rtps_rs/structure/
entity_id.rs

1use speedy::{Context, Readable, Reader, Writable, Writer};
2
3#[derive(Copy, Clone, Debug, PartialOrd, PartialEq, Ord, Eq)]
4pub struct EntityId_t {
5    entityKey: [u8; 3],
6    entityKind: u8,
7}
8
9impl EntityId_t {
10    pub const ENTITYID_UNKNOWN: EntityId_t = EntityId_t {
11        entityKey: [0x00; 3],
12        entityKind: 0x00,
13    };
14    pub const ENTITYID_PARTICIPANT: EntityId_t = EntityId_t {
15        entityKey: [0x00, 0x00, 0x01],
16        entityKind: 0xC1,
17    };
18    pub const ENTITYID_SEDP_BUILTIN_TOPIC_WRITER: EntityId_t = EntityId_t {
19        entityKey: [0x00, 0x00, 0x02],
20        entityKind: 0xC2,
21    };
22    pub const ENTITYID_SEDP_BUILTIN_TOPIC_READER: EntityId_t = EntityId_t {
23        entityKey: [0x00, 0x00, 0x02],
24        entityKind: 0xC7,
25    };
26    pub const ENTITYID_SEDP_BUILTIN_PUBLICATIONS_WRITER: EntityId_t = EntityId_t {
27        entityKey: [0x00, 0x00, 0x03],
28        entityKind: 0xC2,
29    };
30    pub const ENTITYID_SEDP_BUILTIN_PUBLICATIONS_READER: EntityId_t = EntityId_t {
31        entityKey: [0x00, 0x00, 0x03],
32        entityKind: 0xC7,
33    };
34    pub const ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_WRITER: EntityId_t = EntityId_t {
35        entityKey: [0x00, 0x00, 0x04],
36        entityKind: 0xC2,
37    };
38    pub const ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_READER: EntityId_t = EntityId_t {
39        entityKey: [0x00, 0x00, 0x04],
40        entityKind: 0xC7,
41    };
42    pub const ENTITYID_SPDP_BUILTIN_PARTICIPANT_WRITER: EntityId_t = EntityId_t {
43        entityKey: [0x00, 0x01, 0x00],
44        entityKind: 0xC2,
45    };
46    pub const ENTITYID_SPDP_BUILTIN_PARTICIPANT_READER: EntityId_t = EntityId_t {
47        entityKey: [0x00, 0x01, 0x00],
48        entityKind: 0xC7,
49    };
50    pub const ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER: EntityId_t = EntityId_t {
51        entityKey: [0x00, 0x02, 0x00],
52        entityKind: 0xC2,
53    };
54    pub const ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER: EntityId_t = EntityId_t {
55        entityKey: [0x00, 0x02, 0x00],
56        entityKind: 0xC7,
57    };
58}
59
60impl Default for EntityId_t {
61    fn default() -> EntityId_t {
62        EntityId_t::ENTITYID_UNKNOWN
63    }
64}
65
66impl<'a, C: Context> Readable<'a, C> for EntityId_t {
67    #[inline]
68    fn read_from<R: Reader<'a, C>>(reader: &mut R) -> Result<Self, C::Error> {
69        let entityKey = [reader.read_u8()?, reader.read_u8()?, reader.read_u8()?];
70        let entityKind = reader.read_u8()?;
71        Ok(EntityId_t {
72            entityKey,
73            entityKind,
74        })
75    }
76}
77
78impl<C: Context> Writable<C> for EntityId_t {
79    #[inline]
80    fn write_to<T: ?Sized + Writer<C>>(&self, writer: &mut T) -> Result<(), C::Error> {
81        for elem in &self.entityKey {
82            writer.write_u8(*elem)?
83        }
84        writer.write_u8(self.entityKind)
85    }
86}
87
88#[cfg(test)]
89mod tests {
90    use super::*;
91
92    serialization_test!( type = EntityId_t,
93        {
94            entity_unknown,
95            EntityId_t::ENTITYID_UNKNOWN,
96            le = [0x00, 0x00, 0x00, 0x00],
97            be = [0x00, 0x00, 0x00, 0x00]
98        },
99        {
100            entity_default,
101            EntityId_t::default(),
102            le = [0x00, 0x00, 0x00, 0x00],
103            be = [0x00, 0x00, 0x00, 0x00]
104        },
105        {
106            entity_participant,
107            EntityId_t::ENTITYID_PARTICIPANT,
108            le = [0x00, 0x00, 0x01, 0xC1],
109            be = [0x00, 0x00, 0x01, 0xC1]
110        },
111        {
112            entity_sedp_builtin_topic_writer,
113            EntityId_t::ENTITYID_SEDP_BUILTIN_TOPIC_WRITER,
114            le = [0x00, 0x00, 0x02, 0xC2],
115            be = [0x00, 0x00, 0x02, 0xC2]
116        },
117        {
118            entity_sedp_builtin_topic_reader,
119            EntityId_t::ENTITYID_SEDP_BUILTIN_TOPIC_READER,
120            le = [0x00, 0x00, 0x02, 0xC7],
121            be = [0x00, 0x00, 0x02, 0xC7]
122        },
123        {
124            entity_sedp_builtin_publications_writer,
125            EntityId_t::ENTITYID_SEDP_BUILTIN_PUBLICATIONS_WRITER,
126            le = [0x00, 0x00, 0x03, 0xC2],
127            be = [0x00, 0x00, 0x03, 0xC2]
128        },
129        {
130            entity_sedp_builtin_publications_reader,
131            EntityId_t::ENTITYID_SEDP_BUILTIN_PUBLICATIONS_READER,
132            le = [0x00, 0x00, 0x03, 0xC7],
133            be = [0x00, 0x00, 0x03, 0xC7]
134        },
135        {
136            entity_sedp_builtin_subscriptions_writer,
137            EntityId_t::ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_WRITER,
138            le = [0x00, 0x00, 0x04, 0xC2],
139            be = [0x00, 0x00, 0x04, 0xC2]
140        },
141        {
142            entity_sedp_builtin_subscriptions_reader,
143            EntityId_t::ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_READER,
144            le = [0x00, 0x00, 0x04, 0xC7],
145            be = [0x00, 0x00, 0x04, 0xC7]
146        },
147        {
148            entity_spdp_builtin_participant_writer,
149            EntityId_t::ENTITYID_SPDP_BUILTIN_PARTICIPANT_WRITER,
150            le = [0x00, 0x01, 0x00, 0xC2],
151            be = [0x00, 0x01, 0x00, 0xC2]
152        },
153        {
154            entity_spdp_builtin_participant_reader,
155            EntityId_t::ENTITYID_SPDP_BUILTIN_PARTICIPANT_READER,
156            le = [0x00, 0x01, 0x00, 0xC7],
157            be = [0x00, 0x01, 0x00, 0xC7]
158        },
159        {
160            entity_p2p_builtin_participant_message_writer,
161            EntityId_t::ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER,
162            le = [0x00, 0x02, 0x00, 0xC2],
163            be = [0x00, 0x02, 0x00, 0xC2]
164        },
165        {
166            entity_p2p_builtin_participant_message_reader,
167            EntityId_t::ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER,
168            le = [0x00, 0x02, 0x00, 0xC7],
169            be = [0x00, 0x02, 0x00, 0xC7]
170        }
171    );
172}
rtps_rs/structure/entity_id.rs

rtps_rs/structure/
entity_id.rs
