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rtps_writer: Send HEARTBEAT immediately on remote endpoint match

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This commit is contained in:
John Ring 2022-04-16 13:02:28 +02:00
parent 544717a9aa
commit 1ed234e85c
7 changed files with 362 additions and 155 deletions
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7
src/Tests/Level_0/L0_rtps_writer_test1.vhd
View File

@ -116,10 +116,10 @@ begin
data_available => (others => '0'),
start_hc => start_hc,
opcode_hc => open,
ack_hc => (others => '0'),
ack_hc => (others => '1'),
seq_nr_hc => open,
done_hc => (others => '0'),
ret_hc => (others => ERROR),
done_hc => (others => '1'),
ret_hc => (others => OK),
get_data_hc => open,
data_in_hc => (others => (others => '0')),
valid_in_hc => (others => '0'),
@ -439,7 +439,6 @@ begin
begin
if rising_edge(clk) then
alertif(empty_meta = (empty_meta'range => '1') and rd_meta = '1', "Input FIFO read signal high while empty signal high", FAILURE);
alertif(start_hc /= (start_hc'range => '0'), "Unexpected History Cache Operation initiated", FAILURE);
end if;
end process;

7
src/Tests/Level_0/L0_rtps_writer_test2.vhd
View File

@ -119,10 +119,10 @@ begin
data_available => (others => '0'),
start_hc => start_hc,
opcode_hc => open,
ack_hc => (others => '0'),
ack_hc => (others => '1'),
seq_nr_hc => open,
done_hc => (others => '0'),
ret_hc => (others => ERROR),
done_hc => (others => '1'),
ret_hc => (others => OK),
get_data_hc => open,
data_in_hc => (others => (others => '0')),
valid_in_hc => (others => '0'),
@ -454,7 +454,6 @@ begin
if rising_edge(clk) then
alertif(empty_meta = (empty_meta'range => '1') and rd_meta = '1', "Input FIFO read signal high while empty signal high (meta)", FAILURE);
alertif(empty_user = (empty_user'range => '1') and rd_user = '1', "Input FIFO read signal high while empty signal high (user)", FAILURE);
alertif(start_hc /= (start_hc'range => '0'), "Unexpected History Cache Operation initiated", FAILURE);
end if;
end process;

160
src/Tests/Level_1/L1_rtps_writer_test1.vhd
View File

@ -158,7 +158,7 @@ architecture testbench of L1_rtps_writer_test1 is
signal rtps_out_rd, rtps_out_last_word_in, rtps_out_empty : std_logic_vector(0 to NUM_ENDPOINTS) := (others => '0');
signal test_cc : TEST_CC_ARRAY_ARRAY_TYPE := (others => (others => DEFAULT_CACHE_CHANGE));
-- Signal containing the current fill level of the test_cc array
signal test_cc_fill : TEST_CC_FILL_ARRAY_TYPE := (others => 0);
signal test_cc_fill, hb_count : TEST_CC_FILL_ARRAY_TYPE := (others => 0);
signal stage_hc : HC_STAGE_TYPE := IDLE;
signal new_cc : std_logic := '0';
signal cnt : natural := 0;
@ -443,6 +443,35 @@ begin
end loop;
end procedure;
procedure push_hb(endpoint : in ENDPOINT_DATA_TYPE; first : in SEQUENCENUMBER_TYPE; last : in SEQUENCENUMBER_TYPE; liveliness_assertion : in boolean; i : natural) is
begin
reference := EMPTY_TEST_PACKET;
-- OUTPUT HEADER
OUT_HEADER := DEFAULT_OUTPUT_HEADER;
OUT_HEADER := (dest => get_loc(endpoint), src => DEST_LOC.user.locator(1));
gen_output_header(OUT_HEADER, reference);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, reference);
-- HEARTBEAT
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := ENTITYID(i);
sub.readerId := ENTITYID_UNKNOWN;
sub.firstSN := first;
sub.lastSN := last;
sub.flags(SUBMESSAGE_LIVELINESS_FLAG_POS) := '1' when (liveliness_assertion) else '0';
sub.count := std_logic_vector(to_unsigned(hb_count(i), CDR_LONG_WIDTH));
hb_count(i) <= hb_count(i) + 1;
wait for 0 ns; -- Latch Signal
gen_rtps_submessage(sub, reference);
fix_output_packet(reference);
