forked from osmocom/wireshark
TCPROS - Initial implementation for the Robot Operating System TCP protocol
TCPROS is a transport layer for ROS Messages and Services. It uses standard TCP/IP sockets for transporting message data. Inbound connections are received via a TCP Server Socket with a header containing message data type and routing information. For more information, see: http://wiki.ros.org/ROS/TCPROS Bug: 11404 Change-Id: If8810dbb2cb6d6522eb035fd0fa1cf49933bad3d Reviewed-on: https://code.wireshark.org/review/9807 Petri-Dish: Michael Mann <mmann78@netscape.net> Tested-by: Petri Dish Buildbot <buildbot-no-reply@wireshark.org> Reviewed-by: Michael Mann <mmann78@netscape.net>
This commit is contained in:
Guillaume Autran
Michael Mann
parent
d295515e20
commit
723bae5eff
4
AUTHORS
4
AUTHORS
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@ -3665,6 +3665,10 @@ Pratik Yeole <pyeole[AT]ncsu.edu> {
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Fixed incorrect decoding of Network Layer Reachability Information (NLRI) in BGP UPDATE message with add-path support
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}
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Guillaume Autran <gautran[AT]clearpathrobotics.com> {
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TCPROS support
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}
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and by:
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Georgi Guninski <guninski[AT]guninski.com>
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@ -244,6 +244,7 @@ Message Queuing Telemetry Transport For Sensor Networks (MQTT-SN)
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Time Division Multiplexing over Packet Network (TDMoP)
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Concise Binary Object Representation (CBOR) (RFC 7049)
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XIP Serval
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TCP based Robot Operating System protocol (TCPROS)
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--sort-and-group--
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=== Updated Protocol Support
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@ -1325,6 +1325,7 @@ set(DISSECTOR_SRC
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dissectors/packet-tali.c
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dissectors/packet-tapa.c
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dissectors/packet-tcp.c
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dissectors/packet-tcpros.c
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dissectors/packet-tdmoe.c
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dissectors/packet-tdmop.c
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dissectors/packet-tds.c
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@ -1236,6 +1236,7 @@ DISSECTOR_SRC = \
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packet-tali.c \
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packet-tapa.c \
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packet-tcp.c \
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packet-tcpros.c \
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packet-tdmoe.c \
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packet-tdmop.c \
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packet-tds.c \
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@ -0,0 +1,504 @@
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/* packet-tcpros.c
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* Routines for Robot Operating System TCP protocol (TCPROS)
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* Copyright 2015, Guillaume Autran (see AUTHORS file)
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*
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* Wireshark - Network traffic analyzer
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* By Gerald Combs <gerald@wireshark.org>
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* Copyright 1998 Gerald Combs
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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*/
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#include "config.h"
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#include <epan/packet.h>
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#include <epan/etypes.h>
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#include <epan/prefs.h>
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#include "packet-tcp.h"
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#define SIZE_OF_LENGTH_FIELD 4
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#define SIZE_OF_LENGTH_STAMP (4 + 4)
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void proto_register_tcpros(void);
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void proto_reg_handoff_tcpros(void);
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static int proto_tcpros = -1;
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/** desegmentation of TCPROS over TCP */
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static gboolean tcpros_desegment = TRUE;
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static int hf_tcpros_connection_header = -1;
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static int hf_tcpros_connection_header_length = -1;
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static int hf_tcpros_connection_header_content = -1;
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static int hf_tcpros_connection_header_field = -1;
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static int hf_tcpros_connection_header_field_length = -1;
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static int hf_tcpros_connection_header_field_data = -1;
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static int hf_tcpros_connection_header_field_name = -1;
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static int hf_tcpros_connection_header_field_value = -1;
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static int hf_tcpros_message = -1;
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static int hf_tcpros_message_length = -1;
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static int hf_tcpros_message_body = -1;
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static int hf_tcpros_message_header = -1;
