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Fix Bug in TEMPLATE_ros_action_server, that could lead to deadlocks.

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The server could at any time reset and sever the connection of the user to the
result memory, that could lead to the user indefenitely waiting for a droped
memory read request.
The server now only sever the connection when the result memory has no pending
requests.
L1_Fibanacci_ros_ation_server_test1 and L1_Fibanacci_ros_ation_server_test2
are exetnded to test the fix.
This commit is contained in:
John Ring 2023-06-15 19:12:07 +02:00
parent 839170c5ad
commit 3f2e4e82d1
4 changed files with 302 additions and 109 deletions
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7
src/ros2/TEMPLATE_ros_action_server.vhd
View File

@ -272,6 +272,7 @@ architecture arch of TEMPLATE_ros_action_server is
signal s_status_list_goal_info_goal_id_r, s_status_list_goal_info_goal_id_w : std_logic_vector(UUID_WIDTH-1 downto 0);
signal s_status_list_goal_info_stamp_r, s_status_list_goal_info_stamp_w : std_logic_vector(ROS_TIME_WIDTH-1 downto 0);
signal s_status_list_status_r, s_status_list_status_w : std_logic_vector(CDR_INT8_WIDTH-1 downto 0);
signal idle_sig : std_logic := '0'; -- Test signal used in testbenches
-- ###GENERATED START###
-- SIGNAL DECLARATIONS
-- ###GENERATED END###
@ -697,13 +698,17 @@ begin
result_ready <= '0';
r_sel_ack <= '0';
abort_mem <= '0';
idle_sig <= '0';
-- ###GENERATED START###
-- DEFAULT SIGNAL ASSIGNMENTS
-- ###GENERATED END###
case (stage) is
when IDLE =>
if (r_sel = '1') then
idle_sig <= '1';
-- ###GENERATED START###
if (r_sel = '1' and TODO_result_ready = '1' and result_ren = '0') then
-- ###GENERATED END###
if (unsigned(r_index) = MAX_GOALS) then
stage_next <= PASSTHROUGH;
else

115
src/ros2/Tests/Level_1/L1_Fibonacci_ros_action_test1.vhd
View File

@ -493,6 +493,9 @@ begin
variable test_handle : GOAL_HANDLE_ARRAY_TYPE := (others => (others => '0'));
variable test_ind : RESULT_INDEX_ARRAY_TYPE := (others => 0);
alias idle_sig is <<signal uut_s.idle_sig : std_logic>>;
alias r_sel is <<signal uut_s.r_sel : std_logic>>;
impure function gen_goal_id return std_logic_vector is
begin
return RV.RandSlv(UUID_WIDTH);
@ -605,25 +608,24 @@ begin
goal_id_c <= test_gid(i);
goal_order_c <= RV.RandSlv(goal_order_c'length);
client_op(SEND_GOAL_REQUEST,ROS_RET_OK);
sid(i) := sequence_id_c;
wait until rising_edge(clk);
sid(i) := sequence_id_c;
Log("SERVER: Check GOAL " & integer'image(i) & " Request", INFO);
Log("SERVER: Accept GOAL " & integer'image(i) & " Request", INFO);
wait until new_goal_request_s = '1';
AffirmIfEqual(GOAL, new_goal_order_s, goal_order_c);
test_handle(i) := new_goal_handle_s;
test_ind(i) := to_integer(unsigned(new_goal_result_index_s));
goal_handle_in_s <= test_handle(i);
new_goal_accepted_s <= '1';
new_goal_response_s <= '1';
