Struct CdrEncapsulationHeader 

pub struct CdrEncapsulationHeader {
    pub representation_id: RepresentationIdentifier,
    pub options: u16,
}

CDR Encapsulation Header (4 bytes)

Per RTPS v2.5 and DDS X-Types 1.3, all CDR-encoded data is prefixed with a 4-byte encapsulation header:

+--------+--------+--------+--------+
| Rep ID (2 bytes)| Options (2 bytes)|
+--------+--------+--------+--------+

Example

use ros2_types::cdr::{CdrEncapsulationHeader, RepresentationIdentifier};

// Default header (CDR Little Endian)
let header = CdrEncapsulationHeader::default();
assert_eq!(header.to_bytes(), [0x00, 0x01, 0x00, 0x00]);

// Parse header from bytes
let header = CdrEncapsulationHeader::from_bytes(&[0x00, 0x01, 0x00, 0x00]).unwrap();
assert!(header.representation_id.is_little_endian());

Fields

representation_id: RepresentationIdentifier

Representation identifier (encoding format + endianness)

options: u16

Options field (typically 0x0000, reserved for future use)

Implementations

impl CdrEncapsulationHeader

pub const SIZE: usize = 4

Size of the encapsulation header in bytes

pub const fn new(representation_id: RepresentationIdentifier) -> Self

Create a new encapsulation header

pub const fn with_options( representation_id: RepresentationIdentifier, options: u16, ) -> Self

Create a header with custom options

pub const fn to_bytes(&self) -> [u8; 4]

Serialize to 4 bytes

pub fn from_bytes(bytes: &[u8]) -> Result<Self>

Parse from bytes

Errors

Returns Error::CdrError if:

• The slice is shorter than 4 bytes
• The representation identifier is unknown

Trait Implementations

impl Clone for CdrEncapsulationHeader

fn clone(&self) -> CdrEncapsulationHeader

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CdrEncapsulationHeader

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for CdrEncapsulationHeader

fn default() -> Self

Default to CDR Little Endian with no options

impl PartialEq for CdrEncapsulationHeader

fn eq(&self, other: &CdrEncapsulationHeader) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for CdrEncapsulationHeader

impl Eq for CdrEncapsulationHeader

impl StructuralPartialEq for CdrEncapsulationHeader