class PID_REACHABILITY_LEASE_DURATION(PIDPacketBase):
name = "PID_REACHABILITY_LEASE_DURATION"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
PacketField("lease_duration", "", LeaseDurationPacket),
]
class PID_PRODUCT_VERSION(PIDPacketBase):
name = "PID_PRODUCT_VERSION"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
PacketField("productVersion", "", ProductVersionPacket),
]
class PID_METATRAFFIC_MULTICAST_LOCATOR(PIDPacketBase):
name = "PID_METATRAFFIC_MULTICAST_LOCATOR"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
PacketField("locator", "", LocatorPacket),
]
class PID_ENDPOINT_GUID(PIDPacketBase):
name = "PID_ENDPOINT_GUID"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
PacketField("guid", "", GUIDPacket),
]
class PID_RTI_DOMAIN_ID(PIDPacketBase):
name = "PID_RTI_DOMAIN_ID"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
EField(IntField("domainId", 0),
endianness=FORMAT_LE,
endianness_from=None)
]
class PID_VENDOR_BUILTIN_ENDPOINT_SET(PIDPacketBase):
name = "PID_VENDOR_BUILTIN_ENDPOINT_SET"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
EField(XIntField("flags", 0),
endianness=FORMAT_LE,
endianness_from=None)
]
class PID_PLUGIN_PROMISCUITY_KIND(PIDPacketBase):
name = "PID_PLUGIN_PROMISCUITY_KIND"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
EField(XIntField("promiscuityKind", 0x0),
endianness=FORMAT_LE,
endianness_from=None)
]
class RTPSSubMessage_INFO_TS(EPacket):
"""
0...2...........7...............15.............23...............31
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| INFO_TS | flags | octetsToNextHeader |
+---------------+---------------+---------------+---------------+
| |
+ Timestamp timestamp [only if T==1] +
| |
+---------------+---------------+---------------+---------------+
"""
name = "RTPS INFO_TS (0x09)"
fields_desc = [
XByteField("submessageId", 0x09),
FlagsField(
"submessageFlags", 0, 8,
["E", "I", "?", "?", "?", "?", "?", "?"]),
EField(ShortField("octetsToNextHeader", 0)),
ConditionalField(
Field("ts_seconds", default=0, fmt="<l"),
lambda pkt: str(pkt.submessageFlags).find("I"),
),
ConditionalField(
Field("ts_fraction", default=0, fmt="<L"),
lambda pkt: str(pkt.submessageFlags).find("I"),
),
]
class PID_TRANSPORT_INFO_LIST(PIDPacketBase):
name = "PID_TRANSPORT_INFO_LIST"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
XStrFixedLenField("padding", "", 4),
EField(
PacketListField("transportInfo", [],
TransportInfoPacket,
length_from=lambda p: p.parameterLength - 4))
]
class PID_MULTICAST_LOCATOR(PIDPacketBase):
name = "PID_MULTICAST_LOCATOR"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
StrLenField(
"parameterData",
"",
length_from=lambda x: x.parameterLength,
max_length=STR_MAX_LEN,
),
]
class PID_VENDOR_ID(PIDPacketBase):
name = "PID_VENDOR_ID"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
PacketField("vendorId", "", VendorIdPacket),
StrLenField(
"padding",
"",
length_from=lambda x: x.parameterLength - 2,
max_length=STR_MAX_LEN,
),
]
class PID_PROTOCOL_VERSION(PIDPacketBase):
name = "PID_PROTOCOL_VERSION"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
PacketField("protocolVersion", "", ProtocolVersionPacket),
StrLenField(
"padding",
"",
length_from=lambda x: x.parameterLength - 2,
max_length=STR_MAX_LEN,
),
]
class RTPSSubMessage_HEARTBEAT(EPacket):
"""
0...2...........7...............15.............23...............31
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| HEARTBEAT | flags | octetsToNextHeader |
+---------------+---------------+---------------+---------------+
| EntityId readerEntityId |
+---------------+---------------+---------------+---------------+
| EntityId writerEntityId |
+---------------+---------------+---------------+---------------+
| |
+ SequenceNumber firstAvailableSeqNumber +
| |
+---------------+---------------+---------------+---------------+
| |
+ SequenceNumber lastSeqNumber +
| |
+---------------+---------------+---------------+---------------+
| Counter count |
+---------------+---------------+---------------+---------------+
"""
name = "RTPS HEARTBEAT (0x07)"
fields_desc = [
XByteField("submessageId", 0x07),
XByteField("submessageFlags", 0),
EField(ShortField("octetsToNextHeader", 0)),
EnumField(
"reader_id",
default=b"\x00\x00\x00\x00",
fmt="4s",
enum=_rtps_reserved_entity_ids,
),
EnumField(
"writer_id",
default=b"\x00\x00\x00\x00",
fmt="4s",
enum=_rtps_reserved_entity_ids,
),
XLongField("firstAvailableSeqNum", 0),
XLongField("lastSeqNum", 0),
EField(IntField("count", 0)),
]
class PIDPacketBase(Packet):
name = "PID Base Packet"
fields_desc = [
EField(
ParameterIdField("parameterId", 0),
endianness=FORMAT_LE,
endianness_from=None,
),
EField(ShortField("parameterLength", 0),
