static void dissect_NOKEY_DATA(tvbuff_t *tvb, packet_info *pinfo, gint offset, guint8 flags,
                const guint encoding, int octets_to_next_header, proto_tree *tree,
                guint16 version, guint16 vendor_id) {
  /* RTPS 1.0/1.1:
   * 0...2...........7...............15.............23...............31
   * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
   * |   ISSUE       |X|X|X|X|X|X|P|E|      octetsToNextHeader       |
   * +---------------+---------------+---------------+---------------+
   * | ObjectId readerObjectId                                       |
   * +---------------+---------------+---------------+---------------+
   * | ObjectId writerObjectId                                       |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * + SequenceNumber writerSeqNumber                                +
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * ~ ParameterSequence parameters [only if P==1]                   ~
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * ~ UserData issueData                                            ~
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   *
   * RTPS 1.2:
   * 0...2...........7...............15.............23...............31
   * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
   * | NOKEY_DATA    |X|X|X|X|X|D|Q|E|      octetsToNextHeader       |
   * +---------------+---------------+---------------+---------------+
   * | EntityId readerEntityId                                       |
   * +---------------+---------------+---------------+---------------+
   * | EntityId writerEntityId                                       |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * + SequenceNumber writerSeqNum                                   +
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * ~ ParameterList inlineQos [only if Q==1]                        ~
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * ~ SerializedData serializedData [only if D==0]                  ~
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   *
   * RTPS 2.0:
   * 0...2...........7...............15.............23...............31
   * +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
   * | NOKEY_DATA    |X|X|X|X|X|D|Q|E|      octetsToNextHeader       |
   * +---------------+---------------+---------------+---------------+
   * | EntityId readerEntityId                                       |
   * +---------------+---------------+---------------+---------------+
   * | EntityId writerEntityId                                       |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * + SequenceNumber writerSeqNum                                   +
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * ~ ParameterList inlineQos [only if Q==1]                        ~
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * |                                                               |
   * ~ SerializedData serializedData [only if D==1]                  ~
   * |                                                               |
   * +---------------+---------------+---------------+---------------+
   * Notes:
   *   - inlineQos is equivalent to the old 'parameters'
   *   - serializedData is equivalent to the old 'issueData'
   */

  int  min_len;
  guint32 wid;                  /* Writer EntityID */
  gboolean from_builtin_writer;
  gint old_offset = offset;
  proto_item *octet_item;

  proto_tree_add_bitmask_value(tree, tvb, offset + 1, hf_rtps_sm_flags, ett_rtps_flags, NOKEY_DATA_FLAGS, flags);

  octet_item = proto_tree_add_item(tree, hf_rtps_sm_octets_to_next_header, tvb,
                        offset + 2, 2, encoding);

  /* Calculates the minimum length for this submessage */
  min_len = 16;
  if ((flags & FLAG_NOKEY_DATA_Q) != 0) min_len += 4;

  if (octets_to_next_header < min_len) {
    expert_add_info_format(pinfo, octet_item, &ei_rtps_sm_octets_to_next_header_error, "(Error: should be >= %u)", min_len);
    return;
  }

  offset += 4;

  /* readerEntityId */
  rtps_util_add_entity_id(tree, tvb, offset, hf_rtps_sm_rdentity_id, hf_rtps_sm_rdentity_id_key,
                        hf_rtps_sm_rdentity_id_kind, ett_rtps_rdentity, "readerEntityId", NULL);
  offset += 4;

  /* writerEntityId */
  rtps_util_add_entity_id(tree, tvb, offset, hf_rtps_sm_wrentity_id, hf_rtps_sm_wrentity_id_key,
                        hf_rtps_sm_wrentity_id_kind, ett_rtps_wrentity, "writerEntityId", &wid);
  offset += 4;

  /* Sequence number */
  rtps_util_add_seq_number(tree, tvb, offset, encoding, "writerSeqNumber");
  offset += 8;