for i in 0 to reference.length-1 loop
SB_out.Push(reference.data(i));
end loop;
end procedure;
procedure check_gsn(ref : SEQUENCENUMBER_TYPE; i : natural) is
begin
AffirmIf(gsn(i) = ref, "Global ACK SN: " & to_hstring(to_unsigned(gsn(i))) & " Expected: " & to_hstring(to_unsigned(ref)));
@ -508,6 +537,7 @@ begin
Log("Initiating Test", INFO);
Log("Current Time: 0s", INFO);
hb_count <= (others => 1);
count <= 1;
test_time <= TIME_ZERO;
new_cc <= '0';
@ -533,10 +563,18 @@ begin
gen_endpoint_match_frame(e1, stimulus_meta);
w_map <= "11111111";
start_meta_test;
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,0);
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,1);
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,4);
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,5);
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,6);
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,7);
wait_on_sig(packet_sent_meta);
wait_on_sig(out_check_done);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(SEQUENCENUMBER_UNKNOWN,0);
check_gsn(SEQUENCENUMBER_UNKNOWN,1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -552,10 +590,18 @@ begin
gen_endpoint_match_frame(e3, stimulus_meta);
w_map <= "11001111";
start_meta_test;
push_hb(e3, gen_sn(1), gen_sn(0), FALSE,0);
push_hb(e3, gen_sn(1), gen_sn(0), FALSE,1);
push_hb(e3, gen_sn(1), gen_sn(0), FALSE,4);
push_hb(e3, gen_sn(1), gen_sn(0), FALSE,5);
push_hb(e3, gen_sn(1), gen_sn(0), FALSE,6);
push_hb(e3, gen_sn(1), gen_sn(0), FALSE,7);
wait_on_sig(packet_sent_meta);
wait_on_sig(out_check_done);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(0),0);
check_gsn(gen_sn(0),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -659,6 +705,7 @@ begin
sub.readerSNState := (base => gen_sn(2), numBits => int(0, CDR_LONG_WIDTH), bitmap => (others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
count <= count + 1;
push_hc(REMOVE_CACHE_CHANGE, gen_sn(1),0);
push_hc(ACK_CACHE_CHANGE, gen_sn(1),1);
push_hc(REMOVE_CACHE_CHANGE, gen_sn(1),4);
@ -668,10 +715,9 @@ begin
w_map <= "11001111";
start_user_test;
wait_on_sig(packet_sent_user);
count <= count + 1;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(1),0);
check_gsn(gen_sn(1),0);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -812,9 +858,9 @@ begin
w_map <= "11001111";
start_meta_test;
wait_on_sig(packet_sent_meta);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(1),0);
check_gsn(gen_sn(1),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -836,6 +882,7 @@ begin
sub.readerSNState := (base => gen_sn(3), numBits => int(0, CDR_LONG_WIDTH), bitmap => (others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
count <= count + 1;
push_hc(REMOVE_CACHE_CHANGE, gen_sn(2),0);
push_hc(ACK_CACHE_CHANGE, gen_sn(2),1);
push_hc(REMOVE_CACHE_CHANGE, gen_sn(2),4);
@ -845,10 +892,9 @@ begin
w_map <= "11001111";
start_user_test;
wait_on_sig(packet_sent_user);
count <= count + 1;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(2),0);
check_gsn(gen_sn(2),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -871,9 +917,9 @@ begin
w_map <= "11001111";
start_meta_test;
wait_on_sig(packet_sent_meta);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(SEQUENCENUMBER_UNKNOWN,0);
check_gsn(SEQUENCENUMBER_UNKNOWN,1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -900,10 +946,15 @@ begin
push_hc(NACK_CACHE_CHANGE, gen_sn(3),7);
w_map <= "11001111";
start_meta_test;
wait_on_sig(packet_sent_meta);
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
push_hb(e1, gen_sn(1), gen_sn(3), FALSE,0);
push_hb(e1, gen_sn(1), gen_sn(3), FALSE,1);
