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Add GoalStatusArray ROS Publisher/Subscriber

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This commit is contained in:
John Ring 2022-02-03 16:07:38 +01:00
parent 4784ee02ff
commit 0a84093edd
8 changed files with 1688 additions and 1 deletions
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58
sim/L1_GoalStatusArray_test1.do Normal file
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@ -0,0 +1,58 @@
onerror {resume}
quietly WaveActivateNextPane {} 0
add wave -noupdate -divider SYSTEM
add wave -noupdate /l1_goalstatusarray_test1/clk
add wave -noupdate /l1_goalstatusarray_test1/reset
add wave -noupdate -divider PUBLISHER
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/start_dds
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/ack_dds
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/opcode_dds
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/done_dds
add wave -noupdate -radix unsigned /l1_goalstatusarray_test1/uut_pub/return_code_dds
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/start_user
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/opcode_user
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/ack_user
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/done_user
add wave -noupdate -radix unsigned /l1_goalstatusarray_test1/uut_pub/return_code_user
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/stage
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/encode_stage
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/cnt
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/uuid_cnt
add wave -noupdate /l1_goalstatusarray_test1/uut_pub/status_list_cnt
add wave -noupdate -divider SUBSCRIBER
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/start_dds
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/ack_dds
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/opcode_dds
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/get_data_dds
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/done_dds
add wave -noupdate -radix unsigned /l1_goalstatusarray_test1/uut_sub/return_code_dds
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/start_user
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/opcode_user
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/ack_user
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/done_user
add wave -noupdate -radix unsigned /l1_goalstatusarray_test1/uut_sub/return_code_user
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/stage
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/decode_stage
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/return_stage
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/cnt
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/uuid_cnt
add wave -noupdate /l1_goalstatusarray_test1/uut_sub/status_list_cnt
add wave -noupdate -divider MISC
TreeUpdate [SetDefaultTree]
WaveRestoreCursors {{Cursor 1} {3286459 ps} 0}
quietly wave cursor active 1
configure wave -namecolwidth 150
configure wave -valuecolwidth 100
configure wave -justifyvalue left
configure wave -signalnamewidth 1
configure wave -snapdistance 10
configure wave -datasetprefix 0
configure wave -rowmargin 4
configure wave -childrowmargin 2
configure wave -gridoffset 0
configure wave -gridperiod 1
configure wave -griddelta 40
configure wave -timeline 0
configure wave -timelineunits ns
update
WaveRestoreZoom {1843200 ps} {2867200 ps}

339
src/ros2/Tests/Level_1/L1_GoalStatusArray_test1.vhd Normal file
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@ -0,0 +1,339 @@
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
library osvvm; -- Utility Library
context osvvm.OsvvmContext;
use work.rtps_package.all;
use work.ros_package.all;
use work.rtps_test_package.all;
use work.GoalStatusArray_package.all;
-- This testbench tests the General Behavour of ROS publishers and subscribers
-- More specifically following tests are done:
-- * Test Unssuported Opcode Operations
-- * Test RETCODE_NO_DATA response from DDS Reader
-- * Test RETCODE_ERROR response from DDS Reader
-- * Test RETCODE_ERROR response from DDS Writer
-- * Test Sample with No Valid response from DDS Reader
-- * Test Big Endian Encoding/Decoding of Messages
entity L1_GoalStatusArray_test1 is
end entity;
architecture testbench of L1_GoalStatusArray_test1 is
signal clk, reset : std_logic := '0';
signal valid, ready, last_word, last_word_out_w : std_logic := '0';
signal data : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
signal start_sub, start_pub, ack_sub, ack_pub, taken_sub, taken_pub, done_sub, done_pub : std_logic := '0';
signal opcode_sub, opcode_pub : ROS_TOPIC_OPCODE_TYPE := NOP;
signal return_code_sub, return_code_pub : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := (others => '0');
signal start_r, si_valid_data_r : std_logic := '0';
signal return_code_r, return_code_w : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := (others => '0');
signal ready_w, selector : std_logic := '0';
signal message_info_sub : MESSAGE_INFO_TYPE := EMPTY_MESSAGE_INFO;
--
signal status_list_len_pub, status_list_len_sub, status_list_addr_pub, status_list_addr_sub : std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0) := (others => '0');
signal status_list_ready_pub, status_list_ready_sub, status_list_ren_pub, status_list_ren_sub, status_list_valid_pub, status_list_valid_sub, status_list_ack_pub, status_list_ack_sub, status_list_wen_pub : std_logic := '0';
signal status_list_goal_info_goal_id_r_pub, status_list_goal_info_goal_id_w_pub, status_list_goal_info_goal_id_sub : std_logic_vector(UUID_WIDTH-1 downto 0) := (others => '0');
signal status_list_goal_info_stamp_r_pub, status_list_goal_info_stamp_w_pub, status_list_goal_info_stamp_sub : std_logic_vector(ROS_TIME_WIDTH-1 downto 0) := (others => '0');
signal status_list_status_r_pub, status_list_status_w_pub, status_list_status_sub : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := (others => '0');
begin
uut_sub : entity work.GoalStatusArray_sub(arch)
port map (
clk => clk,
reset => reset,
start_dds => start_r,--
ack_dds => '1',--
opcode_dds => open,
instance_state_dds => open,
view_state_dds => open,
sample_state_dds => open,
instance_handle_dds => open,
max_samples_dds => open,
get_data_dds => open,--
done_dds => '1',--
return_code_dds => return_code_r,--
valid_in_dds => valid,--
ready_in_dds => ready,--
data_in_dds => data,--
last_word_in_dds => last_word,--
si_sample_state_dds => ANY_SAMPLE_STATE,
si_view_state_dds => ANY_VIEW_STATE,
si_instance_state_dds => ANY_INSTANCE_STATE,
si_source_timestamp_dds => TIME_INVALID,
si_instance_handle_dds => HANDLE_NIL,
si_publication_handle_dds => HANDLE_NIL,
si_disposed_generation_count_dds => (others => '0'),
si_no_writers_generation_count_dds => (others => '0'),
si_sample_rank_dds => (others => '0'),
si_generation_rank_dds => (others => '0'),
si_absolute_generation_rank_dds => (others => '0'),
si_valid_data_dds => si_valid_data_r,--
si_valid_dds => '1',--
si_ack_dds => open,--
eoc_dds => '1',--
status_dds => (others => '0'),
start_user => start_sub,
opcode_user => opcode_sub,
ack_user => ack_sub,
done_user => done_sub,
return_code_user => return_code_sub,
data_available_user => open,
status_list_len => status_list_len_sub,
status_list_addr => status_list_addr_sub,
