rtps_parser/rtps/messages/submessages/
info_timestamp.rs

1use crate::rtps::messages::{
2    overall_structure::{
3        RtpsMap, Submessage, SubmessageHeader, SubmessageHeaderRead, SubmessageHeaderWrite,
4    },
5    submessage_elements::SubmessageElement,
6    types::{SubmessageFlag, SubmessageKind, Time, TIME_INVALID},
7};
8
9#[derive(Debug, PartialEq, Eq)]
10pub struct InfoTimestampSubmessageRead<'a> {
11    data: &'a [u8],
12}
13
14impl SubmessageHeader for InfoTimestampSubmessageRead<'_> {
15    fn submessage_header(&self) -> SubmessageHeaderRead {
16        SubmessageHeaderRead::new(self.data)
17    }
18}
19
20impl<'a> InfoTimestampSubmessageRead<'a> {
21    pub fn new(data: &'a [u8]) -> Self {
22        Self { data }
23    }
24
25    pub fn invalidate_flag(&self) -> bool {
26        self.submessage_header().flags()[1]
27    }
28
29    pub fn timestamp(&self) -> Time {
30        if self.invalidate_flag() {
31            TIME_INVALID
32        } else {
33            self.map(&self.data[4..])
34        }
35    }
36}
37#[derive(Debug, PartialEq, Eq)]
38pub struct InfoTimestampSubmessageWrite<'a> {
39    pub invalidate_flag: SubmessageFlag,
40    timestamp_submessage_element: Option<SubmessageElement<'a>>,
41}
42
43impl InfoTimestampSubmessageWrite<'_> {
44    pub fn new(invalidate_flag: SubmessageFlag, timestamp: Time) -> Self {
45        let timestamp_submessage_element = if !invalidate_flag {
46            Some(SubmessageElement::Timestamp(timestamp))
47        } else {
48            None
49        };
50
51        Self {
52            invalidate_flag,
53            timestamp_submessage_element,
54        }
55    }
56}
57
58impl<'a> Submessage<'a> for InfoTimestampSubmessageWrite<'a> {
59    type SubmessageList = std::option::Iter<'a, SubmessageElement<'a>>;
60
61    fn submessage_header(&self, octets_to_next_header: u16) -> SubmessageHeaderWrite {
62        SubmessageHeaderWrite::new(
63            SubmessageKind::INFO_TS,
64            &[self.invalidate_flag],
65            octets_to_next_header,
66        )
67    }
68
69    fn submessage_elements(&'a self) -> Self::SubmessageList {
70        self.timestamp_submessage_element.iter()
71    }
72}
73
74#[cfg(test)]
75mod tests {
76    use super::*;
77    use crate::rtps::messages::overall_structure::{
78        into_bytes_vec, RtpsSubmessageWriteKind,
79    };
80
81    #[test]
82    fn serialize_info_timestamp_valid_time() {
83        let submessage = RtpsSubmessageWriteKind::InfoTimestamp(InfoTimestampSubmessageWrite::new(
84            false,
85            Time::new(4, 0),
86        ));
87        #[rustfmt::skip]
88        assert_eq!(into_bytes_vec(submessage), vec![
89                0x09_u8, 0b_0000_0001, 8, 0, // Submessage header
90                4, 0, 0, 0, // Time
91                0, 0, 0, 0, // Time
92            ]
93        );
94    }
95
96    #[test]
97    fn serialize_info_timestamp_invalid_time() {
98        let submessage = RtpsSubmessageWriteKind::InfoTimestamp(InfoTimestampSubmessageWrite::new(
99            true,
100            TIME_INVALID,
101        ));
102        #[rustfmt::skip]
103        assert_eq!(into_bytes_vec(submessage), vec![
104                0x09_u8, 0b_0000_0011, 0, 0, // Submessage header
105            ]
106        );
107    }
108
109    #[test]
110    fn deserialize_info_timestamp_valid_time() {
111        #[rustfmt::skip]
112        let submessage = InfoTimestampSubmessageRead::new(&[
113            0x09_u8, 0b_0000_0001, 8, 0, // Submessage header
114            4, 0, 0, 0, // Time
115            0, 0, 0, 0, // Time
116        ]);
117
118        let expected_invalidate_flag = false;
119        let expected_timestamp = Time::new(4, 0);
120
121        assert_eq!(expected_invalidate_flag, submessage.invalidate_flag());
122        assert_eq!(expected_timestamp, submessage.timestamp());
123    }
124
125    #[test]
126    fn deserialize_info_timestamp_invalid_time() {
127        #[rustfmt::skip]
128        let submessage = InfoTimestampSubmessageRead::new(&[
129            0x09_u8, 0b_0000_0011, 0, 0, // Submessage header
130        ]);
131
132        let expected_invalidate_flag = true;
133        let expected_timestamp = TIME_INVALID;
134
135        assert_eq!(expected_invalidate_flag, submessage.invalidate_flag());
136        assert_eq!(expected_timestamp, submessage.timestamp());
137    }
138}
rtps_parser/rtps/messages/submessages/info_timestamp.rs

rtps_parser/rtps/messages/submessages/
info_timestamp.rs
