "Fields that contain valid data")
f.jtptf_vf_time = ProtoField.uint8("simplemessage.jtptf.vf.time" , "Time " , base.DEC, in_valid_str , VALID_FIELD_TYPE_TIME , "Validity of time field")
f.jtptf_vf_pos = ProtoField.uint8("simplemessage.jtptf.vf.pos" , "Position " , base.DEC, in_valid_str , VALID_FIELD_TYPE_POSITION , "Validity of position data")
f.jtptf_vf_vel = ProtoField.uint8("simplemessage.jtptf.vf.vel" , "Velocity " , base.DEC, in_valid_str , VALID_FIELD_TYPE_VELOCITY , "Validity of velocity data")
f.jtptf_vf_accel = ProtoField.uint8("simplemessage.jtptf.vf.accel", "Acceleration " , base.DEC, in_valid_str , VALID_FIELD_TYPE_ACCELERATION, "Validity of acceleration data")
f.jtptf_time = ProtoField.float("simplemessage.jtptf.time" , "Time" , "Timestamp for data (seconds, optional)")
-- protocol fields: JOINT_FEEDBACK
f.jf_robotid = ProtoField.int32("simplemessage.jf.rid" , "Robot ID" , base.DEC, nil , nil , "Robot identifier")
f.jf_vf = ProtoField.uint8("simplemessage.jf.vf" , "Valid Fields" , base.HEX, nil , nil , "Fields that contain valid data")
f.jf_vf_time = ProtoField.uint8("simplemessage.jf.vf.time" , "Time " , base.DEC, in_valid_str, VALID_FIELD_TYPE_TIME , "Validity of time field")
f.jf_vf_pos = ProtoField.uint8("simplemessage.jf.vf.pos" , "Position " , base.DEC, in_valid_str, VALID_FIELD_TYPE_POSITION , "Validity of position data")
f.jf_vf_vel = ProtoField.uint8("simplemessage.jf.vf.vel" , "Velocity " , base.DEC, in_valid_str, VALID_FIELD_TYPE_VELOCITY , "Validity of velocity data")
f.jf_vf_accel = ProtoField.uint8("simplemessage.jf.vf.accel", "Acceleration " , base.DEC, in_valid_str, VALID_FIELD_TYPE_ACCELERATION, "Validity of acceleration data")
f.jf_time = ProtoField.float("simplemessage.jf.time" , "Time" , "Timestamp for data (seconds, optional)")
-- protocol fields: MOTO_MOTION_CTRL
f.mmc_robotid = ProtoField.int32("simplemessage.mmc.rid" , "Robot ID" , base.DEC, nil , nil, "Robot identifier")
f.mmc_seq_nr = ProtoField.int32("simplemessage.mmc.seq" , "Sequence Number", base.DEC, nil , nil, "Message identifier")
f.mmc_command = ProtoField.int32("simplemessage.mmc.command" , "Command" , base.DEC, motoman_ctrl_cmd_str, nil, "Command to execute")
-- protocol fields: MOTO_MOTION_REPLY
f.mmr_robotid = ProtoField.int32("simplemessage.mmr.rid" , "Robot ID" , base.DEC, nil , nil, "Robot identifier")
f.mmr_seq_nr = ProtoField.int32("simplemessage.mmr.seq" , "Sequence Number", base.DEC, nil , nil, "Message identifier")
f.mmr_command = ProtoField.int32("simplemessage.mmr.command" , "Command" , base.DEC, motoman_ctrl_cmd_str , nil, "Command executed")
f.mmr_res = ProtoField.int32("simplemessage.mmr.result" , "Result" , base.DEC, motoman_reply_results_str , nil, "Result of executing specified command")
f.mmr_subc = ProtoField.int32("simplemessage.mmr.subcode" , "Subcode" , base.DEC, motoman_reply_subcodes_str, nil, "More detailed result code")
-- protocol fields: MOTO_READ_SINGLE_IO
f.mrsio_address = ProtoField.uint32("simplemessage.mrsio.address", "Address", base.DEC, nil, nil, "Address of IO element to read")
-- protocol fields: MOTO_READ_SINGLE_IO_REPLY