status_list_ready => status_list_ready_sub,
status_list_ren => status_list_ren_sub,
status_list_valid => status_list_valid_sub,
status_list_ack => status_list_ack_sub,
status_list_goal_info_goal_id => status_list_goal_info_goal_id_sub,
status_list_goal_info_stamp => status_list_goal_info_stamp_sub,
status_list_status => status_list_status_sub,
message_info_user => message_info_sub,
taken_user => taken_sub
);
uut_pub : entity work.GoalStatusArray_pub(arch)
port map (
clk => clk,
reset => reset,
start_dds => open,--
ack_dds => '1',--
opcode_dds => open,
instance_handle_out_dds => open,
source_ts_dds => open,
max_wait_dds => open,
done_dds => '1',--
return_code_dds => return_code_w,--
instance_handle_in_dds => HANDLE_NIL,
valid_out_dds => valid,--
ready_out_dds => ready_w,--ready,--
data_out_dds => data,--
last_word_out_dds => last_word_out_w,--last_word,--
valid_in_dds => '0',
ready_in_dds => open,
data_in_dds => (others => '0'),
last_word_in_dds => '0',
status_dds => (others => '0'),
start_user => start_pub,--
ack_user => ack_pub,--
opcode_user => opcode_pub,--
status_list_len => status_list_len_pub,
status_list_addr => status_list_addr_pub,
status_list_ready => status_list_ready_pub,
status_list_ren => status_list_ren_pub,
status_list_wen => status_list_wen_pub,
status_list_valid => status_list_valid_pub,
status_list_ack => status_list_ack_pub,
status_list_goal_info_goal_id_r => status_list_goal_info_goal_id_r_pub,
status_list_goal_info_goal_id_w => status_list_goal_info_goal_id_w_pub,
status_list_goal_info_stamp_r => status_list_goal_info_stamp_r_pub,
status_list_goal_info_stamp_w => status_list_goal_info_stamp_w_pub,
status_list_status_r => status_list_status_r_pub,
status_list_status_w => status_list_status_w_pub,
done_user => done_pub,--
return_code_user => return_code_pub --
);
process (all)
begin
if (selector = '1') then
ready_w <= '1';
last_word <= '0';
else
ready_w <= ready;
last_word <= last_word_out_w;
end if;
end process;
stimulus_prc : process
variable RV : RandomPType;
variable GOAL_ID, STAMP, STATUS : AlertLogIDType;
procedure wait_on_sig(signal sig : std_logic) is
begin
if (sig /= '1') then
wait on sig until sig = '1';
end if;
end procedure;
begin
SetAlertLogName("GoalStatusArray - Level 1 - (Big Endian) - General");
SetAlertEnable(FAILURE, TRUE);
SetAlertEnable(ERROR, TRUE);
SetAlertEnable(WARNING, TRUE);
SetLogEnable(DEBUG, FALSE);
SetLogEnable(PASSED, FALSE);
SetLogEnable(INFO, TRUE);
RV.InitSeed(RV'instance_name);
GOAL_ID := GetAlertLogID("GOAL_ID", ALERTLOG_BASE_ID);
STAMP := GetAlertLogID("STAMP", ALERTLOG_BASE_ID);
STATUS := GetAlertLogID("STATUS", ALERTLOG_BASE_ID);
Log("Initial Reset", INFO);
selector <= '1';
return_code_r <= RETCODE_OK;
return_code_w <= RETCODE_OK;
si_valid_data_r <= '0';
start_sub <= '0';
start_pub <= '0';
reset <= '1';
wait until rising_edge(clk);
wait until rising_edge(clk);
reset <= '0';
Log("SUBSCRIBER: Test Unsupported Opcode", INFO);
start_sub <= '1';
opcode_sub <= PUBLISH;
wait_on_sig(ack_sub);
wait until rising_edge(clk);
start_sub <= '0';
wait_on_sig(done_sub);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_sub /= ROS_RET_UNSUPPORTED, "Unexpected Subscriber Response", FAILURE);
wait until rising_edge(clk);
Log("PUBLISHER: Test Unsupported Opcode", INFO);
start_pub <= '1';
opcode_pub <= TAKE;
wait_on_sig(ack_pub);
wait until rising_edge(clk);
start_pub <= '0';
wait_on_sig(done_pub);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_pub /= ROS_RET_UNSUPPORTED, "Unexpected Publisher Response", FAILURE);
wait until rising_edge(clk);
Log("SUBSCRIBER: Test No Data", INFO);
return_code_r <= RETCODE_NO_DATA;
start_sub <= '1';
opcode_sub <= TAKE;
wait_on_sig(ack_sub);
wait until rising_edge(clk);
start_sub <= '0';
wait_on_sig(done_sub);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_sub /= ROS_RET_OK, "Unexpected Subscriber Response", FAILURE);
AlertIf(taken_sub /= '0', "Subscriber taken is unexpectedly set", FAILURE);
wait until rising_edge(clk);
Log("SUBSCRIBER: Test Reader Error", INFO);
return_code_r <= RETCODE_ERROR;
start_sub <= '1';
opcode_sub <= TAKE;
wait_on_sig(ack_sub);
wait until rising_edge(clk);
start_sub <= '0';
wait_on_sig(done_sub);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_sub /= ROS_RET_ERROR, "Unexpected Subscriber Response", FAILURE);
wait until rising_edge(clk);
Log("PUBLISHER: Test Writer Error", INFO);
return_code_w <= RETCODE_ERROR;
start_pub <= '1';
opcode_pub <= PUBLISH;
wait_on_sig(ack_pub);
wait until rising_edge(clk);
start_pub <= '0';
wait_on_sig(done_pub);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_pub /= ROS_RET_ERROR, "Unexpected Publisher Response", FAILURE);
wait until rising_edge(clk);
return_code_r <= RETCODE_OK;
return_code_w <= RETCODE_OK;
selector <= '0';
Log("Setting Setting Data in Publisher Side", INFO);
for i in 0 to 10 loop
status_list_len_pub <= int(11,status_list_len_pub'length);
status_list_addr_pub <= int(i,status_list_addr_pub'length);
status_list_goal_info_goal_id_w_pub <= RV.RandSlv(status_list_goal_info_goal_id_w_pub'length);
status_list_goal_info_stamp_w_pub <= RV.RandSlv(status_list_goal_info_stamp_w_pub'length);
status_list_status_w_pub <= RV.RandSlv(status_list_status_w_pub'length);
wait_on_sig(status_list_ready_pub);
status_list_wen_pub <= '1';
wait for TEST_CLOCK_PERIOD;
status_list_wen_pub <= '0';
end loop;
Log("Publish message", INFO);
start_pub <= '1';
opcode_pub <= PUBLISH;
wait_on_sig(ack_pub);
wait until rising_edge(clk);
start_pub <= '0';
Log("Take message", INFO);
start_sub <= '1';
opcode_sub <= TAKE;
wait_on_sig(ack_sub);
wait until rising_edge(clk);
start_sub <= '0';
-- TEST NO VALID DATA
wait_on_sig(start_r);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_sig(start_r);
si_valid_data_r <= '1';
Log("Wait for Data", INFO);
wait_on_sig(done_sub);
wait until rising_edge(clk);
AlertIf(return_code_sub /= ROS_RET_OK, "Subscriber did Return ERROR", FAILURE);
AlertIf(taken_sub /= '1', "Subscriber did not take Message", FAILURE);
Log("Compare Messages", INFO);
AffirmIfEqual(status_list_len_sub, status_list_len_pub);
for i in 0 to to_integer(unsigned(status_list_len_pub))-1 loop
status_list_addr_pub <= int(i,status_list_addr_pub'length);
status_list_addr_sub <= int(i,status_list_addr_sub'length);
wait_on_sig(status_list_ready_pub);
wait_on_sig(status_list_ready_sub);
status_list_ren_pub <= '1';
status_list_ren_sub <= '1';
wait for TEST_CLOCK_PERIOD;
status_list_ren_pub <= '0';
status_list_ren_sub <= '0';
wait_on_sig(status_list_valid_pub);
wait_on_sig(status_list_valid_sub);
AffirmIfEqual(GOAL_ID, status_list_goal_info_goal_id_sub, status_list_goal_info_goal_id_r_pub);
AffirmIfEqual(STAMP, status_list_goal_info_stamp_sub, status_list_goal_info_stamp_r_pub);
AffirmIfEqual(STATUS, status_list_status_sub, status_list_status_r_pub);
status_list_ack_pub <= '1';
status_list_ack_sub <= '1';
wait for TEST_CLOCK_PERIOD;
status_list_ack_pub <= '0';
status_list_ack_sub <= '0';
end loop;
TranscriptOpen(RESULTS_FILE, APPEND_MODE);
SetTranscriptMirror;
ReportAlerts;
TranscriptClose;
std.env.stop;
wait;
end process;
clock_prc : process
begin
clk <= '0';
wait for TEST_CLOCK_PERIOD/2;
clk <= '1';
wait for TEST_CLOCK_PERIOD/2;
end process;
watchdog : process
begin
wait for 1 ms;
Alert("Test timeout", FAILURE);
std.env.stop;
end process;
end architecture;

7
src/ros2/Tests/ros_testbench.pro
