pub(crate) fn spdp_participant_data_raw() -> Vec<u8> {
const data: [u8; 204] = [
0x52, 0x54, 0x50, 0x53, 0x02, 0x03, 0x01, 0x0f, 0x01, 0x0f, 0x99, 0x06, 0x78, 0x34, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x09, 0x01, 0x08, 0x00, 0x0e, 0x15, 0xf3, 0x5e, 0x00, 0x28, 0x74, 0xd2,
0x15, 0x05, 0xa8, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x01, 0x00, 0xc7, 0x00, 0x01, 0x00, 0xc2,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x15, 0x00, 0x04, 0x00,
0x02, 0x03, 0x00, 0x00, 0x16, 0x00, 0x04, 0x00, 0x01, 0x0f, 0x00, 0x00, 0x50, 0x00, 0x10, 0x00,
0x01, 0x0f, 0x99, 0x06, 0x78, 0x34, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0xc1,
0x32, 0x00, 0x18, 0x00, 0x01, 0x00, 0x00, 0x00, 0xf4, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0a, 0x50, 0x8e, 0x68, 0x31, 0x00, 0x18, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf5, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x0a, 0x50, 0x8e, 0x68, 0x02, 0x00, 0x08, 0x00, 0x14, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x58, 0x00, 0x04, 0x00, 0x3f, 0x0c, 0x3f, 0x0c, 0x62, 0x00, 0x18, 0x00,
0x14, 0x00, 0x00, 0x00, 0x66, 0x61, 0x73, 0x74, 0x72, 0x74, 0x70, 0x73, 0x50, 0x61, 0x72, 0x74,
0x69, 0x63, 0x69, 0x70, 0x61, 0x6e, 0x74, 0x00, 0x01, 0x00, 0x00, 0x00,
];
data.to_vec()
}
pub(crate) fn spdp_subscription_data_raw() -> Vec<u8> {
const DATA: [u8; 248] = [
0x52, 0x54, 0x50, 0x53, 0x02, 0x04, 0x01, 0x03, 0x01, 0x03, 0x00, 0x0c, 0x29, 0x2d, 0x31, 0xa2,
0x28, 0x20, 0x02, 0x08, 0x09, 0x01, 0x08, 0x00, 0x17, 0x15, 0xf3, 0x5e, 0x35, 0x07, 0x08, 0xc2,
0x15, 0x05, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0xc2,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x05, 0x00, 0x0c, 0x00,
0x07, 0x00, 0x00, 0x00, 0x53, 0x71, 0x75, 0x61, 0x72, 0x65, 0x00, 0x00, 0x07, 0x00, 0x10, 0x00,
0x0a, 0x00, 0x00, 0x00, 0x53, 0x68, 0x61, 0x70, 0x65, 0x54, 0x79, 0x70, 0x65, 0x00, 0x00, 0x00,
0x1a, 0x00, 0x0c, 0x00, 0x01, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x7f, 0xff, 0xff, 0xff, 0x7f,
0x5a, 0x00, 0x10, 0x00, 0x01, 0x03, 0x00, 0x0c, 0x29, 0x2d, 0x31, 0xa2, 0x28, 0x20, 0x02, 0x08,
0x00, 0x00, 0x00, 0x07, 0x30, 0x00, 0x18, 0x00, 0x01, 0x00, 0x00, 0x00, 0xe9, 0x1c, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xef, 0xff, 0x00, 0x02,
0x2f, 0x00, 0x18, 0x00, 0x01, 0x00, 0x00, 0x00, 0xa6, 0x96, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0a, 0x50, 0x8e, 0xc9, 0x2f, 0x00, 0x18, 0x00,
0x01, 0x00, 0x00, 0x00, 0xa6, 0x96, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0xc0, 0xa8, 0x45, 0x14, 0x2f, 0x00, 0x18, 0x00, 0x01, 0x00, 0x00, 0x00,
0xa6, 0x96, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0xac, 0x11, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00,
];
DATA.to_vec()
}
pub(crate) fn spdp_publication_data_raw() -> Vec<u8> {
const DATA: [u8; 352] = [
0x52, 0x54, 0x50, 0x53, 0x02, 0x03, 0x01, 0x0f, 0x01, 0x0f, 0x99, 0x06, 0x78, 0x34, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x0e, 0x01, 0x0c, 0x00, 0x01, 0x03, 0x00, 0x0c, 0x29, 0x2d, 0x31, 0xa2,
0x28, 0x20, 0x02, 0x08, 0x09, 0x01, 0x08, 0x00, 0x12, 0x15, 0xf3, 0x5e, 0x00, 0xc8, 0xa9, 0xfa,
0x15, 0x05, 0x0c, 0x01, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x03, 0xc7, 0x00, 0x00, 0x03, 0xc2,
0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x2f, 0x00, 0x18, 0x00,
0x01, 0x00, 0x00, 0x00, 0xf5, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x0a, 0x50, 0x8e, 0x68, 0x50, 0x00, 0x10, 0x00, 0x01, 0x0f, 0x99, 0x06,
0x78, 0x34, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0xc1, 0x05, 0x00, 0x0c, 0x00,
