[19347] Fix encapsulation format in WLP (backport #3784)

include/fastdds/rtps/builtin/liveliness/WLPListener.h

@@ -21,14 +21,14 @@
 #define _FASTDDS_RTPS_WLPLISTENER_H_
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#include <fastdds/rtps/reader/ReaderListener.h>
-#include <fastdds/rtps/common/Guid.h>
+#include <fastdds/rtps/common/GuidPrefix_t.hpp>
 #include <fastdds/rtps/common/InstanceHandle.h>
-
+#include <fastdds/rtps/common/Types.h>
+#include <fastdds/rtps/reader/ReaderListener.h>
 #include <fastrtps/qos/QosPolicies.h>
 
 namespace eprosima {
-namespace fastrtps{
+namespace fastrtps {
 namespace rtps {
 
 class WLP;
@@ -39,14 +39,16 @@ struct CacheChange_t;
  * Class WLPListener that receives the liveliness messages asserting the liveliness of remote endpoints.
  * @ingroup LIVELINESS_MODULE
  */
-class WLPListener: public ReaderListener {
+class WLPListener : public ReaderListener
+{
 public:
 
     /**
      * @brief Constructor
      * @param pwlp Pointer to the writer liveliness protocol
      */
-    WLPListener(WLP* pwlp);
+    WLPListener(
+            WLP* pwlp);
 
     /**
      * @brief Destructor
@@ -60,27 +62,41 @@ class WLPListener: public ReaderListener {
      */
     void onNewCacheChangeAdded(
             RTPSReader* reader,
-            const CacheChange_t* const  change) override;
+            const CacheChange_t* const change) override;
 
 private:
 
     /**
-    * Separate the Key between the GuidPrefix_t and the liveliness Kind
-    * @param key InstanceHandle_t to separate.
-    * @param guidP GuidPrefix_t pointer to store the info.
-    * @param liveliness Liveliness Kind Pointer.
-    * @return True if correctly separated.
-    */
+     * Separate the Key between the GuidPrefix_t and the liveliness Kind
+     * @param key InstanceHandle_t to separate.
+     * @param guidP GuidPrefix_t pointer to store the info.
+     * @param liveliness Liveliness Kind Pointer.
+     * @return True if correctly separated.
+     */
     bool separateKey(
             InstanceHandle_t& key,
             GuidPrefix_t* guidP,
             LivelinessQosPolicyKind* liveliness);
 
     /**
-    * Compute the key from a CacheChange_t
-    * @param change
-    */
-    bool computeKey(CacheChange_t* change);
+     * Compute the key from a CacheChange_t
+     * @param change
+     */
+    bool computeKey(
+            CacheChange_t* change);
+
+    /**
+     * @brief Check that the ParticipantMessageData kind is a valid one for WLP and extract the liveliness kind.
+     *
+     * @param[in] serialized_kind A pointer to the first octet of the kind array. The function assumes 4 elements
+     *        in the array.
+     * @param[out] liveliness_kind A reference to the LivelinessQosPolicyKind.
+     *
+     * @return True if the kind corresponds with one for WLP, false otherwise.
+     */
+    bool get_wlp_kind(
+            const octet* serialized_kind,
+            LivelinessQosPolicyKind& liveliness_kind);
 
     //! A pointer to the writer liveliness protocol
     WLP* mp_WLP;
@@ -89,6 +105,6 @@ class WLPListener: public ReaderListener {
 
 } /* namespace rtps */
 } /* namespace eprosima */
-}
-#endif
+} // namespace eprosima
+#endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 #endif /* _FASTDDS_RTPS_WLPLISTENER_H_ */

include/fastdds/rtps/common/CDRMessage_t.h

@@ -96,7 +96,11 @@ struct RTPS_DllAPI CDRMessage_t final
             const SerializedPayload_t& payload)
         : wraps(true)
     {
-        msg_endian = payload.encapsulation == PL_CDR_BE ? BIGEND : LITTLEEND;
+        msg_endian = LITTLEEND;
+        if (payload.encapsulation == PL_CDR_BE || payload.encapsulation == CDR_BE)
+        {
+            msg_endian = BIGEND;
+        }
         pos = payload.pos;
         length = payload.length;
         buffer = payload.data;

include/fastdds/rtps/common/SerializedPayload.h

@@ -42,7 +42,7 @@ namespace rtps {
 #define PL_CDR_LE 0x0003
 
 #if FASTDDS_IS_BIG_ENDIAN_TARGET
-#define DEFAULT_ENCAPSULATION CDR_LE
+#define DEFAULT_ENCAPSULATION CDR_BE
 #define PL_DEFAULT_ENCAPSULATION PL_CDR_BE
 #else
 #define DEFAULT_ENCAPSULATION CDR_LE

include/fastdds/rtps/messages/CDRMessage.h

@@ -312,6 +312,17 @@ inline bool addParticipantGenericMessage(
 
 ///@}
 
+/**
+ * @brief Skip bytes in serialized buffer
+ *
+ * @param msg The CDR message
+ * @param length The number of bytes to skip
+ * @return true if skipped, false otherwise
+ */
+inline bool skip(
+        CDRMessage_t* msg,
+        uint32_t length);
+
 } /* namespace CDRMessage */
 
 } /* namespace rtps */

include/fastdds/rtps/messages/CDRMessage.hpp

@@ -1301,6 +1301,20 @@ inline bool CDRMessage::readParticipantGenericMessage(
     return true;
 }
 
+inline bool CDRMessage::skip(
+        CDRMessage_t* msg,
+        uint32_t length)
+{
+    // Validate input
+    bool ret = (msg != nullptr) && (msg->pos + length <= msg->length);
+    if (ret)
+    {
+        // Advance index the number of specified bytes
+        msg->pos += length;
+    }
+    return ret;
+}
+
 } // namespace rtps
 } // namespace fastrtps
 } // namespace eprosima

src/cpp/rtps/builtin/liveliness/WLP.cpp

@@ -890,9 +890,9 @@ bool WLP::send_liveliness_message(
 
     if (change != nullptr)
     {
-        change->serializedPayload.encapsulation = (uint16_t)PL_DEFAULT_ENCAPSULATION;
+        change->serializedPayload.encapsulation = (uint16_t)DEFAULT_ENCAPSULATION;
         change->serializedPayload.data[0] = 0;
-        change->serializedPayload.data[1] = PL_DEFAULT_ENCAPSULATION;
+        change->serializedPayload.data[1] = DEFAULT_ENCAPSULATION;
         change->serializedPayload.data[2] = 0;
         change->serializedPayload.data[3] = 0;