push_hb(e1, gen_sn(1), gen_sn(3), FALSE,4);
push_hb(e1, gen_sn(1), gen_sn(3), FALSE,5);
push_hb(e1, gen_sn(1), gen_sn(3), FALSE,6);
push_hb(e1, gen_sn(1), gen_sn(3), FALSE,7);
push_hb(e3, gen_sn(1), gen_sn(3), FALSE,0);
push_hb(e3, gen_sn(1), gen_sn(3), FALSE,1);
-- W1
gen_header(e3);
gen_data(e3, test_cc(1)(0));
@ -914,8 +965,16 @@ begin
gen_header(e3);
gen_data(e3, test_cc(1)(2));
push_reference;
--
push_hb(e3, gen_sn(1), gen_sn(3), FALSE,4);
push_hb(e3, gen_sn(1), gen_sn(3), FALSE,5);
push_hb(e3, gen_sn(1), gen_sn(3), FALSE,6);
push_hb(e3, gen_sn(1), gen_sn(3), FALSE,7);
wait_on_sig(packet_sent_meta);
wait_on_sig(out_check_done);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
check_gsn(gen_sn(3),0);
check_gsn(gen_sn(0),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -937,15 +996,15 @@ begin
sub.readerSNState := (base => gen_sn(2), numBits => int(0, CDR_LONG_WIDTH), bitmap => (others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
count <= count + 1;
push_hc(ACK_CACHE_CHANGE, gen_sn(1),1);
push_hc(ACK_CACHE_CHANGE, gen_sn(1),7);
w_map <= "11001111";
start_user_test;
wait_on_sig(packet_sent_user);
count <= count + 1;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(3),0);
check_gsn(gen_sn(1),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -961,10 +1020,24 @@ begin
gen_endpoint_match_frame(e2, stimulus_meta);
w_map <= "11001111";
start_meta_test;
push_hb(e0, gen_sn(1), gen_sn(3), FALSE,0);
push_hb(e0, gen_sn(1), gen_sn(3), FALSE,1);
push_hb(e0, gen_sn(1), gen_sn(3), FALSE,4);
push_hb(e0, gen_sn(1), gen_sn(3), FALSE,5);
push_hb(e0, gen_sn(1), gen_sn(3), FALSE,6);
push_hb(e0, gen_sn(1), gen_sn(3), FALSE,7);
push_hb(e2, gen_sn(1), gen_sn(3), FALSE,0);
push_hb(e2, gen_sn(1), gen_sn(3), FALSE,1);
push_hb(e2, gen_sn(1), gen_sn(3), FALSE,4);
push_hb(e2, gen_sn(1), gen_sn(3), FALSE,5);
push_hb(e2, gen_sn(1), gen_sn(3), FALSE,6);
push_hb(e2, gen_sn(1), gen_sn(3), FALSE,7);
wait_on_sig(packet_sent_meta);
wait_on_sig(out_check_done);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(3),0);
check_gsn(gen_sn(1),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1161,13 +1234,13 @@ begin
sub.readerSNState := (base => gen_sn(5), numBits => int(0, CDR_LONG_WIDTH), bitmap => (others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
count <= count + 1;
w_map <= "11001111";
start_user_test;
wait_on_sig(packet_sent_user);
count <= count + 1;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(3),0);
check_gsn(gen_sn(1),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1188,13 +1261,13 @@ begin
sub.readerSNState := (base => gen_sn(6), numBits => int(0, CDR_LONG_WIDTH), bitmap => (others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
count <= count + 1;
w_map <= "11001111";
start_user_test;
wait_on_sig(packet_sent_user);
count <= count + 1;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(3),0);
check_gsn(gen_sn(1),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1216,6 +1289,7 @@ begin
sub.readerSNState := (base => gen_sn(6), numBits => int(0, CDR_LONG_WIDTH), bitmap => (others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
count <= count + 1;
push_hc(REMOVE_CACHE_CHANGE, gen_sn(4),0);
push_hc(ACK_CACHE_CHANGE, gen_sn(2),1);
push_hc(ACK_CACHE_CHANGE, gen_sn(3),1);
@ -1229,10 +1303,9 @@ begin
w_map <= "11001111";
start_user_test;
wait_on_sig(packet_sent_user);
count <= count + 1;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(4),0);
check_gsn(gen_sn(4),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1254,6 +1327,7 @@ begin
