全网唯一OpenCyphal/UAVCAN教程（11）用candump和gawk工具写一个Cyphal协议解析小工具

Posted 2022-09-03 奇妙之二进制

经常需要调试Cyphal协议，yakut的安装比较麻烦，所以就用candump和gawk实现了一个协议解析工具。

这个candump导出的数据，很明显这是一条心跳广播，7D55是心跳广播的id，而且还是条单帧消息。

can1 107D552A [8] 00 00 00 00 00 01 A1 E0
can1 107D552A [8] 01 00 00 00 00 01 A1 E1
can1 107D552A [8] 02 00 00 00 00 01 A1 E2
can1 107D552A [8] 03 00 00 00 00 01 A1 E3

解析的依据参考这个图片：

贴上我们的awk脚本：

usage_and_exit () 
  echo -e "\\e[32m$0\\e[0m support option is :
  \\e[32m-v|--version\\e[0m show the program version
  \\e[32m-d|--debug\\e[0m open debug mode
  \\e[32m-m|--monitor\\e[0m print online node and do message statistic
  \\e[32m-i|--interface\\e[0m specify the can interface to listen
  \\e[32m-c|--cycle\\e[0m set frequency calculate cycle, uint is second.
  \\e[32m-e|--print_error\\e[0m print toggle error and transfer id not continue error.
  \\e[32m-h|--help\\e[0m show this