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static int hf_tcpros_message_header_seq = -1;
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static int hf_tcpros_message_header_stamp = -1;
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static int hf_tcpros_message_header_stamp_sec = -1;
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static int hf_tcpros_message_header_stamp_nsec = -1;
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static int hf_tcpros_message_header_frame = -1;
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static int hf_tcpros_message_header_frame_length = -1;
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static int hf_tcpros_message_header_frame_value = -1;
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static int hf_tcpros_message_payload = -1;
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static gint ett_tcpros = -1;
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/**
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* This is the ROS connection header dissector. The general packet format is described
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* here: http://wiki.ros.org/ROS/TCPROS
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* In short, a connection header looks like such: '4-byte length + [4-byte field length + "field=value" ]*'
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*/
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static gint
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dissect_ros_connection_header_field(tvbuff_t *tvb, proto_tree *tree, packet_info *pinfo, gint offset)
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{
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proto_item *ti;
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proto_tree *field_tree;
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guint32 fLen = 0;
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gint sep, ret = 0;
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/** Do we have enough for a length field? (ie: 4 bytes) */
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if( tvb_reported_length_remaining(tvb, offset) > SIZE_OF_LENGTH_FIELD ) {
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/** Get the length of the next field */
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fLen = tvb_get_letohl(tvb, offset);
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/** Display the field as a utf-8 string */
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ti = proto_tree_add_item(tree, hf_tcpros_connection_header_field, tvb, offset, SIZE_OF_LENGTH_FIELD, ENC_UTF_8|ENC_LITTLE_ENDIAN);
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field_tree = proto_item_add_subtree(ti, ett_tcpros);
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proto_tree_add_item(field_tree, hf_tcpros_connection_header_field_length, tvb, offset, SIZE_OF_LENGTH_FIELD, ENC_LITTLE_ENDIAN);
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offset += SIZE_OF_LENGTH_FIELD;
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ti = proto_tree_add_item(field_tree, hf_tcpros_connection_header_field_data, tvb, offset, fLen, ENC_UTF_8|ENC_NA);
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/** Look for the '=' separator */
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sep = (tvb_find_guint8(tvb, offset, fLen, '=') - offset);
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/** If we find a separator, then split field name and value */
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if( sep > 0 ) {
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field_tree = proto_item_add_subtree(ti, ett_tcpros);
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proto_tree_add_item(field_tree, hf_tcpros_connection_header_field_name, tvb, offset, sep, ENC_UTF_8|ENC_NA);
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proto_tree_add_item(field_tree, hf_tcpros_connection_header_field_value, tvb, offset+sep+1, fLen - sep - 1, ENC_UTF_8|ENC_NA);
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col_append_str(pinfo->cinfo, COL_INFO, tvb_get_string_enc(wmem_packet_scope(), tvb, offset, sep, ENC_UTF_8));
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}
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ret = fLen + SIZE_OF_LENGTH_FIELD;
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}
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return ret;
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}
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static gint
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dissect_ros_connection_header(tvbuff_t *tvb, proto_tree *root_tree, packet_info *pinfo, gint offset)
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{
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proto_item *ti;
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proto_tree *sub_tree;
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gint consumed_len = 0;
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guint32 header_len = tvb_get_letohl(tvb, offset);
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col_append_str(pinfo->cinfo, COL_INFO, "[ROS Conn] Metadata: [");
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/** We got a connection header */
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ti = proto_tree_add_item(root_tree, hf_tcpros_connection_header, tvb, offset, SIZE_OF_LENGTH_FIELD, ENC_NA|ENC_LITTLE_ENDIAN);
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sub_tree = proto_item_add_subtree(ti, ett_tcpros);
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proto_tree_add_item(sub_tree, hf_tcpros_connection_header_length, tvb, offset + consumed_len, SIZE_OF_LENGTH_FIELD, ENC_LITTLE_ENDIAN);
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consumed_len += SIZE_OF_LENGTH_FIELD;
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ti = proto_tree_add_item(sub_tree, hf_tcpros_connection_header_content, tvb, offset + consumed_len, header_len, ENC_NA);
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sub_tree = proto_item_add_subtree(ti, ett_tcpros);
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header_len += SIZE_OF_LENGTH_FIELD;
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while( consumed_len < (gint)header_len ) {
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gint len = dissect_ros_connection_header_field(tvb, sub_tree, pinfo, offset + consumed_len);
