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lansalot/AOG.lua

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AgOpenGPS Wireshark dissector
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AOG.lua
-- TODO: dialog box to enter stuff wireshark can't know about (eg lightbar line distance)
AOGProtocol_proto = Proto("AgOpenGPS", "AgOpenGPS Protocol")
RTCMProtocol_proto = Proto("AgOpenGPSRTCM", "AgOpenGPS RTCM Protocol")
local MajorPGNs = {
[0x7F] = "Steer module",
[0xFE] = "From AutoSteer"
}
local MinorPGNs = {
[0xFE] = "Speed",
[0xFC] = "Steer Settings"
}
local CANDebugState = {
[0] = "Disable diagnostics",
[1] = "Enable diagnostics",
[2] = "Disable filters",
[3] = "Enable filters"
}
local cooked
local AOGFields = {
AOGID1 = ProtoField.uint8("AOGProtocol.AOGID1", "AOGID1", base.HEX),
AOGID2 = ProtoField.uint8("AOGProtocol.AOGID2", "AOGID2", base.HEX),
MajorPGN = ProtoField.uint8("AOGProtocol.PGN", "PGN", base.HEX, MajorPGNs),
MinorPGN = ProtoField.uint8("AOGProtocol.PGN2", "PGN2", base.HEX, MinorPGNs),
pivotLat = ProtoField.uint16("CorrectedGPS.pivotLat", "pivotLat", base.DEC),
pivotLon = ProtoField.uint16("CorrectedGPS.pivotLon", "pivotLon", base.DEC),
fixHeading = ProtoField.uint16("CorrectedGPS.fixHeading", "fixHeading", base.DEC),
pivotAlt = ProtoField.uint16("CorrectedGPS.pivotAlt", "pivotAlt", base.DEC),
fCANDebugState = ProtoField.uint8("AOGProtocol.CANDebugState", "CANDebugState", base.DEC, CANDebugState),
Speed = ProtoField.uint16("SteerData.Speed", "Speed", base.DEC),
ssKp = ProtoField.uint16("SteerSettings.kp", "kp", base.DEC),
ssHighPWM = ProtoField.uint16("SteerSettings.HighPWM", "HighPWM", base.DEC),
ssLowPWM = ProtoField.uint16("SteerSettings.LowPWM", "LowPWM", base.DEC),
ssMinPWM = ProtoField.uint16("SteerSettings.MinPWM", "MinPWM", base.DEC),
ssSteerSensorCounts = ProtoField.uint16("SteerSettings.ssCounts", "Steer Sensor Counts", base.DEC),
sswasOffset = ProtoField.uint16("SteerSettings.wasOffset", "WAS Offset", base.DEC),
ssAckermanFix = ProtoField.uint16("SteerSettings.AckermanFix", "Ackerman Fix", base.DEC),
fasActualSteerAngle = ProtoField.float("FAS.ActualSteerAngle", "Actual Steer Angle", base.DEC),
fasIMUHeading = ProtoField.float("FAS.IMUHeading", "IMU Heading", base.DEC),
fasIMURoll = ProtoField.float("FAS.IMURoll", "IMU Roll", base.DEC),
fasSwitch = ProtoField.uint8("FAS.Switch", "Switch", base.DEC),
fasPWMDIsplay = ProtoField.uint8("FAS.PWNDisplay", "PWM Display", base.DEC),
vtgTrackDegrees = ProtoField.float("vtg.TrackDegrees", "Track Degrees", base.DEC),
vtgMagneticTrack = ProtoField.float("vtg.MagneticTrack", "Magnetic Track", base.DEC),
vtgGroundSpeedKnots = ProtoField.float("vtg.GroundSpeedKnots", "Ground Speed (knots)", base.DEC),
vtgGoundSpeedKMH = ProtoField.float("vtg.GroundSpeedKMH", "Ground Speed (KMH)", base.DEC),
extIMUHeading = ProtoField.uint16("extIMU.Heading", "Heading", base.DEC),
extIMURoll = ProtoField.uint16("extIMU.Roll", "Roll (raw)", base.DEC),
extIMUAngVel = ProtoField.uint16("extIMU.AngVel", "Angular Velocity", base.DEC),
asActualSteeringChart = ProtoField.uint16("asActualSteeringChart", "Actual Steering Chart", base.DEC),
asActualSteeringDegrees = ProtoField.uint16("asActualSteeringDegrees", "Actual Steering Degrees", base.DEC),