f.mrsio_value = ProtoField.uint32("simplemessage.mrsio.value" , "Value" , base.DEC, nil, nil, "Value of IO element")
f.mrsio_res_code = ProtoField.uint32("simplemessage.mrsio.res_code", "Result Code", base.DEC, nil, nil, "Result of IO operation")
-- protocol fields: MOTO_WRITE_SINGLE_IO
f.mwsio_address = ProtoField.uint32("simplemessage.mwsio.address", "Address", base.DEC, nil, nil, "Address of IO element to write to")
f.mwsio_value = ProtoField.uint32("simplemessage.mwsio.value" , "Value" , base.DEC, nil, nil, "Value to write")
-- protocol fields: MOTO_WRITE_SINGLE_IO_REPLY
f.mwsio_res_code = ProtoField.uint32("simplemessage.mwsio.res_code", "Result Code", base.DEC, nil, nil, "Result of IO operation")
-- protocol fields: MOTOMAN_JOINT_TRAJ_PT_FULL_EX
f.mmjtptfex_validgroups = ProtoField.int32("simplemessage.mmjtptfex.vg" , "Valid Groups" , base.DEC, nil , nil , "Number of valid groups")
f.mmjtptfex_seq_nr = ProtoField.int32("simplemessage.mmjtptfex.seq" , "Sequence Number", base.DEC, nil , nil , "Index of point in trajectory")
f.mmjtptfex_robotid = ProtoField.int32("simplemessage.mmjtptfex.rid" , "Robot ID" , base.DEC, nil , nil , "Robot identifier")
f.mmjtptfex_vf = ProtoField.uint8("simplemessage.mmjtptfex.vf" , "Valid Fields" , base.HEX, nil , nil , "Fields that contain valid data")
f.mmjtptfex_vf_time = ProtoField.uint8("simplemessage.mmjtptfex.vf.time" , "Time " , base.DEC, in_valid_str , VALID_FIELD_TYPE_TIME , "Validity of time field")
f.mmjtptfex_vf_pos = ProtoField.uint8("simplemessage.mmjtptfex.vf.pos" , "Position " , base.DEC, in_valid_str , VALID_FIELD_TYPE_POSITION , "Validity of position data")
f.mmjtptfex_vf_vel = ProtoField.uint8("simplemessage.mmjtptfex.vf.vel" , "Velocity " , base.DEC, in_valid_str , VALID_FIELD_TYPE_VELOCITY , "Validity of velocity data")
f.mmjtptfex_vf_accel = ProtoField.uint8("simplemessage.mmjtptfex.vf.accel", "Acceleration " , base.DEC, in_valid_str , VALID_FIELD_TYPE_ACCELERATION, "Validity of acceleration data")
f.mmjtptfex_time = ProtoField.float("simplemessage.mmjtptfex.time" , "Time" , "Timestamp for data (seconds, optional)")
-- protocol fields: MOTOMAN_JOINT_FEEDBACK_EX
f.mmjfex_numgroups = ProtoField.int32("simplemessage.mmjfex.numgroups", "Number of Groups", base.DEC, nil , nil , "Number of groups")
f.mmjfex_robotid = ProtoField.int32("simplemessage.mmjfex.rid" , "Robot ID" , base.DEC, nil , nil , "Robot identifier")
f.mmjfex_vf = ProtoField.uint8("simplemessage.mmjfex.vf" , "Valid Fields" , base.HEX, nil , nil , "Fields that contain valid data")
f.mmjfex_vf_time = ProtoField.uint8("simplemessage.mmjfex.vf.time" , "Time " , base.DEC, in_valid_str, VALID_FIELD_TYPE_TIME , "Validity of time field")
f.mmjfex_vf_pos = ProtoField.uint8("simplemessage.mmjfex.vf.pos" , "Position " , base.DEC, in_valid_str, VALID_FIELD_TYPE_POSITION , "Validity of position data")
f.mmjfex_vf_vel = ProtoField.uint8("simplemessage.mmjfex.vf.vel" , "Velocity " , base.DEC, in_valid_str, VALID_FIELD_TYPE_VELOCITY , "Validity of velocity data")
f.mmjfex_vf_accel = ProtoField.uint8("simplemessage.mmjfex.vf.accel" , "Acceleration " , base.DEC, in_valid_str, VALID_FIELD_TYPE_ACCELERATION, "Validity of acceleration data")
