# CLI tools (Cynic/Yakut) **URL:** https://forum.opencyphal.org/c/app/cli/19.md [Latest](https://forum.opencyphal.org/latest.md) · [Categories](https://forum.opencyphal.org/categories.md) --- ## [About the CLI tools (Cynic/Yakut) category](https://forum.opencyphal.org/t/about-the-cli-tools-cynic-yakut-category/1174)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0
Discussions related to Yakut — a simple cross-platform command-line interface (CLI) tool for diagnostics and debugging of UAVCAN networks. --- ## [Yakut renaming is imminent](https://forum.opencyphal.org/t/yakut-renaming-is-imminent/2864)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 1\ **Last updated:** [July 17, 2026, 8:48pm UTC](https://forum.opencyphal.org/t/yakut-renaming-is-imminent/2864 "2026-07-17T20:48:49Z")
Yakut is being adapted for Cyphal v1.1, which comes with radical setup and usage simplifications. You can check the WIP here – it’s just a single 400-line script: GitHub - OpenCyphal/yakut at cynic · GitHub I have a min… --- ## [Communicating with a MAD COMPONENTS AMPX ESC](https://forum.opencyphal.org/t/communicating-with-a-mad-components-ampx-esc/2389)
**Author:** [@scottnortman](https://forum.opencyphal.org/u/scottnortman)\ **Replies:** 4\ **Last updated:** [May 21, 2025, 1:31am UTC](https://forum.opencyphal.org/t/communicating-with-a-mad-components-ampx-esc/2389 "2025-05-21T01:31:19Z")
Hardware: Rpi 4B + Bullseye 32 Bit + Waveshare CAN HAT Connected to a MAD Components AMPX 200A v2 with CyphalCAN support I am able to see the device with $ yukut monitor Additionally, the manufacturer provides a d… --- ## [Yakut Heartbeat messages are 11 bytes long](https://forum.opencyphal.org/t/yakut-heartbeat-messages-are-11-bytes-long/2246)
**Author:** [@mgimhof](https://forum.opencyphal.org/u/mgimhof)\ **Replies:** 2\ **Last updated:** [January 6, 2025, 4:34pm UTC](https://forum.opencyphal.org/t/yakut-heartbeat-messages-are-11-bytes-long/2246 "2025-01-06T16:34:02Z")
I have been tracking my Cyphal traffic and noticed that Yakut’s heartbeat is 11 bytes long, spanning 2 classic CAN frames even though Heartbeat is designed to currently fit into one frame? 15:49:01.371203: aa e8 74 55 7… --- ## [Yakut compile and monitor errors](https://forum.opencyphal.org/t/yakut-compile-and-monitor-errors/2069)
**Author:** [@jwwaite](https://forum.opencyphal.org/u/jwwaite)\ **Replies:** 4\ **Last updated:** [January 16, 2024, 1:12pm UTC](https://forum.opencyphal.org/t/yakut-compile-and-monitor-errors/2069 "2024-01-16T13:12:43Z")
I’m having trouble installing Yakut on a Raspberry Pi 4, 64-bit (aarch64), Ubuntu 22.04, Python 3.10.12, which has can0 and can1, both CANFD. Two CANFD devices are on the bus, working normally sending only Heartbeats. I… --- ## [Yakut on windows problem](https://forum.opencyphal.org/t/yakut-on-windows-problem/2003)
**Author:** [@Dadabarghi](https://forum.opencyphal.org/u/Dadabarghi)\ **Replies:** 4\ **Last updated:** [November 22, 2023, 2:05pm UTC](https://forum.opencyphal.org/t/yakut-on-windows-problem/2003 "2023-11-22T14:05:47Z")
Hi, running command ‘y mon’ on windows 10 raised me this error: NotImplementedError: cannot instantiate ‘PosixPath’ on your system Please help, Thanx --- ## [Yakut monitor not showing network statisitics](https://forum.opencyphal.org/t/yakut-monitor-not-showing-network-statisitics/1925)
**Author:** [@Dadabarghi](https://forum.opencyphal.org/u/Dadabarghi)\ **Replies:** 2\ **Last updated:** [October 22, 2023, 1:14pm UTC](https://forum.opencyphal.org/t/yakut-monitor-not-showing-network-statisitics/1925 "2023-10-22T13:14:54Z")
Hi, I’ve used yakut monitor command without any problem before, but recently, it only shows the nodes status info and is unable to show the network statistics. I’ve tried to decrease the number of messages to see if it… --- ## [Yakut compile error](https://forum.opencyphal.org/t/yakut-compile-error/1948)
**Author:** [@p5a0u9l](https://forum.opencyphal.org/u/p5a0u9l)\ **Replies:** 3\ **Last updated:** [August 3, 2023, 9:27am UTC](https://forum.opencyphal.org/t/yakut-compile-error/1948 "2023-08-03T09:27:10Z")
Hi, I’m getting an error compiling a directory as RecursionError: maximum recursion depth exceeded while pickling an object I can’t share the dsdl’s, but am wondering if anyone else has seen this? My guess is that ther… --- ## [Yakut File-Server - Software Update Checker is Not Required](https://forum.opencyphal.org/t/yakut-file-server-software-update-checker-is-not-required/1940)
