Blind implementation of READ/TAKE DDS READER operations

Finalized DDS Reader interface. Implemented read/take,
read_next_sample/take_next_sample, read_instance/take_instance,
read_next_instance/take_next_instance operations.
Instance Get operations were made generic to allow returning 2 variants
of instance data.

src/REF.txt

@@ -459,14 +459,15 @@ STATUS INFO
 -----------
 31............24..............16..............8...............0
 +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-+-----------------------------------------------------+-+-+-+-+
++---------------------------------------------------+-+-+-+-+-+
-|                           UNUSED                    |V|L|W|D|
+|                           UNUSED                  |M|V|L|W|D|
-+-----------------------------------------------------+-+-+-+-+
++---------------------------------------------------+-+-+-+-+-+
 
 D...NOT_ALIVE_DISPOSED
 W...NOT_ALIVE_NO_WRITERS
 L...LIVELINESS FLAG
 V...VIEW STATE
+M...MARK
 
 
 OUTPUT DATA
@@ -608,6 +609,12 @@ The act of reading a sample sets its sample_state to READ. If the sample belongs
 generation of the instance, it will also set the view_state of the instance to NOT_NEW. It will not 
 affect the instance_state of the instance.
 
+https://community.rti.com/static/documentation/connext-dds/5.2.0/doc/manuals/connext_dds/html_files/RTI_ConnextDDS_CoreLibraries_UsersManual/Content/UsersManual/DESTINATION_ORDER_QosPolicy.htm#sending_2410472787_644578
+Data will be delivered by a DataReader in the order in which it was sent. If data arrives on the network 
+with a source timestamp earlier than the source timestamp of the last data delivered, the new data will 
+be dropped. This ordering therefore works best when system clocks are relatively synchronized among 
+writing machines.
+
 INVALIDATION
 ============
 

src/TODO.txt

@@ -63,14 +63,11 @@
 * What happens if we get a sample with a source timestamp earlier than the last sample that was accessed by the DataReader when using DESTINATION ORDER BY_SOURCE_TIMESTAMP? Is the smaple dropped?
 * The spec does not define the serialized Key (KEY=1 DATA MESSAGE)
     - fast-rtps assumes it is the Key Hash
-    - 
 * Currently the builtin-endpoint does only acknowledge SN, but does not negatively acknowledge any SN (Bitamp is always empty).
   A writer usually responds with repqirs only to negative acknowledgements.
-* Currently a RTPS Writer with DURABILITY TARNSIENT_LOCAL does send historical data to all matched readrs, not depensing if they are VOLATILE or TRANSIENT_LOCAL.
+* Currently a RTPS Writer with DURABILITY TARNSIENT_LOCAL does send historical data to all matched readers, not depending if they are VOLATILE or TRANSIENT_LOCAL.
 * Assert Heartbeat period > Heartbeat Suppression Period
 * Can I request (NACK) SNs that were NOT announced by the writer (> last_sn in Heartbeat)?
-* As it currently works, if a new sample is received and the QOS is not KEEP_ALL/RELIABLE, the oldest sample is removed.
-  In case of DESTINATION_ORDER = BY_SOURCE_TIMESTAMP it could happen that we effectively removed a sample that had a source timestamp later than the one we received.
 
 * Fast-RTPS doen not follow DDSI-RTPS Specification
     - Open Github Issue
@@ -149,20 +146,23 @@ DESIGN DECISIONS
     Use the lowest bit of the Heartbeat/Acknack Deadline stored in the Participant Data to differentiate 
     between Delay and Suppression. This reduces the resolution from 0.23 ns to 0.47 ns
 