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@ -97,9 +97,16 @@ analyze ../example_interfaces/Fibonacci_package.vhd
analyze ../example_interfaces/Fibonacci_action_feedback_pub.vhd analyze ../example_interfaces/Fibonacci_action_feedback_pub.vhd
analyze ../example_interfaces/Fibonacci_action_feedback_sub.vhd analyze ../example_interfaces/Fibonacci_action_feedback_sub.vhd
analyze Level_1/L1_Fibonacci_action_feedback_test1.vhd analyze Level_1/L1_Fibonacci_action_feedback_test1.vhd
analyze ../rcl_interfaces/action_msgs/GoalInfo_package.vhd
analyze ../rcl_interfaces/action_msgs/GoalStatus_package.vhd
analyze ../rcl_interfaces/action_msgs/GoalStatusArray_package.vhd
analyze ../rcl_interfaces/action_msgs/GoalStatusArray_pub.vhd
analyze ../rcl_interfaces/action_msgs/GoalStatusArray_sub.vhd
analyze Level_1/L1_GoalStatusArray_test1.vhd
simulate L1_AddTwoInts_srv_test1 simulate L1_AddTwoInts_srv_test1
simulate L1_AddTwoInts_srv_test2 simulate L1_AddTwoInts_srv_test2
simulate L2_AddTwoInts_test1 simulate L2_AddTwoInts_test1
simulate L1_Fibonacci_action_feedback_test1 simulate L1_Fibonacci_action_feedback_test1
simulate L1_GoalStatusArray_test1

25
src/ros2/rcl_interfaces/action_msgs/GoalInfo_package.vhd Normal file
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@ -0,0 +1,25 @@
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.math_pkg.all;
use work.rtps_package.all;
use work.ros_package.all;
package GoalInfo_package is
type GOALINFO_TYPE is record
goal_id : UUID_TYPE;
stamp : ROS_TIME_TYPE;
end record;
constant GOAL_ID_MAX_DEPTH : natural := 16;
constant GOAL_ID_ADDR_WIDTH : natural := log2c(GOAL_ID_MAX_DEPTH);
constant MAX_GOAL_ID_SIZE : natural := GOAL_ID_MAX_DEPTH * 1;
constant MAX_STAMP_SEC_SIZE : natural := 4;
constant MAX_STAMP_NANOSEC_SIZE : natural := 4;
constant MAX_STAMP_SIZE : natural := MAX_STAMP_SEC_SIZE + MAX_STAMP_NANOSEC_SIZE;
constant MAX_GOALINFO_SIZE : natural := MAX_GOAL_ID_SIZE + MAX_STAMP_SIZE;
end package;

26
src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_package.vhd Normal file
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@ -0,0 +1,26 @@
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.math_pkg.all;
use work.ros_package.all;
use work.GoalInfo_package;
use work.GoalStatus_package;
package GoalStatusArray_package is
constant STATUS_LIST_MAX_DEPTH : natural := 100;
constant STATUS_LIST_ADDR_WIDTH : natural := log2c(STATUS_LIST_MAX_DEPTH);
constant STATUS_LIST_GOAL_INFO_GOAL_ID_MAX_DEPTH : natural := GoalInfo_package.GOAL_ID_MAX_DEPTH;
constant STATUS_LIST_GOAL_INFO_GOAL_ID_ADDR_WIDTH : natural := GoalInfo_package.GOAL_ID_ADDR_WIDTH;
constant MAX_STATUS_LIST_GOAL_INFO_GOAL_ID_SIZE : natural := GoalInfo_package.MAX_GOAL_ID_SIZE;
constant MAX_STATUS_LIST_GOAL_INFO_STAMP_SEC_SIZE : natural := GoalInfo_package.MAX_STAMP_SEC_SIZE;
constant MAX_STATUS_LIST_GOAL_INFO_STAMP_NANOSEC_SIZE : natural := GoalInfo_package.MAX_STAMP_NANOSEC_SIZE;
constant MAX_STATUS_LIST_GOAL_INFO_STAMP_SIZE : natural := GoalInfo_package.MAX_STAMP_SIZE;
constant MAX_STATUS_LIST_STATUS_SIZE : natural := GoalStatus_package.MAX_STATUS_SIZE;
constant MAX_STATUS_LIST_SIZE : natural := GoalStatus_package.MAX_GOALSTATUS_SIZE;
constant MAX_GOALSTATUSARRAY_SIZE : natural := STATUS_LIST_MAX_DEPTH * MAX_STATUS_LIST_SIZE;
end package;

524
src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_pub.vhd Normal file
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@ -0,0 +1,524 @@
-- altera vhdl_input_version vhdl_2008
-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html)
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.rtps_package.all;
use work.rtps_config_package.all;
use work.ros_package.all;
use work.GoalStatusArray_package.all;
entity GoalStatusArray_pub is
generic (
LITTLE_ENDIAN : std_logic := '0'
);
port (
-- SYSTEM
clk : in std_logic;
reset : in std_logic;
-- FROM DDS WRITER
start_dds : out std_logic;
ack_dds : in std_logic;
opcode_dds : out DDS_WRITER_OPCODE_TYPE;
instance_handle_out_dds : out INSTANCE_HANDLE_TYPE;
source_ts_dds : out TIME_TYPE;
max_wait_dds : out DURATION_TYPE;
done_dds : in std_logic;
return_code_dds : in std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
instance_handle_in_dds : in INSTANCE_HANDLE_TYPE;
valid_out_dds : out std_logic;
ready_out_dds : in std_logic;
data_out_dds : out std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_out_dds : out std_logic;
valid_in_dds : in std_logic;
ready_in_dds : out std_logic;
data_in_dds : in std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_dds : in std_logic;
-- Communication Status
status_dds : in std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
-- TO USER ENTITY
start_user : in std_logic;
opcode_user : in ROS_TOPIC_OPCODE_TYPE;
ack_user : out std_logic;
-- ###GENERATED START###
status_list_len : in std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0);
status_list_addr : in std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0);
status_list_ready : out std_logic;
status_list_ren : in std_logic;
status_list_wen : in std_logic;
status_list_valid : out std_logic;
status_list_ack : in std_logic;
status_list_goal_info_goal_id_r : out std_logic_vector(UUID_WIDTH-1 downto 0);
status_list_goal_info_goal_id_w : in std_logic_vector(UUID_WIDTH-1 downto 0);
status_list_goal_info_stamp_r : out std_logic_vector(ROS_TIME_WIDTH-1 downto 0);
status_list_goal_info_stamp_w : in std_logic_vector(ROS_TIME_WIDTH-1 downto 0);
status_list_status_r : out std_logic_vector(CDR_INT8_WIDTH-1 downto 0);
status_list_status_w : in std_logic_vector(CDR_INT8_WIDTH-1 downto 0);
-- ###GENERATED END###
done_user : out std_logic;
return_code_user : out std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0)
);
end entity;
architecture arch of GoalStatusArray_pub is
--*****TYPE DECLARATION*****
-- FSM states. Explained below in detail
type STAGE_TYPE is (IDLE,INITIATE_WRITE,WRITE_PAYLOAD_HEADER,PUSH,ALIGN_STREAM,ENCODE_PAYLOAD,WAIT_FOR_WRITER,RETURN_ROS);
-- ###GENERATED START###
type ENCODE_STAGE_TYPE is (WRITE_STATUS_LIST_LENGTH,WRITE_STATUS_LIST_GOAL_INFO_GOAL_ID,WRITE_STATUS_LIST_GOAL_INFO_STAMP,WRITE_STATUS_LIST_STATUS);
-- ###GENERATED END###
-- *MAIN PROCESS*
signal stage, stage_next : STAGE_TYPE;
signal cnt, cnt_next : natural range 0 to 5;
signal align_offset, align_offset_next : unsigned(MAX_ALIGN_OFFSET_WIDTH-1 downto 0);
signal align_op, align_op_next : std_logic;
signal target_align, target_align_next : ALIGN_TYPE;
signal data_out_latch, data_out_latch_next : std_logic_vector(WORD_WIDTH-1 downto 0);
signal abort_mem : std_logic;
signal finalize_payload, finalize_payload_next : std_logic;
signal return_code_latch, return_code_latch_next : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0);
signal encode_stage, encode_stage_next : ENCODE_STAGE_TYPE;
-- ###GENERATED START###
signal uuid_cnt, uuid_cnt_next : natural range 0 to STATUS_LIST_GOAL_INFO_GOAL_ID_MAX_DEPTH-1;
signal status_list_cnt, status_list_cnt_next : natural range 0 to STATUS_LIST_MAX_DEPTH-1;
-- status_list_goal_info_goal_id_mem SIGNALS
signal status_list_goal_info_goal_id_mem_addr : std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0);
signal status_list_goal_info_goal_id_mem_read, status_list_goal_info_goal_id_mem_ready_in, status_list_goal_info_goal_id_mem_ready_out, status_list_goal_info_goal_id_mem_valid_in, status_list_goal_info_goal_id_mem_valid_out : std_logic;
