orte/contrib/decoder/decode_msg.c

   1 #include <stdio.h>
   2 #include <string.h>
   3 #include <ctype.h>
   4 #include <stdlib.h>
   5 #include <endian.h>
   6 #include <byteswap.h>
   7 #include <typedefs_defines_rtps.h>
   8
   9 // global variables
  10   FILE *ptr_in, *ptr_out;
  11
  12
  13 /**********************************************************************************/
  14 void conv_u32(u_int32_t *x,u_int8_t ef) {
  15   #if __BYTE_ORDER == __LITTLE_ENDIAN
  16      if(ef) bswap_32(*x);
  17   #elif __BYTE_ORDER == __BIG_ENDIAN
  18      if(!ef)bswap_32(*x);
  19   #endif
  20 }
  21
  22 /**********************************************************************************/
  23 void print_obj(void *obj) {
  24   fprintf(ptr_out," (");
  25   switch (bswap_32(*((u_int32_t*)obj))) {
  26     case OID_APP:
  27       fprintf(ptr_out,"ManagedApplicaton or Manager");
  28       break;
  29     case OID_WRITE_APPSELF:
  30       fprintf(ptr_out,"Write appself");
  31       break;
  32     case OID_WRITE_APP:
  33       fprintf(ptr_out,"Write app");
  34       break;
  35     case OID_READ_APP:
  36       fprintf(ptr_out,"Read app");
  37       break;
  38     case OID_WRITE_MGR:
  39       fprintf(ptr_out,"Write mgr");
  40       break;
  41     case OID_READ_MGR:
  42       fprintf(ptr_out,"Read mgr");
  43       break;
  44     case OID_WRITE_PUBL:
  45       fprintf(ptr_out,"Write publ");
  46       break;
  47     case OID_READ_PUBL:
  48       fprintf(ptr_out,"Read publ");
  49       break;
  50     case OID_WRITE_SUBS:
  51       fprintf(ptr_out,"Write subs");
  52       break;
  53     case OID_READ_SUBS:
  54       fprintf(ptr_out,"Read subs");
  55       break;
  56     default:
  57       fprintf(ptr_out,"unknown");
  58       break;
  59   }
  60   fprintf(ptr_out,")\n");
  61 }
  62
  63 /**********************************************************************************/
  64 void print_app(u_int8_t app) {
  65   switch (app) {
  66     case MANAGEDAPPLICATION:
  67       fprintf(ptr_out,"(managed application)\n");
  68       break;
  69     case MANAGER:
  70       fprintf(ptr_out,"(manager)\n");
  71       break;
  72     default:
  73       fprintf(ptr_out,"(unknown class)\n");
  74       break;
  75   }
  76 }
  77
  78 /**********************************************************************************/
  79 void decode_parametr_sequence(u_int8_t *msg) {
  80   NtpTime            ts;
  81   ProtocolVersion    pv;
  82   VendorId           vid;
  83   SequenceNumber     sn;
  84   u_int8_t      i,j,l;
  85   u_int8_t      *k;
  86
  87   while(*((ParameterId*)msg)!=PID_SENTINEL) {
  88     printf("id%d,len%d\n",*((ParameterId*)msg),*((ParameterLength*)(msg+2)));
  89     if ((*((ParameterLength*)(msg+2)))==0) break;
  90     switch(*(ParameterId*)msg) {
  91       case PID_PAD:
  92         fprintf(ptr_out,"     PID_PAD                              :\n");
  93         break;
  94       case PID_EXPIRATION_TIME:
  95         ts=*((NtpTime*)(msg+4));
  96         fprintf(ptr_out,"     PID_EXPIRATION_TIME                  : %u,%u\n",
  97                         ts.seconds,ts.fraction);
  98         break;
  99       case PID_PERSISTENCE:
 100         ts=*((NtpTime*)(msg+4));
 101         fprintf(ptr_out,"     PID_PERSISTENCE                      : %u,%u\n",
 102                         ts.seconds,ts.fraction);
 103         break;
