* Added rtps_builting_endpoint_test7

- Compiling and Passing

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}

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;

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';

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
+#simulate L1_rtps_builtin_endpoint_test1

src/rtps_builtin_endpoint.vhd

@@ -1107,6 +1107,7 @@ begin
                         -- GUID Prefix 3/3
                         when 3 =>
                             data_out        <= guid(2);
+                            last_word_out   <= '1';
                             
                             -- DONE
                             stage_next  <= SKIP_PACKET;

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