From 1ef70e720461296a5a52299b02bd2827f43c39d6 Mon Sep 17 00:00:00 2001 From: Greek Date: Sun, 6 Dec 2020 23:55:28 +0100 Subject: [PATCH] * Added rtps_builting_endpoint_test7 - Compiling and Passing --- sim/L0_rtps_builtin_endpoint_test7.do | 71 ++++ .../L0_rtps_builtin_endpoint_test7.vhd | 345 ++++++++++++++++++ .../L1_rtps_builtin_endpoint_test1.vhd | 2 - src/Tests/testbench.pro | 4 +- src/rtps_builtin_endpoint.vhd | 3 +- src/rtps_test_package.vhd | 18 + 6 files changed, 439 insertions(+), 4 deletions(-) create mode 100644 sim/L0_rtps_builtin_endpoint_test7.do create mode 100644 src/Tests/Level_0/L0_rtps_builtin_endpoint_test7.vhd diff --git a/sim/L0_rtps_builtin_endpoint_test7.do b/sim/L0_rtps_builtin_endpoint_test7.do new file mode 100644 index 0000000..6dcbd16 --- /dev/null +++ b/sim/L0_rtps_builtin_endpoint_test7.do @@ -0,0 +1,71 @@ +onerror {resume} +quietly WaveActivateNextPane {} 0 +add wave -noupdate -divider SYSTEM +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/clk +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/reset +add wave -noupdate -divider INPUT +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/empty +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/rd +add wave -noupdate -radix hexadecimal /L0_rtps_builtin_endpoint_test7/uut/data_in +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/last_word_in +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/last_word_in_latch +add wave -noupdate -radix hexadecimal /L0_rtps_builtin_endpoint_test7/uut/time +add wave -noupdate -divider OUTPUT +add wave -noupdate -radix hexadecimal /L0_rtps_builtin_endpoint_test7/uut/data_out +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/endpoint_wr +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/last_word_out +add wave -noupdate -divider TESTBENCH +add wave -noupdate /L0_rtps_builtin_endpoint_test7/start +add wave -noupdate /L0_rtps_builtin_endpoint_test7/stim_stage +add wave -noupdate /L0_rtps_builtin_endpoint_test7/stimulus.length +add wave -noupdate /L0_rtps_builtin_endpoint_test7/cnt_stim +add wave -noupdate /L0_rtps_builtin_endpoint_test7/packet_sent +add wave -noupdate -divider {MAIN FSM} +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/stage +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/stage_next +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/cnt +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/endpoint_mask +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/participant_match +add wave -noupdate -radix hexadecimal /L0_rtps_builtin_endpoint_test7/uut/lease_duration +add wave -noupdate -radix hexadecimal /L0_rtps_builtin_endpoint_test7/uut/deadline +add wave -noupdate -divider {MEM FSM} +add wave -noupdate -expand -group MEM_FSM /L0_rtps_builtin_endpoint_test7/uut/mem_opcode +add wave -noupdate -expand -group MEM_FSM /L0_rtps_builtin_endpoint_test7/uut/mem_op_start +add wave -noupdate -expand -group MEM_FSM /L0_rtps_builtin_endpoint_test7/uut/mem_op_done +add wave -noupdate -expand -group MEM_FSM /L0_rtps_builtin_endpoint_test7/uut/mem_stage +add wave -noupdate -expand -group MEM_FSM /L0_rtps_builtin_endpoint_test7/uut/mem_stage_next +add wave -noupdate -expand -group MEM_FSM /L0_rtps_builtin_endpoint_test7/uut/mem_cnt +add wave -noupdate -expand -group MEM_FSM -radix unsigned /L0_rtps_builtin_endpoint_test7/uut/mem_addr_base +add wave -noupdate -expand -group MEM_FSM -radix unsigned /L0_rtps_builtin_endpoint_test7/uut/addr_res +add wave -noupdate -divider GUARD +add wave -noupdate -radix unsigned /L0_rtps_builtin_endpoint_test7/uut/read_cnt +add wave -noupdate -radix unsigned /L0_rtps_builtin_endpoint_test7/uut/parameter_end +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/parse_prc/rd_guard +add wave -noupdate -divider MEMORY +add wave -noupdate -expand -group MEMORY -radix unsigned /L0_rtps_builtin_endpoint_test7/uut/ram_inst/addr +add wave -noupdate -expand -group MEMORY /L0_rtps_builtin_endpoint_test7/uut/ram_inst/wen +add wave -noupdate -expand -group MEMORY /L0_rtps_builtin_endpoint_test7/uut/ram_inst/ren +add wave -noupdate -expand -group MEMORY -radix hexadecimal /L0_rtps_builtin_endpoint_test7/uut/ram_inst/wr_data +add wave -noupdate -expand -group MEMORY -radix hexadecimal /L0_rtps_builtin_endpoint_test7/uut/ram_inst/rd_data +add wave -noupdate -divider MISC +add wave -noupdate /L0_rtps_builtin_endpoint_test7/uut/update_participant_flags +add wave -noupdate -radix unsigned /L0_rtps_builtin_endpoint_test7/uut/mem_seq_nr +add wave -noupdate -radix unsigned /L0_rtps_builtin_endpoint_test7/uut/seq_nr +TreeUpdate [SetDefaultTree] +WaveRestoreCursors {Begin {31125000 ps} 1} {Error {45825000 ps} 1} {Cursor {31192063 ps} 0} +quietly wave cursor active 3 +configure wave -namecolwidth 149 +configure wave -valuecolwidth 144 +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 {30675309 ps} {31823651 ps} diff --git a/src/Tests/Level_0/L0_rtps_builtin_endpoint_test7.vhd b/src/Tests/Level_0/L0_rtps_builtin_endpoint_test7.vhd new file mode 100644 index 0000000..7ff5325 --- /dev/null +++ b/src/Tests/Level_0/L0_rtps_builtin_endpoint_test7.vhd @@ -0,0 +1,345 @@ +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.user_config.all; +use work.rtps_config_package.all; +use work.rtps_test_package.all; + +-- This testbench tests the handling of remote Liveliness Assertions +-- The testbench matches 2 remote Participants, P0 and P1. P0 sends an automatic liveliness assertion, while P1 sends a manual liveliness assertion. +-- P0 also sends a manual liveliness assertion with extra Bytes. + +entity L0_rtps_builtin_endpoint_test7 is +end entity; + +architecture testbench of L0_rtps_builtin_endpoint_test7 is + + -- *TYPE DECLARATION* + type TEST_STAGE_TYPE is (IDLE, BUSY); + + -- *SIGNAL DECLARATION* + signal clk, in_empty, rd_sig, last_word_in, last_word_out: std_logic := '0'; + signal reset : std_logic := '1'; + signal endpoint_wr, endpoint_full : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0'); + signal data_in, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0'); + signal stim_stage : TEST_STAGE_TYPE := IDLE; + shared variable stimulus, reference : TEST_PACKET_TYPE := EMPTY_TEST_PACKET; + signal packet_sent : std_logic := '0'; + signal cnt_stim : natural := 0; + signal start : std_logic := '0'; + shared variable SB_out : work.ScoreBoardPkg_builtin_endpoint.ScoreBoardPType; + signal stim_done, check_done, mem_check : std_logic := '0'; + + -- *FUNCTION DECLARATION* + procedure wait_on_complete is + begin + wait until rising_edge(packet_sent); + end procedure; + + function gen_sn(input : natural) return SEQUENCENUMBER_TYPE is + variable ret : SEQUENCENUMBER_TYPE; + begin + ret(0) := (others => '0'); + ret(1) := unsigned(int(input, WORD_WIDTH)); + return ret; + end function; + +begin + + -- Unit Under Test + uut : entity work.rtps_builtin_endpoint(arch) + port map ( + clk => clk, + reset => reset, + empty => in_empty or packet_sent, + rd => rd_sig, + data_in => data_in, + data_out => data_out, + last_word_in => last_word_in, + time => TIME_ZERO, + endpoint_full => endpoint_full, + endpoint_wr => endpoint_wr, + rtps_wr => open, + rtps_full => '0', + last_word_out => last_word_out, + alive => (others => '0') + ); + + stimulus_prc : process + variable sub : RTPS_SUBMESSAGE_TYPE := DEFAULT_RTPS_SUBMESSAGE; + variable RV : RandomPType; + variable p0, p1, participant: PARTICIPANT_DATA_TYPE := DEFAULT_PARTICIPANT_DATA; + variable wr_sig : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0'); + variable rand_data : TEST_PACKET_TYPE := EMPTY_TEST_PACKET; + + -- Wrapper to use procedure as function + impure function gen_rand_loc_2 return LOCATOR_TYPE is + variable ret : LOCATOR_TYPE := EMPTY_LOCATOR; + begin + gen_rand_loc(RV, ret); + return ret; + end function; + + impure function gen_rand_guid_prefix return GUIDPREFIX_TYPE is + variable ret : GUIDPREFIX_TYPE; + begin + ret := (0 => RV.RandSlv(WORD_WIDTH), 1 => RV.RandSlv(WORD_WIDTH), 2 => RV.RandSlv(WORD_WIDTH)); + return