asHeading = ProtoField.uint16("asHeading", "Heading", base.DEC),
asRollK = ProtoField.uint16("asRollK", "Roll (raw)", base.DEC),
asWorkSwitch = ProtoField.string("asWorkSwitch", "Work Switch", base.STRING),
asSteerSwitch = ProtoField.string("asSteerSwitch", "Steer Switch", base.STRING),
asPWMDisplay = ProtoField.uint16("asPWMDisplay", "PWM Display", base.DEC),
SubNetScanConfirmation = ProtoField.bytes("SubNetScanConfirmation", "Subnet Scan Confirmation Signature (caca05)", base.NONE),
PGN239_Uturn = ProtoField.uint8("PGN254_LineDistance", "Line Distance (raw)", base.DEC),
PGN239_Speed = ProtoField.uint8("PGN239_Speed", "Speed", base.DEC),
PGN239_HydLift = ProtoField.uint8("PGN239_HydLift", "HydLift", base.DEC),
PGN239_Tram = ProtoField.uint8("PGN239_Tram", "Tram", base.DEC),
PGN239_geoStop = ProtoField.uint8("PGN239_geoStop", "geoStop", base.DEC),
PGN239_SC1to8 = ProtoField.uint8("PGN239_SC1to8", "SC1to8", base.HEX),
PGN239_SC9to16 = ProtoField.uint8("PGN239_SC9to16", "SC9to16", base.HEX),
PGN252_GainProportional = ProtoField.uint8("PGN239_PropGain", "Proportional Gain", base.DEC),
PGN252_HighPWM = ProtoField.uint8("PGN239_HighPWN", "High PWM", base.DEC),
PGN252_LowPWM = ProtoField.uint8("PGN239_LowPWM", "Low PWM", base.DEC),
PGN252_MinPWM = ProtoField.uint8("PGN239_MinPWN", "Min PWM", base.DEC),
PGN252_CPD = ProtoField.uint8("PGN239_CPD", "Counts Per Degree", base.DEC),
PGN252_WasOffset = ProtoField.int16("PGN239_WasOffset", "WAS Offset", base.DEC),
PGN252_Ackerman = ProtoField.uint8("PGN239_Ackerman", "Ackerman", base.DEC),
PGN253_ActualSteerAngle = ProtoField.int16("PGN253_ActualSteerAngle", "Actual Steer Angle", base.DEC),
PGN254_SpeedKM = ProtoField.uint16("PGN254_SpeedKM", "Speed (KM/h)", base.DEC),
PGN254_Status = ProtoField.string("PGN254_Status", "Status", base.STRING),
PGN254_SteerAngle = ProtoField.uint16("PGN254_SteerAngle", "Steer Angle", base.DEC),
PGN254_LineDistance = ProtoField.uint8("PGN254_LineDistance", "Line Distance", base.DEC),
PGN254_SC1to8 = ProtoField.uint8("PGN254_SC1to8", "SC1to8", base.HEX),
PGN254_SC9to16 = ProtoField.uint8("PGN254_SC9to16", "SC9to16", base.HEX),
genericIP = ProtoField.ipv4("GenericIP.IPv4", "IPv4", base.DEC),
genericSubnet = ProtoField.ipv4("GenericIP.IPSubnet", "Subnet", base.DEC),
genericShortIPRange = ProtoField.string("GenericIP.IPSubnet", "Subnet", base.STRING)
}
FixQuality = {
[0] = "Invalid",
[1] = "GPS fix (SPS)",
[2] = "DGPS fix",
[3] = "PPS fix",
[4] = "Real Time Kinematic",
[5] = "Float RTK",
[6] = "estimated (dead reckoning) (2.3 feature)",
[7] = "Manual input mode",
[8] = "Simulation mode"
}
local function isBitSet(byteValue, bitPosition)
local bitMask = 2 ^ (bitPosition - 1)
return tonumber(byteValue) % (bitMask + bitMask) >= bitMask
end
local function FormatTime(value)
local hours = string.sub(value, 1, 2)
local minutes = string.sub(value, 3, 4)
local seconds = string.sub(value, 5, 6)
local milliseconds = string.sub(value, 8)
local formattedTime = hours .. ":" .. minutes .. ":" .. seconds .. "." .. milliseconds
return formattedTime
end
local function AssembleIPRange(value)
local v = tostring(value)
local b1 = tonumber("0x" .. string.sub(v,1,2))
local b2 = tonumber("0x" .. string.sub(v,3,4))