sub.readerSNState := (base => gen_sn(6), numBits => int(0, CDR_LONG_WIDTH), bitmap => (others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
count <= count + 1;
push_hc(REMOVE_CACHE_CHANGE, gen_sn(5),0);
push_hc(ACK_CACHE_CHANGE, gen_sn(5),1);
push_hc(REMOVE_CACHE_CHANGE, gen_sn(5),4);
@ -1263,10 +1337,9 @@ begin
w_map <= "11001111";
start_user_test;
wait_on_sig(packet_sent_user);
count <= count + 1;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(5),0);
check_gsn(gen_sn(5),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1555,13 +1628,13 @@ begin
sub.readerSNState := (base => gen_sn(16), numBits => int(0, CDR_LONG_WIDTH), bitmap => (others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
count <= count + 1;
w_map <= "11001111";
start_user_test;
wait_on_sig(packet_sent_user);
count <= count + 1;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(5),0);
check_gsn(gen_sn(5),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1582,13 +1655,13 @@ begin
sub.readerSNState := (base => gen_sn(16), numBits => int(0, CDR_LONG_WIDTH), bitmap => (others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
count <= count + 1;
w_map <= "11001111";
start_user_test;
wait_on_sig(packet_sent_user);
count <= count + 1;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(5),0);
check_gsn(gen_sn(5),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1610,6 +1683,7 @@ begin
sub.readerSNState := (base => gen_sn(16), numBits => int(0, CDR_LONG_WIDTH), bitmap => (others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
count <= count + 1;
push_hc(REMOVE_CACHE_CHANGE, gen_sn(6),0);
push_hc(REMOVE_CACHE_CHANGE, gen_sn(7),0);
push_hc(REMOVE_CACHE_CHANGE, gen_sn(8),0);
@ -1673,10 +1747,9 @@ begin
w_map <= "11001111";
start_user_test;
wait_on_sig(packet_sent_user);
count <= count + 1;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(15),0);
check_gsn(gen_sn(15),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1692,10 +1765,9 @@ begin
gen_endpoint_match_frame(e4, stimulus_meta);
w_map <= "11111111";
start_meta_test;
wait_on_sig(packet_sent_meta);
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
push_hb(e4, gen_sn(3), gen_sn(15), FALSE,0);
push_hb(e4, gen_sn(3), gen_sn(15), FALSE,1);
-- W1
gen_header(e4);
gen_data(e4, test_cc(1)(0));
@ -1738,8 +1810,16 @@ begin
gen_gap(gen_sn(12), gen_sn(15),2);
gen_data(e4, test_cc(2)(5));
push_reference;
--
push_hb(e4, gen_sn(3), gen_sn(15), FALSE,4);
push_hb(e4, gen_sn(3), gen_sn(15), FALSE,5);
push_hb(e4, gen_sn(3), gen_sn(15), FALSE,6);
push_hb(e4, gen_sn(3), gen_sn(15), FALSE,7);
wait_on_sig(packet_sent_meta);
wait_on_sig(out_check_done);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
check_gsn(gen_sn(15),0);
check_gsn(gen_sn(15),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1760,9 +1840,9 @@ begin
w_map <= "11001111";
start_meta_test;
wait_on_sig(packet_sent_meta);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(SEQUENCENUMBER_UNKNOWN,0);
check_gsn(SEQUENCENUMBER_UNKNOWN,1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1873,9 +1953,9 @@ begin
w_map <= "11111111";
start_meta_test;
wait_on_sig(packet_sent_meta);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(SEQUENCENUMBER_UNKNOWN,0);
check_gsn(SEQUENCENUMBER_UNKNOWN,1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1913,10 +1993,18 @@ begin
gen_endpoint_match_frame(e0, stimulus_meta);
w_map <= "11001111";
start_meta_test;
push_hb(e0, gen_sn(16), gen_sn(16), FALSE,0);
push_hb(e0, gen_sn(16), gen_sn(16), FALSE,1);
push_hb(e0, gen_sn(16), gen_sn(16), FALSE,4);
push_hb(e0, gen_sn(16), gen_sn(16), FALSE,5);
push_hb(e0, gen_sn(16), gen_sn(16), FALSE,6);