  /* Parameters */
  if ((flags & FLAG_NOKEY_DATA_Q) != 0) {
    gboolean is_inline_qos = TRUE;
    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset,
                        encoding, octets_to_next_header, "inlineQos",
                        version, NULL, vendor_id, is_inline_qos, NULL);

  }

  /* Issue Data */
  if ((version < 0x0200) && (flags & FLAG_NOKEY_DATA_D) == 0) {
    proto_tree_add_item(tree, hf_rtps_issue_data, tvb, offset,
                         octets_to_next_header - (offset - old_offset) + 4,
                        ENC_NA);
  }

  if ((version >= 0x0200) && (flags & FLAG_DATA_D_v2) != 0) {
    from_builtin_writer =
        (((wid & 0xc2) == 0xc2) || ((wid & 0xc3) == 0xc3)) ? TRUE : FALSE;
    dissect_serialized_data(tree, pinfo, tvb, offset,
                        octets_to_next_header - (offset - old_offset) + 4,
                        "serializedData", vendor_id, from_builtin_writer, NULL, NOT_A_FRAGMENT);
  }

}
static void dissect_NOKEY_DATA(tvbuff_t *tvb, packet_info *pinfo, gint offset, guint8 flags,
                const guint encoding, int octets_to_next_header, proto_tree *tree,
                guint16 version, guint16 vendor_id) {
   

  int  min_len;
  guint32 wid;                   
  gboolean from_builtin_writer;
  gint old_offset = offset;
  proto_item *octet_item;

  proto_tree_add_bitmask_value(tree, tvb, offset + 1, hf_rtps_sm_flags, ett_rtps_flags, NOKEY_DATA_FLAGS, flags);

  octet_item = proto_tree_add_item(tree, hf_rtps_sm_octets_to_next_header, tvb,
                        offset + 2, 2, encoding);

   
  min_len = 16;
  if ((flags & FLAG_NOKEY_DATA_Q) != 0) min_len += 4;

  if (octets_to_next_header < min_len) {
    expert_add_info_format(pinfo, octet_item, &ei_rtps_sm_octets_to_next_header_error, "(Error: should be >= %u)", min_len);
    return;
  }

  offset += 4;

   
  rtps_util_add_entity_id(tree, tvb, offset, hf_rtps_sm_rdentity_id, hf_rtps_sm_rdentity_id_key,
                        hf_rtps_sm_rdentity_id_kind, ett_rtps_rdentity, "readerEntityId", NULL);
  offset += 4;

   
  rtps_util_add_entity_id(tree, tvb, offset, hf_rtps_sm_wrentity_id, hf_rtps_sm_wrentity_id_key,
                        hf_rtps_sm_wrentity_id_kind, ett_rtps_wrentity, "writerEntityId", &wid);
  offset += 4;

   
  rtps_util_add_seq_number(tree, tvb, offset, encoding, "writerSeqNumber");
  offset += 8;

   
  if ((flags & FLAG_NOKEY_DATA_Q) != 0) {
    gboolean is_inline_qos = TRUE;
    offset = dissect_parameter_sequence(tree, pinfo, tvb, offset,
                        encoding, octets_to_next_header, "inlineQos",
                        version, NULL, vendor_id, is_inline_qos, NULL);

  }

   
  if ((version < 0x0200) && (flags & FLAG_NOKEY_DATA_D) == 0) {
    proto_tree_add_item(tree, hf_rtps_issue_data, tvb, offset,
                         octets_to_next_header - (offset - old_offset) + 4,
                        ENC_NA);
  }

  if ((version >= 0x0200) && (flags & FLAG_DATA_D_v2) != 0) {
    from_builtin_writer =
        (((wid & 0xc2) == 0xc2) || ((wid & 0xc3) == 0xc3)) ? TRUE : FALSE;
    dissect_serialized_data(tree, pinfo, tvb, offset,
                        octets_to_next_header - (offset - old_offset) + 4,
                        "serializedData", vendor_id, from_builtin_writer, NULL, NOT_A_FRAGMENT);
  }

}