local b3 = tonumber("0x" .. string.sub(v,5,6))
local ret = b1 .. "." .. b2 .. "." .. b3
return ret
end
local PandaFields = {"MessageType", "fixTime", "latitude", "LatNS", "longitude", "LonEW", "FixQuality", "numSats",
"HDOP", "Altitude", "AgeDGPS", "SpeedKnots", "imuHeading", "imuRoll", "imuYawRate", "StarChecksum"}
local PAOGIFields = {"MessageType", "fixTime", "latitude", "LatNS", "longitude", "LonEW", "FixQuality", "numSats",
"HDOP", "Altitude", "AgeDGPS", "SpeedKnots", "DualAntennaHeading", "DualAntennaRoll", "DualAntennaPitch", "DualAntennaYawRate", "StarChecksum"}
local GGAFields = {"MessageType", "fixTime", "latitude", "LatNS", "longitude", "LonEW", "FixQuality", "numSats", "HDOP",
"AltitudeMSL", "--AltMSL", "HeightGeoid", "--AltHGE", "--Empty", "--Empty2", "StarChecksum"}
local PandaFieldsProto = {}
local PAOGIFieldsProto = {}
local GGAFieldsProto = {}
for _, fieldName in ipairs(PandaFields) do
if fieldName == "FixQuality" then
field = ProtoField.int8("PANDA." .. fieldName, fieldName, base.ASCII, FixQuality)
else
field = ProtoField.string("PANDA." .. fieldName, fieldName, base.ASCII)
end
table.insert(PandaFieldsProto, field)
end
for _, fieldName in ipairs(PAOGIFields) do
if fieldName == "FixQuality" then
field = ProtoField.int8("PAOGI." .. fieldName, fieldName, base.ASCII, FixQuality)
else
field = ProtoField.string("PAOGI." .. fieldName, fieldName, base.ASCII)
end
table.insert(PAOGIFieldsProto, field)
end
for _, fieldName in ipairs(GGAFields) do
if fieldName == "FixQuality" then
field = ProtoField.int8("GGA." .. fieldName, fieldName, base.ASCII, FixQuality)
else
field = ProtoField.string("GGA." .. fieldName, fieldName, base.ASCII)
end
table.insert(GGAFieldsProto, field)
end
-- Merge all field tables into a single table
local allFields = {}
for key, value in pairs(AOGFields) do
table.insert(allFields, value)
-- allFields[key] = value
end
for key, value in pairs(PandaFieldsProto) do
table.insert(allFields, value)
end
for key, value in pairs(PAOGIFieldsProto) do
table.insert(allFields, value)
end
for key, value in pairs(GGAFieldsProto) do
table.insert(allFields, value)
end
local eInt16, encodedAngle
-- and register those fields
AOGProtocol_proto.fields = allFields
function RTCMProtocol_proto.dissector(buffer,pinfo,tree)
local subtree = tree:add(RTCMProtocol_proto, buffer(), "RTCM (NTRIP) data (not decoded)")
pinfo.cols.info = "RTCM (NTRIP to F9P)"
pinfo.cols.protocol = "RTCM"
end
function AOGProtocol_proto.dissector(buffer, pinfo, tree)
if buffer:len() < 4 then
return
end
local subtree = tree:add(AOGProtocol_proto, buffer(), "AOG Data")
local byte1 = buffer(0, 1):uint()
local byte2 = buffer(1, 1):uint()
local MajorPGN = buffer(2, 1):uint()
local MinorPGN = buffer(3, 1):uint()
if (byte1 == 0x24 and byte2 == 0x50 and MinorPGN == 0x4e) then -- PANDA
local PandaString = buffer(0):string()
local values = {}
for value in PandaString:gmatch("[^,]+") do
table.insert(values, value)
end
values[2] = FormatTime(values[2])
-- rewrite latitude
local mul
local degrees = tonumber(string.sub(values[3], 1, 2))
local minutes = tonumber(string.sub(values[3], 3)) or 0
if values[4] == "S" then
values[3] = degrees + (minutes / 60) * -1
else
values[3] = degrees + (minutes / 60)
end