wait until rising_edge(clk);
new_goal_accepted_s <= '0';
new_goal_response_s <= '0';
Log("CLIENT: Take GOAL " & integer'image(i) & " Request", INFO);
Log("CLIENT: Take GOAL " & integer'image(i) & " Response", INFO);
client_op(TAKE_GOAL_RESPONSE,ROS_RET_OK);
AlertIf(to_unsigned(SEQUENCENUMBER_TYPE(service_info_c.request_id.sequence_number)) /= unsigned(sid(i)), "Request ID incorrect", FAILURE);
wait until rising_edge(clk);
AlertIf(to_unsigned(SEQUENCENUMBER_TYPE(service_info_c.request_id.sequence_number)) /= unsigned(sid(i)), "Request ID incorrect", FAILURE);
goal_handle_in_s <= test_handle(i);
goal_state_in_s <= GoalStatus_package.STATUS_EXECUTING;
@ -650,6 +652,7 @@ begin
Log("CLIENT: Take FEEDBACK", INFO);
client_op(TAKE_FEEDBACK,ROS_RET_OK);
wait until rising_edge(clk);
AffirmIfEqual(FEEDBACK, feedback_goal_id_c, test_gid(0));
AffirmIfEqual(FEEDBACK, feedback_seq_len_c, feedback_seq_len_s);
for i in 0 to to_integer(unsigned(feedback_seq_len_c))-1 loop
@ -676,13 +679,12 @@ begin
Log("CLIENT: Send RESULT Request (Goal " & integer'image(i) & ")", INFO);
result_goal_id_c <= test_gid(i);
client_op(SEND_RESULT_REQUEST,ROS_RET_OK);
sid(i) := sequence_id_c;
wait until rising_edge(clk);
sid(i) := sequence_id_c;
end loop;
for j in 0 to MAX_GOALS-1 loop
Log("SERVER: Set RESULT (Goal " & integer'image(j) & ")", INFO);
result_addr_s <= int(j,result_addr_s'length);
Log("SERVER: Set RESULT (Goal 0)", INFO);
result_addr_s <= int(test_ind(0),result_addr_s'length);
for i in 0 to RV.RandInt(1,10) loop
result_seq_len_w_s <= int(i+1,result_seq_len_w_s'length);
result_seq_addr_s <= int(i,result_seq_addr_s'length);
@ -696,6 +698,86 @@ begin
result_wen_s <= '1';
wait until rising_edge(clk);
result_wen_s <= '0';
Log("SERVER: Request Result (Goal 0)", INFO);
result_addr_s <= int(test_ind(0),result_addr_s'length);
wait_on_sig(result_ready_s);
result_ren_s <= '1';
wait until rising_edge(clk);
result_ren_s <= '0';
wait until rising_edge(clk);
AlertIf(result_ready_s /= '0', "Result memory not in expected state", FAILURE);
Log("SERVER: Update Goal State (Goal 0)", INFO);
goal_handle_in_s <= test_handle(0);
goal_state_in_s <= GoalStatus_package.STATUS_SUCCEEDED;
server_op(UPDATE_GOAL_STATE,ROS_RET_OK);
wait until rising_edge(clk);
wait_on_sig(r_sel);
wait until rising_edge(clk);
wait until rising_edge(clk);
AlertIf(idle_sig /= '1', "Server interrupted User Result Request", FAILURE);
result_ack_s <= '1';
wait until rising_edge(clk);
result_ack_s <= '0';
Log("SERVER: Take RESULT Response (Goal 0)", INFO);
goal_id_c <= test_gid(0);
client_op(TAKE_RESULT_RESPONSE,ROS_RET_OK);
wait until rising_edge(clk);
result_addr_s <= int(test_ind(0),result_addr_s'length);
wait_on_sig(result_ready_s);
result_ren_s <= '1';
wait until rising_edge(clk);
result_ren_s <= '0';
wait_on_sig(result_valid_s);
AlertIf(to_unsigned(SEQUENCENUMBER_TYPE(service_info_c.request_id.sequence_number)) /= unsigned(sid(0)), "Request ID incorrect", FAILURE);
