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WLua: Updates to displayed field values in Wireshark
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Use lookup table to convert degE7, rad, rad/s units for display
Values are appended to display - raw value is not overwritten

Show value of bitmask fields in HEX_DEC format
Even when no enum is linked (as for TERRAIN_REQUEST.mask)
Including for the compatibility flags in message header
Pad bitfields to a multiple of 4 to match hex

Append readable date/time to time_usec fields if it represents a unix time
Otherwise display time in seconds, unless its < 1s

In header, show system id as DEC, and MAV_COMPONENT as enum

Decode command parameters on MISSION_ITEM messages

Correct field name and datatype for x,y,z on MISSION and COMMAND INT messages

Add test cases to show unit decoding and MISSION_ITEM_INT fields

Fix spurious ENUM_END lines showing up in the disection
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@shancock884 @peterbarker
shancock884 authored and peterbarker committed Dec 27, 2023
1 parent 6065a80 commit 6e81a59
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Showing 5 changed files with 231 additions and 109 deletions.
77 changes: 63 additions & 14 deletions generator/mavgen_wlua.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
from builtins import range

import os
from math import ceil
from . import mavparse, mavtemplate

t = mavtemplate.MAVTemplate()
Expand Down Expand Up @@ -66,6 +67,25 @@ def generate_preamble(outf):
end
local signature_time_ref = get_timezone() + os.time{year=2015, month=1, day=1, hour=0}
-- threshold to decide if time is absolute or relative (some time in 2005)
time_usec_threshold = UInt64.new(0,0x40000)
-- function to append human-readable time onto unix_time_us fields
local function time_usec_decode(value)
if value > time_usec_threshold then
d = os.date("%Y-%m-%d %H:%M:%S",value:tonumber() / 1000000.0)
us = value % 1000000
us = string.format("%06d",us:tonumber())
tz = os.date(" %Z",value:tonumber() / 1000000.0)
return " (" .. d .. "." .. us .. tz .. ")"
elseif value < 1000000 then
return ""
elseif type(value) == "number" then
return string.format(" (%.6f s)",value / 1000000.0)
else
return string.format(" (%.6f s)",value:tonumber() / 1000000.0)
end
end
payload_fns = {}
protocolVersions = {
Expand All @@ -82,11 +102,11 @@ def generate_body_fields(outf):
"""
f.magic = ProtoField.uint8("mavlink_proto.magic", "Magic value / version", base.HEX, protocolVersions)
f.length = ProtoField.uint8("mavlink_proto.length", "Payload length")
f.incompatibility_flag = ProtoField.uint8("mavlink_proto.incompatibility_flag", "Incompatibility flag")
f.compatibility_flag = ProtoField.uint8("mavlink_proto.compatibility_flag", "Compatibility flag")
f.incompatibility_flag = ProtoField.uint8("mavlink_proto.incompatibility_flag", "Incompatibility flag", base.HEX_DEC)
f.compatibility_flag = ProtoField.uint8("mavlink_proto.compatibility_flag", "Compatibility flag", base.HEX_DEC)
f.sequence = ProtoField.uint8("mavlink_proto.sequence", "Packet sequence")
f.sysid = ProtoField.uint8("mavlink_proto.sysid", "System id", base.HEX)
f.compid = ProtoField.uint8("mavlink_proto.compid", "Component id", base.HEX)
f.sysid = ProtoField.uint8("mavlink_proto.sysid", "System id", base.DEC)
f.compid = ProtoField.uint8("mavlink_proto.compid", "Component id", base.DEC, enumEntryName.MAV_COMPONENT)
f.msgid = ProtoField.uint24("mavlink_proto.msgid", "Message id", base.DEC, messageName)
f.payload = ProtoField.uint8("mavlink_proto.payload", "Payload", base.DEC, messageName)
f.crc = ProtoField.uint16("mavlink_proto.crc", "Message CRC", base.HEX)
Expand Down Expand Up @@ -157,11 +177,15 @@ def generate_field_or_param(outf, field_or_param, name, label, physical_type, fi
# show enum values for non-flags enums
if not enum_obj.bitmask:
values = "enumEntryName." + field_or_param.enum
else:
values = values + ", base.HEX_DEC"
# force display type of enums to uint32 so we can show the names
if field_type in ("ftypes.FLOAT", "ftypes.DOUBLE"):
if field_type in ("ftypes.FLOAT", "ftypes.DOUBLE", "ftypes.INT32"):
field_type = "ftypes.UINT32"
else:
display_type = physical_type
if isinstance(field_or_param, mavparse.MAVField) and field_or_param.display == "bitmask":
values = values + ", base.HEX_DEC"
unitstr = " " + field_or_param.units if field_or_param.units else ""
t.write(outf,
"""
Expand All @@ -171,8 +195,9 @@ def generate_field_or_param(outf, field_or_param, name, label, physical_type, fi
# generate flag enum subfields
if enum_obj and enum_obj.bitmask:
physical_bits = max(entry.value.bit_length() for entry in enum_obj.entry)
physical_bits = ceil(physical_bits/4)*4
for entry in enum_obj.entry:
if not is_power_of_2(entry.value):
if not is_power_of_2(entry.value) or entry.name.endswith("_ENUM_END"):
# omit flag enums have values like "0: None"
continue