-- rewrite longitude
local degrees = tonumber(string.sub(values[5], 1, 2))
local minutes = tonumber(string.sub(values[5], 3)) or 0
if values[6] == "W" then
values[5] = degrees + (minutes / 60) * -1
else
values[5] = degrees + (minutes / 60)
end
for i, value in ipairs(values) do
subtree:add(PandaFieldsProto[i], values[i])
end
pinfo.cols.info = "AOG PANDA Location"
elseif (byte1 == 0x24 and byte2 == 0x50 and MinorPGN == 0x4f) then -- PAOGI
local PAOGIString = buffer(0):string()
local values = {}
for value in PAOGIString:gmatch("[^,]+") do
table.insert(values, value)
end
values[2] = FormatTime(values[2])
-- rewrite latitude
local mul
local degrees = tonumber(string.sub(values[3], 1, 2))
local minutes = tonumber(string.sub(values[3], 3)) or 0
if values[4] == "S" then
values[3] = degrees + (minutes / 60) * -1
else
values[3] = degrees + (minutes / 60)
end
-- rewrite longitude
local degrees = tonumber(string.sub(values[5], 1, 2))
local minutes = tonumber(string.sub(values[5], 3)) or 0
if values[6] == "W" then
values[5] = degrees + (minutes / 60) * -1
else
values[5] = degrees + (minutes / 60)
end
for i, value in ipairs(values) do
subtree:add(PAOGIFieldsProto[i], values[i])
end
pinfo.cols.info = "AOG PAOGI Location"
elseif byte1 == 0x24 and byte2 == 0x47 and MinorPGN == 0x56 then -- GPVTG
local VTG = buffer(0):string()
local values = {}
for value in VTG:gmatch("[^,]+") do
table.insert(values, value)
end
subtree:add(AOGFields.vtgTrackDegrees, tonumber(values[2]))
subtree:add(AOGFields.vtgMagneticTrack, tonumber(values[4]))
subtree:add(AOGFields.vtgGroundSpeedKnots, tonumber(values[6]))
subtree:add(AOGFields.vtgGoundSpeedKMH, tonumber(values[8]))
pinfo.cols.info = "VTG Speed/Heading response"
elseif byte1 == 0x24 and byte2 == 0x47 and MinorPGN == 0x47 then -- GPPGA
local GGAString = buffer(0):string()
local values = {}
for value in GGAString:gmatch("[^,]+") do
table.insert(values, value)
end
values[2] = FormatTime(values[2])
-- rewrite latitude
local mul
local degrees = tonumber(string.sub(values[3], 1, 2))
local minutes = tonumber(string.sub(values[3], 3)) or 0
if values[4] == "S" then
values[3] = degrees + (minutes / 60) * -1
else
values[3] = degrees + (minutes / 60)
end
-- rewrite longitude
local degrees = tonumber(string.sub(values[5], 1, 2))
local minutes = tonumber(string.sub(values[5], 3)) or 0
if values[6] == "W" then
values[5] = degrees + (minutes / 60) * -1
else
values[5] = degrees + (minutes / 60)
end
for i, value in ipairs(values) do
if (string.sub(GGAFields[i], 1, 2) ~= "--") then
subtree:add(GGAFieldsProto[i], values[i])
end
end
pinfo.cols.info = "AOG GGA Location response"
elseif byte1 == 0x80 and byte2 == 0x81 then -- we're into PGNs from AOG now
if MajorPGN == 0x7f then -- steer module
if MinorPGN == 0xaa then -- 170
pinfo.cols.info = "CANBUS manufacturer change to id:" .. buffer(5, 1)
end
if MinorPGN == 0xab then -- 171
pinfo.cols.info = "CANBUS query manufacturer response: " .. buffer(5, 1)
end
if MinorPGN == 0xac then -- 172
pinfo.cols.info = "CANBUS Set logging state"
subtree:add(AOGFields.fCANDebugState, buffer(5, 1))
end
if MinorPGN == 0xc7 then -- 199
pinfo.cols.info = "Hello from AgIO!"
end
if MinorPGN == 0xc8 then -- 200
pinfo.cols.info = "Hello from AgOpenGPS to all!"
