Fix payload_len calculation for DataPacket.

scapy/contrib/rtps/common_types.py

@@ -161,7 +161,8 @@ class SerializedDataField(StrLenField):
 class DataPacketField(EPacketField):
     def m2i(self, pkt, m):
         self.set_endianness(pkt)
-        pl_len = pkt.octetsToNextHeader - 24
+        fld, val = pkt.getfield_and_val("inlineQoS")
+        pl_len = pkt.octetsToNextHeader - 24 - len(fld.i2m(pkt, val))
         _pkt = self.cls(
             m,
             endianness=self.endianness,

scapy/contrib/rtps/rtps.py

@@ -197,7 +197,7 @@ def __init__(self, *args, **kwargs):
         writer_entity_id_key = kwargs.pop("writer_entity_id_key", None)
         writer_entity_id_kind = kwargs.pop("writer_entity_id_kind", None)
         pl_len = kwargs.pop("pl_len", 0)
-        if writer_entity_id_key == 0x200 and writer_entity_id_kind == 0xC2:
+        if (writer_entity_id_key == 0x200 or writer_entity_id_key == 0x100) and writer_entity_id_kind == 0xC2:
             DataPacket._pl_type = "ParticipantMessageData"
         else:
             DataPacket._pl_type = "SerializedData"
@@ -258,10 +258,11 @@ class RTPSSubMessage_DATA(EPacket):
         #     fmt="4s",
         #     enum=_rtps_reserved_entity_ids,
         # ),
-        EField(IntField("writerSeqNumHi", 0),
-               endianness_from=e_flags),
-        EField(IntField("writerSeqNumLow", 0),
-               endianness_from=e_flags),
+        EField(IntField("writerSeqNumber", 0), endianness_from=e_flags),
+        #EField(IntField("writerSeqNumHi", 0),
+        #       endianness_from=e_flags),
+        #EField(IntField("writerSeqNumLow", 0),
+        #       endianness_from=e_flags),
         # -------------------------------------
         ConditionalField(
             InlineQoSPacketField("inlineQoS", "", InlineQoSPacket),

test/contrib/rtps.uts

@@ -476,3 +476,103 @@ p1 = RTPS(
 assert p0.build() == d
 assert p1.build() == d
 assert p0 == p1
+
+p0 = RTPS(
+      protocolVersion=ProtocolVersionPacket(major=2, minor=2),
+      vendorId=VendorIdPacket(vendor_id=0x010f),
+      guidPrefix=GUIDPrefixPacket(
+        hostId=0x010f45d2, appId=0xb3f558b9, instanceId=0x01000000
+      ),magic=b"RTPS"
+    )/RTPSMessage(submessages=[
+    RTPSSubMessage_INFO_TS(
+      submessageId=9,
+      submessageFlags=1,
+      octetsToNextHeader=8,
+      ts_seconds=1638425814,
+      ts_fraction=2083784982,
+    ), 
+    RTPSSubMessage_DATA(
+      submessageId= 0x15,
+      submessageFlags= 0x7,
+      octetsToNextHeader= 54,
+      extraFlags= 0x0,
+      octetsToInlineQoS= 16,
+      readerEntityIdKey= 0x0,
+      readerEntityIdKind= 0x0,
+      writerEntityIdKey= 0x0,
+      writerEntityIdKind= 0x0,
+      writerSeqNumHi= 0,
+      writerSeqNumLow= 4,
+      inlineQoS= InlineQoSPacket(
+        parameters= [
+          PID_UNKNOWN(
+            parameterId= 0x801e,
+            parameterLength= 4,
+            parameterData= b'\x00\x00\x00\x00',
+          ),
+        ],
+        sentinel= PID_SENTINEL(
+          parameterId= 0x1,
+          parameterLength= 0,
+          parameterData= b'',
+        ),
+      ),
+      data= DataPacket(
+        encapsulationKind= 0x1,
+        encapsulationOptions= 0x3,
+        serializedData= b'=\x00\x00\x00abcdefghij\x00\x00\x00\x00',
+      ),
+    ),
+    RTPSSubMessage_INFO_TS(
+      submessageId=9,
+      submessageFlags=1,
+      octetsToNextHeader=8,
+      ts_seconds=1638425814,
+      ts_fraction=2083784982,
+    ), 
+    RTPSSubMessage_DATA(
+      submessageId= 0x15,
+      submessageFlags= 0x7,
+      octetsToNextHeader= 54,
+      extraFlags= 0x0,
+      octetsToInlineQoS= 16,
+      readerEntityIdKey= 0x0,
+      readerEntityIdKind= 0x0,
+      writerEntityIdKey= 0x0,
+      writerEntityIdKind= 0x0,
+      writerSeqNumHi= 0,
+      writerSeqNumLow= 4,
+      inlineQoS= InlineQoSPacket(
+        parameters= [
+          PID_UNKNOWN(
+            parameterId= 0x801e,
+            parameterLength= 4,
+            parameterData= b'\x00\x00\x00\x00',
+          ),
+        ],
+        sentinel= PID_SENTINEL(
+          parameterId= 0x1,
+          parameterLength= 0,
+          parameterData= b'',
+        ),
+      ),
+      data= DataPacket(
+        encapsulationKind= 0x1,
+        encapsulationOptions= 0x3,
+        serializedData= b'=\x00\x00\x00abcdefghij\x00\x00\x00\x00',
+      ),
+    ),
+])
+
+d = b"\x52\x54\x50\x53\x02\x02\x01\x0f\x01\x0f\x45\xd2\xb3\xf5\x58\xb9" \
+    b"\x01\x00\x00\x00\x09\x01\x08\x00\xd6\x64\xa8\x61\x16\x09\x34\x7c" \
+    b"\x15\x07\x36\x00\x00\x00\x10\x00\x00\x00\x00\x00\x00\x00\x00\x00" \
+    b"\x00\x00\x00\x00\x04\x00\x00\x00\x1e\x80\x04\x00\x00\x00\x00\x00" \
+    b"\x01\x00\x00\x00\x00\x01\x00\x03\x3d\x00\x00\x00\x61\x62\x63\x64" \
+    b"\x65\x66\x67\x68\x69\x6a\x00\x00\x00\x00\x09\x01\x08\x00\xd6\x64" \
+    b"\xa8\x61\x16\x09\x34\x7c\x15\x07\x36\x00\x00\x00\x10\x00\x00\x00" \
+    b"\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x04\x00\x00\x00\x1e\x80" \
+    b"\x04\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x01\x00\x03\x3d\x00" \
+    b"\x00\x00\x61\x62\x63\x64\x65\x66\x67\x68\x69\x6a\x00\x00\x00\x00"
+
+assert RTPS(d) == p0