push_hb(e0, gen_sn(16), gen_sn(16), FALSE,7);
wait_on_sig(packet_sent_meta);
wait_on_sig(out_check_done);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(16),0);
check_gsn(gen_sn(16),1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);
@ -1934,9 +2022,9 @@ begin
w_map <= "11001111";
start_meta_test;
wait_on_sig(packet_sent_meta);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(SEQUENCENUMBER_UNKNOWN,0);
check_gsn(SEQUENCENUMBER_UNKNOWN,1);
check_gsn(SEQUENCENUMBER_UNKNOWN,2);

67
src/Tests/Level_1/L1_rtps_writer_test2.vhd
View File

@ -91,7 +91,7 @@ architecture testbench of L1_rtps_writer_test2 is
signal rtps_out_rd, rtps_out_last_word_in, rtps_out_empty : std_logic_vector(0 to NUM_ENDPOINTS) := (others => '0');
signal test_cc : TEST_CC_ARRAY_ARRAY_TYPE := (others => (others => DEFAULT_CACHE_CHANGE));
-- Signal containing the current fill level of the test_cc array
signal test_cc_fill : TEST_CC_FILL_ARRAY_TYPE := (others => 0);
signal test_cc_fill, hb_count : TEST_CC_FILL_ARRAY_TYPE := (others => 0);
signal stage_hc : HC_STAGE_TYPE := IDLE;
signal new_cc : std_logic := '0';
signal cnt : natural := 0;
@ -368,6 +368,35 @@ begin
gen_rtps_submessage(sub, reference);
end procedure;
procedure push_hb(endpoint : in ENDPOINT_DATA_TYPE; first : in SEQUENCENUMBER_TYPE; last : in SEQUENCENUMBER_TYPE; liveliness_assertion : in boolean; i : natural) is
begin
reference := EMPTY_TEST_PACKET;
-- OUTPUT HEADER
OUT_HEADER := DEFAULT_OUTPUT_HEADER;
OUT_HEADER := (dest => get_loc(endpoint), src => DEST_LOC.user.locator(1));
gen_output_header(OUT_HEADER, reference);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, reference);
-- HEARTBEAT
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := ENTITYID(i);
sub.readerId := ENTITYID_UNKNOWN;
sub.firstSN := first;
sub.lastSN := last;
sub.flags(SUBMESSAGE_LIVELINESS_FLAG_POS) := '1' when (liveliness_assertion) else '0';
sub.count := std_logic_vector(to_unsigned(hb_count(i), CDR_LONG_WIDTH));
hb_count(i) <= hb_count(i) + 1;
wait for 0 ns; -- Latch Signal
gen_rtps_submessage(sub, reference);
fix_output_packet(reference);
for i in 0 to reference.length-1 loop
SB_out.Push(reference.data(i));
end loop;
end procedure;
procedure push_reference is
begin
fix_output_packet(reference);
@ -423,6 +452,7 @@ begin
Log("Initiating Test", INFO);
Log("Current Time: 0s", INFO);
hb_count <= (others => 1);
count <= 1;
test_time <= TIME_ZERO;
new_cc <= '0';
@ -461,10 +491,17 @@ begin
gen_endpoint_match_frame(e2, stimulus_meta);
w_map <= "11";
start_meta_test;
push_hb(e0, gen_sn(1), gen_sn(1), FALSE,0);
push_hb(e0, gen_sn(1), gen_sn(1), FALSE,1);
push_hb(e1, gen_sn(1), gen_sn(1), FALSE,0);
push_hb(e1, gen_sn(1), gen_sn(1), FALSE,1);
push_hb(e2, gen_sn(1), gen_sn(1), FALSE,0);
push_hb(e2, gen_sn(1), gen_sn(1), FALSE,1);
wait_on_sig(packet_sent_meta);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(1),0);
check_gsn(gen_sn(1),1);
@ -482,9 +519,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(1),0);
check_gsn(gen_sn(1),1);
@ -516,9 +553,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(1),0);
check_gsn(gen_sn(1),1);
@ -586,9 +623,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(1),0);
check_gsn(gen_sn(1),1);
@ -607,9 +644,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(1),0);
check_gsn(gen_sn(1),1);
@ -627,9 +664,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(1),0);
check_gsn(gen_sn(1),1);
@ -676,9 +713,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(2),0);
check_gsn(gen_sn(2),1);
@ -696,9 +733,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(2),0);
check_gsn(gen_sn(2),1);