 104       case PID_MINIMUM_SEPARATION:
 105         ts=*((NtpTime*)(msg+4));
 106         fprintf(ptr_out,"     PID_MINIMUM_SEPARATION               : %u,%u\n",
 107                         ts.seconds,ts.fraction);
 108         break;
 109       case PID_TOPIC:
 110         fprintf(ptr_out,"     PID_TOPIC                            :\n");
 111         k=msg+4;
 112         //len of message is also in message (first ulong)
 113         l=(*(u_int32_t*)(msg+4))+4;
 114         while(l!=0) {
 115           if (l>8) j=8;
 116           else j=l;
 117           l-=j;
 118           fprintf(ptr_out,"                    : ");
 119           for(i=0;i<j;i++,k++) fprintf(ptr_out,"%02X ",k[0]);
 120           if (l==0) {
 121             for(i=j;i<8;i++) fprintf(ptr_out,"   ");
 122           }
 123           k-=j;
 124           for(i=0;i<j;i++,k++) fprintf(ptr_out,"%c",k[0]);
 125           fprintf(ptr_out,"\n");
 126         }
 127         break;
 128       case PID_STRENGTH:
 129         fprintf(ptr_out,"     PID_STRENGTH                         : %u\n",
 130                         *(u_int32_t*)(msg+4));
 131         break;
 132       case PID_TYPE_NAME:
 133         fprintf(ptr_out,"     PID_TYPE_NAME                        :\n");
 134         k=msg+4;
 135         //len of message is also in message (first ulong)
 136         l=(*(u_int32_t*)(msg+4))+4;
 137         while(l!=0) {
 138           if (l>8) j=8;
 139           else j=l;
 140           l-=j;
 141           fprintf(ptr_out,"                    : ");
 142           for(i=0;i<j;i++,k++) fprintf(ptr_out,"%02X ",k[0]);
 143           if (l==0) {
 144             for(i=j;i<8;i++) fprintf(ptr_out,"   ");
 145           }
 146           k-=j;
 147           for(i=0;i<j;i++,k++) fprintf(ptr_out,"%c",k[0]);
 148           fprintf(ptr_out,"\n");
 149         }
 150         break;
 151       case PID_TYPE_CHECKSUM:
 152         fprintf(ptr_out,"     PID_TYPE_CHECKSUM                    : %u\n",
 153                         *(TypeChecksum*)(msg+4));
 154         break;
 155       case RTPS_PID_TYPE2_NAME:
 156         fprintf(ptr_out,"     RTPS_PID_TYPE2_NAME                  :\n");
 157         break;
 158       case RTPS_PID_TYPE2_CHECKSUM:
 159         fprintf(ptr_out,"     RTPS_PID_TYPE2_CHECKSUM              :\n");
 160         break;
 161       case PID_MATATRAFFIC_MULTICAST_IPADDRESS:
 162         fprintf(ptr_out,"     PID_MATATRAFFIC_MULTICAST_IPADDRESS  : %u.%u.%u.%u\n",
 163                         msg[7],msg[6],msg[5],msg[4]);
 164         break;
 165       case PID_APP_IPADDRESS:
 166         fprintf(ptr_out,"     PID_APP_IPADDRESS                    : %u.%u.%u.%u\n",
 167                         msg[7],msg[6],msg[5],msg[4]);
 168         break;
 169       case PID_METATRAFFIC_UNICAST_PORT:
 170         fprintf(ptr_out,"     PID_METATRAFFIC_UNICAST_PORT         : %u\n",
 171                         *(Port*)(msg+4));
 172         break;
 173       case PID_USERDATA_UNICAST_PORT:
 174         fprintf(ptr_out,"     PID_USERDATA_UNICAST_PORT            : %u\n",
 175                         *(Port*)(msg+4));
 176         break;
 177       case PID_EXPECTS_ACK:
 178         fprintf(ptr_out,"     PID_EXPECTS_ACK                      : %u\n",
 179                         *(u_int32_t*)(msg+4));
 180         break;
 181       case PID_USERDATA_MULTICAST_IPADDRESS:
 182         fprintf(ptr_out,"     PID_USERDATA_MULTICAST_IPADDRESS     : %u.%u.%u.%u\n",
 183                         msg[7],msg[6],msg[5],msg[4]);
 184         break;
 185       case PID_MANAGER_KEY:
 186         fprintf(ptr_out,"     PID_MANAGER_KEY                      : 0x%02x%02x%02x%02x (%u.%u.%u.%u)\n",
 187                         msg[7],msg[6],msg[5],msg[4],msg[7],msg[6],msg[5],msg[4]);
 188         break;
 189       case PID_SEND_QUEUE_SIZE:
 190         fprintf(ptr_out,"     PID_SEND_QUEUE_SIZE                  : %u\n",
 191                         *(u_int32_t*)(msg+4));
 192         break;
 193       case PID_PROTOCOL_VERSION:
 194         pv=*((ProtocolVersion*)(msg+4));
 195         fprintf(ptr_out,"     PID_PROTOCOL_VERSION                 : %u.%u\n",
 196                 pv.major,pv.minor);
 197         break;
 198       case PID_VENDOR_ID:
 199         vid=*((VendorId*)(msg+4));
 200         fprintf(ptr_out,"     PID_VENDOR_ID                        : %u.%u\n",
 201                 vid.major,vid.minor);
 202         break;
 203       case PID_VARGAPPS_SEQUENCE_NUMBER_LAST:
 204         sn=*((SequenceNumber*)(msg+4));
 205         fprintf(ptr_out,"     PID_VARGAPPS_SEQUENCE_NUMBER_LAST    : %u\n",sn.low);
 206         break;
 207       case PID_RECV_QUEUE_SIZE:
 208         fprintf(ptr_out,"     PID_RECV_QUEUE_SIZE                  : %u\n",
 209                         *(u_int32_t*)(msg+4));
 210         break;
 211       case PID_RELIABILITY_OFFERED:
 212         fprintf(ptr_out,"     PID_RELIABILITY_OFFERED              : %u\n",
 213                         *(u_int32_t*)(msg+4));
 214         break;
 215       case PID_RELIABILITY_REQUESTED:
 216         fprintf(ptr_out,"     PID_RELIABILITY_REQUESTED            : %u\n",
 217                         *(u_int32_t*)(msg+4));
 218         break;
 219       default:
 220         fprintf(ptr_out,"     unknow paramerId                 : %d len : %d\n",
 221                 *((ParameterId*)msg),*((ParameterLength*)(msg+2)));
 222         break;
 223     }
 224     msg+=(*((ParameterLength*)(msg+2)))+4;                      /* next message */
 225   }
 226   msg+=(*((ParameterLength*)(msg+2)))+4;                        /* message end*/
 227 }
 228
 229
 230 /**********************************************************************************/
 231 int decode_header(u_int8_t *msg, unsigned len, MessageInterpret *mi) {
 232   if (len<16) return -1;                          /* message is to small */
 233   if (msg[0]!='R') return -2;                     /* header is invalid */
 234   if (msg[1]!='T') return -2;                     /* header is invalid */
 235   if (msg[2]!='P') return -2;                     /* header is invalid */
 236   if (msg[3]!='S') return -2;                     /* header is invalid */
 237   mi->sourceVersion=*((ProtocolVersion*)(msg+4)); /* ProtocolVersion */
 238   mi->sourceVendorId=*((VendorId*)(msg+6));       /* Vendor Id */
 239   mi->sourceHostId=*((HostId*)(msg+8));           /* Host Id */
 240   mi->sourceAppId=*((AppId*)(msg+12));            /* App Id */
 241   mi->haveTimestamp=0;                            /* false */
 242   return 0;
 243 }
 244
 245 /**********************************************************************************/
 246 int decode_submessage(u_int8_t *msg, int ptr, MessageInterpret *mi) {
 247   IPAddress          ipa;
 248   Port               port;