AffirmIfEqual(RESULT, result_status_c, GoalStatus_package.STATUS_SUCCEEDED);
AffirmIfEqual(RESULT, result_seq_len_c, result_seq_len_w_s);
for i in 0 to to_integer(unsigned(result_seq_len_c))-1 loop
result_seq_addr_s <= int(i,result_seq_addr_s'length);
result_seq_addr_c <= int(i,result_seq_addr_c'length);
wait_on_sig(result_seq_ready_s);
wait_on_sig(result_seq_ready_c);
result_seq_ren_s <= '1';
result_seq_ren_c <= '1';
wait until rising_edge(clk);
result_seq_ren_s <= '0';
result_seq_ren_c <= '0';
wait_on_sig(result_seq_valid_s);
wait_on_sig(result_seq_valid_c);
AffirmIfEqual(RESULT, result_seq_c, result_seq_r_s);
result_seq_ack_s <= '1';
result_seq_ack_c <= '1';
wait until rising_edge(clk);
result_seq_ack_s <= '0';
result_seq_ack_c <= '0';
end loop;
result_ack_s <= '1';
wait until rising_edge(clk);
result_ack_s <= '0';
if MAX_GOALS > 1 then
for j in 1 to MAX_GOALS-1 loop
Log("SERVER: Set RESULT (Goal " & integer'image(j) & ")", INFO);
result_addr_s <= int(test_ind(j),result_addr_s'length);
for i in 0 to RV.RandInt(1,10) loop
result_seq_len_w_s <= int(i+1,result_seq_len_w_s'length);
result_seq_addr_s <= int(i,result_seq_addr_s'length);
result_seq_w_s <= RV.RandSlv(result_seq_w_s'length);
wait_on_sig(result_seq_ready_s);
result_seq_wen_s <= '1';
wait until rising_edge(clk);
result_seq_wen_s <= '0';
end loop;
wait_on_sig(result_ready_s);
result_wen_s <= '1';
wait until rising_edge(clk);
result_wen_s <= '0';
Log("SERVER: Update Goal State (Goal " & integer'image(j) & ")", INFO);
goal_handle_in_s <= test_handle(j);
goal_state_in_s <= GoalStatus_package.STATUS_SUCCEEDED;
server_op(UPDATE_GOAL_STATE,ROS_RET_OK);
@ -704,6 +786,13 @@ begin
Log("SERVER: Take RESULT Response (Goal " & integer'image(j) & ")", INFO);
goal_id_c <= test_gid(j);
client_op(TAKE_RESULT_RESPONSE,ROS_RET_OK);
wait until rising_edge(clk);
result_addr_s <= int(test_ind(j),result_addr_s'length);
wait_on_sig(result_ready_s);
result_ren_s <= '1';
wait until rising_edge(clk);
result_ren_s <= '0';
wait_on_sig(result_valid_s);
AlertIf(to_unsigned(SEQUENCENUMBER_TYPE(service_info_c.request_id.sequence_number)) /= unsigned(sid(j)), "Request ID incorrect", FAILURE);
AffirmIfEqual(RESULT, result_status_c, GoalStatus_package.STATUS_SUCCEEDED);
AffirmIfEqual(RESULT, result_seq_len_c, result_seq_len_w_s);
@ -726,7 +815,11 @@ begin
result_seq_ack_s <= '0';
result_seq_ack_c <= '0';
end loop;
result_ack_s <= '1';
wait until rising_edge(clk);
result_ack_s <= '0';
end loop;
end if;
TranscriptOpen(RESULTS_FILE, APPEND_MODE);
SetTranscriptMirror;
@ -738,10 +831,10 @@ begin
clock_prc : process
begin
clk <= '0';
wait for TEST_CLOCK_PERIOD/2;
clk <= '1';
wait for TEST_CLOCK_PERIOD/2;
clk <= '0';
wait for TEST_CLOCK_PERIOD/2;
end process;
watchdog : process

116
src/ros2/Tests/Level_1/L1_Fibonacci_ros_action_test2.vhd
View File