endianness=FORMAT_LE,
endianness_from=None),
StrLenField(
"parameterData",
"",
length_from=lambda x: x.parameterLength,
max_length=STR_MAX_LEN,
),
]
def extract_padding(self, p):
return b"", p
class ParticipantMessageDataPacket(EPacket):
name = "Participant Message Data"
fields_desc = [
PacketField("guidPrefix", "", GUIDPrefixPacket),
XIntField("kind", 0),
EField(XIntField("sequenceSize", 0)), # octets
StrLenField(
"serializedData",
"",
length_from=lambda x: x.sequenceSize * 4,
max_length=STR_MAX_LEN,
),
]
class RTPSSubMessage_PAD(EPacket):
"""
0...2...........7...............15.............23...............31
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| PAD | flags | octetsToNextHeader |
+---------------+---------------+---------------+---------------+
"""
name = "RTPS PAD (0x01)"
fields_desc = [
XByteField("submessageId", 0x01),
XByteField("submessageFlags", 0),
EField(ShortField("octetsToNextHeader", 0)),
]
class RTPSSubMessage_ACKNACK(EPacket):
"""
0...2...........7...............15.............23...............31
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| ACKNACK | flags | octetsToNextHeader |
+---------------+---------------+---------------+---------------+
| EntityId readerEntityId |
+---------------+---------------+---------------+---------------+
| EntityId writerEntityId |
+---------------+---------------+---------------+---------------+
| |
+ SequenceNumberSet readerSNState +
| |
+---------------+---------------+---------------+---------------+
| Counter count |
+---------------+---------------+---------------+---------------+
"""
name = "RTPS ACKNACK (0x06)"
fields_desc = [
XByteField("submessageId", 0x06),
XByteField("submessageFlags", 0x00),
EField(ShortField("octetsToNextHeader", 0)),
EnumField(
"reader_id",
default=b"\x00\x00\x00\x00",
fmt="4s",
enum=_rtps_reserved_entity_ids,
),
EnumField(
"writer_id",
default=b"\x00\x00\x00\x00",
fmt="4s",
enum=_rtps_reserved_entity_ids,
),
XStrLenField(
"readerSNState",
0, length_from=lambda pkt: pkt.octetsToNextHeader - 8 - 4
),
XNBytesField("count", 0, 4),
]
class RTPSSubMessage_INFO_DST(EPacket):
"""
0...2...........7...............15.............23...............31
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| INFO_DST | flags | octetsToNextHeader |
+---------------+---------------+---------------+---------------+
| |
+ GuidPrefix guidPrefix +
| |
+---------------+---------------+---------------+---------------+
"""
name = "RTPS INFO_DTS (0x0e)"
endianness = ">"
fields_desc = [
XByteField("submessageId", 0x0E),
XByteField("submessageFlags", 0),
EField(ShortField("octetsToNextHeader", 0)),
PacketField("guidPrefix", "", GUIDPrefixPacket),
]
class RTPSSubMessage_DATA(EPacket):
"""
0...2...........7...............15.............23...............31
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| RTPS_DATA | flags | octetsToNextHeader |
+---------------+---------------+---------------+---------------+
| Flags extraFlags | octetsToInlineQos |
+---------------+---------------+---------------+---------------+
| EntityId readerEntityId |
+---------------+---------------+---------------+---------------+
| EntityId writerEntityId |
+---------------+---------------+---------------+---------------+
| |
+ SequenceNumber writerSeqNum +
| |
+---------------+---------------+---------------+---------------+
| |
~ ParameterList inlineQos [only if Q==1] ~
| |
+---------------+---------------+---------------+---------------+
| |
~ SerializedData serializedData [only if D==1 || K==1] ~
| |
+---------------+---------------+---------------+---------------+
"""
name = "RTPS DATA (0x15)"
fields_desc = [
XByteField("submessageId", 0x15),
XByteField("submessageFlags", 0x00),
EField(ShortField("octetsToNextHeader", 0)),
XNBytesField("extraFlags", 0x0000, 2),
EField(ShortField("octetsToInlineQoS", 0)),
X3BytesField("readerEntityIdKey", 0),
XByteField("readerEntityIdKind", 0),
X3BytesField("writerEntityIdKey", 0),
XByteField("writerEntityIdKind", 0),
# EnumField(
# "reader_id",
# default=b"\x00\x00\x00\x00",
# fmt="4s",
# enum=_rtps_reserved_entity_ids,
# ),
# EnumField(
# "writer_id",
# default=b"\x00\x00\x00\x00",
# fmt="4s",
# enum=_rtps_reserved_entity_ids,
# ),
EField(IntField("writerSeqNumHi", 0)),
EField(IntField("writerSeqNumLow", 0)),
# -------------------------------------
ConditionalField(
InlineQoSPacketField("inlineQoS", "", InlineQoSPacket),
lambda pkt: pkt.submessageFlags & 0b00000010 == 0b00000010,
),
ConditionalField(
DataPacketField("key", "", DataPacket),
lambda pkt: pkt.submessageFlags & 0b00001000 == 0b00001000,
),
ConditionalField(
DataPacketField("data", "", DataPacket),
lambda pkt: pkt.submessageFlags & 0b00000100 == 0b00000100,
),
]