signal status_list_goal_info_goal_id_mem_data_in, status_list_goal_info_goal_id_mem_data_out : std_logic_vector(UUID_WIDTH-1 downto 0);
-- status_list_goal_info_stamp_mem SIGNALS
signal status_list_goal_info_stamp_mem_addr : std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0);
signal status_list_goal_info_stamp_mem_read, status_list_goal_info_stamp_mem_ready_in, status_list_goal_info_stamp_mem_ready_out, status_list_goal_info_stamp_mem_valid_in, status_list_goal_info_stamp_mem_valid_out : std_logic;
signal status_list_goal_info_stamp_mem_data_in, status_list_goal_info_stamp_mem_data_out : std_logic_vector(ROS_TIME_WIDTH-1 downto 0);
-- status_list_status_mem SIGNALS
signal status_list_status_mem_addr : std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0);
signal status_list_status_mem_read, status_list_status_mem_ready_in, status_list_status_mem_ready_out, status_list_status_mem_valid_in, status_list_status_mem_valid_out : std_logic;
signal status_list_status_mem_data_in, status_list_status_mem_data_out : std_logic_vector(CDR_INT8_WIDTH-1 downto 0);
-- ###GENERATED END###
begin
-- ###GENERATED START###
status_list_goal_info_goal_id_mem : entity work.mem_ctrl(arch)
generic map (
ADDR_WIDTH => STATUS_LIST_ADDR_WIDTH,
DATA_WIDTH => UUID_WIDTH,
MEMORY_DEPTH => STATUS_LIST_MAX_DEPTH,
MAX_BURST_LENGTH => 1
)
port map (
clk => clk,
reset => reset or abort_mem,
addr => status_list_goal_info_goal_id_mem_addr,
read => status_list_goal_info_goal_id_mem_read,
ready_in => status_list_goal_info_goal_id_mem_ready_in,
valid_in => status_list_goal_info_goal_id_mem_valid_in,
data_in => status_list_goal_info_goal_id_mem_data_in,
ready_out => status_list_goal_info_goal_id_mem_ready_out,
valid_out => status_list_goal_info_goal_id_mem_valid_out,
data_out => status_list_goal_info_goal_id_mem_data_out
);
status_list_goal_info_stamp_mem : entity work.mem_ctrl(arch)
generic map (
ADDR_WIDTH => STATUS_LIST_ADDR_WIDTH,
DATA_WIDTH => ROS_TIME_WIDTH,
MEMORY_DEPTH => STATUS_LIST_MAX_DEPTH,
MAX_BURST_LENGTH => 1
)
port map (
clk => clk,
reset => reset or abort_mem,
addr => status_list_goal_info_stamp_mem_addr,
read => status_list_goal_info_stamp_mem_read,
ready_in => status_list_goal_info_stamp_mem_ready_in,
valid_in => status_list_goal_info_stamp_mem_valid_in,
data_in => status_list_goal_info_stamp_mem_data_in,
ready_out => status_list_goal_info_stamp_mem_ready_out,
valid_out => status_list_goal_info_stamp_mem_valid_out,
data_out => status_list_goal_info_stamp_mem_data_out
);
status_list_status_mem : entity work.mem_ctrl(arch)
generic map (
ADDR_WIDTH => STATUS_LIST_ADDR_WIDTH,
DATA_WIDTH => CDR_INT8_WIDTH,
MEMORY_DEPTH => STATUS_LIST_MAX_DEPTH,
MAX_BURST_LENGTH => 1
)
port map (
clk => clk,
reset => reset or abort_mem,
addr => status_list_status_mem_addr,
read => status_list_status_mem_read,
ready_in => status_list_status_mem_ready_in,
valid_in => status_list_status_mem_valid_in,
data_in => status_list_status_mem_data_in,
ready_out => status_list_status_mem_ready_out,
valid_out => status_list_status_mem_valid_out,
data_out => status_list_status_mem_data_out
);
-- ###GENERATED END###
-- PASSTHROUGH
instance_handle_out_dds <= HANDLE_NIL;
source_ts_dds <= TIME_INVALID;
max_wait_dds <= DURATION_ZERO;
ready_in_dds <= '0'; -- DDS Writer Input is unused
-- ###GENERATED START###
status_list_valid <= status_list_goal_info_goal_id_mem_valid_out and status_list_goal_info_stamp_mem_valid_out and status_list_status_mem_valid_out;
status_list_goal_info_goal_id_r <= status_list_goal_info_goal_id_mem_data_out;
status_list_goal_info_goal_id_mem_data_in <= status_list_goal_info_goal_id_w;
status_list_goal_info_stamp_r <= status_list_goal_info_stamp_mem_data_out;
status_list_goal_info_stamp_mem_data_in <= status_list_goal_info_stamp_w;
status_list_status_r <= status_list_status_mem_data_out;
status_list_status_mem_data_in <= status_list_status_w;
-- ###GENERATED END###
main_prc : process (all)
begin
-- DEFAULT
stage_next <= stage;
encode_stage_next <= encode_stage;
cnt_next <= cnt;
align_offset_next <= align_offset;
align_op_next <= align_op;
target_align_next <= target_align;
data_out_latch_next <= data_out_latch;
finalize_payload_next <= finalize_payload;
return_code_latch_next <= return_code_latch;
abort_mem <= '0';
start_dds <= '0';
opcode_dds <= NOP;
valid_out_dds <= '0';
last_word_out_dds <= '0';
ack_user <= '0';
done_user <= '0';
return_code_user <= ROS_RET_OK;
data_out_dds <= (others => '0');
-- ###GENERATED START###
uuid_cnt_next <= uuid_cnt;
status_list_ready <= '0';
status_list_cnt_next <= status_list_cnt;
status_list_goal_info_goal_id_mem_addr <= (others => '0');
status_list_goal_info_goal_id_mem_read <= '0';
status_list_goal_info_goal_id_mem_valid_in <= '0';
status_list_goal_info_goal_id_mem_ready_out <= '0';
status_list_goal_info_stamp_mem_addr <= (others => '0');
status_list_goal_info_stamp_mem_read <= '0';
status_list_goal_info_stamp_mem_valid_in <= '0';
status_list_goal_info_stamp_mem_ready_out <= '0';
status_list_status_mem_addr <= (others => '0');
status_list_status_mem_read <= '0';
status_list_status_mem_valid_in <= '0';
status_list_status_mem_ready_out <= '0';
-- ###GENERATED END###
case (stage) is
when IDLE =>
if (start_user = '1') then
ack_user <= '1';
case (opcode_user) is
when PUBLISH =>
stage_next <= INITIATE_WRITE;
when others =>
return_code_latch_next <= ROS_RET_UNSUPPORTED;
stage_next <= RETURN_ROS;
end case;
-- RESET
abort_mem <= '1';
else
-- ###GENERATED START###
status_list_ready <= status_list_goal_info_goal_id_mem_ready_in and status_list_goal_info_stamp_mem_ready_in and status_list_status_mem_ready_in;
status_list_goal_info_goal_id_mem_addr <= status_list_addr;
status_list_goal_info_goal_id_mem_read <= status_list_ren;
status_list_goal_info_goal_id_mem_valid_in <= status_list_ren or status_list_wen;
status_list_goal_info_goal_id_mem_ready_out <= status_list_ack;
status_list_goal_info_stamp_mem_addr <= status_list_addr;
status_list_goal_info_stamp_mem_read <= status_list_ren;
status_list_goal_info_stamp_mem_valid_in <= status_list_ren or status_list_wen;
status_list_goal_info_stamp_mem_ready_out <= status_list_ack;
status_list_status_mem_addr <= status_list_addr;
status_list_status_mem_read <= status_list_ren;
status_list_status_mem_valid_in <= status_list_ren or status_list_wen;
status_list_status_mem_ready_out <= status_list_ack;
-- ###GENERATED END###
end if;
when RETURN_ROS =>
done_user <= '1';
return_code_user <= return_code_latch;
-- DONE
stage_next <= IDLE;
when INITIATE_WRITE =>
start_dds <= '1';
opcode_dds <= WRITE;
if (ack_dds = '1') then
stage_next <= WRITE_PAYLOAD_HEADER;
end if;
when WRITE_PAYLOAD_HEADER =>
valid_out_dds <= '1';
if (LITTLE_ENDIAN = '0') then
data_out_dds <= CDR_BE & x"0000";
else
data_out_dds <= CDR_LE & x"0000";
end if;
-- Output Guard
if (ready_out_dds = '1') then
stage_next <= ENCODE_PAYLOAD;
-- Reset
align_offset_next <= (others => '0');
data_out_latch_next <= (others => '0');
-- ###GENERATED START###
encode_stage_next <= WRITE_STATUS_LIST_LENGTH;
cnt_next <= 0;
-- ###GENERATED END###
end if;
when PUSH =>
-- Mark Last Word
if (finalize_payload = '1') then
last_word_out_dds <= '1';
end if;
valid_out_dds <= '1';
data_out_dds <= data_out_latch;
-- Output Guard
if (ready_out_dds = '1') then
-- NOTE: Ensures all padding is zero.