**Author:** [@jpmstrauser](https://forum.opencyphal.org/u/jpmstrauser)\ **Replies:** 10\ **Last updated:** [July 14, 2023, 5:02pm UTC](https://forum.opencyphal.org/t/yakut-file-server-software-update-checker-is-not-required/1940 "2023-07-14T17:02:32Z")
I’ve got the yakut -v file-server command to work once but now when I try to restart it again days later the command gets locked up on yakut.cmd.file\_server: Software update checker is not required. The terminal window j… --- ## [Yakut file-server Updating & Node Restart](https://forum.opencyphal.org/t/yakut-file-server-updating-node-restart/1903)
**Author:** [@m.moreland](https://forum.opencyphal.org/u/m.moreland)\ **Replies:** 2\ **Last updated:** [June 6, 2023, 3:01pm UTC](https://forum.opencyphal.org/t/yakut-file-server-updating-node-restart/1903 "2023-06-06T15:01:28Z")
Howdy all, I have some questions I’m looking to answer, both around Yakut and the file-server command to update nodes. Does this file-server force a restart after serving the entire update file? i.e. sending a uavcan… --- ## [Yakut slcan not working](https://forum.opencyphal.org/t/yakut-slcan-not-working/1798)
**Author:** [@Sergey](https://forum.opencyphal.org/u/Sergey)\ **Replies:** 5\ **Last updated:** [March 6, 2023, 6:31am UTC](https://forum.opencyphal.org/t/yakut-slcan-not-working/1798 "2023-03-06T06:31:43Z")
Hello. I have a problem with yakut on Windows 10: set UAVCAN\_\_CAN\_\_IFACE='slcan:COM2' set UAVCAN\_\_NODE\_\_ID=10 yakut monitor After selecting slcan protocol and run, I have a problem on yakut side: InvalidMediaConfigura… --- ## [Yakut analyze transport error](https://forum.opencyphal.org/t/yakut-analyze-transport-error/1828)
**Author:** [@rubenHe](https://forum.opencyphal.org/u/rubenHe)\ **Replies:** 1\ **Last updated:** [February 16, 2023, 11:24am UTC](https://forum.opencyphal.org/t/yakut-analyze-transport-error/1828 "2023-02-16T11:24:06Z")
Hi, We have an issue with transport errors in yakut. Are there any way to log the raw data which causes the transport errors? Right now I cannot se any way of doing this except for dumping the can data with candump and… --- ## [Get node.port.list](https://forum.opencyphal.org/t/get-node-port-list/1818)
**Author:** [@Sergey](https://forum.opencyphal.org/u/Sergey)\ **Replies:** 1\ **Last updated:** [January 18, 2023, 12:32pm UTC](https://forum.opencyphal.org/t/get-node-port-list/1818 "2023-01-18T12:32:12Z")
Hello, how I can get the list of uavcan.node.port.List from yakut? Can I get it from monitor with some options or not? Thanks you! --- ## [Yakut file commands](https://forum.opencyphal.org/t/yakut-file-commands/1815)
**Author:** [@Sergey](https://forum.opencyphal.org/u/Sergey)\ **Replies:** 2\ **Last updated:** [January 13, 2023, 2:15pm UTC](https://forum.opencyphal.org/t/yakut-file-commands/1815 "2023-01-13T14:15:47Z")
Hello! I’m using following yakut command: yakut call 4 uavcan.file.read 0 "/file" and have a problem “Error: Got unexpected extra argument (/file)” What should be corrected request command for reading file from UAVCAN… --- ## [Uavcan.node.getinfo problem with yakut](https://forum.opencyphal.org/t/uavcan-node-getinfo-problem-with-yakut/1804)
**Author:** [@Sergey](https://forum.opencyphal.org/u/Sergey)\ **Replies:** 2\ **Last updated:** [December 15, 2022, 1:42pm UTC](https://forum.opencyphal.org/t/uavcan-node-getinfo-problem-with-yakut/1804 "2022-12-15T13:42:39Z")
Hello, after run command ‘yakut call 1 uavcan.node.getinfo’ I have error ‘Error: The request has timed out’. CAN packages below: 136B808A E0 0E6B8501 01 00 02 00 08 00 00 AC 0E6B8501 00 00 00 00 00 00 00 0C 0E6… --- ## [Postmortem debugging with Yakut](https://forum.opencyphal.org/t/postmortem-debugging-with-yakut/1786)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 1\ **Last updated:** [November 9, 2022, 3:55pm UTC](https://forum.opencyphal.org/t/postmortem-debugging-with-yakut/1786 "2022-11-09T15:55:52Z")