end
if MinorPGN == 0xc9 then -- 201
subtree:add(AOGFields.genericIP,buffer(7,4))
pinfo.cols.info = "Subnet change"
end
if MinorPGN == 0xca then -- 202
subtree:add(AOGFields.SubNetScanConfirmation,buffer(5,3))
pinfo.cols.info = "Subnet scan request"
end
if MinorPGN == 0xcb then -- 203 THIS DOESN'T LOOK LIKE REQUIRED HERE, IT'S A 7E REPLY IN CODE
pinfo.cols.info = "Subnet scan reply"
end
if MinorPGN == 0xd0 then -- 208
pinfo.cols.info = "Corrected GPS data"
encodedAngle = buffer(5, 4):le_uint()
subtree:add(AOGFields.pivotLat, (encodedAngle * 0.0000001) - 210)
encodedAngle = buffer(9, 4):le_uint()
subtree:add(AOGFields.pivotLon, (encodedAngle * 0.0000001) - 210)
eInt16 = buffer(13, 2):le_uint()
subtree:add(AOGFields.fixHeading, (eInt16 / 128))
eInt16 = buffer(15, 2):le_uint()
subtree:add(AOGFields.pivotAlt, (eInt16 * 0.01))
end
if MinorPGN == 0xd3 then -- e211
cooked = buffer(5,2):le_uint() * 0.1
subtree:add(AOGFields.extIMUHeading, cooked)
cooked = buffer(7,2):le_uint() * 0.1
subtree:add(AOGFields.extIMURoll, cooked)
cooked = buffer(9,2):le_uint() / -2
subtree:add(AOGFields.extIMUAngVel, cooked)
pinfo.cols.info = "External IMU"
end
if MinorPGN == 0xd4 then -- 212
pinfo.cols.info = "External IMU disconnect"
end
if MinorPGN == 0xe5 then -- 229
pinfo.cols.info = "64 Section on/off"
end
if MinorPGN == 0xe7 then -- 231
pinfo.cols.info = "Tool Settings"
end
if MinorPGN == 0xea then -- 234
pinfo.cols.info = "Matt Switch Module"
end
if MinorPGN == 0xeb then -- 235
pinfo.cols.info = "Section Dimensions"
end
if MinorPGN == 0xec then -- 236
pinfo.cols.info = "Pin Config"
end
if MinorPGN == 0xed then -- 237
pinfo.cols.info = "From Machine Module"
end
if MinorPGN == 0xee then -- 238
pinfo.cols.info = "Machine config"
end
if MinorPGN == 0xef then -- 239
subtree:add(AOGFields.PGN239_Uturn, buffer(5,1))
subtree:add(AOGFields.PGN239_Speed, buffer(6,1))
subtree:add(AOGFields.PGN239_HydLift, buffer(7,1))
subtree:add(AOGFields.PGN239_Tram, buffer(8,1))
subtree:add(AOGFields.PGN239_geoStop, buffer(9,1))
-- 10 is commented out in AOG for some reason
subtree:add(AOGFields.PGN239_SC1to8, buffer(11,1))
subtree:add(AOGFields.PGN239_SC9to16, buffer(12,1))
pinfo.cols.info = "From AutoSteer sensors"
end
if MinorPGN == 0xfa then -- 250
pinfo.cols.info = "Steer config (not used in AOG much)"
end
if MinorPGN == 0xfb then -- 251
pinfo.cols.info = "Autosteer steer config"
end
if MinorPGN == 0xfc then -- 252
subtree:add(AOGFields.PGN252_GainProportional, buffer(5,1))
subtree:add(AOGFields.PGN252_HighPWM, buffer(6,1))
subtree:add(AOGFields.PGN252_LowPWM, buffer(7,1))
subtree:add(AOGFields.PGN252_MinPWM, buffer(8,1))
subtree:add(AOGFields.PGN252_CPD, buffer(9,1))
subtree:add(AOGFields.PGN252_WasOffset, buffer(10,2))
subtree:add(AOGFields.PGN252_Ackerman, buffer(12,1))
pinfo.cols.info = "Steer settings (from AgIO)"
end
if MinorPGN == 0xfd then -- 253
pinfo.cols.info = "Steer settings (returned from Teensy)"
cooked = buffer(5,2):le_uint() * 0.1
subtree:add(AOGFields.asActualSteeringChart, cooked)
cooked = buffer(7,2):le_uint() --* 0.1
subtree:add(AOGFields.asHeading, cooked)
cooked = buffer(9,2):le_uint() --* 0.1
subtree:add(AOGFields.asRollK, cooked)
--print("buffer ",buffer(11,1))
if isBitSet(buffer(11,1):int(),1) then
subtree:add(AOGFields.asSteerSwitch, "Set")
else
subtree:add(AOGFields.asSteerSwitch, "Unset")
end
--print("!")