data_out_latch_next <= (others => '0');
-- Alignment Operation in process
if (align_op = '1') then
stage_next <= ALIGN_STREAM;
-- Reset
align_op_next <= '0';
-- DONE
elsif (finalize_payload = '1') then
finalize_payload_next <= '0';
stage_next <= WAIT_FOR_WRITER;
else
stage_next <= ENCODE_PAYLOAD;
end if;
end if;
when ALIGN_STREAM =>
-- Target Stream Alignment reached
if (check_align(align_offset, target_align)) then
-- DONE
stage_next <= ENCODE_PAYLOAD;
else
align_offset_next <= align_offset + 1;
-- Need to push Word
if (align_offset(1 downto 0) = "11") then
align_op_next <= '1';
stage_next <= PUSH;
end if;
end if;
when ENCODE_PAYLOAD =>
case (encode_stage) is
-- ###GENERATED START###
when WRITE_STATUS_LIST_LENGTH =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_STREAM;
else
data_out_latch_next <= endian_swap(LITTLE_ENDIAN, std_logic_vector(resize(unsigned(status_list_len),WORD_WIDTH)));
align_offset_next <= align_offset + 4;
stage_next <= PUSH;
-- Empty Sequence
if (unsigned(status_list_len) = 0) then
-- DONE
stage_next <= PUSH;
finalize_payload_next <= '1';
else
encode_stage_next <= WRITE_STATUS_LIST_GOAL_INFO_GOAL_ID;
status_list_cnt_next <= 0;
end if;
end if;
when WRITE_STATUS_LIST_GOAL_INFO_GOAL_ID =>
-- Special Encoding for effieciency (Prevent having to define memory for UUID)
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_1)) then
target_align_next <= ALIGN_1;
stage_next <= ALIGN_STREAM;
else
case (cnt) is
-- GET
when 0 =>
status_list_goal_info_goal_id_mem_addr <= std_logic_vector(to_unsigned(status_list_cnt,STATUS_LIST_ADDR_WIDTH));
status_list_goal_info_goal_id_mem_valid_in <= '1';
status_list_goal_info_goal_id_mem_read <= '1';
-- Memory Operation Guard
if (status_list_goal_info_goal_id_mem_ready_in = '1') then
cnt_next <= cnt + 1;
uuid_cnt_next <= 0;
end if;
-- WRITE
when 1 =>
-- Memory Operation Guard
if (status_list_goal_info_goal_id_mem_valid_out = '1') then
data_out_latch_next <= write_sub_vector(data_out_latch_next, get_sub_vector(status_list_goal_info_goal_id_mem_data_out,uuid_cnt,CDR_INT8_WIDTH,TRUE), to_integer(align_offset(1 downto 0)), TRUE);
align_offset_next <= align_offset + 1;
if (uuid_cnt = STATUS_LIST_GOAL_INFO_GOAL_ID_MAX_DEPTH-1) then
status_list_goal_info_goal_id_mem_ready_out <= '1';
encode_stage_next <= WRITE_STATUS_LIST_GOAL_INFO_STAMP;
cnt_next <= 0;
else
uuid_cnt_next <= uuid_cnt + 1;
end if;
-- Need to fetch next Word
if(align_offset(1 downto 0) = "11") then
stage_next <= PUSH;
end if;
end if;
when others =>
end case;
end if;
when WRITE_STATUS_LIST_GOAL_INFO_STAMP =>
-- We intepret the TIME as a double word for efficiency
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_STREAM;
else
case (cnt) is
-- GET
when 0 =>
status_list_goal_info_stamp_mem_addr <= std_logic_vector(to_unsigned(status_list_cnt,STATUS_LIST_ADDR_WIDTH));
status_list_goal_info_stamp_mem_valid_in <= '1';
status_list_goal_info_stamp_mem_read <= '1';
-- Memory Operation Guard
if (status_list_goal_info_stamp_mem_ready_in = '1') then
cnt_next <= cnt + 1;
end if;
-- WRITE 1/2
when 1 =>
-- Memory Operation Guard
if (status_list_goal_info_stamp_mem_valid_out = '1') then
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, status_list_goal_info_stamp_mem_data_out), 0, WORD_WIDTH, TRUE);
stage_next <= PUSH;
cnt_next <= cnt + 1;
end if;
-- WRITE 2/2
when 2 =>
status_list_goal_info_stamp_mem_ready_out <= '1';
-- Memory Operation Guard
if (status_list_goal_info_stamp_mem_valid_out = '1') then
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, status_list_goal_info_stamp_mem_data_out), 1, WORD_WIDTH, TRUE);
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
encode_stage_next <= WRITE_STATUS_LIST_STATUS;
cnt_next <= 0;
end if;
when others =>
end case;
end if;
when WRITE_STATUS_LIST_STATUS =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_1)) then
target_align_next <= ALIGN_1;
stage_next <= ALIGN_STREAM;
else
case (cnt) is
-- GET
when 0 =>
status_list_status_mem_addr <= std_logic_vector(to_unsigned(status_list_cnt,STATUS_LIST_ADDR_WIDTH));
status_list_status_mem_valid_in <= '1';
status_list_status_mem_read <= '1';
-- Memory Operation Guard
if (status_list_status_mem_ready_in = '1') then
cnt_next <= cnt + 1;
end if;
-- WRITE
when 1 =>
status_list_status_mem_ready_out <= '1';
-- Memory Operation Guard
if (status_list_status_mem_valid_out = '1') then
data_out_latch_next <= write_sub_vector(data_out_latch_next, endian_swap(LITTLE_ENDIAN, status_list_status_mem_data_out), to_integer(align_offset(1 downto 0)), TRUE);
align_offset_next <= align_offset + 1;
-- All Elements processed
if (status_list_cnt = unsigned(status_list_len)-1) then
-- DONE
stage_next <= PUSH;
finalize_payload_next <= '1';
else
status_list_cnt_next <= status_list_cnt + 1;
encode_stage_next <= WRITE_STATUS_LIST_GOAL_INFO_GOAL_ID;
cnt_next <= 0;
end if;
-- Need to fetch next Word
if(align_offset(1 downto 0) = "11") then
stage_next <= PUSH;
end if;
end if;
when others =>
end case;
end if;
-- ###GENERATED END###
when others =>
null;
end case;
when WAIT_FOR_WRITER =>
if (done_dds = '1') then
case (return_code_dds) is
when RETCODE_OK =>
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_ROS;
when others =>
return_code_latch_next <= ROS_RET_ERROR;
stage_next <= RETURN_ROS;
end case;
end if;
end case;
end process;
sync_prc : process(clk)
begin
if rising_edge(clk) then
if (reset = '1') then
stage <= IDLE;
encode_stage <= WRITE_STATUS_LIST_LENGTH;
target_align <= ALIGN_1;
return_code_latch <= ROS_RET_OK;
cnt <= 0;
finalize_payload <= '0';
align_op <= '0';
align_offset <= (others => '0');
data_out_latch <= (others => '0');
-- ###GENERATED START###
uuid_cnt <= 0;
status_list_cnt <= 0;
-- ###GENERATED END###
else
stage <= stage_next;
encode_stage <= encode_stage_next;
target_align <= target_align_next;
return_code_latch <= return_code_latch_next;
cnt <= cnt_next;
finalize_payload <= finalize_payload_next;
align_op <= align_op_next;
align_offset <= align_offset_next;
data_out_latch <= data_out_latch_next;
-- ###GENERATED START###
uuid_cnt <= uuid_cnt_next;
status_list_cnt <= status_list_cnt_next;
-- ###GENERATED END###
end if;
end if;
end process;
end architecture;

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src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_sub.vhd Normal file
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@ -0,0 +1,678 @@
-- altera vhdl_input_version vhdl_2008
-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html)
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.rtps_package.all;
use work.rtps_config_package.all;
use work.ros_package.all;
use work.GoalStatusArray_package.all;
entity GoalStatusArray_sub is
port (
-- SYSTEM
clk : in std_logic;
reset : in std_logic;
-- FROM DDS READER
start_dds : out std_logic;
ack_dds : in std_logic;
opcode_dds : out DDS_READER_OPCODE_TYPE;
instance_state_dds : out std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
