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| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -11,23 +11,18 @@ | |
| // Contributors: | ||
| // ZettaScale Zenoh Team, <[email protected]> | ||
| // | ||
| #[cfg(not(feature = "shared-memory"))] | ||
| use crate::Zenoh080Bounded; | ||
| #[cfg(feature = "shared-memory")] | ||
| use crate::Zenoh080Sliced; | ||
| use crate::{common::extension, RCodec, WCodec, Zenoh080, Zenoh080Header}; | ||
| use alloc::vec::Vec; | ||
| use zenoh_buffers::{ | ||
| reader::{DidntRead, Reader}, | ||
| writer::{DidntWrite, Writer}, | ||
| ZBuf, | ||
| }; | ||
| use zenoh_protocol::{ | ||
| common::{iext, imsg}, | ||
| core::Encoding, | ||
| common::imsg, | ||
| zenoh::{ | ||
| id, | ||
| reply::{ext, flag, Reply}, | ||
| query::Consolidation, | ||
| reply::{flag, Reply, ReplyBody}, | ||
| }, | ||
| }; | ||
|
|
||
|
|
@@ -39,81 +34,35 @@ where | |
|
|
||
| fn write(self, writer: &mut W, x: &Reply) -> Self::Output { | ||
| let Reply { | ||
| timestamp, | ||
| encoding, | ||
| ext_sinfo, | ||
| ext_consolidation, | ||
| #[cfg(feature = "shared-memory")] | ||
| ext_shm, | ||
| ext_attachment, | ||
| consolidation, | ||
| ext_unknown, | ||
| payload, | ||
| } = x; | ||
|
|
||
| // Header | ||
| let mut header = id::REPLY; | ||
| if timestamp.is_some() { | ||
| header |= flag::T; | ||
| } | ||
| if encoding != &Encoding::DEFAULT { | ||
| header |= flag::E; | ||
| } | ||
| let mut n_exts = (ext_sinfo.is_some()) as u8 | ||
| + ((ext_consolidation != &ext::ConsolidationType::DEFAULT) as u8) | ||
| + (ext_attachment.is_some()) as u8 | ||
| + (ext_unknown.len() as u8); | ||
| #[cfg(feature = "shared-memory")] | ||
| { | ||
| n_exts += ext_shm.is_some() as u8; | ||
| if consolidation != &Consolidation::DEFAULT { | ||
| header |= flag::C; | ||
| } | ||
| let mut n_exts = ext_unknown.len() as u8; | ||
| if n_exts != 0 { | ||
| header |= flag::Z; | ||
| } | ||
| self.write(&mut *writer, header)?; | ||
|
|
||
| // Body | ||
| if let Some(ts) = timestamp.as_ref() { | ||
| self.write(&mut *writer, ts)?; | ||
| } | ||
| if encoding != &Encoding::DEFAULT { | ||
| self.write(&mut *writer, encoding)?; | ||
| if consolidation != &Consolidation::DEFAULT { | ||
| self.write(&mut *writer, *consolidation)?; | ||
| } | ||
|
|
||
| // Extensions | ||
| if let Some(sinfo) = ext_sinfo.as_ref() { | ||
| n_exts -= 1; | ||
| self.write(&mut *writer, (sinfo, n_exts != 0))?; | ||
| } | ||
| if ext_consolidation != &ext::ConsolidationType::DEFAULT { | ||
| n_exts -= 1; | ||
| self.write(&mut *writer, (*ext_consolidation, n_exts != 0))?; | ||
| } | ||
| #[cfg(feature = "shared-memory")] | ||
| if let Some(eshm) = ext_shm.as_ref() { | ||
| n_exts -= 1; | ||
| self.write(&mut *writer, (eshm, n_exts != 0))?; | ||
| } | ||
| if let Some(att) = ext_attachment.as_ref() { | ||
| n_exts -= 1; | ||
| self.write(&mut *writer, (att, n_exts != 0))?; | ||
| } | ||
| for u in ext_unknown.iter() { | ||
| n_exts -= 1; | ||
| self.write(&mut *writer, (u, n_exts != 0))?; | ||
| } | ||
|
|
||
| // Payload | ||
| #[cfg(feature = "shared-memory")] | ||
| { | ||
| let codec = Zenoh080Sliced::<u32>::new(ext_shm.is_some()); | ||