f.mmjfex_time = ProtoField.float("simplemessage.mmjfex.time" , "Time" , "Timestamp for data (seconds, optional)")
--
-- Helper functions
--
local function pref_uint(buf, offset, len)
if config.target_be then
return buf(offset, len):uint()
end
return buf(offset, len):le_uint()
end
local function pref_int(buf, offset, len)
if config.target_be then
return buf(offset, len):int()
end
return buf(offset, len):le_int()
end
local function pref_uint64(buf, offset, len)
if config.target_be then
return buf(offset, len):uint64()
end
return buf(offset, len):le_uint64()
end
local function pref_int64(buf, offset, len)
if config.target_be then
return buf(offset, len):int64()
end
return buf(offset, len):le_int64()
end
local function pref_float(buf, offset, len)
if config.target_be then
return buf(offset, len):float()
end
return buf(offset, len):le_float()
end
local function pref_tree_add(tree, field, buf, offset, len)
if config.target_be then
return tree:add(field, buf(offset, len))
else
return tree:add_le(field, buf(offset, len))
end
end
local function add_floatf_fmt(buf, tree, offset, len, text, format)
if ((len % 4) ~= 0) or (len > 8) then return nil end
return tree:add(buf(offset, len), text)
:append_text(_F(": %s",
_F(format,
pref_float(buf, offset, len)),
pref_uint(buf, offset, len)))
end
local function add_floatf(buf, tree, offset, len, text)
return add_floatf_fmt(buf, tree, offset, len, text, "%14.9f")
end
local function str_or_none(arr, arg)
return arr[arg] or "Unknown"
end
local function stringify_flagbits(bit_val, bit_tab)
local temp = {}
for k, v in pairs(bit_tab) do
if (bit.band(bit_val, k) > 0) then table.insert(temp, v) end
end
return table.concat(temp, ", ")
end
--
-- Dissection subfunctions
--
--
-- Header
--
local function disf_header(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
--
local hdr_tree = lt:add(buf(offset_, 0), "Header")
-- message type
pref_tree_add(hdr_tree, f.hdr_msg_type, buf, offset_, 4)
offset_ = offset_ + 4
-- comm type
pref_tree_add(hdr_tree, f.hdr_comm_type, buf, offset_, 4)
offset_ = offset_ + 4
-- reply type
pref_tree_add(hdr_tree, f.hdr_reply_type, buf, offset_, 4)
offset_ = offset_ + 4
-- nr of bytes we consumed
local tlen = offset_ - offset
hdr_tree:set_len(tlen)
return (tlen)
end
--
-- array of N floats
--
local function disf_float_array(buf, pkt, tree, offset, array_sz, text, item_fmt)
--
local offset_ = offset
local lt = tree
--
local jd_tree = lt:add(buf(offset_, 0), text)
for i = 0, (array_sz - 1) do
add_floatf(buf, jd_tree, offset_, 4, _F(item_fmt, i))
offset_ = offset_ + 4
end
-- nr of bytes we consumed
local tlen = offset_ - offset
jd_tree:set_len(tlen)
return (tlen)
end
--
-- PING
--
local function disf_ping(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
-- header
offset_ = offset_ + disf_header(buf, pkt, tree, offset_)
-- joint data
offset_ = offset_ + disf_float_array(buf, pkt, tree, offset_, 10,
"Data", "J%d")
-- nr of bytes we consumed
return (offset_ - offset)
end
--
-- JOINT_POSITION
--
local function disf_joint_position(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
-- header
offset_ = offset_ + disf_header(buf, pkt, tree, offset_)
-- body