-*   Originally we stored the mask of local matching endpoints in the memory frame of the remote endpoint in order
+*   Originally we stored the mask of local matching endpoints in the memory frame of the remote endpoint 
-    to be able to send MATCH frames only to new matches, and UNMATCH frames only to previously matched local endpoints.
+    in order to be able to send MATCH frames only to new matches, and UNMATCH frames only to previously 
-    This decision was reverted, and we just sent MATCH frames to the currently matched local endpoints (non depending on if they are already matched) 
+    matched local endpoints. This decision was reverted, and we just sent MATCH frames to the currently 
-    and UNMATCH frames to the rest of the local endpoints (non depending on if they were previously matched).
+    matched local endpoints (non depending on if they are already matched) and UNMATCH frames to the 
-    So we basically push the responsibility to the local endpoints, which have to handle this situations accordingly.
+    rest of the local endpoints (non depending on if they were previously matched).
-    Since META traffic is not supposed to be generated as often , this should not produce any significant overhead.
+    So we basically push the responsibility to the local endpoints, which have to handle this situations 
-    As optimization, on new matched remote endpoints UNMATCH frames can be ignored.
+    accordingly. Since META traffic is not supposed to be generated as often, this should not produce 
+    any significant overhead. As optimization, on new matched remote endpoints UNMATCH frames can be 
+    ignored.
 
-*   The HEARTBEATs are sent out together with the liveliness assertions. This adds a 96-Byte overhead to the output RTPS Message.
+*   The HEARTBEATs are sent out together with the liveliness assertions. This adds a 96-Byte overhead 
-    This was done to prevent having to loop through the memory to find remote participant destination more than once.
+    to the output RTPS Message. This was done to prevent having to loop through the memory to find 
+    remote participant destination more than once.
 
 *   The Publisher, Subscriber, and Message Data is written on separate RTPS Messages, even though they are 
     sent simutanously. This decision was made to support as many local Endpoints as possible. We could 
-    make a compile-time if check and sent them in the same RTPS Message/UDP Packet, but the overhead is 
+    make a compile-time check and sent them in the same RTPS Message/UDP Packet, but the overhead is 
     quite small and not worth the hassle.
     
 *   Even though the Reader does not need to keep track of received SN with respect to each Writer with 
@@ -176,29 +176,31 @@ DESIGN DECISIONS
     In order to acoomodate for that, we could store the lowest (and possibly highest) SN of a requested 
     lost SN and always send ALL GAPs in that range.
     
-*   The meta_data (sample info) of a cache change is fixed size, and a cache change may be connected to data (payload),
+*   The meta_data (sample info) of a cache change is fixed size, and a cache change may be connected to 
-    which may be variable in size. For this reason, we store the cache change and payload in separate memories.
+    data (payload), which may be variable in size. For this reason, we store the cache change and 
-    The payload size may either be fixed (in which case the memory frame sizes are adjusted according to that),
+    payload in separate memories. The payload size may either be fixed (in which case the memory frame 
-    or may be variable, in which case the payload is stored in a linked list of predefined sized memory frames.
+    sizes are adjusted according to that), or may be variable, in which case the payload is stored in 
-    The first word of a payload contains the address of the next linked memory frame. If this is the last frame
+    a linked list of predefined sized memory frames. The first word of a payload contains the address 
-    (or if the payload is static and there are no linked frames), the address is MAX_ADDRESS.
+    of the next linked memory frame. If this is the last frame (or if the payload is static and there 
-    The last bit of this address is the "occupied" bit. This bit signifies if the memory frame is used or free,
+    are no linked frames), the address is MAX_ADDRESS. The last bit of this address is the "occupied" 
-    and is used for the insert operation to find a new empty slot. This in effect means that all frame sizes 
+    bit. This bit signifies if the memory frame is used or free, and is used for the insert operation 
-    have to be a multiple of 2 (all frame addresses have to be aligned to 2).
+    to find a new empty slot. This in effect means that all frame sizes have to be a multiple of 2 
+    (all frame addresses have to be aligned to 2).
 