view_state_dds : out std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
sample_state_dds : out std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
instance_handle_dds : out INSTANCE_HANDLE_TYPE;
max_samples_dds : out std_logic_vector(MAX_SAMPLES_WIDTH-1 downto 0);
get_data_dds : out std_logic;
done_dds : in std_logic;
return_code_dds : in std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
valid_in_dds : in std_logic;
ready_in_dds : out std_logic;
data_in_dds : in std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_dds : in std_logic;
-- Sample Info
si_sample_state_dds : in std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
si_view_state_dds : in std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
si_instance_state_dds : in std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
si_source_timestamp_dds : in TIME_TYPE;
si_instance_handle_dds : in INSTANCE_HANDLE_TYPE;
si_publication_handle_dds : in INSTANCE_HANDLE_TYPE;
si_disposed_generation_count_dds : in std_logic_vector(DISPOSED_GENERATION_COUNT_WIDTH-1 downto 0);
si_no_writers_generation_count_dds : in std_logic_vector(NO_WRITERS_GENERATION_COUNT_WIDTH-1 downto 0);
si_sample_rank_dds : in std_logic_vector(SAMPLE_RANK_WIDTH-1 downto 0);
si_generation_rank_dds : in std_logic_vector(GENERATION_RANK_WIDTH-1 downto 0);
si_absolute_generation_rank_dds : in std_logic_vector(ABSOLUTE_GENERATION_COUNT_WIDTH-1 downto 0);
si_valid_data_dds : in std_logic;
si_valid_dds : in std_logic;
si_ack_dds : out std_logic;
eoc_dds : in std_logic;
-- Communication Status
status_dds : in std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
-- TO USER ENTITY
start_user : in std_logic;
opcode_user : in ROS_TOPIC_OPCODE_TYPE;
ack_user : out std_logic;
done_user : out std_logic;
return_code_user : out std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0);
data_available_user : out std_logic;
-- ###GENERATED START###
status_list_len : out std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0);
status_list_addr : in std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0);
status_list_ready : out std_logic;
status_list_ren : in std_logic;
status_list_valid : out std_logic;
status_list_ack : in std_logic;
status_list_goal_info_goal_id : out std_logic_vector(UUID_WIDTH-1 downto 0);
status_list_goal_info_stamp : out std_logic_vector(ROS_TIME_WIDTH-1 downto 0);
status_list_status : out std_logic_vector(CDR_INT8_WIDTH-1 downto 0);
-- ###GENERATED END###
message_info_user : out MESSAGE_INFO_TYPE;
taken_user : out std_logic
);
end entity;
architecture arch of GoalStatusArray_sub is
--*****TYPE DECLARATION*****
-- FSM states. Explained below in detail
type STAGE_TYPE is (IDLE,INITIATE_READ,WAIT_FOR_READER,WAIT_FOR_DATA,GET_PAYLOAD_HEADER,FETCH,ALIGN_STREAM,SKIP_PAYLOAD,DECODE_PAYLOAD,RETURN_ROS);
-- ###GENERATED START###
type DECODE_STAGE_TYPE is (GET_STATUS_LIST_LENGTH,GET_STATUS_LIST_GOAL_INFO_GOAL_ID,GET_STATUS_LIST_GOAL_INFO_STAMP,GET_STATUS_LIST_STATUS,GET_OPTIONAL_HEADER);
-- ###GENERATED END###
-- *MAIN PROCESS*
signal stage, stage_next : STAGE_TYPE;
signal cnt, cnt_next : natural range 0 to 5;
signal endian_flag, endian_flag_next : std_logic;
signal last_word_in_latch, last_word_in_latch_next : std_logic;
signal decode_error_latch, decode_error_latch_next : std_logic;
signal align_offset, align_offset_next : unsigned(MAX_ALIGN_OFFSET_WIDTH-1 downto 0);
signal align_op, align_op_next : std_logic;
signal target_align, target_align_next : ALIGN_TYPE;
signal data_in_latch, data_in_latch_next : std_logic_vector(WORD_WIDTH-1 downto 0);
signal optional, optional_next : std_logic;
signal abort_mem : std_logic;
signal ready_in_dds_sig : std_logic;
signal taken_sig, taken_sig_next : std_logic;
signal data_available_sig, data_available_sig_next : std_logic;
signal message_info_sig, message_info_sig_next : MESSAGE_INFO_TYPE;
signal return_code_latch, return_code_latch_next : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0);
signal decode_stage, decode_stage_next : DECODE_STAGE_TYPE;
signal return_stage, return_stage_next : DECODE_STAGE_TYPE;
-- ###GENERATED START###
signal dw_latch, dw_latch_next : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
signal uuid_cnt, uuid_cnt_next : natural range 0 to STATUS_LIST_GOAL_INFO_GOAL_ID_MAX_DEPTH-1;
signal uuid, uuid_next : UUID_TYPE;
signal status_list_cnt, status_list_cnt_next : natural range 0 to STATUS_LIST_MAX_DEPTH-1;
signal status_list_len_latch, status_list_len_latch_next : unsigned(STATUS_LIST_ADDR_WIDTH-1 downto 0);
-- status_list_goal_info_goal_id_mem SIGNALS
signal status_list_goal_info_goal_id_mem_addr : std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0);
signal status_list_goal_info_goal_id_mem_read, status_list_goal_info_goal_id_mem_ready_in, status_list_goal_info_goal_id_mem_ready_out, status_list_goal_info_goal_id_mem_valid_in, status_list_goal_info_goal_id_mem_valid_out : std_logic;
signal status_list_goal_info_goal_id_mem_data_in, status_list_goal_info_goal_id_mem_data_out : std_logic_vector(UUID_WIDTH-1 downto 0);
-- status_list_goal_info_stamp_mem SIGNALS
signal status_list_goal_info_stamp_mem_addr : std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0);
signal status_list_goal_info_stamp_mem_read, status_list_goal_info_stamp_mem_ready_in, status_list_goal_info_stamp_mem_ready_out, status_list_goal_info_stamp_mem_valid_in, status_list_goal_info_stamp_mem_valid_out : std_logic;
signal status_list_goal_info_stamp_mem_data_in, status_list_goal_info_stamp_mem_data_out : std_logic_vector(ROS_TIME_WIDTH-1 downto 0);
-- status_list_status_mem SIGNALS
signal status_list_status_mem_addr : std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0);
signal status_list_status_mem_read, status_list_status_mem_ready_in, status_list_status_mem_ready_out, status_list_status_mem_valid_in, status_list_status_mem_valid_out : std_logic;
signal status_list_status_mem_data_in, status_list_status_mem_data_out : std_logic_vector(CDR_INT8_WIDTH-1 downto 0);
-- ###GENERATED END###
--*****ALIAS DECLARATION*****
alias representation_id : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) is data_in_dds(WORD_WIDTH-1 downto WORD_WIDTH-PAYLOAD_REPRESENTATION_ID_WIDTH);
alias representation_options : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) is data_in_dds(PAYLOAD_REPRESENTATION_OPTIONS_WIDTH-1 downto 0);
alias parameter_id : std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0) is data_in_latch(WORD_WIDTH-1 downto WORD_WIDTH-PARAMETER_ID_WIDTH);
alias parameter_length : std_logic_vector(PARAMETER_LENGTH_WIDTH-1 downto 0) is data_in_latch(PARAMETER_LENGTH_WIDTH-1 downto 0);
begin
-- ###GENERATED START###
status_list_goal_info_goal_id_mem : entity work.mem_ctrl(arch)
generic map (
ADDR_WIDTH => STATUS_LIST_ADDR_WIDTH,
DATA_WIDTH => UUID_WIDTH,
MEMORY_DEPTH => STATUS_LIST_MAX_DEPTH,
MAX_BURST_LENGTH => 1
)
port map (
clk => clk,
reset => reset or abort_mem,
