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Add TCPROS layer to contrib #3462

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Add TCPROS layer to contrib #3462

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@vmayoral vmayoral commented Nov 28, 2021

TCPROS is a transport layer for ROS Messages and Services. It uses standard TCP/IP sockets for transporting message data. Inbound connections are received via a TCP Server Socket with a header containing message data type and routing information. This class focuses on capturing the ROS Slave API.

An example package is presented below:

    B0 00 00 00 26 00 00 00 63 61 6C 6C 65 72 69 64  ....&...callerid
    3D 2F 72 6F 73 74 6F 70 69 63 5F 38 38 33 30 35  =/rostopic_88305
    5F 31 35 39 31 35 33 38 37 38 37 35 30 31 0A 00  _1591538787501..
    00 00 6C 61 74 63 68 69 6E 67 3D 31 27 00 00 00  ..latching=1'...
    6D 64 35 73 75 6D 3D 39 39 32 63 65 38 61 31 36  md5sum=992ce8a16
    38 37 63 65 63 38 63 38 62 64 38 38 33 65 63 37  87cec8c8bd883ec7
    33 63 61 34 31 64 31 1F 00 00 00 6D 65 73 73 61  3ca41d1....messa
    67 65 5F 64 65 66 69 6E 69 74 69 6F 6E 3D 73 74  ge_definition=st
    72 69 6E 67 20 64 61 74 61 0A 0E 00 00 00 74 6F  ring data.....to
    70 69 63 3D 2F 63 68 61 74 74 65 72 14 00 00 00  pic=/chatter....
    74 79 70 65 3D 73 74 64 5F 6D 73 67 73 2F 53 74  type=std_msgs/St
    72 69 6E 67                                      ring

vmayoral added 3 commits Nov 28, 2021
@vmayoral
Add TCPROS layer to contrib
a96a669 
The Robot Operating System (ROS) is a framework for robot
application development which provides modular distributed
software for building a variety of robot applications.

This layer allows to dissect ROS's (ROS 1) TCP-based communication
middleware.

Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
@vmayoral
Flake8 adjustments
c34a311 
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
@vmayoral
Fix spell checking
a6235a3 
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
polybassa
polybassa reviewed Dec 19, 2021
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polybassa
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vmayoral added 6 commits Dec 21, 2021
@vmayoral
Remove debug leftovers, group them under conf.debug_dissector
92f21a4 
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
@vmayoral
Remove global nfields, use __slots__
904af5e 
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
@vmayoral
Remove globals also from TCPROSBody
3c2b473 
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
@vmayoral
Fix global var. leftovers, transform to __slots__
e1bb92d 
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
@vmayoral
Simplify license
40cf093 
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
@vmayoral
Bind TCPROS tests to 11311
f6cca23 
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
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@vmayoral vmayoral commented Dec 21, 2021

Thanks for the review @polybassa, I believe I addressed all comments. Let me know if I missed anything.

@vmayoral
Deal with flake8 issues
4589103 
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
@vmayoral
Address codacy issues
c3de948 
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
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@polybassa polybassa commented Dec 22, 2021

One more remark. Could you please add build and dissect tests for all your packet classes.

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