@ -59,7 +59,7 @@ architecture testbench of L1_Fibonacci_ros_action_test2 is
signal return_code_c, return_code_s : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := (others => '0');
-- ###GENERATED START###
signal goal_order_c, new_goal_order_s : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0');
signal result_seq_len_c, result_seq_len_r_s, result_seq_len_w_s, result_seq_addr_c, result_seq_addr_s : std_logic_vector(R_RR_SEQ_ADDR_WIDTH-1 downto 0) := (others => '0');
signal result_seq_len_c, result_seq_len_w_s, result_seq_len_r_s, result_seq_addr_c, result_seq_addr_s : std_logic_vector(R_RR_SEQ_ADDR_WIDTH-1 downto 0) := (others => '0');
signal result_seq_ready_c, result_seq_ready_s, result_seq_ren_c, result_seq_ren_s, result_seq_wen_s, result_seq_valid_c, result_seq_valid_s, result_seq_ack_c, result_seq_ack_s : std_logic := '0';
signal result_seq_c, result_seq_r_s, result_seq_w_s : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0');
signal feedback_seq_len_c, feedback_seq_len_s, feedback_seq_addr_c, feedback_seq_addr_s : std_logic_vector(F_SEQ_ADDR_WIDTH-1 downto 0) := (others => '0');
@ -497,6 +497,9 @@ begin
variable test_handle : GOAL_HANDLE_ARRAY_TYPE := (others => (others => '0'));
variable test_ind : RESULT_INDEX_ARRAY_TYPE := (others => 0);
alias idle_sig is <<signal uut_s.idle_sig : std_logic>>;
alias r_sel is <<signal uut_s.r_sel : std_logic>>;
impure function gen_goal_id return std_logic_vector is
begin
return RV.RandSlv(UUID_WIDTH);
@ -609,25 +612,24 @@ begin
goal_id_c <= test_gid(i);
goal_order_c <= RV.RandSlv(goal_order_c'length);
client_op(SEND_GOAL_REQUEST,ROS_RET_OK);
sid(i) := sequence_id_c;
wait until rising_edge(clk);
sid(i) := sequence_id_c;
Log("SERVER: Check GOAL " & integer'image(i) & " Request", INFO);
Log("SERVER: Accept GOAL " & integer'image(i) & " Request", INFO);
wait until new_goal_request_s = '1';
AffirmIfEqual(GOAL, new_goal_order_s, goal_order_c);
test_handle(i) := new_goal_handle_s;
test_ind(i) := to_integer(unsigned(new_goal_result_index_s));
goal_handle_in_s <= test_handle(i);
new_goal_accepted_s <= '1';
new_goal_response_s <= '1';
wait until rising_edge(clk);
new_goal_accepted_s <= '0';
new_goal_response_s <= '0';
Log("CLIENT: Take GOAL " & integer'image(i) & " Request", INFO);
Log("CLIENT: Take GOAL " & integer'image(i) & " Response", INFO);
client_op(TAKE_GOAL_RESPONSE,ROS_RET_OK);
AlertIf(to_unsigned(SEQUENCENUMBER_TYPE(service_info_c.request_id.sequence_number)) /= unsigned(sid(i)), "Request ID incorrect", FAILURE);
wait until rising_edge(clk);
AlertIf(to_unsigned(SEQUENCENUMBER_TYPE(service_info_c.request_id.sequence_number)) /= unsigned(sid(i)), "Request ID incorrect", FAILURE);
goal_handle_in_s <= test_handle(i);
goal_state_in_s <= GoalStatus_package.STATUS_EXECUTING;
@ -647,13 +649,12 @@ begin
Log("CLIENT: Send RESULT Request (Goal " & integer'image(i) & ")", INFO);