local body_tree = lt:add(buf(offset_, 0), "Body")
local body_offset = offset_
-- sequence number
local seq_nr = pref_int(buf, offset_, 4)
local seq_field = pref_tree_add(body_tree, f.jp_seq_nr, buf, offset_, 4)
offset_ = offset_ + 4
if (seq_nr < 0) then
seq_field:set_text(_F("Sequence Number: %s (%d)", str_or_none(special_seq_nr_str, seq_nr), seq_nr))
end
-- joint data
offset_ = offset_ + disf_float_array(buf, pkt, body_tree, offset_, 10,
"Joint Data", "J%d")
-- nr of bytes we consumed
local tlen = offset_ - body_offset
body_tree:set_len(tlen)
return (tlen)
end
--
-- JOINT_TRAJ_PT
--
local function disf_joint_traj_point(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
-- header
offset_ = offset_ + disf_header(buf, pkt, tree, offset_)
-- body
local body_tree = lt:add(buf(offset_, 0), "Body")
local body_offset = offset_
-- sequence number
local seq_nr = pref_int(buf, offset_, 4)
local seq_field = pref_tree_add(body_tree, f.jtpt_seq_nr, buf, offset_, 4)
offset_ = offset_ + 4
if (seq_nr < 0) then
seq_field:set_text(_F("Sequence Number: %s (%d)", str_or_none(special_seq_nr_str, seq_nr), seq_nr))
end
-- joint data
offset_ = offset_ + disf_float_array(buf, pkt, body_tree, offset_, 10,
"Joint Data", "J%d")
-- velocity
pref_tree_add(body_tree, f.jtpt_vel, buf, offset_, 4)
offset_ = offset_ + 4
-- duration
pref_tree_add(body_tree, f.jtpt_dur, buf, offset_, 4)
offset_ = offset_ + 4
-- nr of bytes we consumed
local tlen = offset_ - body_offset
body_tree:set_len(tlen)
return (tlen)
end
--
-- STATUS
--
local function disf_status(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
-- header
offset_ = offset_ + disf_header(buf, pkt, tree, offset_)
-- body
local body_tree = lt:add(buf(offset_, 0), "Body")
local body_offset = offset_
-- drives powered
pref_tree_add(body_tree, f.rs_drv_pwd, buf, offset_, 4)
offset_ = offset_ + 4
-- e-stopped
pref_tree_add(body_tree, f.rs_estop, buf, offset_, 4)
offset_ = offset_ + 4
-- error code
pref_tree_add(body_tree, f.rs_errcode, buf, offset_, 4)
offset_ = offset_ + 4
-- in error
pref_tree_add(body_tree, f.rs_inerr, buf, offset_, 4)
offset_ = offset_ + 4
-- in motion
pref_tree_add(body_tree, f.rs_inmot, buf, offset_, 4)
offset_ = offset_ + 4
-- mode
pref_tree_add(body_tree, f.rs_mode, buf, offset_, 4)
offset_ = offset_ + 4
-- motion possible
pref_tree_add(body_tree, f.rs_motpos, buf, offset_, 4)
offset_ = offset_ + 4
-- nr of bytes we consumed
local tlen = offset_ - body_offset
body_tree:set_len(tlen)
return (tlen)
end
--
-- JOINT_TRAJ_PT_FULL
--
local function disf_joint_traj_point_full(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
-- header
offset_ = offset_ + disf_header(buf, pkt, tree, offset_)
-- body
local body_tree = lt:add(buf(offset_, 0), "Body")
local body_offset = offset_
-- robot id
pref_tree_add(body_tree, f.jtptf_robotid, buf, offset_, 4)
offset_ = offset_ + 4
-- sequence number
local seq_nr = pref_int(buf, offset_, 4)
local seq_field = pref_tree_add(body_tree, f.jtptf_seq_nr, buf, offset_, 4)
offset_ = offset_ + 4
if (seq_nr < 0) then
seq_field:set_text(_F("Sequence Number: %s (%d)", str_or_none(special_seq_nr_str, seq_nr), seq_nr))
end
-- valid_fields
