rustdds 0.4.5

Native Rust DDS implementation with RTPS
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137

use bytes::Bytes;
use speedy::{Writable, Readable, Writer, Context};
use std::io;
use byteorder::{ReadBytesExt};
use log::{warn};

#[derive(Debug, PartialEq, Eq, Clone, Copy, Readable, Writable)]
pub struct RepresentationIdentifier {
  pub bytes: [u8;2],
}

impl RepresentationIdentifier {
  // Numeric values are from RTPS spec v2.3 Section 10.5 , Table 10.3
  pub const CDR_BE: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x00]};
  pub const CDR_LE: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x01]};

  pub const PL_CDR_BE: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x02]};
  pub const PL_CDR_LE: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x03]};

  pub const CDR2_BE: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x10]};
  pub const CDR2_LE: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x11]};

  pub const PL_CDR2_BE: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x12]};
  pub const PL_CDR2_LE: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x13]};

  pub const D_CDR_BE: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x14]};
  pub const D_CDR_LE: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x15]};

  pub const XML: RepresentationIdentifier 
    = RepresentationIdentifier { bytes: [0x00, 0x04]};

  pub fn from_bytes(bytes: &[u8]) -> io::Result<RepresentationIdentifier> {
    let mut reader = io::Cursor::new(bytes);
    Ok( RepresentationIdentifier { 
      bytes: [reader.read_u8()?, reader.read_u8()?] 
    })
  }

  pub fn to_bytes(&self) -> &[u8] {
    &self.bytes
  }
}
/*
impl<'a, C: Context> Readable<'a, C> for RepresentationIdentifier {
  fn read_from<R: Reader<'a, C>>(reader: &mut R) -> Result<Self, C::Error> {
    let mut r = RepresentationIdentifier { bytes: [0,0]};
    reader.read_bytes(r.bytes)?;
    r
  }
}
*/

/// A SerializedPayload submessage element contains the serialized representation of
/// either value of an application-defined data-object or
/// the value of the key that uniquely identifies the data-object
/// See RTPS spec v2.3 section 10.
/// Standard representation identifer values are defined in sections 10.2 - 10.5
/// representation_options "shall be interpreted in the context of the
/// RepresentationIdentifier, such that each RepresentationIdentifier may define the
/// representation_options that it requires." and "The [2.3] version of the protocol
/// does not use the representation_options: The sender shall set the representation_options
/// to zero. The receiver shall ignore the value of the representation_options."
#[derive(Debug, PartialEq, Clone)]
pub struct SerializedPayload {
  pub representation_identifier: RepresentationIdentifier, 
  pub representation_options: [u8; 2], // Not used. Send as zero, ignore on receive.
  pub value: Bytes,
}

impl SerializedPayload {
  pub fn new(rep_id: RepresentationIdentifier, payload: Vec<u8>) -> SerializedPayload {
    SerializedPayload {
      representation_identifier: rep_id,
      representation_options: [0, 0],
      value: Bytes::from(payload),
    }
  }

  pub fn new_from_Bytes(rep_id: RepresentationIdentifier, payload: Bytes) -> SerializedPayload {
    SerializedPayload {
      representation_identifier: rep_id,
      representation_options: [0, 0],
      value: payload,
    }
  }


  // Implement deserialization here, because Speedy just makes it difficult.
  pub fn from_bytes(bytes: Bytes) -> io::Result<SerializedPayload> {
    let mut reader = io::Cursor::new(&bytes);
    let representation_identifier = RepresentationIdentifier { 
      bytes: [reader.read_u8()?, reader.read_u8()?] 
    };
    let representation_options = [reader.read_u8()?, reader.read_u8()?];
    let value = 
      if bytes.len() >= 4 {
        bytes.clone().split_off(4) // split_off 4 bytes at beginning: rep_id & rep_optins
      } else {
        warn!("DATA submessage was smaller than submessage header: {:?}",bytes);
        return Err( io::Error::new(io::ErrorKind::Other, "Too short DATA submessage."))
      };

    Ok(SerializedPayload {
      representation_identifier,
      representation_options,
      value,
    })
  }

  pub fn representation_identifier(&self) -> RepresentationIdentifier {
    self.representation_identifier
  }
}

impl<C: Context> Writable<C> for SerializedPayload {
  fn write_to<'a, T: ?Sized + Writer<C>>(&'a self, writer: &mut T) -> Result<(), C::Error> {
    writer.write_u8(self.representation_identifier.bytes[0])?;
    writer.write_u8(self.representation_identifier.bytes[1])?;
    writer.write_u8(self.representation_options[0])?;
    writer.write_u8(self.representation_options[1])?;
    // TODO: This looks like a slowish way to copy bytes.
    for element in &*self.value {
      writer.write_u8(*element)?;
    }
    Ok(())
  }
}