result_goal_id_c <= test_gid(i);
client_op(SEND_RESULT_REQUEST,ROS_RET_OK);
sid(i) := sequence_id_c;
wait until rising_edge(clk);
sid(i) := sequence_id_c;
end loop;
for j in 0 to MAX_GOALS-1 loop
Log("SERVER: Set RESULT (Goal " & integer'image(j) & ")", INFO);
result_addr_s <= int(j,result_addr_s'length);
Log("SERVER: Set RESULT (Goal 0)", INFO);
result_addr_s <= int(test_ind(0),result_addr_s'length);
for i in 0 to RV.RandInt(1,10) loop
result_seq_len_w_s <= int(i+1,result_seq_len_w_s'length);
result_seq_addr_s <= int(i,result_seq_addr_s'length);
@ -667,6 +668,86 @@ begin
result_wen_s <= '1';
wait until rising_edge(clk);
result_wen_s <= '0';
Log("SERVER: Request Result (Goal 0)", INFO);
result_addr_s <= int(test_ind(0),result_addr_s'length);
wait_on_sig(result_ready_s);
result_ren_s <= '1';
wait until rising_edge(clk);
result_ren_s <= '0';
wait until rising_edge(clk);
AlertIf(result_ready_s /= '0', "Result memory not in expected state", FAILURE);
Log("SERVER: Update Goal State (Goal 0)", INFO);
goal_handle_in_s <= test_handle(0);
goal_state_in_s <= GoalStatus_package.STATUS_SUCCEEDED;
server_op(UPDATE_GOAL_STATE,ROS_RET_OK);
wait until rising_edge(clk);
wait_on_sig(r_sel);
wait until rising_edge(clk);
wait until rising_edge(clk);
AlertIf(idle_sig /= '1', "Server interrupted User Result Request", FAILURE);
result_ack_s <= '1';
wait until rising_edge(clk);
result_ack_s <= '0';
Log("SERVER: Take RESULT Response (Goal 0)", INFO);
goal_id_c <= test_gid(0);
client_op(TAKE_RESULT_RESPONSE,ROS_RET_OK);
wait until rising_edge(clk);
result_addr_s <= int(test_ind(0),result_addr_s'length);
wait_on_sig(result_ready_s);
result_ren_s <= '1';
wait until rising_edge(clk);
result_ren_s <= '0';
wait_on_sig(result_valid_s);
AlertIf(to_unsigned(SEQUENCENUMBER_TYPE(service_info_c.request_id.sequence_number)) /= unsigned(sid(0)), "Request ID incorrect", FAILURE);
AffirmIfEqual(RESULT, result_status_c, GoalStatus_package.STATUS_SUCCEEDED);
AffirmIfEqual(RESULT, result_seq_len_c, result_seq_len_w_s);
for i in 0 to to_integer(unsigned(result_seq_len_c))-1 loop
result_seq_addr_s <= int(i,result_seq_addr_s'length);
result_seq_addr_c <= int(i,result_seq_addr_c'length);
wait_on_sig(result_seq_ready_s);
wait_on_sig(result_seq_ready_c);
result_seq_ren_s <= '1';
result_seq_ren_c <= '1';
wait until rising_edge(clk);
result_seq_ren_s <= '0';
result_seq_ren_c <= '0';
wait_on_sig(result_seq_valid_s);
wait_on_sig(result_seq_valid_c);
AffirmIfEqual(RESULT, result_seq_c, result_seq_r_s);
result_seq_ack_s <= '1';
result_seq_ack_c <= '1';
wait until rising_edge(clk);
result_seq_ack_s <= '0';
result_seq_ack_c <= '0';
end loop;
result_ack_s <= '1';
wait until rising_edge(clk);
result_ack_s <= '0';
if MAX_GOALS > 1 then
for j in 1 to MAX_GOALS-1 loop
Log("SERVER: Set RESULT (Goal " & integer'image(j) & ")", INFO);
result_addr_s <= int(test_ind(j),result_addr_s'length);