0x07, 0x00, 0x00, 0x00, 0x53, 0x71, 0x75, 0x61, 0x72, 0x65, 0x00, 0x00, 0x07, 0x00, 0x10, 0x00,
0x0a, 0x00, 0x00, 0x00, 0x53, 0x68, 0x61, 0x70, 0x65, 0x54, 0x79, 0x70, 0x65, 0x00, 0x00, 0x00,
0x70, 0x00, 0x10, 0x00, 0x01, 0x0f, 0x99, 0x06, 0x78, 0x34, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x00, 0x00, 0x01, 0x02, 0x5a, 0x00, 0x10, 0x00, 0x01, 0x0f, 0x99, 0x06, 0x78, 0x34, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x60, 0x00, 0x04, 0x00, 0x5f, 0x01, 0x00, 0x00,
0x15, 0x00, 0x04, 0x00, 0x02, 0x03, 0x00, 0x00, 0x16, 0x00, 0x04, 0x00, 0x01, 0x0f, 0x00, 0x00,
0x1d, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x23, 0x00, 0x08, 0x00, 0xff, 0xff, 0xff, 0x7f,
0xff, 0xff, 0xff, 0xff, 0x27, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x1b, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0x7f, 0xff, 0xff, 0xff, 0xff,
0x1a, 0x00, 0x0c, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9a, 0x99, 0x99, 0x19,
0x2b, 0x00, 0x08, 0x00, 0xff, 0xff, 0xff, 0x7f, 0xff, 0xff, 0xff, 0xff, 0x1f, 0x00, 0x04, 0x00,
0x00, 0x00, 0x00, 0x00, 0x25, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
0x07, 0x01, 0x1c, 0x00, 0x00, 0x00, 0x03, 0xc7, 0x00, 0x00, 0x03, 0xc2, 0x00, 0x00, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
];
DATA.to_vec()
}
use crate::{
dds::{
qos::policy::{
Deadline, Durability, LatencyBudget, Liveliness, Reliability, Ownership, DestinationOrder,
TimeBasedFilter, Presentation, PresentationAccessScope, Lifespan, History, ResourceLimits,
},
traits::serde_adapters::DeserializerAdapter,
qos::QosPolicyBuilder,
},
discovery::{
content_filter_property::ContentFilterProperty,
data_types::{
topic_data::{
SubscriptionBuiltinTopicData, ReaderProxy, WriterProxy, PublicationBuiltinTopicData,
TopicBuiltinTopicData,
},
spdp_participant_data::SPDPDiscoveredParticipantData,
},
},
messages::submessages::submessages::{Data, EntitySubmessage, SubmessageKind, SubmessageHeader},
messages::{
header::Header,
submessages::submessage_elements::serialized_payload::{
SerializedPayload, RepresentationIdentifier,
},
},
serialization::{
Message, cdr_serializer::to_bytes, pl_cdr_deserializer::PlCdrDeserializerAdapter, SubMessage,
SubmessageBody,
},
structure::{
locator::Locator,
guid::{EntityId, GUID},
duration::Duration,
sequence_number::SequenceNumber,
},
};
use speedy::{Endianness, Writable};
use std::{net::SocketAddr, time::Duration as StdDuration};
use serde::Serialize;
use byteorder::LittleEndian;
use enumflags2::BitFlags;
use crate::messages::submessages::submessages::*;
pub(crate) fn spdp_participant_msg() -> Message {
let data = spdp_participant_data_raw();
let rtpsmsg = Message::read_from_buffer(&data).unwrap();
rtpsmsg
}
pub(crate) fn spdp_subscription_msg() -> Message {
let data = spdp_subscription_data_raw();
let rtpsmsg = Message::read_from_buffer(&data).unwrap();
rtpsmsg
}
pub(crate) fn spdp_publication_msg() -> Message {
let data = spdp_publication_data_raw();
let rtpsmsg = Message::read_from_buffer(&data).unwrap();
rtpsmsg
}
pub(crate) fn spdp_participant_msg_mod(port: u16) -> Message {
let mut tdata: Message = spdp_participant_msg();
let mut data;
for submsg in tdata.submessages.iter_mut() {
let mut submsglen = submsg.header.content_length;
match &mut submsg.body {
SubmessageBody::Entity(v) => match v {
EntitySubmessage::Data(d, _) => {
let mut participant_data: SPDPDiscoveredParticipantData =
PlCdrDeserializerAdapter::<SPDPDiscoveredParticipantData>::from_bytes(
&d.serialized_payload.as_ref().unwrap().value,