addr => status_list_goal_info_goal_id_mem_addr,
read => status_list_goal_info_goal_id_mem_read,
ready_in => status_list_goal_info_goal_id_mem_ready_in,
valid_in => status_list_goal_info_goal_id_mem_valid_in,
data_in => status_list_goal_info_goal_id_mem_data_in,
ready_out => status_list_goal_info_goal_id_mem_ready_out,
valid_out => status_list_goal_info_goal_id_mem_valid_out,
data_out => status_list_goal_info_goal_id_mem_data_out
);
status_list_goal_info_stamp_mem : entity work.mem_ctrl(arch)
generic map (
ADDR_WIDTH => STATUS_LIST_ADDR_WIDTH,
DATA_WIDTH => ROS_TIME_WIDTH,
MEMORY_DEPTH => STATUS_LIST_MAX_DEPTH,
MAX_BURST_LENGTH => 1
)
port map (
clk => clk,
reset => reset or abort_mem,
addr => status_list_goal_info_stamp_mem_addr,
read => status_list_goal_info_stamp_mem_read,
ready_in => status_list_goal_info_stamp_mem_ready_in,
valid_in => status_list_goal_info_stamp_mem_valid_in,
data_in => status_list_goal_info_stamp_mem_data_in,
ready_out => status_list_goal_info_stamp_mem_ready_out,
valid_out => status_list_goal_info_stamp_mem_valid_out,
data_out => status_list_goal_info_stamp_mem_data_out
);
status_list_status_mem : entity work.mem_ctrl(arch)
generic map (
ADDR_WIDTH => STATUS_LIST_ADDR_WIDTH,
DATA_WIDTH => CDR_INT8_WIDTH,
MEMORY_DEPTH => STATUS_LIST_MAX_DEPTH,
MAX_BURST_LENGTH => 1
)
port map (
clk => clk,
reset => reset or abort_mem,
addr => status_list_status_mem_addr,
read => status_list_status_mem_read,
ready_in => status_list_status_mem_ready_in,
valid_in => status_list_status_mem_valid_in,
data_in => status_list_status_mem_data_in,
ready_out => status_list_status_mem_ready_out,
valid_out => status_list_status_mem_valid_out,
data_out => status_list_status_mem_data_out
);
-- ###GENERATED END###
-- PASSTHROUGH
taken_user <= taken_sig;
ready_in_dds <= ready_in_dds_sig;
message_info_user <= message_info_sig;
data_available_user <= data_available_sig;
instance_state_dds <= ANY_INSTANCE_STATE;
view_state_dds <= ANY_VIEW_STATE;
sample_state_dds <= ANY_SAMPLE_STATE;
instance_handle_dds <= HANDLE_NIL;
max_samples_dds <= (others => '0');
-- ###GENERATED START###
status_list_len <= std_logic_vector(status_list_len_latch);
status_list_valid <= status_list_goal_info_goal_id_mem_valid_out and status_list_goal_info_stamp_mem_valid_out and status_list_status_mem_valid_out;
status_list_goal_info_goal_id <= status_list_goal_info_goal_id_mem_data_out;
status_list_goal_info_stamp <= status_list_goal_info_stamp_mem_data_out;
status_list_status <= status_list_status_mem_data_out;
-- ###GENERATED END###
main_prc : process (all)
variable tmp_length : unsigned(WORD_WIDTH-1 downto 0);
begin
-- DEFAULT
stage_next <= stage;
decode_stage_next <= decode_stage;
return_stage_next <= return_stage;
cnt_next <= cnt;
endian_flag_next <= endian_flag;
last_word_in_latch_next <= last_word_in_latch;
decode_error_latch_next <= decode_error_latch;
align_offset_next <= align_offset;
target_align_next <= target_align;
optional_next <= optional;
taken_sig_next <= taken_sig;
data_in_latch_next <= data_in_latch;
align_op_next <= align_op;
data_available_sig_next <= data_available_sig;
return_code_latch_next <= return_code_latch;
message_info_sig_next <= message_info_sig;
abort_mem <= '0';
ready_in_dds_sig <= '0';
si_ack_dds <= '0';
get_data_dds <= '0';
start_dds <= '0';
opcode_dds <= NOP;
ack_user <= '0';
done_user <= '0';
return_code_user <= ROS_RET_OK;
-- ###GENERATED START###
dw_latch_next <= dw_latch;
uuid_cnt_next <= uuid_cnt;
uuid <= uuid_next;
status_list_ready <= '0';
status_list_len_latch_next <= status_list_len_latch;
status_list_cnt_next <= status_list_cnt;
status_list_goal_info_goal_id_mem_addr <= (others => '0');
status_list_goal_info_goal_id_mem_read <= '0';
status_list_goal_info_goal_id_mem_valid_in <= '0';
status_list_goal_info_goal_id_mem_ready_out <= '0';
status_list_goal_info_goal_id_mem_data_in <= (others => '0');
status_list_goal_info_stamp_mem_addr <= (others => '0');
status_list_goal_info_stamp_mem_read <= '0';
status_list_goal_info_stamp_mem_valid_in <= '0';
status_list_goal_info_stamp_mem_ready_out <= '0';
status_list_goal_info_stamp_mem_data_in <= (others => '0');
status_list_status_mem_addr <= (others => '0');
status_list_status_mem_read <= '0';
status_list_status_mem_valid_in <= '0';
status_list_status_mem_ready_out <= '0';
status_list_status_mem_data_in <= (others => '0');
-- ###GENERATED END###
-- Last Word Latch Setter
if (last_word_in_dds = '1') then
last_word_in_latch_next <= '1';
end if;
-- Data Available Setter
if (check_mask(status_dds, DATA_AVAILABLE_STATUS)) then
data_available_sig_next <= '1';
end if;
case (stage) is
when IDLE =>
if (start_user = '1') then
ack_user <= '1';
case (opcode_user) is
when TAKE =>
stage_next <= INITIATE_READ;
when others =>
return_code_latch_next <= ROS_RET_UNSUPPORTED;
stage_next <= RETURN_ROS;
end case;
-- RESET
taken_sig_next <= '0';
abort_mem <= '1';
else
-- ###GENERATED START###
status_list_ready <= status_list_goal_info_goal_id_mem_ready_in and status_list_goal_info_stamp_mem_ready_in and status_list_status_mem_ready_in;
status_list_goal_info_goal_id_mem_addr <= status_list_addr;
status_list_goal_info_goal_id_mem_read <= status_list_ren;
status_list_goal_info_goal_id_mem_valid_in <= status_list_ren;
status_list_goal_info_goal_id_mem_ready_out <= status_list_ack;
status_list_goal_info_stamp_mem_addr <= status_list_addr;
status_list_goal_info_stamp_mem_read <= status_list_ren;
status_list_goal_info_stamp_mem_valid_in <= status_list_ren;
status_list_goal_info_stamp_mem_ready_out <= status_list_ack;
status_list_status_mem_addr <= status_list_addr;
status_list_status_mem_read <= status_list_ren;
status_list_status_mem_valid_in <= status_list_ren;
status_list_status_mem_ready_out <= status_list_ack;
-- ###GENERATED END###
end if;
when RETURN_ROS =>
done_user <= '1';
return_code_user <= return_code_latch;
-- DONE
stage_next <= IDLE;
when INITIATE_READ =>
start_dds <= '1';
opcode_dds <= TAKE_NEXT_SAMPLE;
if (ack_dds = '1') then
stage_next <= WAIT_FOR_READER;
end if;
when WAIT_FOR_READER =>
if (done_dds = '1') then
case (return_code_dds) is
when RETCODE_OK =>
stage_next <= WAIT_FOR_DATA;
when RETCODE_NO_DATA =>
assert (taken_sig = '0') severity FAILURE;
-- Data Available Resetter
data_available_sig_next <= '0';
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_ROS;
when others =>
return_code_latch_next <= ROS_RET_ERROR;
stage_next <= RETURN_ROS;
end case;
end if;
when WAIT_FOR_DATA =>
if (si_valid_dds = '1') then
si_ack_dds <= '1';
-- Meta Sample
if (si_valid_data_dds = '0') then
-- Ignore and read Next Sample
stage_next <= INITIATE_READ;
else
get_data_dds <= '1';
stage_next <= GET_PAYLOAD_HEADER;
message_info_sig_next.publisher_gid <= to_gid(GUID_UNKNOWN);
message_info_sig_next.received_timestamp <= TIME_INVALID;
message_info_sig_next.source_timestamp <= si_source_timestamp_dds;
end if;
end if;
when GET_PAYLOAD_HEADER =>
-- TODO: Latch Offset from Options Field?
