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# 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](https://github.com/s2e-systems/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: ```rust 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.

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