 249   ObjectId           roid,woid,oid;
 250   SequenceNumber     fsn,lsn,wsn;
 251   u_int8_t      i,j,l;
 252   u_int8_t      *k;
 253   HostId             hid;
 254   AppId              aid;
 255   int                ptr_off;
 256
 257   switch ((SubmessageId)msg[ptr]) {
 258     case PAD:
 259       fprintf(ptr_out,"   PAD\n");
 260       break;
 261     case VAR:
 262       fprintf(ptr_out,"   VAR\n");
 263       fprintf(ptr_out,"     h-bit          : %d\n",(msg[ptr+1] & 8) ? 1:0);
 264       fprintf(ptr_out,"     alive-bit      : %d\n",(msg[ptr+1] & 4) ? 1:0);
 265       fprintf(ptr_out,"     p-bit          : %d\n",(msg[ptr+1] & 2) ? 1:0);
 266       roid=*((ObjectId*)(msg+ptr+4));
 267       fprintf(ptr_out,"     ObjectId       : %d.%d.%d.%02x",
 268                         *(u_int8_t*)&roid,*(((u_int8_t*)&roid)+1),*(((u_int8_t*)&roid)+2),*(((u_int8_t*)&roid)+3));
 269       print_obj(&roid);
 270       woid=*((ObjectId*)(msg+ptr+8));
 271       fprintf(ptr_out,"     ObjectId       : %d.%d.%d.%02x",
 272                         *(u_int8_t*)&woid,*(((u_int8_t*)&woid)+1),*(((u_int8_t*)&woid)+2),*(((u_int8_t*)&woid)+3));
 273       print_obj(&woid);
 274       if (msg[ptr+1] & 8) {
 275         hid=*((HostId*)(msg+ptr+12));                   /* hostId */
 276         aid=*((AppId*)(msg+ptr+16));                   /* appId */
 277         fprintf(ptr_out,"     HostId         : %d.%d.%d.%d\n",
 278                         *(u_int8_t*)&hid,*(((u_int8_t*)&hid)+1),*(((u_int8_t*)&hid)+2),*(((u_int8_t*)&hid)+3));
 279         fprintf(ptr_out,"     AppId          : %d.%d.%d.%d ",
 280                         *(u_int8_t*)&aid,*(((u_int8_t*)&aid)+1),*(((u_int8_t*)&aid)+2),*(((u_int8_t*)&aid)+3));
 281         print_app(*(((u_int8_t*)&aid)+3));
 282         ptr_off=8;
 283       } else ptr_off=0;
 284       oid=*((ObjectId*)(msg+ptr+12+ptr_off));
 285       fprintf(ptr_out,"     ObjectId       : %d.%d.%d.%02x",
 286                         *(u_int8_t*)&oid,*(((u_int8_t*)&oid)+1),*(((u_int8_t*)&oid)+2),*(((u_int8_t*)&oid)+3));
 287       print_obj(&oid);
 288       wsn=*((SequenceNumber*)(msg+ptr+16+ptr_off));
 289       fprintf(ptr_out,"     sequenceNumber : %u\n",wsn.low);
 290       if (msg[ptr+1] & 2) {
 291         decode_parametr_sequence(msg+ptr+24+ptr_off);
 292       }
 293       break;
 294     case ISSUE:
 295       fprintf(ptr_out,"   ISSUE\n");
 296       roid=*((ObjectId*)(msg+ptr+4));woid=*((ObjectId*)(msg+ptr+8));
 297       fsn=*((SequenceNumber*)(msg+ptr+12));
 298       fprintf(ptr_out,"     p-bit          : %d\n",(msg[ptr+1] & 2) ? 1:0);
 299       fprintf(ptr_out,"     readerObjectId : %d.%d.%d.%02x",
 300                       *(u_int8_t*)&roid,*(((u_int8_t*)&roid)+1),*(((u_int8_t*)&roid)+2),*(((u_int8_t*)&roid)+3));
 301       print_obj(&roid);
 302       fprintf(ptr_out,"     writeObjectId  : %d.%d.%d.%02x",
 303                       *(u_int8_t*)&woid,*(((u_int8_t*)&woid)+1),*(((u_int8_t*)&woid)+2),*(((u_int8_t*)&woid)+3));
 304       print_obj(&woid);
 305       fprintf(ptr_out,"     issueSeqNumber : %u\n",fsn.low);
 306       k=msg+ptr+20;
 307       if (msg[ptr+1] & 2) {
 308         decode_parametr_sequence(k);          /* after k is set to end of paramseq. */
 309       }
 310 //      l=(*(unsigned*)(msg+ptr+2))-(k-(msg+ptr+20)+16);
 311       //len of message is also in message (first ulong), internaly defined by RTI !!!