-*   !REJECTED! The History Cache (HC) is the interface between RTPS and DDS. The History Cache contains the Sample Info 
+*   !REJECTED! The History Cache (HC) is the interface between RTPS and DDS. The History Cache contains 
-    and Payload memories. The HC has two input "sides", one is connected to the DDS and one to the RTPS entity.
+    the Sample Info and Payload memories. The HC has two input "sides", one is connected to the DDS 
-    Housing the memories inside the HC entity and abstracting the direct memory address via opcode requests 
+    and one to the RTPS entity. Housing the memories inside the HC entity and abstracting the direct 
-    allows the memory interface to be replaced in future (e.g. AXI Lite).
+    memory address via opcode requests allows the memory interface to be replaced in future (e.g. AXI 
-    Since all memory operations are handled by the same entity, this allows some state keeping to improve 
+    Lite). Since all memory operations are handled by the same entity, this allows some state keeping 
-    memory bandwidth. More specifically the "linked list" paradigm can be extended to also reference empty
+    to improve memory bandwidth. More specifically the "linked list" paradigm can be extended to also 
-    slots (and next unread slots), to allow selecting empty slots without iterating through the whole memory.
+    reference empty slots (and next unread slots), to allow selecting empty slots without iterating 
-    Originally the memory was to be implemented in a true dual port fashion, and two seperate procoesses 
+    through the whole memory. Originally the memory was to be implemented in a true dual port fashion, 
-    would each satisfy the requests from one input side. This would allow concurrent RTPS and DDS requests 
+    and two seperate procoesses would each satisfy the requests from one input side. This would allow 
-    to be handled. The write concurrency (add and remove change) does not allow for state keeping (first 
+    concurrent RTPS and DDS requests to be handled. The write concurrency (add and remove change) does 
-    empty slot address), since it is reset by the "adding" side, by set by the "removing" side.
+    not allow for state keeping (first empty slot address), since it is reset by the "adding" side, by 
-    Because of this, it was decided against concurrent input handling in light of the fact that the history
+    set by the "removing" side. Because of this, it was decided against concurrent input handling in 
-    cache will be most commonly quite large in size, and iterating through all 
+    light of the fact that the history cache will be most commonly quite large in size, and iterating 
+    through all...
 
 *   Since most of the DDS QoS need information that is directly available to the History Cache (HC),
     it makes sense to integrate most of the DDS functionality directly into the HC to save up space 
@@ -222,10 +224,8 @@ PROTOCOL UNCOMPLIANCE
     -> No validity check
 * Inline QoS validated in Endpoint
     -> Cannot invalidate Rest of Message/Packet
+* RESOURCE_LIMITS applies also to "empty" samples (Samples with no valid data).
 
--- Input FIFO Guard
--- Output FIFO Guard
--- Deferred to package Body
 
 RTPS ENDPOINT
 =============

src/rtps_config_package.vhd

@@ -53,6 +53,8 @@ package rtps_config_package is
     type KEY_GENERATOR_OPCODE_TYPE is (NOP, WRITE_PAYLOAD, READ_KEY, READ_SIZE);
     type HISTORY_CACHE_RESPOSNE_TYPE is (UNDEFINED, ACK, ACCEPTED, REJECTED);
     type INSTANCE_STATE_TYPE is (ALIVE, NOT_ALIVE_DISPOSED, NOT_ALIVE_NO_WRITERS);
+    type VIEW_STATE_TYPE is (NEW_INSTANCE, NOT_NEW_INSTANCE);
+    type SAMPLE_STATE is (READ, NOT_READ);
     
     -- Sample Status Info Flags
     constant DISPOSED_FLAG      : natural := 0;
@@ -66,6 +68,7 @@ package rtps_config_package is
     constant NOT_ALIVE_NO_WRITERS_FLAG  : natural := 1;
     constant LIVELINESS_FLAG            : natural := 2;
     constant VIEW_FLAG                  : natural := 3;
+    constant MARK_FLAG                  : natural := 4;
     