local valid_fields = pref_uint(buf, offset_, 4)
local vf_lo = pref_tree_add(body_tree, f.jtptf_vf, buf, offset_, 4)
-- bitfield
pref_tree_add(vf_lo, f.jtptf_vf_time, buf, offset_, 4)
pref_tree_add(vf_lo, f.jtptf_vf_pos, buf, offset_, 4)
pref_tree_add(vf_lo, f.jtptf_vf_vel, buf, offset_, 4)
pref_tree_add(vf_lo, f.jtptf_vf_accel, buf, offset_, 4)
offset_ = offset_ + 4
-- append high bit flags to bitfield parent item
vf_lo:append_text(_F(" (%s)", stringify_flagbits(valid_fields, valid_field_type_str)))
-- time
if (bit.band(VALID_FIELD_TYPE_TIME, valid_fields) > 0) or (config.display_invalid_fields) then
pref_tree_add(body_tree, f.jtptf_time, buf, offset_, 4)
end
offset_ = offset_ + 4
-- positions
if (bit.band(VALID_FIELD_TYPE_POSITION, valid_fields) > 0) or (config.display_invalid_fields) then
offset_ = offset_ + disf_float_array(buf, pkt, body_tree, offset_, 10,
"Positions", "J%d")
else
-- TODO: remove hard-coded float and array size
offset_ = offset_ + (10 * 4)
end
-- velocities
if (bit.band(VALID_FIELD_TYPE_VELOCITY, valid_fields) > 0) or (config.display_invalid_fields) then
offset_ = offset_ + disf_float_array(buf, pkt, body_tree, offset_, 10,
"Velocities", "J%d")
else
-- TODO: remove hard-coded float and array size
offset_ = offset_ + (10 * 4)
end
-- accelerations
if (bit.band(VALID_FIELD_TYPE_ACCELERATION, valid_fields) > 0) or (config.display_invalid_fields) then
offset_ = offset_ + disf_float_array(buf, pkt, body_tree, offset_, 10,
"Accelerations", "J%d")
else
-- TODO: remove hard-coded float and array size
offset_ = offset_ + (10 * 4)
end
-- nr of bytes we consumed
local tlen = offset_ - body_offset
body_tree:set_len(tlen)
return (tlen)
end
--
-- JOINT_FEEDBACK
--
local function disf_joint_feedback(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
-- header
offset_ = offset_ + disf_header(buf, pkt, tree, offset_)
-- body
local body_tree = lt:add(buf(offset_, 0), "Body")
local body_offset = offset_
-- robot id
pref_tree_add(body_tree, f.jf_robotid, buf, offset_, 4)
offset_ = offset_ + 4
-- valid_fields
local valid_fields = pref_uint(buf, offset_, 4)
local vf_lo = pref_tree_add(body_tree, f.jf_vf, buf, offset_, 4)
-- bitfield
pref_tree_add(vf_lo, f.jf_vf_time, buf, offset_, 4)
pref_tree_add(vf_lo, f.jf_vf_pos, buf, offset_, 4)
pref_tree_add(vf_lo, f.jf_vf_vel, buf, offset_, 4)
pref_tree_add(vf_lo, f.jf_vf_accel, buf, offset_, 4)
offset_ = offset_ + 4
-- append high bit flags to bitfield parent item
vf_lo:append_text(_F(" (%s)", stringify_flagbits(valid_fields, valid_field_type_str)))
-- time
if (bit.band(VALID_FIELD_TYPE_TIME, valid_fields) > 0) or (config.display_invalid_fields) then
pref_tree_add(body_tree, f.jf_time, buf, offset_, 4)
end
offset_ = offset_ + 4
-- positions
if (bit.band(VALID_FIELD_TYPE_POSITION, valid_fields) > 0) or (config.display_invalid_fields) then
offset_ = offset_ + disf_float_array(buf, pkt, body_tree, offset_, 10,
"Positions", "J%d")
else
-- TODO: remove hard-coded float and array size
offset_ = offset_ + (10 * 4)
end
-- velocities
if (bit.band(VALID_FIELD_TYPE_VELOCITY, valid_fields) > 0) or (config.display_invalid_fields) then
offset_ = offset_ + disf_float_array(buf, pkt, body_tree, offset_, 10,