 312       l=(*(u_int32_t*)k)+4;
 313       while(l!=0) {
 314         if (l>8) j=8;
 315         else j=l;
 316         l-=j;
 317         fprintf(ptr_out,"                    : ");
 318         for(i=0;i<j;i++,k++) fprintf(ptr_out,"%02X ",k[0]);
 319         if (l==0) {
 320           for(i=j;i<8;i++) fprintf(ptr_out,"   ");
 321         }
 322         k-=j;
 323         for(i=0;i<j;i++,k++) fprintf(ptr_out,"%c",k[0]);
 324         fprintf(ptr_out,"\n");
 325       }
 326       break;
 327     case ACK:
 328       fprintf(ptr_out,"   ACK\n");
 329       roid=*((ObjectId*)(msg+ptr+4));woid=*((ObjectId*)(msg+ptr+8));
 330       fprintf(ptr_out,"     final-bit      : %d\n",(msg[ptr+1] & 2) ? 1:0);
 331       fprintf(ptr_out,"     readerObjectId : %d.%d.%d.%02x",
 332                       *(u_int8_t*)&roid,*(((u_int8_t*)&roid)+1),*(((u_int8_t*)&roid)+2),*(((u_int8_t*)&roid)+3));
 333       print_obj(&roid);
 334       fprintf(ptr_out,"     writeObjectId  : %d.%d.%d.%02x",
 335                       *(u_int8_t*)&woid,*(((u_int8_t*)&woid)+1),*(((u_int8_t*)&woid)+2),*(((u_int8_t*)&woid)+3));
 336       print_obj(&woid);
 337       fprintf(ptr_out,"     bitmap         : %u/%u:",*((u_int32_t*)(msg+ptr+16)),
 338                       *((u_int32_t*)(msg+ptr+20)));
 339       for(i=0;i<msg[ptr+20]/8;) {
 340         for(j=128;j!=0;j>>=1) fprintf(ptr_out,"%d",(msg[ptr+24+i] & j) ? 1:0);
 341         fprintf(ptr_out," ");
 342         if ((!(++i % 4)) && (i<msg[ptr+20]/8))
 343           fprintf(ptr_out,"\n                          :");
 344       }
 345       fprintf(ptr_out,"\n");
 346       break;
 347     case HEARTBEAT:
 348       fprintf(ptr_out,"   HEARTBEAT\n");
 349       roid=*((ObjectId*)(msg+ptr+4));woid=*((ObjectId*)(msg+ptr+8));
 350       fsn=*((SequenceNumber*)(msg+ptr+12));lsn=*((SequenceNumber*)(msg+ptr+20));
 351       fprintf(ptr_out,"     final-bit      : %d\n",(msg[ptr+1] & 2) ? 1:0);
 352       fprintf(ptr_out,"     readerObjectId : %d.%d.%d.%02x",
 353                       *(u_int8_t*)&roid,*(((u_int8_t*)&roid)+1),*(((u_int8_t*)&roid)+2),*(((u_int8_t*)&roid)+3));
 354       print_obj(&roid);
 355       fprintf(ptr_out,"     writeObjectId  : %d.%d.%d.%02x",
 356                       *(u_int8_t*)&woid,*(((u_int8_t*)&woid)+1),*(((u_int8_t*)&woid)+2),*(((u_int8_t*)&woid)+3));
 357       print_obj(&woid);
 358       fprintf(ptr_out,"     firstSeqNumber : %u\n",fsn.low);
 359       fprintf(ptr_out,"     lastSeqNumber  : %u\n",lsn.low);
 360       break;
 361     case GAP:
 362       fprintf(ptr_out,"   GAP\n");
 363       roid=*((ObjectId*)(msg+ptr+4));woid=*((ObjectId*)(msg+ptr+8));
 364       fsn=*((SequenceNumber*)(msg+ptr+12));
 365       lsn=*((SequenceNumber*)(msg+ptr+20));
 366       fprintf(ptr_out,"     readerObjectId : %d.%d.%d.%02x",
 367                       *(u_int8_t*)&roid,*(((u_int8_t*)&roid)+1),*(((u_int8_t*)&roid)+2),*(((u_int8_t*)&roid)+3));
 368       print_obj(&roid);
 369       fprintf(ptr_out,"     writeObjectId  : %d.%d.%d.%02x",
 370                       *(u_int8_t*)&woid,*(((u_int8_t*)&woid)+1),*(((u_int8_t*)&woid)+2),*(((u_int8_t*)&woid)+3));
 371       print_obj(&woid);
 372       fprintf(ptr_out,"     firstSeqNumber : %u\n",fsn.low);
 373       fprintf(ptr_out,"     bitmap         : %u/%u:",lsn.low,
 374                       *((u_int32_t*)(msg+ptr+28)));
 375       for(i=0;i<(*((u_int32_t*)(msg+ptr+28)));i++) {
 376         l=((*(((u_int32_t*)(msg+ptr+32))+i/32)) & (1<<(31-i%32))) ? 1:0;
 377         fprintf(ptr_out,"%d",l);
 378       }
 379       fprintf(ptr_out,"\n");
 380       break;
 381     case INFO_TS:
 382       fprintf(ptr_out,"   INFO_TS\n");
 383       fprintf(ptr_out,"     i-bit          : %d\n",(msg[ptr+1] & 2) ? 1:0);
