Module datagram 

Datagram encoder/decoder: combines the RTPS header and submessages into a finished wire datagram (W4).

Structs

ParsedDatagram

Parsed datagram: header + all recognized submessages.

Enums

ParsedSubmessage

A recognized submessage. Supports DATA/HEARTBEAT/ACKNACK/GAP/DATA_FRAG/HEARTBEAT_FRAG/NACK_FRAG/INFO_*; others are skipped via octets_to_next_header and recorded as ParsedSubmessage::Unknown.

Constants

SUBMESSAGE_FLAG_MUST_UNDERSTAND

Submessage-header must-understand bit (bit 7 of the flag byte, DDSI-RTPS 2.5 §8.3.3.2). On an unknown submessage ID + set bit, the whole RTPS message MUST be discarded.

Functions

decode_datagram

Decodes an RTPS datagram into header + submessage list.

encode_data_datagram

Encodes an RTPS datagram = RtpsHeader + a sequence of DATA submessages. Variant: all submessages are LE; a datagram carries a list of DATA bodies.