fmt

src/messages/submessages/elements/inline_qos.rs

@@ -62,8 +62,10 @@ impl InlineQos {
       .parameters
       .iter()
       // We look for two PIDs, because there is some unclarity about which one should be used.
-      .find(|p| p.parameter_id == ParameterId::PID_RELATED_SAMPLE_IDENTITY
-                || p.parameter_id == ParameterId::PID_RELATED_SAMPLE_IDENTITY_CUSTOM );
+      .find(|p| {
+        p.parameter_id == ParameterId::PID_RELATED_SAMPLE_IDENTITY
+          || p.parameter_id == ParameterId::PID_RELATED_SAMPLE_IDENTITY_CUSTOM
+      });
 
     let endianness = match representation_id {
       RepresentationIdentifier::PL_CDR_LE => Endianness::LittleEndian,

src/rtps/message.rs

@@ -223,9 +223,9 @@ impl MessageBuilder {
     // If we are sending related sample identity, then insert that.
     if let Some(si) = cache_change.write_options.related_sample_identity() {
       let related_sample_identity_serialized = si.write_to_vec_with_ctx(endianness).unwrap();
-      // Insert two parameters, because we are not sure which one is the correct parameter id.
-      // Or what the receiver thinks is correct. This behaviour was observed from
-      // eProsima FastDDS on 2024-11-18.
+      // Insert two parameters, because we are not sure which one is the correct
+      // parameter id. Or what the receiver thinks is correct. This behaviour
+      // was observed from eProsima FastDDS on 2024-11-18.
       param_list.push(Parameter {
         parameter_id: ParameterId::PID_RELATED_SAMPLE_IDENTITY,
         value: related_sample_identity_serialized.clone(),
@@ -360,9 +360,9 @@ impl MessageBuilder {
     // If we are sending related sample identity, then insert that.
     if let Some(si) = cache_change.write_options.related_sample_identity() {
       let related_sample_identity_serialized = si.write_to_vec_with_ctx(endianness).unwrap();
-      // Insert two parameters, because we are not sure which one is the correct parameter id.
-      // Or what the receiver thinks is correct. This behaviour was observed from
-      // eProsima FastDDS on 2024-11-18.
+      // Insert two parameters, because we are not sure which one is the correct
+      // parameter id. Or what the receiver thinks is correct. This behaviour
+      // was observed from eProsima FastDDS on 2024-11-18.
       param_list.push(Parameter {
         parameter_id: ParameterId::PID_RELATED_SAMPLE_IDENTITY,
         value: related_sample_identity_serialized.clone(),

src/structure/parameter_id.rs

@@ -85,14 +85,15 @@ impl ParameterId {
   // https://github.com/eProsima/Fast-DDS/commit/359eeaadd0ff0216aa1968a8ea34b5092c4f346e
   // They changed PID_RELATED_SAMPLE_IDENTITY from 0x800f to 0x0083.
   //
-  // PID 0x800f is still supported in FastDDS, and it is called  PID_CUSTOM_RELATED_SAMPLE_IDENTITY, which
-  // naming we will copy, so that future debugging is less confusing. Now FastDDS sends
-  // both of these PIDs in Inline QoS, if it needs to send related_sample_identity. This seems like
+  // PID 0x800f is still supported in FastDDS, and it is called
+  // PID_CUSTOM_RELATED_SAMPLE_IDENTITY, which naming we will copy, so that
+  // future debugging is less confusing. Now FastDDS sends both of these PIDs in
+  // Inline QoS, if it needs to send related_sample_identity. This seems like
   // a good idea for backward compatibility.
   //
-  // The receive behaviour of FastDDS is somewhat unclear. They recognize both versions on receive,
-  // but receiveing related_sample_identity does not work correctly with PID=0x800f in
-  // ROS 2 Jazzy.
+  // The receive behaviour of FastDDS is somewhat unclear. They recognize both
+  // versions on receive, but receiveing related_sample_identity does not work
+  // correctly with PID=0x800f in ROS 2 Jazzy.
   pub const PID_RELATED_SAMPLE_IDENTITY: Self = Self { value: 0x0083 };
   pub const PID_RELATED_SAMPLE_IDENTITY_CUSTOM: Self = Self { value: 0x800f };