     -- Marks the Reader Endpoint in the Endpoint Array
     constant ENDPOINT_READERS           : std_logic_vector(0 to NUM_ENDPOINTS-1) := (0 to NUM_READERS-1 => '1', others => '0');

src/rtps_package.vhd

@@ -49,6 +49,35 @@ package rtps_package is
     constant MAX_BITMAP_WIDTH                       : natural := 256;
     constant KEY_HASH_WIDTH                         : natural := 128;
     constant STATUS_INFO_WIDTH                      : natural := 32;
+    -- DDS
+    constant RETURN_CODE_WIDTH                      : natural := CDR_LONG_WIDTH;
+    constant STATUS_KIND_WIDTH                      : natural := CDR_LONG_WIDTH;
+    constant SAMPLE_STATE_KIND_WIDTH                : natural := CDR_LONG_WIDTH;
+    constant VIEW_STATE_KIND_WIDTH                  : natural := CDR_LONG_WIDTH;
+    constant INSTANCE_STATE_KIND_WIDTH              : natural := CDR_LONG_WIDTH;
+    constant QOS_POLICY_ID_WIDTH                    : natural := CDR_LONG_WIDTH;
+    constant MAX_SAMPLES_WIDTH                      : natural := CDR_LONG_WIDTH;
+    
+    constant DISPOSED_GENERATION_COUNT_WIDTH        : natural := CDR_LONG_WIDTH;
+    constant NO_WRITERS_GENERATION_COUNT_WIDTH      : natural := CDR_LONG_WIDTH;
+    constant SAMPLE_RANK_WIDTH                      : natural := CDR_LONG_WIDTH;
+    constant GENERATION_RANK_WIDTH                  : natural := CDR_LONG_WIDTH;
+    constant ABSOLUTE_GENERATION_COUNT_WIDTH        : natural := CDR_LONG_WIDTH;
+    
+    constant INCONSISTENT_TOPIC_STATUS_COUNT_WIDTH  : natural := CDR_LONG_WIDTH;
+    constant SAMPLE_LOST_STATUS_COUNT_WIDTH         : natural := CDR_LONG_WIDTH;
+    constant SAMPLE_REJECTED_STATUS_COUNT_WIDTH     : natural := CDR_LONG_WIDTH;
+    constant LIVELINESS_LOST_STATUS_COUNT_WIDTH     : natural := CDR_LONG_WIDTH;
+    constant LIVELINESS_CHANGED_STATUS_COUNT_WIDTH  : natural := CDR_LONG_WIDTH;
+    constant OFFERED_DEADLINE_MISSED_STATUS_COUNT_WIDTH     : natural := CDR_LONG_WIDTH;
+    constant REQUESTED_DEADLINE_MISSED_STATUS_COUNT_WIDTH   : natural := CDR_LONG_WIDTH;
+    constant OFFERED_INCOMPATIBLE_QOS_STATUS_COUNT_WIDTH    : natural := CDR_LONG_WIDTH;
+    constant REQUESTED_INCOMPATIBLE_QOS_STATUS_COUNT_WIDTH  : natural := CDR_LONG_WIDTH;
+    constant PUBLICATION_MATCHED_STATUS_COUNT_WIDTH     : natural := CDR_LONG_WIDTH;
+    constant SUBSCRIPTION_MATCHED_STATUS_COUNT_WIDTH    : natural := CDR_LONG_WIDTH;
+    
+    
+    
     
     -- *TYPES DEFINITION*
     -- Generic Types
@@ -62,6 +91,9 @@ package rtps_package is
     type GUID_TYPE is array (0 to (GUID_WIDTH/WORD_WIDTH)-1) of std_logic_vector(WORD_WIDTH-1 downto 0);
     type BITMAP_TYPE is array (0 to (MAX_BITMAP_WIDTH/WORD_WIDTH)-1) of std_logic_vector(0 to WORD_WIDTH-1);
     type KEY_HASH_TYPE is array (0 to (KEY_HASH_WIDTH/WORD_WIDTH)-1) of std_logic_vector(WORD_WIDTH-1 downto 0);
+    -- DDS
+    subtype INSTANCE_HANDLE_TYPE is KEY_HASH_TYPE;
+    subtype PUBLICATION_HANDLE_TYPE is GUID_TYPE;
     