@ -719,9 +756,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(3),0);
check_gsn(gen_sn(3),1);
@ -767,9 +804,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(3),0);
check_gsn(gen_sn(3),1);
@ -847,9 +884,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(3),0);
check_gsn(gen_sn(3),1);
@ -873,9 +910,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(9),0);
check_gsn(gen_sn(9),1);
@ -902,9 +939,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(9),0);
check_gsn(gen_sn(9),1);
@ -924,9 +961,9 @@ begin
w_map <= "11";
start_user_test;
wait_on_sig(packet_sent_user);
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
wait_on_idle;
check_gsn(gen_sn(10),0);
check_gsn(gen_sn(10),1);

64
src/Tests/Level_1/L1_rtps_writer_test3.vhd
View File

@ -354,6 +354,12 @@ begin
wait until rising_edge(clk);
end procedure;
procedure inc_count(i : natural) is
begin
count(i) <= count(i) + 1;
wait for 0 ns; -- Latch Signal
end procedure;
begin
SetAlertLogName("L1_rtps_writer_test3 - RTPS Output (HEARTBEAT)");
@ -431,9 +437,17 @@ begin
gen_endpoint_match_frame(e1, stimulus_meta);
w_map <= "110";
start_meta_test;
push_hb(e0, gen_sn(1), gen_sn(0), FALSE,0);
inc_count(0);
push_hb(e0, gen_sn(1), gen_sn(0), FALSE,1);
inc_count(1);
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,0);
inc_count(0);
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,1);
inc_count(1);
wait_on_sig(packet_sent_meta);
stimulus_meta := EMPTY_TEST_PACKET;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
Log("Current Time: 1s", INFO);
@ -443,11 +457,11 @@ begin
wait until rising_edge(clk); -- Allow idle_sig to go low
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,0);
push_hb(e0, gen_sn(1), gen_sn(0), FALSE,0);
count(0) <= count(0) + 1;
inc_count(0);
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,1);
push_hb(e0, gen_sn(1), gen_sn(0), FALSE,1);
count(1) <= count(1) + 1;
count(2) <= count(2) + 1;
inc_count(1);
inc_count(2);
wait_on_sig(out_check_done);
wait_on_idle;
@ -468,11 +482,11 @@ begin
wait until rising_edge(clk); -- Allow idle_sig to go low
push_hb(e1, gen_sn(1), gen_sn(1), FALSE,0);
push_hb(e0, gen_sn(1), gen_sn(1), FALSE,0);
count(0) <= count(0) + 1;
inc_count(0);
push_hb(e1, gen_sn(1), gen_sn(0), FALSE,1);
push_hb(e0, gen_sn(1), gen_sn(0), FALSE,1);
count(1) <= count(1) + 1;
count(2) <= count(2) + 1;
inc_count(1);
inc_count(2);
wait_on_sig(out_check_done);
wait_on_idle;
@ -494,7 +508,7 @@ begin
Log("W0: Send HEARTBEAT to Endpoint 0,1 [Liveliness Flag]", INFO);
push_hb(e1, gen_sn(1), gen_sn(3), TRUE,0);
push_hb(e0, gen_sn(1), gen_sn(3), TRUE,0);
count(0) <= count(0) + 1;
inc_count(0);
wait_on_sig(out_check_done);
wait_on_idle;
@ -504,9 +518,13 @@ begin
gen_endpoint_match_frame(e3, stimulus_meta);
w_map <= "100";
start_meta_test;
push_hb(e2, gen_sn(1), gen_sn(3), FALSE,0);
inc_count(0);
push_hb(e3, gen_sn(1), gen_sn(3), FALSE,0);
inc_count(0);
wait_on_sig(packet_sent_meta);
stimulus_meta := EMPTY_TEST_PACKET;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
Log("Current Time: 3s", INFO);
@ -519,11 +537,11 @@ begin
push_hb(e2, gen_sn(1), gen_sn(3), FALSE,0);
push_hb(e1, gen_sn(1), gen_sn(3), FALSE,0);
push_hb(e0, gen_sn(1), gen_sn(3), FALSE,0);
count(0) <= count(0) + 1;
inc_count(0);
push_hb(e1, gen_sn(1), gen_sn(1), FALSE,1);
push_hb(e0, gen_sn(1), gen_sn(1), FALSE,1);
count(1) <= count(1) + 1;
count(2) <= count(2) + 1;
inc_count(1);
inc_count(2);
wait_on_sig(out_check_done);
wait_on_idle;
@ -532,9 +550,15 @@ begin
gen_endpoint_match_frame(e4, stimulus_meta);
w_map <= "111";
start_meta_test;
push_hb(e4, gen_sn(1), gen_sn(3), FALSE,0);