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consumed_len += len;
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if( len == 0 ) {
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break;
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}
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if( consumed_len < (gint)header_len ) {
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col_append_str(pinfo->cinfo, COL_INFO, ",");
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}
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}
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col_append_str(pinfo->cinfo, COL_INFO, "]");
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return consumed_len;
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}
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static gint
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dissect_ros_message_header_stamp(tvbuff_t *tvb, proto_tree *root_tree, packet_info *pinfo, gint offset)
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{
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proto_item *ti;
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proto_tree *sub_tree;
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gint consumed_len = 0;
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guint32 sec, nsec;
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ti = proto_tree_add_item(root_tree, hf_tcpros_message_header_stamp, tvb, offset + consumed_len, SIZE_OF_LENGTH_STAMP, ENC_LITTLE_ENDIAN);
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sub_tree = proto_item_add_subtree(ti, ett_tcpros);
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/** Seconds */
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proto_tree_add_item(sub_tree, hf_tcpros_message_header_stamp_sec, tvb, offset + consumed_len, SIZE_OF_LENGTH_FIELD, ENC_LITTLE_ENDIAN);
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sec = tvb_get_letohl(tvb, offset + consumed_len);
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consumed_len += SIZE_OF_LENGTH_FIELD;
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col_append_fstr(pinfo->cinfo, COL_INFO, "Sec: %d ", sec);
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/** Nano seconds */
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proto_tree_add_item(sub_tree, hf_tcpros_message_header_stamp_nsec, tvb, offset + consumed_len, SIZE_OF_LENGTH_FIELD, ENC_LITTLE_ENDIAN);
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nsec = tvb_get_letohl(tvb, offset + consumed_len);
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consumed_len += SIZE_OF_LENGTH_FIELD;
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col_append_fstr(pinfo->cinfo, COL_INFO, "NSec: %d ", nsec);
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return consumed_len;
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}
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static gint
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dissect_ros_message_header(tvbuff_t *tvb, proto_tree *root_tree, packet_info *pinfo, gint offset)
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{
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proto_item *ti;
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proto_tree *sub_tree;
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gint consumed_len = 0;
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guint32 frame_id_len;
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guint32 seq;
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guint header_len;
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frame_id_len = tvb_get_letohl(tvb, offset + consumed_len + SIZE_OF_LENGTH_FIELD + SIZE_OF_LENGTH_STAMP);
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header_len = SIZE_OF_LENGTH_FIELD + SIZE_OF_LENGTH_STAMP + SIZE_OF_LENGTH_FIELD + frame_id_len;
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/** Header */
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ti = proto_tree_add_item(root_tree, hf_tcpros_message_header, tvb, offset + consumed_len, header_len, ENC_NA);
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sub_tree = proto_item_add_subtree(ti, ett_tcpros);
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/** Sequence number */
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proto_tree_add_item(sub_tree, hf_tcpros_message_header_seq, tvb, offset + consumed_len, SIZE_OF_LENGTH_FIELD, ENC_LITTLE_ENDIAN);
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seq = tvb_get_letohl(tvb, offset + consumed_len);
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consumed_len += SIZE_OF_LENGTH_FIELD;
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col_append_fstr(pinfo->cinfo, COL_INFO, "Seq: %d ", seq);
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/** Timestamp */
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consumed_len += dissect_ros_message_header_stamp(tvb, sub_tree, pinfo, offset + consumed_len);
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/** Frame ID */
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ti = proto_tree_add_item(sub_tree, hf_tcpros_message_header_frame, tvb, offset + consumed_len, SIZE_OF_LENGTH_FIELD, ENC_UTF_8|ENC_LITTLE_ENDIAN);
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sub_tree = proto_item_add_subtree(ti, ett_tcpros);
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proto_tree_add_item(sub_tree, hf_tcpros_message_header_frame_length, tvb, offset + consumed_len, SIZE_OF_LENGTH_FIELD, ENC_LITTLE_ENDIAN);
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consumed_len += SIZE_OF_LENGTH_FIELD;
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proto_tree_add_item(sub_tree, hf_tcpros_message_header_frame_value, tvb, offset + consumed_len, frame_id_len, ENC_UTF_8|ENC_NA);
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col_append_fstr(pinfo->cinfo, COL_INFO, "Frame: '%s' ", tvb_get_string_enc(wmem_packet_scope(), tvb, offset + consumed_len, frame_id_len, ENC_UTF_8) );
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consumed_len += frame_id_len;
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return consumed_len;
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}
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/**
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* This is the ROS message dissector. A ROS message contains two parts: a msg header; a msg payload.