"Velocities", "J%d")
else
-- TODO: remove hard-coded float and array size
offset_ = offset_ + (10 * 4)
end
-- accelerations
if (bit.band(VALID_FIELD_TYPE_ACCELERATION, valid_fields) > 0) or (config.display_invalid_fields) then
offset_ = offset_ + disf_float_array(buf, pkt, body_tree, offset_, 10,
"Accelerations", "J%d")
else
-- TODO: remove hard-coded float and array size
offset_ = offset_ + (10 * 4)
end
-- nr of bytes we consumed
local tlen = offset_ - body_offset
body_tree:set_len(tlen)
return (tlen)
end
--
-- MOTO_MOTION_CTRL
--
local function disf_motoman_ctrl(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
-- header
offset_ = offset_ + disf_header(buf, pkt, tree, offset_)
-- body
local body_tree = lt:add(buf(offset_, 0), "Body")
local body_offset = offset_
-- robot id
pref_tree_add(body_tree, f.mmc_robotid, buf, offset_, 4)
offset_ = offset_ + 4
-- sequence number
pref_tree_add(body_tree, f.mmc_seq_nr, buf, offset_, 4)
offset_ = offset_ + 4
-- command
pref_tree_add(body_tree, f.mmc_command, buf, offset_, 4)
offset_ = offset_ + 4
--
offset_ = offset_ + disf_float_array(buf, pkt, body_tree, offset_, 10,
"Data (reserved)", "J%d")
-- nr of bytes we consumed
local tlen = offset_ - body_offset
body_tree:set_len(tlen)
return (tlen)
end
--
-- MOTO_MOTION_REPLY
--
local function disf_motoman_reply(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
-- header
offset_ = offset_ + disf_header(buf, pkt, tree, offset_)
-- body
local body_tree = lt:add(buf(offset_, 0), "Body")
local body_offset = offset_
-- robot id
pref_tree_add(body_tree, f.mmr_robotid, buf, offset_, 4)
offset_ = offset_ + 4
-- sequence number
pref_tree_add(body_tree, f.mmr_seq_nr, buf, offset_, 4)
offset_ = offset_ + 4
-- command
pref_tree_add(body_tree, f.mmr_command, buf, offset_, 4)
offset_ = offset_ + 4
-- result
pref_tree_add(body_tree, f.mmr_res, buf, offset_, 4)
offset_ = offset_ + 4
-- subcode
pref_tree_add(body_tree, f.mmr_subc, buf, offset_, 4)
offset_ = offset_ + 4
--
offset_ = offset_ + disf_float_array(buf, pkt, body_tree, offset_, 10,
"Data (reserved)", "J%d")
-- nr of bytes we consumed
local tlen = offset_ - body_offset
body_tree:set_len(tlen)
return (tlen)
end
--
-- MOTO_READ_SINGLE_IO
--
local function disf_moto_read_single_io(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
-- header
offset_ = offset_ + disf_header(buf, pkt, tree, offset_)
-- body
local body_tree = lt:add(buf(offset_, 0), "Body")
local body_offset = offset_
-- element address
pref_tree_add(body_tree, f.mrsio_address, buf, offset_, 4)
offset_ = offset_ + 4
-- nr of bytes we consumed
local tlen = offset_ - body_offset
body_tree:set_len(tlen)
return (tlen)
end
--
-- MOTO_READ_SINGLE_IO_REPLY
--
local function disf_moto_read_single_io_reply(buf, pkt, tree, offset)
--
local offset_ = offset
local lt = tree
-- header
offset_ = offset_ + disf_header(buf, pkt, tree, offset_)
-- body
local body_tree = lt:add(buf(offset_, 0), "Body")
local body_offset = offset_
-- element value
pref_tree_add(body_tree, f.mrsio_value, buf, offset_, 4)
offset_ = offset_ + 4
-- result code
pref_tree_add(body_tree, f.mrsio_res_code, buf, offset_, 4)
offset_ = offset_ + 4