RepresentationIdentifier::PL_CDR_LE,
)
.unwrap();
participant_data.metatraffic_unicast_locators[0] =
Locator::from(SocketAddr::new("127.0.0.1".parse().unwrap(), port));
participant_data.metatraffic_multicast_locators.clear();
participant_data.default_unicast_locators.clear();
participant_data.default_multicast_locators.clear();
let datalen = d.serialized_payload.as_ref().unwrap().value.len() as u16;
data =
to_bytes::<SPDPDiscoveredParticipantData, byteorder::LittleEndian>(&participant_data)
.unwrap();
d.serialized_payload.as_mut().unwrap().value = data.clone();
submsglen =
submsglen + d.serialized_payload.as_ref().unwrap().value.len() as u16 - datalen;
}
_ => continue,
},
SubmessageBody::Interpreter(_) => (),
}
submsg.header.content_length = submsglen;
}
tdata
}
pub(crate) fn spdp_participant_data() -> Option<SPDPDiscoveredParticipantData> {
let data = spdp_participant_data_raw();
let rtpsmsg = Message::read_from_buffer(&data).unwrap();
let submsgs = rtpsmsg.submessages();
for submsg in submsgs.iter() {
match &submsg.body {
SubmessageBody::Entity(v) => match v {
EntitySubmessage::Data(d, _) => {
let particiapant_data: SPDPDiscoveredParticipantData =
PlCdrDeserializerAdapter::from_bytes(
&d.serialized_payload.as_ref().unwrap().value,
RepresentationIdentifier::PL_CDR_LE,
)
.unwrap();
return Some(particiapant_data);
}
_ => continue,
},
SubmessageBody::Interpreter(_) => (),
}
}
None
}
pub(crate) fn reader_proxy_data() -> Option<ReaderProxy> {
let reader_proxy = ReaderProxy {
remote_reader_guid: Some(GUID::new()),
expects_inline_qos: Some(false),
unicast_locator_list: vec![Locator::from(SocketAddr::new(
"0.0.0.0".parse().unwrap(),
12345,
))],
multicast_locator_list: vec![Locator::from(SocketAddr::new(
"0.0.0.0".parse().unwrap(),
13579,
))],
};
Some(reader_proxy)
}
pub(crate) fn writer_proxy_data() -> Option<WriterProxy> {
let writer_proxy = WriterProxy {
remote_writer_guid: Some(GUID::new()),
unicast_locator_list: vec![Locator::from(SocketAddr::new(
"0.0.0.0".parse().unwrap(),
12345,
))],
multicast_locator_list: vec![Locator::from(SocketAddr::new(
"0.0.0.0".parse().unwrap(),
13579,
))],
data_max_size_serialized: Some(24000),
};
Some(writer_proxy)
}
pub(crate) fn subscription_builtin_topic_data() -> Option<SubscriptionBuiltinTopicData> {
let qos = QosPolicyBuilder::new()
.durability(Durability::TransientLocal)
.deadline(Deadline(Duration::from_secs(60)))
.latency_budget(LatencyBudget {
duration: Duration::from(StdDuration::from_secs(2 * 60)),
})
.liveliness(Liveliness::ManualByTopic {
lease_duration: Duration::from(StdDuration::from_secs(3 * 60)),
})
.reliability(Reliability::Reliable {
max_blocking_time: Duration::from(StdDuration::from_secs(4 * 60)),
})
.ownership(Ownership::Exclusive { strength: 234 })
.destination_order(DestinationOrder::BySourceTimeStamp)
.time_based_filter(TimeBasedFilter {
minimum_separation: Duration::from(StdDuration::from_secs(5 * 60)),
})
.presentation(Presentation {
access_scope: PresentationAccessScope::Topic,
coherent_access: false,
ordered_access: true,
})
.lifespan(Lifespan {
duration: Duration::from(StdDuration::from_secs(6 * 60)),
})
.build();
let sub_topic_data =
SubscriptionBuiltinTopicData::new(GUID::new(), "some topic name", "RandomData", &qos);
Some(sub_topic_data)
}
pub(crate) fn publication_builtin_topic_data() -> Option<PublicationBuiltinTopicData> {
let pub_topic_data = PublicationBuiltinTopicData {
key: Some(GUID::new()),
participant_key: Some(GUID::new()),
topic_name: Some("rand topic namm".to_string()),
type_name: Some("RandomData".to_string()),