| codec.write(&mut *writer, payload)?; | ||
| } | ||
|
|
||
| #[cfg(not(feature = "shared-memory"))] | ||
| { | ||
| let bodec = Zenoh080Bounded::<u32>::new(); | ||
| bodec.write(&mut *writer, payload)?; | ||
| } | ||
| self.write(&mut *writer, payload)?; | ||
|
|
||
| Ok(()) | ||
| } | ||
|
|
@@ -144,81 +93,27 @@ where | |
| } | ||
|
|
||
| // Body | ||
| let mut timestamp: Option<uhlc::Timestamp> = None; | ||
| if imsg::has_flag(self.header, flag::T) { | ||
| timestamp = Some(self.codec.read(&mut *reader)?); | ||
| } | ||
|
|
||
| let mut encoding = Encoding::DEFAULT; | ||
| if imsg::has_flag(self.header, flag::E) { | ||
| encoding = self.codec.read(&mut *reader)?; | ||
| let mut consolidation = Consolidation::DEFAULT; | ||
| if imsg::has_flag(self.header, flag::C) { | ||
| consolidation = self.codec.read(&mut *reader)?; | ||
| } | ||
|
|
||
| // Extensions | ||
| let mut ext_sinfo: Option<ext::SourceInfoType> = None; | ||
| let mut ext_consolidation = ext::ConsolidationType::DEFAULT; | ||
| #[cfg(feature = "shared-memory")] | ||
| let mut ext_shm: Option<ext::ShmType> = None; | ||
| let mut ext_attachment: Option<ext::AttachmentType> = None; | ||
| let mut ext_unknown = Vec::new(); | ||
|
|
||
| let mut has_ext = imsg::has_flag(self.header, flag::Z); | ||
| while has_ext { | ||
| let ext: u8 = self.codec.read(&mut *reader)?; | ||
| let eodec = Zenoh080Header::new(ext); | ||
| match iext::eid(ext) { | ||
| ext::SourceInfo::ID => { | ||
| let (s, ext): (ext::SourceInfoType, bool) = eodec.read(&mut *reader)?; | ||
| ext_sinfo = Some(s); | ||
| has_ext = ext; | ||
| } | ||
| ext::Consolidation::ID => { | ||
| let (c, ext): (ext::ConsolidationType, bool) = eodec.read(&mut *reader)?; | ||
| ext_consolidation = c; | ||
| has_ext = ext; | ||
| } | ||
| #[cfg(feature = "shared-memory")] | ||
| ext::Shm::ID => { | ||
| let (s, ext): (ext::ShmType, bool) = eodec.read(&mut *reader)?; | ||
| ext_shm = Some(s); | ||
| has_ext = ext; | ||
| } | ||
| ext::Attachment::ID => { | ||
| let (a, ext): (ext::AttachmentType, bool) = eodec.read(&mut *reader)?; | ||
| ext_attachment = Some(a); | ||
| has_ext = ext; | ||
| } | ||
| _ => { | ||
| let (u, ext) = extension::read(reader, "Reply", ext)?; | ||
| ext_unknown.push(u); | ||
| has_ext = ext; | ||
| } | ||
| } | ||
| let (u, ext) = extension::read(reader, "Reply", ext)?; | ||
| ext_unknown.push(u); | ||
| has_ext = ext; | ||
| } | ||
|
|
||
| // Payload | ||
| let payload: ZBuf = { | ||
| #[cfg(feature = "shared-memory")] | ||
| { | ||
| let codec = Zenoh080Sliced::<u32>::new(ext_shm.is_some()); | ||
| codec.read(&mut *reader)? | ||
| } | ||
|
|
||
| #[cfg(not(feature = "shared-memory"))] | ||
| { | ||
| let bodec = Zenoh080Bounded::<u32>::new(); | ||
| bodec.read(&mut *reader)? | ||
| } | ||
| }; | ||
| let payload: ReplyBody = self.codec.read(&mut *reader)?; | ||
|
|
||
| Ok(Reply { | ||
| timestamp, | ||
| encoding, | ||
| ext_sinfo, | ||
| ext_consolidation, | ||
| #[cfg(feature = "shared-memory")] | ||
| ext_shm, | ||
| ext_attachment, | ||
| consolidation, | ||
| ext_unknown, | ||
| payload, | ||
| }) | ||
|
|
||
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