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* Because the packet is all in binary format, we don't really know the payload format (we don't know the payload type either).
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* However, every packet has the same header as defined here: http://docs.ros.org/api/std_msgs/html/msg/Header.html
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* So, we can break this one down and display it.
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*/
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static gint
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dissect_ros_message(tvbuff_t *tvb, proto_tree *root_tree, packet_info *pinfo, gint offset)
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{
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proto_item *ti;
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proto_tree *sub_tree;
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gint consumed_len = 0;
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guint32 total_len = tvb_get_letohl(tvb, offset);
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guint payload_len;
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col_append_str(pinfo->cinfo, COL_INFO, "[ROS Msg] ");
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/** We got a ROS msg */
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ti = proto_tree_add_item(root_tree, hf_tcpros_message, tvb, offset + consumed_len, SIZE_OF_LENGTH_FIELD, ENC_NA | ENC_LITTLE_ENDIAN);
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sub_tree = proto_item_add_subtree(ti, ett_tcpros);
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proto_tree_add_item(sub_tree, hf_tcpros_message_length, tvb, offset + consumed_len, SIZE_OF_LENGTH_FIELD, ENC_LITTLE_ENDIAN);
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consumed_len += SIZE_OF_LENGTH_FIELD;
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/** Body */
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ti = proto_tree_add_item(sub_tree, hf_tcpros_message_body, tvb, offset + consumed_len, total_len, ENC_NA);
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sub_tree = proto_item_add_subtree(ti, ett_tcpros);
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/** Body.Header */
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consumed_len += dissect_ros_message_header(tvb, sub_tree, pinfo, offset + consumed_len);
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/** Body.Payload */
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payload_len = (total_len + SIZE_OF_LENGTH_FIELD) - consumed_len;
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proto_tree_add_item(sub_tree, hf_tcpros_message_payload, tvb, offset + consumed_len, payload_len, ENC_NA);
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consumed_len += payload_len;
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return consumed_len;
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}
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/**
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* This is the poor man's way to differentiate between a connection header packet and a message packet.
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*/
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static gboolean
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is_connection_header(tvbuff_t *tvb, packet_info *pinfo _U_ , guint offset)
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{
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gboolean is_con_header = FALSE;
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guint32 len1 = tvb_get_letohl(tvb, offset);
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guint32 len2 = tvb_get_letohl(tvb, offset + SIZE_OF_LENGTH_FIELD);
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if( len1 > len2 ) {
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is_con_header = TRUE;
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}
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return is_con_header;
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}
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static void
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dissect_ros_common(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, gboolean is_tcp _U_ )
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{
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proto_item *ti;
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proto_tree *root_tree;
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guint offset;
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/** Clear out stuff in the info column */
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col_clear(pinfo->cinfo, COL_INFO);
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ti = proto_tree_add_item(tree, proto_tcpros, tvb, 0, -1, ENC_NA);
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root_tree = proto_item_add_subtree(ti, ett_tcpros);
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offset = 0;
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while(offset < tvb_reported_length(tvb)) {
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gint available = tvb_reported_length_remaining(tvb, offset);
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if( (available < SIZE_OF_LENGTH_FIELD) || ((guint)available < tvb_get_letohl(tvb, offset)) ) {
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/** we ran out of data: ask for more */
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pinfo->desegment_offset = offset;
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pinfo->desegment_len = DESEGMENT_ONE_MORE_SEGMENT;
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return;
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}
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/** There are two types of packet: Connection Headers and ROS Message. Which one is it? */
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if( is_connection_header(tvb, pinfo, offset) ) {
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/** We have a ROS connection header. */
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offset += dissect_ros_connection_header(tvb, root_tree, pinfo, offset);
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} else {
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/** We have a ROS message. */
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offset += dissect_ros_message(tvb, root_tree, pinfo, offset);
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}
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}
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}
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static guint
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get_tcpros_pdu_len(packet_info *pinfo _U_, tvbuff_t *tvb, int offset, void *data _U_)
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{
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guint32 plen;
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/*
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* Get the length of the TCPROS packet.