durability: Some(Durability::Volatile),
deadline: Some(Deadline(Duration::from_secs(30))),
latency_budget: Some(LatencyBudget {
duration: Duration::from(StdDuration::from_secs(2 * 30)),
}),
liveliness: Some(Liveliness::ManualByTopic {
lease_duration: Duration::from(StdDuration::from_secs(3 * 30)),
}),
reliability: Some(Reliability::BestEffort),
lifespan: Some(Lifespan {
duration: Duration::from(StdDuration::from_secs(6 * 30)),
}),
time_based_filter: Some(TimeBasedFilter {
minimum_separation: Duration::from(StdDuration::from_secs(5 * 30)),
}),
ownership: Some(Ownership::Shared),
destination_order: Some(DestinationOrder::ByReceptionTimestamp),
presentation: Some(Presentation {
access_scope: PresentationAccessScope::Instance,
coherent_access: true,
ordered_access: false,
}),
};
Some(pub_topic_data)
}
pub(crate) fn topic_data() -> Option<TopicBuiltinTopicData> {
let topic_data = TopicBuiltinTopicData {
key: Some(GUID::new()),
name: Some("SomeTopicName".to_string()),
type_name: Some("RandomData".to_string()),
durability: Some(Durability::Persistent),
deadline: Some(Deadline(Duration::from_secs(45))),
latency_budget: Some(LatencyBudget {
duration: Duration::from(StdDuration::from_secs(2 * 45)),
}),
liveliness: Some(Liveliness::ManualByTopic {
lease_duration: Duration::from(StdDuration::from_secs(3 * 45)),
}),
reliability: Some(Reliability::BestEffort),
lifespan: Some(Lifespan {
duration: Duration::from(StdDuration::from_secs(6 * 45)),
}),
destination_order: Some(DestinationOrder::ByReceptionTimestamp),
presentation: Some(Presentation {
access_scope: PresentationAccessScope::Group,
coherent_access: true,
ordered_access: true,
}),
history: Some(History::KeepLast { depth: 25 }),
resource_limits: Some(ResourceLimits {
max_samples: 5,
max_instances: 10,
max_samples_per_instance: 15,
}),
ownership: Some(Ownership::Exclusive { strength: 432 }),
};
Some(topic_data)
}
pub(crate) fn content_filter_data() -> Option<ContentFilterProperty> {
let content_filter = ContentFilterProperty {
contentFilteredTopicName: "tn".to_string(),
relatedTopicName: "rtn".to_string(),
filterClassName: "fcn".to_string(),
filterExpression: "fexp".to_string(),
expressionParameters: vec!["asdf".to_string(), "fdsas".to_string()],
};
Some(content_filter)
}
pub(crate) fn create_rtps_data_message<D: Serialize>(
data: D,
reader_id: EntityId,
writer_id: EntityId,
) -> Message {
let tdata = to_bytes::<D, LittleEndian>(&data).unwrap();
let mut rtps_message = Message::default();
let prefix = GUID::new();
let rtps_message_header = Header::new(prefix.guidPrefix);
rtps_message.set_header(rtps_message_header);
let serialized_payload = SerializedPayload {
representation_identifier: u16::from(RepresentationIdentifier::PL_CDR_LE),
representation_options: [0; 2],
value: tdata.clone(),
};
let data_message = Data {
reader_id,
writer_id,
writer_sn: SequenceNumber::default(),
inline_qos: None,
serialized_payload: Some(serialized_payload),
};
let data_size = data_message
.write_to_vec_with_ctx(Endianness::LittleEndian)
.unwrap()
.len();
let sub_flags = BitFlags::<DATA_Flags>::from_endianness(Endianness::LittleEndian)
| BitFlags::<DATA_Flags>::from_flag(DATA_Flags::Data);
let submessage_header: SubmessageHeader = SubmessageHeader {
kind: SubmessageKind::DATA,
flags: sub_flags.bits(),
content_length: data_size as u16,
};
let submessage: SubMessage = SubMessage {
header: submessage_header,
body: SubmessageBody::Entity(EntitySubmessage::Data(data_message, sub_flags)),
};
rtps_message.add_submessage(submessage);
rtps_message
}