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ros2 · Apr 11, 2020 · 9e54e77 · 9e54e77
1 parent a489c34
commit 9e54e77
Showing 1 changed file with 25 additions and 1 deletion.
diff --git a/rmw_cyclonedds_cpp/src/CDR.hpp b/rmw_cyclonedds_cpp/src/CDR.hpp
@@ -11,22 +11,46 @@
 #include "bytewise.hpp"
 namespace rmw_cyclonedds_cpp
 {
+
 enum class EncodingVersion
 {
   CDR_Legacy,
   CDR1,
   CDR2,
+  XML,
+};
+
+enum class EncapsulationIdentifier{
+  CDR_BE = 0x00,
+  CDR_LE = 0x01,
+  PL_CDR_BE = 0x02,
+  PL_CDR_LE = 0x03,
+  CDR2_BE = 0x06,
+  CDR2_LE = 0x07,
+  D_CDR2_BE = 0x08,
+  D_CDR2_LE = 0x09,
+  PL_CDR2_BE = 0x0a,
+  PL_CDR2_lE = 0x0b,
+  XML = 0x04,
 };
 
 /// aka ENC_HEADER
 struct EncapsulationHeader
 {
   /// stream endianness
-  endian m_endian = native_endian();
+  endian m_endian;
   /// encoding version
   EncodingVersion m_eversion;
   /// encoding options
   std::array<byte, 2> m_options;
+
+  static EncapsulationHeader from_bytes(byte * b){
+    EncodingVersion =
+    endian m_endian = b[0]
+    return EncapsulationHeader{
+
+    };
+  }
 };
 
 /// aka DHEADER