RTPS protocol parser for Rust

This library implements message parsing for the RTPS protocol written in Rust.

DDS is a middleware protocol and API standard for data-centric connectivity. The main goal of DDS is to share the right data at the right place at the right time, even between time-decoupled publishers and consumers.

This library uses the code of Dust DDS, an awesome DDS library written in Rust. The motivation for this code extraction is to make the RTPS packet parsing capabilities available for other programs. For example a DDS middleware can inspect the RTPS messages, modify them on the fly or drop them based on some firewal logic.

Example

Say you have a byte slice and you want to read its content:

let data = Arc::new([
    b'R', b'T', b'P', b'S', // Protocol
    2, 3, 9, 8, // ProtocolVersion | VendorId
    3, 3, 3, 3, // GuidPrefix
    3, 3, 3, 3, // GuidPrefix
    3, 3, 3, 3, // GuidPrefix
    0x15, 0b_0000_0011, 40, 0, // Submessage header
    0, 0, 16, 0, // extraFlags, octetsToInlineQos
    1, 2, 3, 4, // readerId: value[4]
    6, 7, 8, 9, // writerId: value[4]
    0, 0, 0, 0, // writerSN: high
    5, 0, 0, 0, // writerSN: low
    6, 0, 4, 0, // inlineQos: parameterId_1, length_1
    10, 11, 12, 13, // inlineQos: value_1[length_1]
    7, 0, 4, 0, // inlineQos: parameterId_2, length_2
    20, 21, 22, 23, // inlineQos: value_2[length_2]
    1, 0, 1, 0, // inlineQos: Sentinel
    0x07, 0b_0000_0101, 28, 0, // Submessage header
    1, 2, 3, 4, // readerId: value[4]
    6, 7, 8, 9, // writerId: value[4]
    0, 0, 0, 0, // firstSN: SequenceNumber: high
    5, 0, 0, 0, // firstSN: SequenceNumber: low
    0, 0, 0, 0, // lastSN: SequenceNumberSet: high
    7, 0, 0, 0, // lastSN: SequenceNumberSet: low
    2, 0, 0, 0, // count: Count: value (long)
]);
let msg = RtpsMessageRead::new(data);
println!("Received {} submessages", msg.submessages().len());

TODO

• Remove dependecy to DustDDS
• Make it no_std compatible

License

This project keeps the license of the original work and is licensed under the Apache License Version 2.0.