[PROTOTYPE] docker-opencyphal-debug-tools

A docker container to use Yakut from OpenCyphal.org and github.com/opencyphal and Tshark from Wireshark.

Setup

Check out the git submodules to get the latest wire shark filters and the latest Cyphal Regulated Messages.

git submodule init
git submodule update

Building

I use finch locally to build on my Mac.

finch build cyphal-tools --tag docker-opencyphal-debug-tools

On Linux you can use docker

docker buildx build cyphal-tools -t docker-opencyphal-debug-tools

Running

Use native host to get network access for Cyphal/UDP traffic:

finch run -it --network host --cap-add=NET_RAW --cap-add=NET_ADMIN docker-opencyphal-debug-tools

or

docker run -it --net host docker-opencyphal-debug-tools

You can either run the container with --network host to get direct network access for Cyphal/UDP traffic or expose the UDP port 9382 to access it from outside the container -p 9382:9382.

You can use both the tshark and yakut tools in the container to observe multicast Cyphal/UDP traffic.

Terminal Shark

$ 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
...

Yakut

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 monitor

Which 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