Suppose you have a Cyphal/CAN network where a certain malfunction took place. You have a full dump of the network traffic at the CAN frame level captured using some standard utility like candump. It would look like this: … --- ## [Node capabilities and subject-id assignment](https://forum.opencyphal.org/t/node-capabilities-and-subject-id-assignment/1704)
**Author:** [@generationmake](https://forum.opencyphal.org/u/generationmake)\ **Replies:** 10\ **Last updated:** [September 23, 2022, 7:19am UTC](https://forum.opencyphal.org/t/node-capabilities-and-subject-id-assignment/1704 "2022-09-23T07:19:09Z")
Hi. Is there a way to identify nodes on the bus using yakut and read their capabilities? And how can I assign subject ids using yakut? I think I read the manual but didn’t find the answers to these questions. So could… --- ## [File sever, firmware upload](https://forum.opencyphal.org/t/file-sever-firmware-upload/1735)
**Author:** [@digitecomg](https://forum.opencyphal.org/u/digitecomg)\ **Replies:** 22\ **Last updated:** [August 18, 2022, 12:55pm UTC](https://forum.opencyphal.org/t/file-sever-firmware-upload/1735 "2022-08-18T12:55:21Z")
I wanted to see if there was a command for file transfer only, I didn’t understand how it can be done. I tried the firmware upload anyway and I saw that in my STM32 node I get the begin\_firmware\_upload command with the … --- ## [Testing the robustness of a sensorless drive spinup configuration using Yakut](https://forum.opencyphal.org/t/testing-the-robustness-of-a-sensorless-drive-spinup-configuration-using-yakut/1716)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [July 19, 2022, 12:28pm UTC](https://forum.opencyphal.org/t/testing-the-robustness-of-a-sensorless-drive-spinup-configuration-using-yakut/1716 "2022-07-19T12:28:21Z")
First, set the setpoint timeout to a large value, say, 5 seconds (this one depends on the type of the ESC used) (125 is the node-ID of the ESC): y r 125 mns.deadman\_timeout 5.0 y r 125 mns.setpoint\_index 0 y cmd 125 re… --- ## [Visualizing Cyphal subjects in real time using PlotJuggler](https://forum.opencyphal.org/t/visualizing-cyphal-subjects-in-real-time-using-plotjuggler/1660)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [May 7, 2022, 8:39pm UTC](https://forum.opencyphal.org/t/visualizing-cyphal-subjects-in-real-time-using-plotjuggler/1660 "2022-05-07T20:39:05Z")
Launch PlotJuggler and enable the UDP server: Subscribe like you normally would and pipe the JSON output to the UDP port of PlotJuggler (add +M if you also want the metadata like the timestamps, source node-ID, etc)… --- ## [Yakut v0.11 released](https://forum.opencyphal.org/t/yakut-v0-11-released/1658)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [May 5, 2022, 5:49pm UTC](https://forum.opencyphal.org/t/yakut-v0-11-released/1658 "2022-05-05T17:49:49Z")
This release fixes a regression introduced in the last one and brings much-needed tools for node configuration management. List registers on the specified nodes: y rl 100-128 Read registers from a node or several: ca… --- ## [Yakut v0.10 released](https://forum.opencyphal.org/t/yakut-v0-10-released/1653)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 2\ **Last updated:** [April 28, 2022, 1:54pm UTC](https://forum.opencyphal.org/t/yakut-v0-10-released/1653 "2022-04-28T13:54:53Z")
To upgrade: pip install --upgrade yakut Type discovery Commands that operate on Cyphal ports (subscribe, publish, call) can automatically discover the type of the port by querying the network. If the data type is specif… --- ## [Yakut monitor with a Babel](https://forum.opencyphal.org/t/yakut-monitor-with-a-babel/1514)
**Author:** [@nicolasd](https://forum.opencyphal.org/u/nicolasd)\ **Replies:** 6\ **Last updated:** [November 19, 2021, 1:20pm UTC](https://forum.opencyphal.org/t/yakut-monitor-with-a-babel/1514 "2021-11-19T13:20:05Z")
Hello everyone ! I am pretty new to UAVCAN and more generally to any topic related to communication/networking. So I have made the acquisition of a Babel in order to monitor my node network through uavcan\_gui\_tool, whic… --- ## [Confuse of yakut subcommand source code](https://forum.opencyphal.org/t/confuse-of-yakut-subcommand-source-code/1479)