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*/
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plen = tvb_get_letohl(tvb, offset);
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/*
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* That length doesn't include the length field itself; add that in.
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*/
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return plen + SIZE_OF_LENGTH_FIELD;
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}
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static int
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dissect_tcpros_pdu(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, void* data _U_)
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{
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col_set_str(pinfo->cinfo, COL_PROTOCOL, "TCPROS");
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dissect_ros_common(tvb, pinfo, tree, TRUE);
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return tvb_reported_length(tvb);
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}
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static int
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dissect_tcpros(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, void* data)
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{
|
||||
tcp_dissect_pdus(tvb, pinfo, tree, tcpros_desegment, SIZE_OF_LENGTH_FIELD, get_tcpros_pdu_len,
|
||||
dissect_tcpros_pdu, data);
|
||||
return tvb_reported_length(tvb);
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
proto_register_tcpros(void)
|
||||
{
|
||||
static hf_register_info hf[] = {
|
||||
{ &hf_tcpros_connection_header, { "ROS Connection", "tcpros.header",
|
||||
FT_UINT_BYTES, BASE_NONE, NULL, 0,
|
||||
"Message Header", HFILL } },
|
||||
|
||||
{ &hf_tcpros_connection_header_length, { "Header Length", "tcpros.header_length",
|
||||
FT_UINT32, BASE_DEC, NULL, 0,
|
||||
"Message Header Length", HFILL } },
|
||||
|
||||
{ &hf_tcpros_connection_header_content, { "Header Content", "tcpros.header_content",
|
||||
FT_BYTES, BASE_NONE, NULL, 0,
|
||||
"Message Header Content", HFILL } },
|
||||
|
||||
|
||||
{ &hf_tcpros_connection_header_field, { "Field", "tcpros.header_field",
|
||||
FT_UINT_STRING, BASE_NONE, NULL, 0,
|
||||
"Message Header Field", HFILL } },
|
||||
|
||||
{ &hf_tcpros_connection_header_field_length, { "Field Length", "tcpros.header_field_length",
|
||||
FT_UINT32, BASE_DEC, NULL, 0,
|
||||
"Message Header Field Length", HFILL } },
|
||||
|
||||
{ &hf_tcpros_connection_header_field_data, { "Field Content", "tcpros.header_field_data",
|
||||
FT_STRING, BASE_NONE, NULL, 0,
|
||||
"Message Header Field Content", HFILL } },
|
||||
|
||||
{ &hf_tcpros_connection_header_field_name, { "Name", "tcpros.header_field_name",
|
||||
FT_STRING, BASE_NONE, NULL, 0,
|
||||
"Message Header Field Name", HFILL } },
|
||||
|
||||
{ &hf_tcpros_connection_header_field_value, { "Value", "tcpros.header_field_value",
|
||||
FT_STRING, BASE_NONE, NULL, 0,
|
||||
"Message Header Field Value", HFILL } },
|
||||
|
||||
|
||||
{ &hf_tcpros_message, { "ROS Message", "tcpros.message",
|
||||
FT_UINT_BYTES, BASE_NONE, NULL, 0,
|
||||
"ROS Message Packet", HFILL } },
|
||||
|
||||
{ &hf_tcpros_message_length, { "Message Length", "tcpros.message.length",
|
||||
FT_UINT32, BASE_DEC, NULL, 0,
|
||||
"ROS Message Packet length", HFILL } },
|
||||
|
||||
{ &hf_tcpros_message_body, { "Message Content", "tcpros.message.body",
