Add RTPS format support to Kaitai

network/rtps.ksy

@@ -0,0 +1,275 @@
+meta:
+    id: rtps
+    title: RTPS
+    endian: le
+    tags: 2.3
+doc: |
+  The RTPS protocol provides DDS interroperability wire protocol.
+seq:
+  - id: header
+    type: rtps_header
+  - id: submessage
+    type: rtps_submessage
+    repeat: eos
+
+types:
+  protocol_version:
+    seq:
+      - id: major
+        type: u1
+      - id: minor
+        type: u1
+  vendor_id:
+    seq:
+      - id: value
+        size: 2
+  app_id:
+    seq:
+      - id: instance_id
+        size: 3
+      - id: app_kind
+        size: 1
+  guid_prefix:
+    seq:
+      - id: host_id
+        size: 4
+      - id: app_id
+        size: 4
+      - id: instance_id
+        size: 4
+  timestamp:
+    seq:
+      - id: seconds
+        type: u4
+        doc: Time in seconds
+      - id: fraction
+        type: u4
+        doc: Time in sec/2^32
+  entity_id:
+    seq:
+      - id: key
+        size: 3
+      - id: kind
+        size: 1
+  sequence_number:
+    seq:
+      - id: high
+        size: 4
+      - id: low
+        size: 4
+  bitmap_t:
+    seq:
+      - id: value
+        type: s4
+  sequence_number_set:
+    seq:
+      - id: bitmap_base
+        type: sequence_number
+      - id: numbits
+        type: u4
+      - id: bitmap
+        type: bitmap_t
+        repeat: expr
+        repeat-expr: ((numbits+31)/32)
+  count:
+    seq:
+      - id: value
+        type: s4
+  parameter_id:
+    seq:
+      - id: id
+        type: s2
+  parameter_list:
+    seq:
+      - id: parameter_id
+        type: parameter_id
+      - id: length
+        type: s2
+      - id: value
+        size: length
+  serialized_payload_header:
+    seq:
+      - id: representation_identifier
+        type: s2
+      - id: representation_options
+        type: s2
+  serialized_payload:
+    seq:
+      - id: header
+        type: serialized_payload_header
+      - id: payload
+        size: _parent._parent.header.octets_to_next_header - 28
+  locator:
+    seq:
+      - id: kind
+        type: s4
+      - id: port
+        type: u4
+      - id: address
+        size: 16
+  locator_list:
+    seq:
+      - id: value
+        type: locator
+  fragment_number:
+    seq:
+      - id: value
+        type: u4
+  fragment_number_set:
+    seq:
+      - id: bitmap_base
+        type: fragment_number
+      - id: numbits
+        type: u4
+      - id: bitmap
+        type: fragment_number
+        size: numbits
+  info_source:
+    seq:
+      - id: unused
+        type: u4
+      - id: protocol_version
+        type: protocol_version
+      - id: vendor_id
+        type: vendor_id
+  info_timestamp:
+    seq:
+      - id: timestamp
+        type: timestamp
+  acknack:
+    seq:
+      - id: reader_id
+        type: entity_id
+      - id: writer_id
+        type: entity_id
+      - id: reader_sn_state
+        type: sequence_number_set
+      - id: count
+        type: count
+  data:
+    meta:
+      endian:
+        switch-on: _parent.header.flags & 0x01
+        cases:
+          'false': be
+          'true': le
+    seq:
+      - id: extra_flags
+        type: s2
+        doc: see 9.4.5.3.2. This protocol version should set all to zero.
+      - id: octets_to_inline_qos
+        type: u2
+        doc: 9.4.5.3.2
+      - id: reader_id
+        type: entity_id
+      - id: writer_id
+        type: entity_id
+      - id: writer_sn
+        type: sequence_number
+      - id: inline_qos
+        type: parameter_list
+        if: ((_parent.header.flags & 0x02) == 0)
+        doc: only if Q == 1 means only if QosFlag is set
+      - id: serialized_payload
+        type: serialized_payload
+        if: (((_parent.header.flags & 0x04) == 0) or ((_parent.header.flags & 0x08) == 0))
+        doc: only if D==1 or K==1 means only if DataFlag or KeyFlag is set. see 9.4.5.3.1
+  gap:
+    seq:
+      - id: reader_id
+        type: entity_id
+      - id: writer_id
+        type: entity_id
+      - id: gap_start
+        type: sequence_number
+      - id: gap_list
+        type: sequence_number_set
+  heartbeat:
+    seq:
+      - id: reader_id
+        type: entity_id
+      - id: writer_id
+        type: entity_id
+      - id: first_sn
+        type: sequence_number
+      - id: last_sn
+        type: sequence_number
+      - id: count
+        type: count
+  info_destination:
+    seq:
+      - id: guid_prefix
+        type: guid_prefix
+  info_reply:
+    seq:
+      - id: unicast_locator_list
+        type: locator_list
+      - id: multicast_locator_list
+        type: locator_list
+        if: _parent.header.flags & 0x02 == 1
+  pad:
+    doc: Pad is leaved blank, as specified by 9.4.5.12
+  nack_frag:
+    seq:
+      - id: reader_id
+        type: entity_id
+      - id: writer_id
+        type: entity_id
+      - id: writer_sn
+        type: sequence_number
+      - id: fragment_number_set
+        type: fragment_number_set
+      - id: count
+        type: count
+  submessage_header:
+    seq:
+      - id: submessage_id
+        type: s1
+        enum: submessage_id
+      - id: flags
+        type: u1
+      - id: octets_to_next_header
+        type: u2
+  rtps_header:
+    seq:
+      - id: magic
+        contents: RTPS
+      - id: protocol_version
+        type: protocol_version
+      - id: vendor_id
+        type: vendor_id
+      - id: guid_prefix
+        type: guid_prefix
+  rtps_submessage:
+    seq:
+      - id: header
+        type: submessage_header
+      - id: payload
+        type:
+          switch-on: header.submessage_id
+          cases:
+            'submessage_id::info_src': info_source
+            'submessage_id::info_ts': info_timestamp
+            'submessage_id::data': data
+            'submessage_id::gap': gap
+            'submessage_id::heartbeat': heartbeat
+            'submessage_id::info_dst': info_destination
+            'submessage_id::info_reply': info_reply
+            'submessage_id::pad': pad
+            'submessage_id::acknack': acknack
+
+enums:
+  submessage_id:
+    0x1: pad
+    0x6: acknack
+    0x7: heartbeat
+    0x8: gap
+    0x9: info_ts
+    0xc: info_src
+    0xd: info_reply_ip4
+    0xe: info_dst
+    0xf: info_reply
+    0x12: nack_frag
+    0x13: heartbeat_frag
+    0x15: data
+    0x16: data_frag