 384       if (!(msg[ptr+1]&2)) {
 385         mi->timestamp=*((NtpTime*)(msg+ptr+4));
 386         fprintf(ptr_out,"     ntpTimeStamp   : %u,%u\n",
 387                         mi->timestamp.seconds,mi->timestamp.fraction);
 388       }
 389       break;
 390     case INFO_SRC:
 391       fprintf(ptr_out,"   INFO_SRC\n");
 392       break;
 393     case INFO_REPLY:
 394       fprintf(ptr_out,"   INFO_REPLY\n");
 395       ipa=*((u_int32_t*)(msg+ptr+4));                  /* unicastReplyIPAddress */
 396       port=*((u_int32_t*)(msg+ptr+8));                 /* unicastReplyPort */
 397       fprintf(ptr_out,"     unicastReplyIPAddress   : %d.%d.%d.%d\n",
 398                       *(u_int8_t*)&ipa,*(((u_int8_t*)&ipa)+1),*(((u_int8_t*)&ipa)+2),*(((u_int8_t*)&ipa)+3));
 399       fprintf(ptr_out,"     unicastReplyPort        : %u\n",port);
 400       if (ipa!=IPADDRESS_INVALID) {
 401         mi->unicastReplyIPAddress=ipa;
 402       }
 403       mi->unicastReplyPort=port;
 404       if ((msg[ptr+1] & 0x02) !=0) {
 405         ipa=*((u_int32_t*)(msg+ptr+12));               /* multicastReplyIPAddress */
 406         port=*((u_int32_t*)(msg+ptr+16));              /* multicastReplyPort */
 407         fprintf(ptr_out,"     multicastReplyIPAddress : %d.%d.%d.%d\n",
 408                       *(u_int8_t*)&ipa,*(((u_int8_t*)&ipa)+1),*(((u_int8_t*)&ipa)+2),*(((u_int8_t*)&ipa)+3));
 409         fprintf(ptr_out,"     multicastReplyPort      : %u\n",port);
 410         mi->multicastReplyIPAddress=ipa;
 411         mi->multicastReplyPort=port;
 412       } else {
 413         mi->multicastReplyIPAddress=IPADDRESS_INVALID;
 414         mi->multicastReplyPort     =PORT_INVALID;
 415       }
 416       break;
 417     case INFO_DST:
 418       fprintf(ptr_out,"   INFO_DST\n");
 419       hid=*((HostId*)(msg+ptr+4));                   /* hostId */
 420       aid=*((AppId*)(msg+ptr+8));                   /* appId */
 421       fprintf(ptr_out,"     HostId                  : %d.%d.%d.%d\n",
 422                         *(u_int8_t*)&hid,*(((u_int8_t*)&hid)+1),*(((u_int8_t*)&hid)+2),*(((u_int8_t*)&hid)+3));
 423       fprintf(ptr_out,"     AppId                   : %d.%d.%d.%d ",
 424                         *(u_int8_t*)&aid,*(((u_int8_t*)&aid)+1),*(((u_int8_t*)&aid)+2),*(((u_int8_t*)&aid)+3));
 425       print_app(*(((u_int8_t*)&aid)+3));
 426       break;
 427     default:
 428       fprintf(ptr_out,"   undefined submessage code\n");
 429       break;
 430   }
 431   return 0;
 432 }
 433
 434
 435 /**********************************************************************************/
 436 int main(int argc, char * argv[]) {
 437   u_int8_t rtps_msg[16384],rtps_msg_c[3]={0,0,0};
 438   unsigned rtps_msg_ptr=0,rtps_msg_len,rtps_submsg_cnt,submsg_len;
 439   int err,c,no_lchar=1;
 440   MessageInterpret mi;
 441
 442   printf("-------------------------------------------------------------------------------\n");
 443   printf("             RTPS messages decoder                OCERA project                \n");
 444   printf("                                                                               \n");
 445   printf("-------------------------------------------------------------------------------\n");
 446   if (argc != 3) {
 447     printf(" syntax :    decode_msg 'filename to decode' 'output file'\n\n");
 448     return 0;
 449   }
 450   printf(" decode file    : %s\n output file    : %s\n\n",argv[1],argv[2]);
 451   ptr_in = fopen(argv[1],"r");                            /* open input file */
 452   if (ferror(ptr_in)) {
 453     printf(" unable to open %s\n",argv[1]);
 454   }
 455   ptr_out = fopen(argv[2],"w");                           /* create output file */