|
||||
FT_BYTES, BASE_NONE, NULL, 0,
|
||||
"ROS Message Packet Body", HFILL } },
|
||||
|
||||
|
||||
|
||||
|
||||
{ &hf_tcpros_message_header, { "Header", "tcpros.message.header",
|
||||
FT_BYTES, BASE_NONE, NULL, 0,
|
||||
"ROS Message Header", HFILL } },
|
||||
|
||||
{ &hf_tcpros_message_header_seq, { "Sequence ID", "tcpros.message.header.seq",
|
||||
FT_UINT32, BASE_DEC, NULL, 0,
|
||||
"ROS Message Header Sequence", HFILL } },
|
||||
{ &hf_tcpros_message_header_stamp, { "Timestamp", "tcpros.message.header.stamp",
|
||||
FT_ABSOLUTE_TIME, ABSOLUTE_TIME_LOCAL, NULL, 0,
|
||||
"ROS Message Header Stamp", HFILL } },
|
||||
|
||||
{ &hf_tcpros_message_header_stamp_sec, { "Seconds", "tcpros.message.header.stamp.sec",
|
||||
FT_UINT32, BASE_DEC, NULL, 0,
|
||||
"ROS Message Header Stamp Sec", HFILL } },
|
||||
|
||||
{ &hf_tcpros_message_header_stamp_nsec, { "Nanoseconds", "tcpros.message.header.stamp.nsec",
|
||||
FT_UINT32, BASE_DEC, NULL, 0,
|
||||
"ROS Message Header Stamp NSec", HFILL } },
|
||||
|
||||
|
||||
{ &hf_tcpros_message_header_frame, { "Frame ID", "tcpros.message.header.frame",
|
||||
FT_UINT_STRING, BASE_NONE, NULL, 0,
|
||||
"ROS Message Header Frame ID", HFILL } },
|
||||
|
||||
{ &hf_tcpros_message_header_frame_length, { "Length", "tcpros.message.header.frame.len",
|
||||
FT_UINT32, BASE_DEC, NULL, 0,
|
||||
"ROS Message Header Frame ID Length", HFILL } },
|
||||
|
||||
{ &hf_tcpros_message_header_frame_value, { "Value", "tcpros.message.header.frame.value",
|
||||
FT_STRING, BASE_NONE, NULL, 0,
|
||||
"ROS Message Header Frame ID Value", HFILL } },
|
||||
|
||||
|
||||
{ &hf_tcpros_message_payload, { "Payload", "tcpros.message.payload",
|
||||
FT_BYTES, BASE_NONE, NULL, 0,
|
||||
"ROS Message Packet Payload", HFILL } },
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
static gint *ett[] = {
|
||||
&ett_tcpros,
|
||||
};
|
||||
|
||||
module_t *tcpros_module;
|
||||
|
||||
proto_tcpros = proto_register_protocol("TCP based Robot Operating System protocol (TCPROS)", "TCPROS", "tcpros");
|
||||
|
||||
proto_register_field_array(proto_tcpros, hf, array_length(hf));
|
||||
proto_register_subtree_array(ett, array_length(ett));
|
||||
|
||||
|
||||
tcpros_module = prefs_register_protocol(proto_tcpros, proto_reg_handoff_tcpros);
|
||||
|
||||
prefs_register_bool_preference(tcpros_module, "desegment_tcpros_messages",
|
||||
"Reassemble TCPROS messages spanning multiple TCP segments",
|
||||
"Whether the TCPROS dissector should reassemble messages spanning multiple TCP segments."
|
||||
" To use this option, you must also enable \"Allow subdissectors to reassemble TCP streams\" in the TCP protocol settings.",
|
||||
&tcpros_desegment);
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
proto_reg_handoff_tcpros(void)
|
||||
{
|
||||
static dissector_handle_t tcpros_handle;
|
||||
static gboolean Initialized = FALSE;
|
||||
|
||||
if (!Initialized) {
|
||||
tcpros_handle = new_create_dissector_handle(dissect_tcpros, proto_tcpros);
|
||||
dissector_add_for_decode_as("tcp.port", tcpros_handle); /* for "decode-as" */
|
||||
Initialized = TRUE;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
* Editor modelines - http://www.wireshark.org/tools/modelines.html
|
||||
*
|
||||
* Local variables:
|
||||
* c-basic-offset: 8
|
||||
* tab-width: 8
|
||||
* indent-tabs-mode: t
|
||||
* End:
|
||||
*
|
||||
* vi: set shiftwidth=8 tabstop=8 noexpandtab:
|
||||
* :indentSize=8:tabSize=8:noTabs=false:
|
||||
*/
|
||||
Loading…
Reference in New Issue