     -- Helper Function
     function gen_duration(s,ns : integer) return DURATION_TYPE;
@@ -86,6 +118,86 @@ package rtps_package is
     constant UDP_PORT_INVALID           : std_logic_vector(UDP_PORT_WIDTH-1 downto 0) := (others => '0');
     constant IPv4_ADDRESS_INVALID       : std_logic_vector(IPv4_ADDRESS_WIDTH-1 downto 0) := (others => '0');
     constant LENGTH_UNLIMITED           : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := std_logic_vector(to_signed(-1,CDR_LONG_WIDTH));
+    -- DDS
+    constant HANDLE_NIL                 : INSTANCE_HANDLE_TYPE := (others => (others => '0'));
+    
+    -- *RETURN CODES* (DDS)
+    constant RETCODE_OK                     : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(0,RETURN_CODE_WIDTH));
+    constant RETCODE_ERROR                  : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(1,RETURN_CODE_WIDTH));
+    constant RETCODE_UNSUPPORTED            : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(2,RETURN_CODE_WIDTH));
+    constant RETCODE_BAD_PARAMETER          : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(3,RETURN_CODE_WIDTH));
+    constant RETCODE_PRECONDITION_NOT_MET   : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(4,RETURN_CODE_WIDTH));
+    constant RETCODE_OUT_OF_RESOURCES       : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(5,RETURN_CODE_WIDTH));
+    constant RETCODE_NOT_ENABLED            : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(6,RETURN_CODE_WIDTH));
+    constant RETCODE_IMMUTABLE_POLICY       : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(7,RETURN_CODE_WIDTH));
+    constant RETCODE_INCONSISTENT_POLICY    : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(8,RETURN_CODE_WIDTH));
+    constant RETCODE_ALREADY_DELETED        : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(9,RETURN_CODE_WIDTH));
+    constant RETCODE_TIMEOUT                : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(10,RETURN_CODE_WIDTH));
+    constant RETCODE_NO_DATA                : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(11,RETURN_CODE_WIDTH));
+    constant RETCODE_ILLEGAL_OPERATION      : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(12,RETURN_CODE_WIDTH));
+    
+    -- *STATUS KIND* (DDS)
+    constant INCONSISTENT_TOPIC_STATUS          : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00000001";
+    constant OFFERED_DEADLINE_MISSED_STATUS     : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00000002";
+    constant REQUESTED_DEADLINE_MISSED_STATUS   : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00000004";
+    constant OFFERED_INCOMPATIBLE_QOS_STATUS    : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00000020";
+    constant REQUESTED_INCOMPATIBLE_QOS_STATUS  : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00000040";
+    constant SAMPLE_LOST_STATUS                 : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00000080";
+    constant SAMPLE_REJECTED_STATUS             : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00000100";
+    constant DATA_ON_READERS_STATUS             : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00000200";
+    constant DATA_AVAILABLE_STATUS              : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00000400";
+    constant LIVELINESS_LOST_STATUS             : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00000800";
+    constant LIVELINESS_CHANGED_STATUS          : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00001000";
+    constant PUBLICATION_MATCHED_STATUS         : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00002000";
+    constant SUBSCRIPTION_MATCHED_STATUS        : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0) := x"00004000";
+    
+    -- *SAMPLE STATE KIND* (DDS)
+    constant READ_SAMPLE_STATE      : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"00000001";
+    constant NOT_READ_SAMPLE_STATE  : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"00000002";
+    constant ANY_SAMPLE_STATE       : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"FFFFFFFF";
+    
+    -- *VIEW STATE KIND* (DDS)
+    constant NEW_VIEW_STATE     : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"00000001";
+    constant NOT_NEW_VIEW_STATE : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"00000002";
