Struct ParticipantMessageData 

pub struct ParticipantMessageData {
    pub participant_guid: [u8; 16],
    pub kind: u32,
    pub data: Vec<u8>,
}

ParticipantMessageData (DDSI-RTPS 2.5 §9.6.3.1) — payload of the DCPSParticipantMessage topic.

Fields

participant_guid: [u8; 16]

16-byte GUID of the sender (prefix + EntityId::PARTICIPANT). Even though the spec says “prefix”, Cyclone and Fast-DDS write the full GUID here; we follow.

kind: u32

Liveliness kind (see PARTICIPANT_MESSAGE_DATA_KIND_*).

data: Vec<u8>

Opaque token. On MANUAL_BY_TOPIC a topic hash, otherwise empty.

Implementations

impl ParticipantMessageData

pub fn automatic(prefix: GuidPrefix) -> Self

Constructor for an AUTOMATIC heartbeat (data empty).

pub fn manual_by_participant(prefix: GuidPrefix) -> Self

Constructor for a MANUAL_BY_PARTICIPANT heartbeat (data empty).

pub fn manual_by_topic(prefix: GuidPrefix, topic_token: Vec<u8>) -> Self

Constructor for ZeroDDS MANUAL_BY_TOPIC (data = topic token).

pub fn to_cdr(&self, little_endian: bool) -> Result<Vec<u8>, WireError>

Encodes to CDR bytes (with a 4-byte encapsulation header). little_endian = true → ENCAPSULATION_CDR_LE, otherwise BE.

Errors

WireError::ValueOutOfRange if data.len() > MAX_DATA_LEN.

pub fn from_cdr(bytes: &[u8]) -> Result<Self, WireError>

Decodes from CDR bytes (with an encapsulation header).

Accepts 0x0000/0x0001 (XCDR1 plain) and 0x0006/0x0007 (XCDR2 plain). Other encapsulation kinds → error.

Tolerant of the 12-byte prefix-only encoding (pads with 0 to 16 bytes).

Errors

• UnsupportedEncapsulation on non-CDR encapsulation
• UnexpectedEof if the bytes are too short for header / body
• ValueOutOfRange if data.len > MAX_DATA_LEN

pub fn prefix(&self) -> GuidPrefix

Returns the GuidPrefix (first 12 bytes).

pub fn is_vendor_kind(&self) -> bool

true if the kind value is vendor-specific (MSB set).

Trait Implementations

impl Clone for ParticipantMessageData

fn clone(&self) -> ParticipantMessageData

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ParticipantMessageData

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

Formats the value using the given formatter.

impl Eq for ParticipantMessageData

impl PartialEq for ParticipantMessageData

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for ParticipantMessageData