if isBitSet(buffer(11,1):int(),2) then
subtree:add(AOGFields.asWorkSwitch, "Set")
else
subtree:add(AOGFields.asWorkSwitch, "Unset")
end
subtree:add(AOGFields.asRollK, cooked)
end
if MinorPGN == 0xfe then -- 254
subtree:add(AOGFields.PGN254_SpeedKM ,buffer(5,2):le_uint() / 10)
if buffer(7,1):int() == 1 then
subtree:add(AOGFields.PGN254_Status, "On")
else
subtree:add(AOGFields.PGN254_Status, "Off")
end
subtree:add(AOGFields.PGN254_SteerAngle ,buffer(8,2):le_uint())
subtree:add(AOGFields.PGN254_LineDistance ,buffer(10,1))
subtree:add(AOGFields.PGN254_SC1to8 ,buffer(11,1))
subtree:add(AOGFields.PGN254_SC9to16 ,buffer(12,1))
pinfo.cols.info = "Steer data (from AgIO)"
end
end
if MajorPGN == 0x78 then -- From GPS module 120
end
if MajorPGN == 0x79 then
if MinorPGN == 0x79 then
pinfo.cols.info = "Hello from IMU!"
end
end
-- woah, watch out here, as it's back-checking data[2] rather than data[3], it's a TRAP!
-- some weird shit going on here, see #403 ReceiveFromLoopBack
if MajorPGN == 0x7b then -- Machine Module 123
subtree:add(AOGFields.genericIP, buffer(5, 4))
subtree:add(AOGFields.genericSubnet, buffer(9, 3))
pinfo.cols.info = "Machine Info"
end
if MajorPGN == 0x7C then -- 124 From GPS
end
if MajorPGN == 0x7D then -- 125 From IMU
end
if MajorPGN == 0x7e then -- 126
if MinorPGN == 0xcb then
subtree:add(AOGFields.genericIP, buffer(5, 4))
subtree:add(AOGFields.genericShortIPRange, AssembleIPRange(buffer(5, 3)))
pinfo.cols.info = "Subnet scan reply"
end
if MinorPGN == 0x7a then
pinfo.cols.info = "7B / 7E mystery!"
end
if MinorPGN == 0xFD then -- 253
subtree:add(AOGFields.fasActualSteerAngle, buffer(5, 2):le_uint() * 0.01)
subtree:add(AOGFields.fasIMUHeading, buffer(7, 2):le_uint())
subtree:add(AOGFields.fasIMURoll, buffer(9, 2):le_uint())
subtree:add(AOGFields.fasPWMDIsplay, buffer(12, 1))
pinfo.cols.info = "Steer Data"
end
if MinorPGN == 0x7E then -- 126
-- hol' up, wait a minute, somethin ain't right!
-- Shouldn't this be a Major 7F response????
-- not enough fields coming back??? eh??? and IP isn't right either!
subtree:add(AOGFields.genericIP, buffer(5,4))
--print("7e says " .. buffer(5,4))
--subtree:add(AOGFields.genericSubnet, buffer(9))
pinfo.cols.info = "Subnet Scan Reply"
end
end
if MajorPGN == 0x7e then
if MinorPGN == 0x7e then
pinfo.cols.info = "Steer Reply"
end
end
if MajorPGN == 0x41 then -- 65
subtree:add(SteerData.Speed, buffer(4, 2))
end
end
-- Set the protocol description in the packet details pane
pinfo.cols.protocol = AOGProtocol_proto.name
end
-- Register the AOGProtocol dissector
local udp_port = DissectorTable.get("udp.port")
udp_port:add(9999, AOGProtocol_proto)
udp_port:add(2233, RTCMProtocol_proto)
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