ret; + end function; + + procedure push_reference is + begin + for i in 0 to reference.length-1 loop + SB_out.Push(wr_sig & reference.last(i) & reference.data(i)); + end loop; + end procedure; + + procedure start_test is + begin + start <= '1'; + wait until rising_edge(clk); + start <= '0'; + wait until rising_edge(clk); + end procedure; + begin + + assert (TEST_STRING = "TEST_CONFIG_1") report "user_config incompatible with testbench." severity FAILURE; + + SetAlertLogName("rtps_builtin_endpoint - Level 0 - Remote Liveliness Assertion Handling"); + SetAlertEnable(FAILURE, TRUE); + SetAlertEnable(ERROR, TRUE); + SetAlertEnable(WARNING, TRUE); + SetLogEnable(DEBUG, FALSE); + SetLogEnable(PASSED, FALSE); + SetLogEnable(INFO, TRUE); + RV.InitSeed(RV'instance_name); + + -- Participant RTPS Submessage + sub := DEFAULT_RTPS_SUBMESSAGE; + sub.submessageID := SID_DATA; + sub.writerId := ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER; + sub.readerId := ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR; + sub.flags(SUBMESSAGE_DATA_FLAG_POS) := '1'; + + -- Participant 0 + p0.guidPrefix := gen_rand_guid_prefix; + p0.nr := 0; + p0.defaultUnicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR)); + p0.availableBuiltinEndpoints(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_DETECTOR) := '1'; + p0.availableBuiltinEndpoints(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_ANNOUNCER):= '1'; + p0.availableBuiltinEndpoints(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_DETECTOR) := '1'; + p0.availableBuiltinEndpoints(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_ANNOUNCER) := '1'; + + -- Participant 1 + p1.guidPrefix := gen_rand_guid_prefix; + p1.nr := 1; + p1.defaultUnicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR)); + p1.availableBuiltinEndpoints(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_DETECTOR) := '1'; + p1.availableBuiltinEndpoints(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_ANNOUNCER):= '1'; + p1.availableBuiltinEndpoints(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_DETECTOR) := '1'; + p1.availableBuiltinEndpoints(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_ANNOUNCER) := '1'; + + for i in 0 to RV.RandInt(1,10) loop + rand_data.data(i) := RV.RandSlv(WORD_WIDTH); + rand_data.length := rand_data.length + 1; + end loop; + + Log("Initiating Test", INFO); + stim_done <= '0'; + start <= '0'; + reset <= '1'; + wait until rising_edge(clk); + wait until rising_edge(clk); + reset <= '0'; + + -- *PARTICIPANT* + Log("Current Time: 0s", INFO); + Log("Match Participant 0", INFO); + sub := DEFAULT_RTPS_SUBMESSAGE; + sub.submessageID := SID_DATA; + sub.writerId := ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER; + sub.readerId := ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR; + sub.writerSN := gen_sn(1); + sub.flags(SUBMESSAGE_DATA_FLAG_POS) := '1'; + participant := p0; + gen_participant_data(participant, sub.data); + gen_sentinel(sub.data); + gen_rtps_handler_out(sub, participant, stimulus); + start_test; + wait_on_complete; + stimulus := EMPTY_TEST_PACKET; + reference := EMPTY_TEST_PACKET; + + Log("Match Participant 1", INFO); + sub := DEFAULT_RTPS_SUBMESSAGE; + sub.submessageID := SID_DATA; + sub.writerId := ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER; + sub.readerId := ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR; + sub.writerSN := gen_sn(1); + sub.flags(SUBMESSAGE_DATA_FLAG_POS) := '1'; + participant := p1; + gen_participant_data(participant, sub.data); + gen_sentinel(sub.data); + gen_rtps_handler_out(sub, participant, stimulus); + start_test; + wait_on_complete; + stimulus := EMPTY_TEST_PACKET; + reference := EMPTY_TEST_PACKET; + + Log("Participant 0 Automatic Liveliness Assertion", INFO); + sub := DEFAULT_RTPS_SUBMESSAGE; + sub.submessageID := SID_DATA; + sub.writerId := ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER; + sub.readerId := ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER; + sub.writerSN := gen_sn(1); + sub.flags(SUBMESSAGE_DATA_FLAG_POS) := '1'; + participant := p0; + gen_liveliness_assertion(p0, FALSE, sub.data); + gen_rtps_handler_out(sub, participant, stimulus); + gen_liveliness_update_frame(p0, reference); + wr_sig := AUTOMATIC_LIVELINESS_READERS; + push_reference; + start_test; + wait_on_complete; + stimulus := EMPTY_TEST_PACKET; + reference := EMPTY_TEST_PACKET; + + Log("Participant 1 Manual Liveliness Assertion", INFO); + sub := DEFAULT_RTPS_SUBMESSAGE; + sub.submessageID := SID_DATA; + sub.writerId := ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER; + sub.readerId := ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER; + sub.writerSN := gen_sn(1); + sub.flags(SUBMESSAGE_DATA_FLAG_POS) := '1'; + participant := p1; + gen_liveliness_assertion(p1, TRUE, sub.data); + gen_rtps_handler_out(sub, participant, stimulus); + gen_liveliness_update_frame(p1, reference); + wr_sig := MANUAL_BY_PARTICIPANT_LIVELINESS_READERS; + push_reference; + start_test; + wait_on_complete; + stimulus := EMPTY_TEST_PACKET; + reference := EMPTY_TEST_PACKET; + + Log("Participant 0 Manual Liveliness Assertion [+DATA Bytes]", INFO); + sub := DEFAULT_RTPS_SUBMESSAGE; + sub.submessageID := SID_DATA; + sub.writerId := ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER; + sub.readerId := ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER; + sub.writerSN := gen_sn(2); + sub.flags(SUBMESSAGE_DATA_FLAG_POS) := '1'; + participant := p0; + gen_liveliness_assertion(p0, TRUE, rand_data, sub.data); + gen_rtps_handler_out(sub, participant, stimulus); + gen_liveliness_update_frame(p0, reference); + wr_sig := MANUAL_BY_PARTICIPANT_LIVELINESS_READERS; + push_reference; + start_test; + wait_on_complete; + stimulus := EMPTY_TEST_PACKET; + reference := EMPTY_TEST_PACKET; + + TranscriptOpen(RESULTS_FILE, APPEND_MODE); + SetTranscriptMirror; + stim_done <= '1'; + wait until check_done = '1'; + AlertIf(not SB_out.empty, "Incomplete test run"); + ReportAlerts; + TranscriptClose; + std.env.stop; + wait; + end process; + + clock_prc : process + begin + clk <= '0'; + wait for 25 ns; + clk <= '1'; + wait for 25 ns; + end process; + + in_empty_prc : process + begin + in_empty <= '0'; + wait until rd_sig = '1'; + wait until rising_edge(clk); + in_empty <= '1'; + wait until rising_edge(clk); + end process; + + endpoint_full_prc : process + begin + endpoint_full <= (others => '0'); + wait until (or endpoint_wr) = '1'; + wait until rising_edge(clk); + endpoint_full <= (others => '1'); + wait until rising_edge(clk); + end process; + + alert_prc : process(all) + begin + if rising_edge(clk) then + alertif(in_empty = '1' and rd_sig = '1', "Input FIFO read signal high while empty signal high", ERROR); + alertif(endpoint_full /= (0 to NUM_ENDPOINTS-1 => '0') and (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR); + end if; + end process; + + input_prc : process(all) + begin + data_in <= stimulus.data(cnt_stim); + last_word_in <= stimulus.last(cnt_stim); + + if rising_edge(clk) then + if (reset = '1') then + cnt_stim <= 0; + stim_stage <= IDLE; + packet_sent <= '1'; + else + case (stim_stage) is + when IDLE => + if (start = '1' and stimulus.length /= 0) then + stim_stage <= BUSY; + cnt_stim <= 0; + packet_sent <= '0'; + end if; + when BUSY => + if (rd_sig = '1') then + if (cnt_stim = stimulus.length-1) then + stim_stage <= IDLE; + packet_sent <= '1'; + else + cnt_stim <= cnt_stim + 1; + end if; + end if; + end case; + end if; + end if; + end process; + + output_check_prc : process(all) + begin + check_done <= '0'; + if rising_edge(clk) then + if (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')) then + SB_out.Check(endpoint_wr & last_word_out & data_out); + end if; + if (stim_done = '1' and SB_out.empty) then + check_done <= '1'; + end if; + end if; + end process; + + watchdog : process + begin + wait for 1 ms; + Alert("Test timeout", FAILURE); + std.env.stop; + end process; + +end architecture; \ No newline at end of file diff --git a/src/Tests/Level_1/L1_rtps_builtin_endpoint_test1.vhd b/src/Tests/Level_1/L1_rtps_builtin_endpoint_test1.vhd index f268c6e..d6016a1 100644 --- a/src/Tests/Level_1/L1_rtps_builtin_endpoint_test1.vhd +++ b/src/Tests/Level_1/L1_rtps_builtin_endpoint_test1.vhd @@ -964,7 +964,6 @@ begin in_empty_prc : process begin in_empty <= '0'; - wait; -- TODO: Remove wait until rd_sig = '1'; wait until rising_edge(clk); in_empty <= '1'; @@ -974,7 +973,6 @@ begin endpoint_full_prc : process begin full <= '0'; - wait; -- TODO: Remove wait until wr_sig = '1'; wait until rising_edge(clk); full <= '1'; diff --git a/src/Tests/testbench.pro b/src/Tests/testbench.pro index 3ac90f0..d447399 100644 --- a/src/Tests/testbench.pro +++ b/src/Tests/testbench.pro @@ -23,6 +23,7 @@ analyze Level_0/L0_rtps_builtin_endpoint_test3.vhd analyze Level_0/L0_rtps_builtin_endpoint_test4.vhd analyze Level_0/L0_rtps_builtin_endpoint_test5.vhd analyze Level_0/L0_rtps_builtin_endpoint_test6.vhd +analyze Level_0/L0_rtps_builtin_endpoint_test7.vhd analyze Level_0/L0_rtps_out_test1.vhd analyze Level_1/L1_rtps_builtin_endpoint_test1.vhd @@ -34,5 +35,6 @@ analyze Level_1/L1_rtps_builtin_endpoint_test1.vhd #simulate L0_rtps_builtin_endpoint_test4 #simulate L0_rtps_builtin_endpoint_test5 #simulate L0_rtps_builtin_endpoint_test6 +simulate L0_rtps_builtin_endpoint_test7 #simulate L0_rtps_out_test1 -simulate L1_rtps_builtin_endpoint_test1 \ No newline at end of file +#simulate L1_rtps_builtin_endpoint_test1 \ No newline at end of file diff --git a/src/rtps_builtin_endpoint.vhd b/src/rtps_builtin_endpoint.vhd index fe0ba23..09f87ac 100644 --- a/src/rtps_builtin_endpoint.vhd +++ b/src/rtps_builtin_endpoint.vhd @@ -1106,7 +1106,8 @@ begin data_out <= guid(1); -- GUID Prefix 3/3 when 3 => - data_out <= guid(2); + data_out <= guid(2); + last_word_out <= '1'; -- DONE stage_next <= SKIP_PACKET; diff --git a/src/rtps_test_package.vhd b/src/rtps_test_package.vhd index 044fa68..8141d31 100644 --- a/src/rtps_test_package.vhd +++ b/src/rtps_test_package.vhd @@ -225,6 +225,7 @@ package rtps_test_package is procedure gen_endpoint_data( ref : in ENDPOINT_DATA_TYPE; output : inout TEST_PACKET_TYPE; pid : in std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0); offset : in integer); procedure gen_endpoint_match_frame( ref : in ENDPOINT_DATA_TYPE; output : inout TEST_PACKET_TYPE); procedure gen_participant_match_frame( ref : in PARTICIPANT_DATA_TYPE; output : inout TEST_PACKET_TYPE); + procedure gen_liveliness_update_frame( ref : in PARTICIPANT_DATA_TYPE; output : inout TEST_PACKET_TYPE); function gen_endpoint_array(readers : boolean) return ENDPOINT_DATA_ARRAY_TYPE; procedure gen_liveliness_assertion(participant : in PARTICIPANT_DATA_TYPE; manual : in boolean; extra_data : in TEST_PACKET_TYPE; output : inout TEST_PACKET_TYPE); @@ -1377,6 +1378,23 @@ package body rtps_test_package is output.last(output.length-1) := '1'; end procedure; + procedure gen_liveliness_update_frame( ref : in PARTICIPANT_DATA_TYPE; output : inout TEST_PACKET_TYPE) is + begin + -- OPCODE + output.data(output.length) := OPCODE_LIVELINESS_UPDATE; + output.length := output.length + 1; + -- GUID Prefix + output.data(output.length) := ref.guidPrefix(0); + output.length := output.length + 1; + output.data(output.length) := ref.guidPrefix(1); + output.length := output.length + 1; + output.data(output.length) := ref.guidPrefix(2); + output.length := output.length + 1; + + -- Mark Last Word + output.last(output.length-1) := '1'; + end procedure; + -- The Arguments "pid" and "offset" can be used to modify the parameter generation. More specifically, the length of the parameter denoted by "pid" is modified by "offset" 4-Byte words. -- Also setting "pid" forces the respective parameter to be writen out even if it is equal to the default value. procedure gen_endpoint_data( ref : in ENDPOINT_DATA_TYPE; output : inout TEST_PACKET_TYPE; pid : in std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0); offset : in integer) is