Expand Down Expand Up @@ -213,6 +238,17 @@ def generate_cmd_params(outf, cmd, enums):
name = t.substitute("cmd_${pcname}_param${pindex}", {'pcname': cmd.name, 'pindex': p.index})
label = t.substitute("param${pindex}: ${pname}", {'pindex': p.index, 'pname': p.label})
generate_field_or_param(outf, p, name, label, "float", "ftypes.FLOAT", enums)
pindex = int(p.index)
if pindex >= 5:
# On COMMAND_INT and MISSION_ITEM_INT, params 5,6,7 are named x,y,z ...
intname = chr(pindex+115)
name = t.substitute("cmd_${pcname}_${intname}", {'pcname': cmd.name, 'intname': intname})
label = t.substitute("${intname}: ${pname}", {'intname': intname, 'pname': p.label})
# ... and the x and y fields are integers
if pindex == 5 or pindex == 6:
generate_field_or_param(outf, p, name, label, "int32_t", "ftypes.INT32", enums)
else:
generate_field_or_param(outf, p, name, label, "float", "ftypes.FLOAT", enums)

t.write(outf, '\n\n')

Expand All @@ -225,10 +261,9 @@ def generate_flag_enum_dissector(outf, enum):
function dissect_flags_${enumname}(tree, name, tvbrange, value)
""", {'enumname': enum.name})

real_entries = [entry for entry in enum.entry if is_power_of_2(entry.value)]

for entry in real_entries:
t.write(outf,
for entry in enum.entry:
if is_power_of_2(entry.value) and not entry.name.endswith("_ENUM_END"):
t.write(outf,
"""
tree:add_le(f[name .. "_flag${entryname}"], tvbrange, value)
""", {'entryname': entry.name})
Expand All @@ -238,6 +273,12 @@ def generate_flag_enum_dissector(outf, enum):
end
""")

unit_decoder_mapping = {
'degE7': 'string.format(\" (%.7f deg)\",value/1E7)',
'us': 'time_usec_decode(value)',
'rad': 'string.format(\" (%g deg)\",value*180/math.pi)',
'rad/s': 'string.format(\" (%g deg/s)\",value*180/math.pi)'
}

def generate_field_dissector(outf, msg, field, offset, enums, cmd=None, param=None):
# field is the PHYSICAL type
Expand All @@ -246,7 +287,7 @@ def generate_field_dissector(outf, msg, field, offset, enums, cmd=None, param=No
assert cmd is None or isinstance(cmd, mavparse.MAVEnumEntry)
assert param is None or isinstance(param, mavparse.MAVEnumParam)

_, _, tvb_func, size, count = get_field_info(field)
mavlink_type, _, tvb_func, size, count = get_field_info(field)

enum_name = param.enum if param else field.enum
enum_obj = enum_name and next((e for e in enums if e.name == enum_name), None)
Expand All @@ -260,7 +301,10 @@ def generate_field_dissector(outf, msg, field, offset, enums, cmd=None, param=No
index_text = ''

if param is not None:
field_var = t.substitute("cmd_${cname}_param${pindex}", {'cname': cmd.name, 'pindex': param.index})
if msg.name.endswith("_INT") and int(param.index) >= 5:
field_var = t.substitute("cmd_${cname}_${intname}", {'cname': cmd.name, 'intname': chr(int(param.index)+115)})
else:
field_var = t.substitute("cmd_${cname}_param${pindex}", {'cname': cmd.name, 'pindex': param.index})
else:
field_var = t.substitute("${fmsg}_${fname}${findex}", {'fmsg': msg.name, 'fname': field.name, 'findex': index_text})

Expand All @@ -271,6 +315,11 @@ def generate_field_dissector(outf, msg, field, offset, enums, cmd=None, param=No
subtree = tree:add_le(f.${fvar}, tvbrange, value)
""", {'foffset': offset + i * size, 'fbytes': size, 'ftvbfunc': tvb_func, 'fvar': field_var})

unit = field.units.replace("[","").replace("]","")
global unit_decoder_mapping
if unit in unit_decoder_mapping:
t.write(outf," subtree:append_text(" + unit_decoder_mapping[unit] + ")\n")

if enum_obj and enum_obj.bitmask:
valuemethod = ":tonumber()" if tvb_func == "le_uint64" else ""
t.write(outf,
Expand All @@ -281,8 +330,8 @@ def generate_field_dissector(outf, msg, field, offset, enums, cmd=None, param=No

def generate_payload_dissector(outf, msg, cmds, enums, cmd=None):
# detect command messages (but not in already command-specific dissectors)
has_commands = cmds and msg.name in ("COMMAND_INT", "COMMAND_LONG", "COMMAND_ACK", "COMMAND_CANCEL") and "command" in msg.field_offsets
has_args = has_commands and msg.name in ("COMMAND_INT", "COMMAND_LONG")
has_commands = cmds and msg.name in ("COMMAND_INT", "COMMAND_LONG", "COMMAND_ACK", "COMMAND_CANCEL","MISSION_ITEM","MISSION_ITEM_INT") and "command" in msg.field_offsets
has_args = has_commands and msg.name in ("COMMAND_INT", "COMMAND_LONG","MISSION_ITEM","MISSION_ITEM_INT")

# for command messages with args, generate command-specific dissectors
if has_args:
Expand Down
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