inc_count(0);
push_hb(e4, gen_sn(1), gen_sn(1), FALSE,1);
inc_count(1);
push_hb(e4, gen_sn(1), gen_sn(0), FALSE,2);
inc_count(2);
wait_on_sig(packet_sent_meta);
stimulus_meta := EMPTY_TEST_PACKET;
wait_on_idle;
stimulus_meta := EMPTY_TEST_PACKET;
Log("W0: Remove Cache Change [SN 1,2,3], Add Cache Change [SN 10,11,15,46,50]", INFO);
@ -567,13 +591,13 @@ begin
push_hb(e2, gen_sn(10), gen_sn(50), FALSE,0);
push_hb(e1, gen_sn(10), gen_sn(50), FALSE,0);
push_hb(e0, gen_sn(10), gen_sn(50), FALSE,0);
count(0) <= count(0) + 1;
inc_count(0);
push_hb(e4, gen_sn(1), gen_sn(3), FALSE,1);
push_hb(e1, gen_sn(1), gen_sn(3), FALSE,1);
push_hb(e0, gen_sn(1), gen_sn(3), FALSE,1);
count(1) <= count(1) + 1;
inc_count(1);
push_hb(e4, gen_sn(1), gen_sn(0), FALSE,2);
count(2) <= count(2) + 1;
inc_count(2);
wait_on_sig(out_check_done);
wait_on_idle;
@ -598,13 +622,13 @@ begin
push_hb(e2, gen_sn(51), gen_sn(50), FALSE,0);
push_hb(e1, gen_sn(51), gen_sn(50), FALSE,0);
push_hb(e0, gen_sn(51), gen_sn(50), FALSE,0);
count(0) <= count(0) + 1;
inc_count(0);
push_hb(e4, gen_sn(4), gen_sn(3), FALSE,1);
push_hb(e1, gen_sn(4), gen_sn(3), FALSE,1);
push_hb(e0, gen_sn(4), gen_sn(3), FALSE,1);
count(1) <= count(1) + 1;
inc_count(1);
push_hb(e4, gen_sn(1), gen_sn(0), FALSE,2);
count(2) <= count(2) + 1;
inc_count(2);
wait_on_sig(out_check_done);
wait_on_idle;
@ -617,7 +641,7 @@ begin
push_hb(e4, gen_sn(4), gen_sn(3), TRUE,1);
push_hb(e1, gen_sn(4), gen_sn(3), TRUE,1);
push_hb(e0, gen_sn(4), gen_sn(3), TRUE,1);
count(1) <= count(1) + 1;
inc_count(1);
wait_on_sig(out_check_done);
wait_on_idle;

2
src/ros2/Tests/Level_2/L2_Fibonacci_ros_action_test1.vhd
View File

@ -299,7 +299,7 @@ begin
watchdog : process
begin
wait for 1 ms;
wait for 1.5 ms;
Alert("Test timeout", FAILURE);
std.env.stop;
end process;

66
src/rtps_writer.vhd
View File

@ -279,6 +279,8 @@ architecture arch of rtps_writer is
signal gap_in_progress, gap_in_progress_next : std_logic;
-- Signifies that the GAP is the Last Submessage
signal gap_is_last, gap_is_last_next : std_logic;
-- Signifies that an initial Heartbeat is sent to a remote Endpoint
signal initial_heartbeat_next, initial_heartbeat : std_logic;
-- Signal containing the RTPS Heartbeat Count Field
signal count, count_next : HEARTBEAT_COUNT_ARRAY;
-- Signal containing the lowest common Sequence Number ACKed by ALL remote Readers
@ -546,6 +548,7 @@ begin
last_seq_nr_next <= last_seq_nr;
new_push_next <= new_push;
historical_push_next <= historical_push;
initial_heartbeat_next <= initial_heartbeat;
assert_liveliness_latch_next<= assert_liveliness_latch;
w_assert_liveliness_next <= w_assert_liveliness;
bitmap_cnt_next <= bitmap_cnt;
@ -967,6 +970,9 @@ begin
if (mem_op_done = '1') then
case (meta_opcode) is
when EMO_ENDPOINT_MATCH =>
case (cnt) is
-- ENDPOINT MATCH
when 0 =>
-- Endpoint already in Memory
if (mem_endpoint_data.addr /= ENDPOINT_MEMORY_MAX_ADDRESS) then
-- Update the Endpoint Data
@ -1029,6 +1035,46 @@ begin
end if;
end if;
if (CONFIG_ARRAY_T(ind).RELIABILITY_QOS = RELIABLE_RELIABILITY_QOS) then
cnt_next <= cnt + 1;
else
cnt_next <= 3; -- POST-HEARTBEAT
end if;
end if;
-- GET MIN_SN
when 1 =>
start_hc(ind) <= '1';
opcode_hc(ind) <= GET_MIN_SN;
if (ack_hc(ind) = '1') then
-- Increment Heartbeat Count
count_next(ind) <= count(ind) + 1;
cnt_next <= cnt + 1;
end if;
-- SEND HEARTBEAT
when 2 =>
-- Wait for HC
if (done_hc(ind) = '1') then
assert (ret_hc(ind) = OK) severity FAILURE;
-- HC Empty (No cache Changes Available)
if (cc_seq_nr(ind) = SEQUENCENUMBER_UNKNOWN) then
-- NOTE: Identifies the lowest SN that is yet to be written by the writter.