**Author:** [@Cherish-forever](https://forum.opencyphal.org/u/Cherish-forever)\ **Replies:** 1\ **Last updated:** [October 11, 2021, 7:49am UTC](https://forum.opencyphal.org/t/confuse-of-yakut-subcommand-source-code/1479 "2021-10-11T07:49:55Z")
I am reading yakut source code, I have some confuse: in file main.py Line 200, this line is hard to read. subcommand: Callable\[..., Callable\[..., Any\]\] = main.command what is the relatitionship between with @yakut.su… --- ## [Trouble installing Yakut -- missing header files for ALSA/libjack](https://forum.opencyphal.org/t/trouble-installing-yakut-missing-header-files-for-alsa-libjack/1460)
**Author:** [@slilly\_br](https://forum.opencyphal.org/u/slilly_br)\ **Replies:** 2\ **Last updated:** [September 27, 2021, 2:22pm UTC](https://forum.opencyphal.org/t/trouble-installing-yakut-missing-header-files-for-alsa-libjack/1460 "2021-09-27T14:22:48Z")
Hello there, I’m attempting to install yakut onto a fresh VM created from ubuntu-20.04.3-desktop-amd64.iso. It looks like an issue either with a missing package “jack”, and/or a missing “alsa/asoundlib.h” header file. W… --- ## [Multiple simultaneous functions with Yakut](https://forum.opencyphal.org/t/multiple-simultaneous-functions-with-yakut/1452)
**Author:** [@slilly\_br](https://forum.opencyphal.org/u/slilly_br)\ **Replies:** 3\ **Last updated:** [September 22, 2021, 2:49pm UTC](https://forum.opencyphal.org/t/multiple-simultaneous-functions-with-yakut/1452 "2021-09-22T14:49:59Z")
I’ll be integrating libcanard (v1.0) on an embedded microcontroller, and I’d like to set up a test environment running on a Windows PC. I have a Zubax Babel interface connected to the Windows PC, and connected via CAN bu… --- ## [Yakut Error OSError: \[Errno 22\] Invalid argument](https://forum.opencyphal.org/t/yakut-error-oserror-errno-22-invalid-argument/1434)
**Author:** [@JaredDillon](https://forum.opencyphal.org/u/JaredDillon)\ **Replies:** 2\ **Last updated:** [September 14, 2021, 7:46am UTC](https://forum.opencyphal.org/t/yakut-error-oserror-errno-22-invalid-argument/1434 "2021-09-14T07:46:35Z")
Hey all, I’m in the process of trying to read the data incoming from a GNSS Node I put together from the example: 107-Arduino-GNSS-Node\_Example.ino I’ve setup Yakut following the screenshare example and when using yaku… --- ## [Viewing Vesc messages in Yakut Monitor](https://forum.opencyphal.org/t/viewing-vesc-messages-in-yakut-monitor/1407)
**Author:** [@rebeccaRossRobotics](https://forum.opencyphal.org/u/rebeccaRossRobotics)\ **Replies:** 1\ **Last updated:** [August 26, 2021, 9:49am UTC](https://forum.opencyphal.org/t/viewing-vesc-messages-in-yakut-monitor/1407 "2021-08-26T09:49:50Z")
Hi! I’m trying to get messages from a VESC to display correctly in yakut monitor but I have a suspicion that VESC is still using UAVCAN v0 which isn’t supported by Yakut. Is this correct? This is what I currently see … --- ## [Using Yakut monitor on Raspberry Pi compute module 4](https://forum.opencyphal.org/t/using-yakut-monitor-on-raspberry-pi-compute-module-4/1399)
**Author:** [@rebeccaRossRobotics](https://forum.opencyphal.org/u/rebeccaRossRobotics)\ **Replies:** 2\ **Last updated:** [August 23, 2021, 10:59am UTC](https://forum.opencyphal.org/t/using-yakut-monitor-on-raspberry-pi-compute-module-4/1399 "2021-08-23T10:59:26Z")
Hi, I’m currently trying to install yakut onto a raspberry pi compute module 4. I’ve followed the install instructions found here, however when i try to run yakut moniter i get the following error: OSError: /usr/local/… --- ## [Yakut use serial 2 can](https://forum.opencyphal.org/t/yakut-use-serial-2-can/1239)
**Author:** [@Cherish-forever](https://forum.opencyphal.org/u/Cherish-forever)\ **Replies:** 2\ **Last updated:** [May 7, 2021, 4:20pm UTC](https://forum.opencyphal.org/t/yakut-use-serial-2-can/1239 "2021-05-07T16:20:31Z")
does yakut support SLCAN protocol ? I found that yakut send data to mcu by usb cdc, data protocol is not like slcan. here is I received: 0x00, 0x01, 0x03, 0x04, 0x2a, 0x05, 0xff, 0xff, 0x55, 0x1d, 0x01, 0x01, 0x01, 0x… [Next page](https://forum.opencyphal.org/c/app/cli/19.md?page=1)