+    constant ANY_VIEW_STATE     : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"FFFFFFFF";
+    
+    -- *INSTANCE STATE KIND* (DDS)
+    constant ALIVE_INSTANCE_STATE                   : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"00000001";
+    constant NOT_ALIVE_DISPOSED_INSTANCE_STATE      : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"00000002";
+    constant NOT_ALIVE_NO_WRITERS_INSTANCE_STATE    : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"00000004";
+    constant NOT_ALIVE_INSTANCE_STATE               : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"00000006";
+    constant ANY_INSTANCE_STATE                     : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0) := x"FFFFFFFF";
+    
+    -- *SAMPLE REJECTED STATUS KIND* (DDS)
+    constant NOT_REJECTED                           : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(0,CDR_ENUMERATION_WIDTH));
+    constant REJECTED_BY_INSTANCES_LIMIT            : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(1,CDR_ENUMERATION_WIDTH));
+    constant REJECTED_BY_SAMPLES_LIMIT              : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(2,CDR_ENUMERATION_WIDTH));
+    constant REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(3,CDR_ENUMERATION_WIDTH));
+    
+    -- *QOS POLICY ID* (DDS)
+    constant INVALID_QOS_POLICY_ID              : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(0,QOS_POLICY_ID_WIDTH));
+    constant USERDATA_QOS_POLICY_ID             : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(1,QOS_POLICY_ID_WIDTH));
+    constant DURABILITY_QOS_POLICY_ID           : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(2,QOS_POLICY_ID_WIDTH));
+    constant PRESENTATION_QOS_POLICY_ID         : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(3,QOS_POLICY_ID_WIDTH));
+    constant DEADLINE_QOS_POLICY_ID             : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(4,QOS_POLICY_ID_WIDTH));
+    constant LATENCYBUDGET_QOS_POLICY_ID        : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(5,QOS_POLICY_ID_WIDTH));
+    constant OWNERSHIP_QOS_POLICY_ID            : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(6,QOS_POLICY_ID_WIDTH));
+    constant OWNERSHIPSTRENGTH_QOS_POLICY_ID    : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(7,QOS_POLICY_ID_WIDTH));
+    constant LIVELINESS_QOS_POLICY_ID           : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(8,QOS_POLICY_ID_WIDTH));
+    constant TIMEBASEDFILTER_QOS_POLICY_ID      : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(9,QOS_POLICY_ID_WIDTH));
+    constant PARTITION_QOS_POLICY_ID            : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(10,QOS_POLICY_ID_WIDTH));
+    constant RELIABILITY_QOS_POLICY_ID          : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(11,QOS_POLICY_ID_WIDTH));
+    constant DESTINATIONORDER_QOS_POLICY_ID     : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(12,QOS_POLICY_ID_WIDTH));
+    constant HISTORY_QOS_POLICY_ID              : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(13,QOS_POLICY_ID_WIDTH));
+    constant RESOURCELIMITS_QOS_POLICY_ID       : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(14,QOS_POLICY_ID_WIDTH));
+    constant ENTITYFACTORY_QOS_POLICY_ID        : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(15,QOS_POLICY_ID_WIDTH));
+    constant WRITERDATALIFECYCLE_QOS_POLICY_ID  : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(16,QOS_POLICY_ID_WIDTH));
+    constant READERDATALIFECYCLE_QOS_POLICY_ID  : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(17,QOS_POLICY_ID_WIDTH));
+    constant TOPICDATA_QOS_POLICY_ID            : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(18,QOS_POLICY_ID_WIDTH));
+    constant GROUPDATA_QOS_POLICY_ID            : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(19,QOS_POLICY_ID_WIDTH));
+    constant TRANSPORTPRIORITY_QOS_POLICY_ID    : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(20,QOS_POLICY_ID_WIDTH));
+    constant LIFESPAN_QOS_POLICY_ID             : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(21,QOS_POLICY_ID_WIDTH));
+    constant DURABILITYSERVICE_QOS_POLICY_ID    : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(22,QOS_POLICY_ID_WIDTH));
     
     -- *SUBMESSAGE IDs*
     constant SID_PAD            : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"01";