min_sn_next <= last_seq_nr(ind) + 1;
else
min_sn_next <= cc_seq_nr(ind);
end if;
-- Send Initial Heartbeat
initial_heartbeat_next <= '1';
stage_next <= SEND_HEADER;
cnt_next <= 0;
return_stage_next <= SEND_HEARTBEAT;
return_cnt_next <= 0;
end if;
-- POST-HEARTBEAT
when 3 =>
-- Reader needs Historical Data
if (CONFIG_ARRAY_T(ind).DURABILITY_QOS /= VOLATILE_DURABILITY_QOS and reader_flags(READER_EXPECTS_HISTORICAL_DATA_FLAG) = '1') then
-- Send Historical Data
@ -1041,7 +1087,9 @@ begin
stage_next <= INITIATE_ENDPOINT_SEARCH;
cnt_next <= 1; -- GET NEXT WRITER
end if;
end if;
when others =>
null;
end case;
when EMO_ENDPOINT_UNMATCH =>
-- Endpoint not in Memory
@ -1605,8 +1653,6 @@ begin
end case;
end if;
when HANDLE_HEARTBEATS =>
assert (CONFIG_ARRAY_T(ind).RELIABILITY_QOS = RELIABLE_RELIABILITY_QOS or CONFIG_ARRAY_T(ind).LIVELINESS_QOS = MANUAL_BY_TOPIC_LIVELINESS_QOS) severity FAILURE;
-- Memory Operation Guard
if (mem_op_done = '1') then
case (cnt) is
@ -1628,6 +1674,8 @@ begin
-- GET MIN_SN
when 1 =>
if (w_map(ind) = '1') then
assert (CONFIG_ARRAY_T(ind).RELIABILITY_QOS = RELIABLE_RELIABILITY_QOS or CONFIG_ARRAY_T(ind).LIVELINESS_QOS = MANUAL_BY_TOPIC_LIVELINESS_QOS) severity FAILURE;
start_hc(ind) <= '1';
opcode_hc(ind) <= GET_MIN_SN;
@ -2449,8 +2497,18 @@ begin
data_out_ro <= std_logic_vector(count(ind));
last_word_out_ro <= '1';
if (initial_heartbeat = '1') then
assert (meta_opcode = EMO_ENDPOINT_MATCH) severity FAILURE;
-- Reset
initial_heartbeat_next <= '0';
stage_next <= METATRAFFIC_OPERATION;
cnt_next <= 3; -- POST-HEARTBEAT
else
stage_next <= HANDLE_HEARTBEATS;
cnt_next <= 5; -- GET NEXT Endpoint
end if;
when others =>
null;
end case;
@ -3957,6 +4015,7 @@ begin
gap_in_progress <= '0';
new_push <= '0';
historical_push <= '0';
initial_heartbeat <= '0';
assert_liveliness_latch <= (others => '0');
w_assert_liveliness <= (others => '0');
bitmap_cnt <= (others => '0');
@ -4005,6 +4064,7 @@ begin
gap_in_progress <= gap_in_progress_next;
new_push <= new_push_next;
historical_push <= historical_push_next;
initial_heartbeat <= initial_heartbeat_next;
bitmap_cnt <= bitmap_cnt_next;
assert_liveliness_latch <= assert_liveliness_latch_next;
w_assert_liveliness <= w_assert_liveliness_next;