ready_in_dds_sig <= '1';
-- Input Guard
if (valid_in_dds = '1') then
case (representation_id) is
when CDR_BE =>
endian_flag_next <= '0';
stage_next <= FETCH;
-- Alignment Reset
align_offset_next <= (others => '0');
-- ###GENERATED START###
-- ###GENERATED END###
-- Initial Fetch
when CDR_LE =>
endian_flag_next <= '1';
stage_next <= FETCH;
-- Alignment Reset
align_offset_next <= (others => '0');
-- ###GENERATED START###
-- ###GENERATED END###
when others =>
-- Unknown Payload Encoding
stage_next <= SKIP_PAYLOAD;
decode_error_latch_next <= '1';
end case;
end if;
when FETCH =>
ready_in_dds_sig <= '1';
-- Input Guard
if (valid_in_dds = '1') then
data_in_latch_next <= data_in_dds;
-- Alignment Operation in progress
if (align_op = '1') then
stage_next <= ALIGN_STREAM;
-- Reset
align_op_next <= '0';
else
stage_next <= DECODE_PAYLOAD;
end if;
end if;
when ALIGN_STREAM =>
-- Target Stream Alignment reached
if (check_align(align_offset, target_align)) then
-- DONE
stage_next <= DECODE_PAYLOAD;
else
align_offset_next <= align_offset + 1;
-- Need to fetch new Input Word
if (align_offset(1 downto 0) = "11") then
align_op_next <= '1';
stage_next <= FETCH;
end if;
end if;
when DECODE_PAYLOAD =>
case (decode_stage) is
-- ###GENERATED START###
when GET_STATUS_LIST_LENGTH =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_STREAM;
else
tmp_length := unsigned(endian_swap(endian_flag, data_in_latch));
align_offset_next <= align_offset + 4;
stage_next <= FETCH;
-- Empty Sequence
if (tmp_length = 0) then
-- DONE
stage_next <= SKIP_PAYLOAD;
else
decode_stage_next <= GET_STATUS_LIST_GOAL_INFO_GOAL_ID;
cnt_next <= 0;
if (tmp_length > STATUS_LIST_MAX_DEPTH) then
status_list_len_latch_next <= to_unsigned(STATUS_LIST_MAX_DEPTH, status_list_len_latch_next'length);
else
status_list_len_latch_next <= resize(tmp_length, status_list_len_latch_next'length);
end if;
status_list_cnt_next <= 0;
end if;
end if;
when GET_STATUS_LIST_GOAL_INFO_GOAL_ID =>
-- Special Decoding for effieciency (Prevent having to define memory for UUID)
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_1)) then
target_align_next <= ALIGN_1;
stage_next <= ALIGN_STREAM;
else
case (cnt) is
when 0 =>
uuid_next(uuid_cnt) <= get_sub_vector(data_in_latch, to_integer(align_offset(1 downto 0)), CDR_INT8_WIDTH, TRUE);
align_offset_next <= align_offset + 1;
-- Need to fetch next Word
if(align_offset(1 downto 0) = "11") then
stage_next <= FETCH;
end if;
if (uuid_cnt = STATUS_LIST_GOAL_INFO_GOAL_ID_MAX_DEPTH-1) then
cnt_next <= cnt + 1;
else
uuid_cnt_next <= uuid_cnt + 1;
end if;
when 1 =>
status_list_goal_info_goal_id_mem_addr <= std_logic_vector(to_unsigned(status_list_cnt,STATUS_LIST_ADDR_WIDTH));
status_list_goal_info_goal_id_mem_data_in <= std_logic_vector(to_unsigned(uuid));
status_list_goal_info_goal_id_mem_valid_in <= '1';
-- Memory Operation Guard
if (status_list_goal_info_goal_id_mem_ready_in = '1') then
decode_stage_next <= GET_STATUS_LIST_GOAL_INFO_STAMP;
cnt_next <= 0;
uuid_cnt_next <= 0; -- Post-reset
end if;
when others =>
null;
end case;
end if;
when GET_STATUS_LIST_GOAL_INFO_STAMP =>
-- We intepret the TIME as a double word for efficiency
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next <= write_sub_vector(dw_latch_next, endian_swap(endian_flag, data_in_latch), 0, TRUE);
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next <= write_sub_vector(dw_latch_next, endian_swap(endian_flag, data_in_latch), 1, TRUE);
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
status_list_goal_info_stamp_mem_addr <= std_logic_vector(to_unsigned(status_list_cnt,STATUS_LIST_ADDR_WIDTH));
status_list_goal_info_stamp_mem_data_in <= dw_latch;
status_list_goal_info_stamp_mem_valid_in <= '1';
-- Memory Operation Guard
if (status_list_goal_info_stamp_mem_ready_in = '1') then
align_offset_next <= align_offset + 8;
decode_stage_next <= GET_STATUS_LIST_STATUS;
end if;
when others =>
null;
end case;
end if;
when GET_STATUS_LIST_STATUS =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_1)) then
target_align_next <= ALIGN_1;
stage_next <= ALIGN_STREAM;
else
status_list_status_mem_addr <= std_logic_vector(to_unsigned(status_list_cnt,STATUS_LIST_ADDR_WIDTH));
status_list_status_mem_data_in <= endian_swap(endian_flag, get_sub_vector(data_in_latch, to_integer(align_offset(1 downto 0)), CDR_INT8_WIDTH, TRUE));
status_list_status_mem_valid_in <= '1';
-- Memory Operation Guard
if (status_list_status_mem_ready_in = '1') then
align_offset_next <= align_offset + 1;
-- All Elements processed
if (status_list_cnt = status_list_len_latch-1) then
-- DONE
stage_next <= SKIP_PAYLOAD;
else
status_list_cnt_next <= status_list_cnt + 1;
decode_stage_next <= GET_STATUS_LIST_GOAL_INFO_GOAL_ID;
cnt_next <= 0;
end if;
-- Need to fetch next Word
if(align_offset(1 downto 0) = "11") then
stage_next <= FETCH;
end if;
end if;
end if;
-- ###GENERATED END###
when GET_OPTIONAL_HEADER =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_STREAM;
else
case (cnt) is
-- Optional Member Header
when 0 =>
-- Extended Parameter Header
if (endian_swap(endian_flag,parameter_id) = PID_EXTENDED) then
cnt_next <= cnt + 1;
stage_next <= FETCH;
else
stage_next <= FETCH;
decode_stage_next <= return_stage;
cnt_next <= 0;
-- Alignment Reset
align_offset_next <= (others => '0');
-- Optional omitted
if(endian_swap(endian_flag,parameter_length) = (parameter_length'reverse_range => '0')) then
optional_next <= '0';
else
optional_next <= '1';
end if;
end if;
-- eMemberHeader
when 1 =>
-- Ignore Parameter ID
cnt_next <= cnt + 1;
stage_next <= FETCH;
-- Llength
when 2 =>
stage_next <= FETCH;
decode_stage_next <= return_stage;
cnt_next <= 0;
-- Alignment Reset
align_offset_next <= (others => '0');
-- Optional omitted
if(endian_swap(endian_flag, data_in_dds) = (data_in_dds'reverse_range => '0')) then
optional_next <= '0';
else
optional_next <= '1';
end if;
when others =>
null;
end case;
end if;
when others =>
null;
end case;
when SKIP_PAYLOAD =>
if (last_word_in_latch = '0') then
-- Skip Read
ready_in_dds_sig <= '1';
else
-- Reset
last_word_in_latch_next <= '0';
-- If no Decode Error, mark output as valid
if (decode_error_latch = '0') then
taken_sig_next <= '1';
return_code_latch_next <= ROS_RET_OK;
else
taken_sig_next <= '0';
return_code_latch_next <= ROS_RET_ERROR;
end if;
stage_next <= RETURN_ROS;
end if;
end case;
-- OVERREAD GUARD
-- Attempted read on empty input
if (last_word_in_latch = '1' and last_word_in_dds = '0' and ready_in_dds_sig = '1') then
stage_next <= SKIP_PAYLOAD;
decode_error_latch_next <= '1';
end if;
end process;
sync_prc : process(clk)
begin
if rising_edge(clk) then
if (reset = '1') then
stage <= IDLE;
decode_stage <= GET_STATUS_LIST_LENGTH;
return_stage <= GET_STATUS_LIST_LENGTH;
target_align <= ALIGN_1;
return_code_latch <= ROS_RET_OK;
message_info_sig <= EMPTY_MESSAGE_INFO;
cnt <= 0;
endian_flag <= '0';
last_word_in_latch <= '0';
decode_error_latch <= '0';
optional <= '0';
taken_sig <= '0';
align_op <= '0';
data_available_sig <= '0';
align_offset <= (others => '0');
data_in_latch <= (others => '0');
-- ###GENERATED START###
dw_latch <= (others => '0');
uuid <= UUID_UNKNOWN;
uuid_cnt <= 0;
status_list_cnt <= 0;
status_list_len_latch <= (others => '0');
-- ###GENERATED END###
else
stage <= stage_next;
decode_stage <= decode_stage_next;
return_stage <= return_stage_next;
target_align <= target_align_next;
return_code_latch <= return_code_latch_next;
message_info_sig <= message_info_sig_next;
cnt <= cnt_next;
endian_flag <= endian_flag_next;
last_word_in_latch <= last_word_in_latch_next;
decode_error_latch <= decode_error_latch_next;
optional <= optional_next;
taken_sig <= taken_sig_next;
align_op <= align_op_next;
data_available_sig <= data_available_sig_next;
align_offset <= align_offset_next;
data_in_latch <= data_in_latch_next;
-- ###GENERATED START###
dw_latch <= dw_latch_next;
uuid <= uuid_next;
uuid_cnt <= uuid_cnt_next;
status_list_cnt <= status_list_cnt_next;
status_list_len_latch <= status_list_len_latch_next;
-- ###GENERATED END###
end if;
end if;
end process;
end architecture;

30
src/ros2/rcl_interfaces/action_msgs/GoalStatus_package.vhd Normal file
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@ -0,0 +1,30 @@
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.math_pkg.all;
use work.rtps_package.all;
use work.ros_package.all;
use work.GoalInfo_package;
package GoalStatus_package is
constant STATUS_UNKNOWN : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(0, CDR_INT8_WIDTH));
constant STATUS_ACCEPTED : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(1, CDR_INT8_WIDTH));
constant STATUS_EXECUTING : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(2, CDR_INT8_WIDTH));
constant STATUS_CANCELING : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(3, CDR_INT8_WIDTH));
constant STATUS_SUCCEEDED : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(4, CDR_INT8_WIDTH));
constant STATUS_CANCELED : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(5, CDR_INT8_WIDTH));
constant STATUS_ABORTED : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(6, CDR_INT8_WIDTH));
type GOALSTATUS_TYPE is record
goal_info : Goalinfo_package.GOALINFO_TYPE;
status : std_logic_vector(CDR_INT8_WIDTH-1 downto 0);
end record;
constant MAX_GOAL_INFO_SIZE : natural := Goalinfo_package.MAX_GOALINFO_SIZE;
constant MAX_STATUS_SIZE : natural := 1;
constant MAX_GOALSTATUS_SIZE : natural := MAX_GOAL_INFO_SIZE + MAX_STATUS_SIZE;
end package;