 456   if (ferror(ptr_out)) {
 457     printf(" unable to create %s\n",argv[2]);
 458   }
 459   while ((c = fgetc(ptr_in)) !=EOF) {                     /* read one character */
 460     if (((no_lchar==1) && (!isdigit(c))) || (no_lchar==0)) { /* outside RTPS line */
 461       if (rtps_msg_ptr) {                                 /* proc. data read data ? */
 462         rtps_msg[rtps_msg_ptr]=0;                         /* end of rtps data */
 463         rtps_msg_len=rtps_msg_ptr;rtps_msg_ptr=0;
 464         printf(" message length : %d\n",rtps_msg_len);
 465         /* decoded message - msg stored in rtps_msg, length msg in rtps_msg_len */
 466         if ((err=decode_header(rtps_msg,rtps_msg_len,&mi))==0) {
 467           fprintf(ptr_out,"message length      : %d\n",rtps_msg_len);
 468           fprintf(ptr_out," Header\n");
 469           fprintf(ptr_out,"   protocol version : %d.%d \
 470                          \n   vendorId         : %d.%d \
 471                          \n   hostId           : %d.%d.%d.%d \
 472                          \n   appId            : %d.%d.%d.%d ",
 473                            mi.sourceVersion.major,mi.sourceVersion.minor,mi.sourceVendorId.major,
 474                            mi.sourceVendorId.minor,*(u_char*)&mi.sourceHostId,*(((u_char*)&mi.sourceHostId)+1),
 475                            *(((u_char*)&mi.sourceHostId)+2),*(((u_char*)&mi.sourceHostId)+3),*(((u_char*)&mi.sourceAppId)),
 476                            *(((u_char*)&mi.sourceAppId)+1),*(((u_char*)&mi.sourceAppId)+2),*(((u_char*)&mi.sourceAppId)+3));
 477           print_app(*(((u_char*)&mi.sourceAppId)+3));
 478           rtps_msg_ptr=16;rtps_submsg_cnt=1;
 479           do {
 480             fprintf(ptr_out," Submessage : %d",rtps_submsg_cnt++);
 481             if ((rtps_msg_ptr+3)<=rtps_msg_len) {  /* len. submessage header is OK */
 482               submsg_len=rtps_msg[rtps_msg_ptr+2]+rtps_msg[rtps_msg_ptr+3]*0x100;
 483               fprintf(ptr_out," len : %d\n",submsg_len+4);
 484               if ((submsg_len+rtps_msg_ptr+3)<=rtps_msg_len) {
 485                 /* decode submessage */
 486                 decode_submessage(rtps_msg,rtps_msg_ptr,&mi);
 487                 rtps_msg_ptr+=submsg_len+4;
 488               } else rtps_msg_ptr=rtps_msg_len;    /* submessage is too small */
 489             } else {
 490               rtps_msg_ptr=rtps_msg_len;           /* submessage is too small */
 491               fprintf(ptr_out,"\n");
 492             }
 493           } while (rtps_msg_ptr<rtps_msg_len);
 494         } else {
 495           fprintf(ptr_out,"invalid header - error code : %d\n",err);
 496         }
 497         rtps_msg_ptr=0;
 498       }
 499       no_lchar=0;
 500       if (c=='\n') no_lchar=1;
 501       fputc(c,ptr_out);                                   /* copy to output file */
 502     }
 503     if (no_lchar>1) {                                     /* reading RTPS message*/
 504       no_lchar++;
 505       if (c=='\n') no_lchar=1;
 506       else {
 507         if ((no_lchar>5) && (no_lchar<57)) {              /* converted data from */
 508           if ((rtps_msg_c[0]!=0) && (isxdigit(c))) {      /* position 6 to 56    */
 509             rtps_msg_c[1]=(u_int8_t)c;
 510             rtps_msg[rtps_msg_ptr++]=(u_int8_t)strtol(rtps_msg_c,NULL,16);
 511             rtps_msg_c[0]=0;
 512           } else {
 513             if ((rtps_msg_c[0]==0) && (isxdigit(c))) rtps_msg_c[0]=(u_int8_t)c;
 514           }
 515         }
 516       }
 517     }
 518     if ((no_lchar==1) && (isxdigit(c))) no_lchar++;        /* is begin RTPS line ? */
 519   }
 520   fclose(ptr_in);
 521   fclose(ptr_out);
 522   return 0;
 523 }