for i in 0 to RV.RandInt(1,10) loop
result_seq_len_w_s <= int(i+1,result_seq_len_w_s'length);
result_seq_addr_s <= int(i,result_seq_addr_s'length);
result_seq_w_s <= RV.RandSlv(result_seq_w_s'length);
wait_on_sig(result_seq_ready_s);
result_seq_wen_s <= '1';
wait until rising_edge(clk);
result_seq_wen_s <= '0';
end loop;
wait_on_sig(result_ready_s);
result_wen_s <= '1';
wait until rising_edge(clk);
result_wen_s <= '0';
Log("SERVER: Update Goal State (Goal " & integer'image(j) & ")", INFO);
goal_handle_in_s <= test_handle(j);
goal_state_in_s <= GoalStatus_package.STATUS_SUCCEEDED;
server_op(UPDATE_GOAL_STATE,ROS_RET_OK);
@ -675,6 +756,13 @@ begin
Log("SERVER: Take RESULT Response (Goal " & integer'image(j) & ")", INFO);
goal_id_c <= test_gid(j);
client_op(TAKE_RESULT_RESPONSE,ROS_RET_OK);
wait until rising_edge(clk);
result_addr_s <= int(test_ind(j),result_addr_s'length);
wait_on_sig(result_ready_s);
result_ren_s <= '1';
wait until rising_edge(clk);
result_ren_s <= '0';
wait_on_sig(result_valid_s);
AlertIf(to_unsigned(SEQUENCENUMBER_TYPE(service_info_c.request_id.sequence_number)) /= unsigned(sid(j)), "Request ID incorrect", FAILURE);
AffirmIfEqual(RESULT, result_status_c, GoalStatus_package.STATUS_SUCCEEDED);
AffirmIfEqual(RESULT, result_seq_len_c, result_seq_len_w_s);
@ -697,7 +785,11 @@ begin
result_seq_ack_s <= '0';
result_seq_ack_c <= '0';
end loop;
result_ack_s <= '1';
wait until rising_edge(clk);
result_ack_s <= '0';
end loop;
end if;
TranscriptOpen(RESULTS_FILE, APPEND_MODE);
SetTranscriptMirror;
@ -709,10 +801,10 @@ begin
clock_prc : process
begin
clk <= '0';
wait for TEST_CLOCK_PERIOD/2;
clk <= '1';
wait for TEST_CLOCK_PERIOD/2;
clk <= '0';
wait for TEST_CLOCK_PERIOD/2;
end process;
watchdog : process

5
src/ros2/example_interfaces/Fibonacci_ros_action_server.vhd
View File

@ -291,6 +291,7 @@ architecture arch of Fibonacci_ros_action_server is
signal s_status_list_goal_info_goal_id_r, s_status_list_goal_info_goal_id_w : std_logic_vector(UUID_WIDTH-1 downto 0);
signal s_status_list_goal_info_stamp_r, s_status_list_goal_info_stamp_w : std_logic_vector(ROS_TIME_WIDTH-1 downto 0);
signal s_status_list_status_r, s_status_list_status_w : std_logic_vector(CDR_INT8_WIDTH-1 downto 0);
signal idle_sig : std_logic := '0'; -- Test signal used in testbenches
-- ###GENERATED START###
signal seq_len_sig, seq_addr_sig : std_logic_vector(R_RR_SEQ_ADDR_WIDTH-1 downto 0);
signal seq_ready_sig, seq_wen_sig : std_logic;
@ -791,6 +792,7 @@ begin
result_ready <= '0';
r_sel_ack <= '0';
abort_mem <= '0';
idle_sig <= '0';
-- ###GENERATED START###
seq_cnt_next <= seq_cnt;
r_seq_len_mem_addr <= (others => '0');
@ -810,7 +812,8 @@ begin
case (stage) is
when IDLE =>
if (r_sel = '1') then
idle_sig <= '1';
if (r_sel = '1' and r_seq_len_mem_ready_in = '1' and result_ren = '0') then
if (unsigned(r_index) = MAX_GOALS) then
stage_next <= PASSTHROUGH;
else