* Added rtps_builtin_endpoint_test3

- Compiling and Passing

sim/rtps_builtin_endpoint_test3.do

@@ -0,0 +1,72 @@
+onerror {resume}
+quietly WaveActivateNextPane {} 0
+add wave -noupdate -divider SYSTEM
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/clk
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/reset
+add wave -noupdate -divider INPUT
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/empty
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/rd
+add wave -noupdate -radix hexadecimal /rtps_builtin_endpoint_test3/uut/data_in
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/last_word_in
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/last_word_in_latch
+add wave -noupdate -divider OUTPUT
+add wave -noupdate -radix hexadecimal /rtps_builtin_endpoint_test3/uut/data_out
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/endpoint_wr
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/last_word_out
+add wave -noupdate -divider TESTBENCH
+add wave -noupdate /rtps_builtin_endpoint_test3/start
+add wave -noupdate /rtps_builtin_endpoint_test3/stim_stage
+add wave -noupdate /rtps_builtin_endpoint_test3/stimulus.length
+add wave -noupdate /rtps_builtin_endpoint_test3/cnt_stim
+add wave -noupdate /rtps_builtin_endpoint_test3/packet_sent
+add wave -noupdate /rtps_builtin_endpoint_test3/SB.ItemNumberVar
+add wave -noupdate -divider {MAIN FSM}
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/stage
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/stage_next
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/cnt
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/endpoint_mask
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/participant_match
+add wave -noupdate -divider {MEM FSM}
+add wave -noupdate -group MEM_FSM /rtps_builtin_endpoint_test3/uut/mem_opcode
+add wave -noupdate -group MEM_FSM /rtps_builtin_endpoint_test3/uut/mem_op_start
+add wave -noupdate -group MEM_FSM /rtps_builtin_endpoint_test3/uut/mem_op_done
+add wave -noupdate -group MEM_FSM /rtps_builtin_endpoint_test3/uut/mem_stage
+add wave -noupdate -group MEM_FSM /rtps_builtin_endpoint_test3/uut/mem_stage_next
+add wave -noupdate -group MEM_FSM /rtps_builtin_endpoint_test3/uut/mem_cnt
+add wave -noupdate -group MEM_FSM -radix unsigned /rtps_builtin_endpoint_test3/uut/mem_addr_base
+add wave -noupdate -group MEM_FSM -radix unsigned /rtps_builtin_endpoint_test3/uut/addr_res
+add wave -noupdate -group MEM_FSM -radix unsigned /rtps_builtin_endpoint_test3/uut/last_addr
+add wave -noupdate -group MEM_FSM -radix unsigned /rtps_builtin_endpoint_test3/uut/max_participant_addr
+add wave -noupdate -group MEM_FSM -radix unsigned /rtps_builtin_endpoint_test3/uut/max_endpoint_addr
+add wave -noupdate -divider GUARD
+add wave -noupdate -radix unsigned /rtps_builtin_endpoint_test3/uut/read_cnt
+add wave -noupdate -radix unsigned /rtps_builtin_endpoint_test3/uut/parameter_end
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/parse_prc/rd_guard
+add wave -noupdate -divider MEMORY
+add wave -noupdate -group MEMORY -radix unsigned /rtps_builtin_endpoint_test3/uut/ram_inst/addr
+add wave -noupdate -group MEMORY /rtps_builtin_endpoint_test3/uut/ram_inst/wen
+add wave -noupdate -group MEMORY /rtps_builtin_endpoint_test3/uut/ram_inst/ren
+add wave -noupdate -group MEMORY -radix hexadecimal /rtps_builtin_endpoint_test3/uut/ram_inst/wr_data
+add wave -noupdate -group MEMORY -radix hexadecimal /rtps_builtin_endpoint_test3/uut/ram_inst/rd_data
+add wave -noupdate -divider MISC
+add wave -noupdate /rtps_builtin_endpoint_test3/uut/update_participant_flags
+add wave -noupdate -radix unsigned /rtps_builtin_endpoint_test3/uut/mem_seq_nr
+add wave -noupdate -radix unsigned /rtps_builtin_endpoint_test3/uut/seq_nr
+TreeUpdate [SetDefaultTree]
+WaveRestoreCursors {Begin {32125000 ps} 1} {Error {35025000 ps} 1} {Cursor {33675000 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 {33245026 ps} {34393368 ps}

src/TODO.txt

@@ -53,6 +53,7 @@
 * We can determine if a Endpoint is a Reader or Writer via the Entity ID. Is it illegal to get a SEDP with incompatible source (Reader Entity ID from Publications Announcer?)
 * Can we make an array of records of uncontrained strings? That we we could make an array of variable sized strings...
 * Should I also check for Minor_Version >= 4?
+* If a DATA Submessage is invalid in any way, the Sequence Number is never marked as received, and thus processing of remote Endpoints could stall on corrupt Messages.
 
 * Fast-RTPS doen not follow DDSI-RTPS Specification
     - Open Github Issue

src/Tests/Level_0/rtps_builtin_endpoint_test2.vhd

@@ -189,6 +189,7 @@ begin
         variable p2_sn, p2_snp, p2_sns  : SEQUENCENUMBER_TYPE := FIRST_SEQUENCENUMBER;
         variable wr_sig                 : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
         variable user_data, topic_data, group_data : STRING_WORD_ARRAY_TYPE := EMPTY_STRING;
+        variable partition              : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
         
         -- Wrapper to use procedure as function
         impure function gen_rand_loc_2 return LOCATOR_TYPE is
@@ -320,6 +321,13 @@ begin
         group_data  := convert_string("GROUP_DATA" & (11 to 256 => NUL));
         topic_data  := convert_string("TOPIC_DATA" & (11 to 256 => NUL));
         
+        -- Partition
+        partition.data(0)   := int(10, CDR_LONG_WIDTH);
+        partition.data(1)   := x"50415254";
+        partition.data(2)   := x"4954494f";
+        partition.data(3)   := x"4e000000";
+        partition.length    := 4;
+        
         Log("Initiating Test", INFO);
         stim_done   <= '0';
         start       <= '0';
@@ -589,16 +597,13 @@ begin
         sub_p.data  := EMPTY_TEST_PACKET;
         p2_snp      := p2_snp + 1;
         
-        Log("ignore Participant 2 Writer [incompatible MAX_SERIALIZED_PAYLOAD]", INFO);
+        Log("Ignore Participant 2 Writer [Incompatible MAX_SERIALIZED_PAYLOAD]", INFO);
         sub_p.writerSN  := p2_snp;
         endpoint                    := DEFAULT_ENDPOINT_DATA;
         endpoint.entityId           := gen_rand_entityid_2(FALSE);
         endpoint.participant        := p2;
         endpoint.topic_name         := ENDPOINT_TOPIC(0);
         endpoint.type_name          := ENDPOINT_TYPE(0);
-        endpoint.user_data          := user_data;
-        endpoint.topic_data         := topic_data;
-        endpoint.group_data         := group_data;
         endpoint.max_size_serialized:= std_logic_vector(to_unsigned(66000, CDR_LONG_WIDTH));
         gen_endpoint_data(endpoint, sub_p.data);
         gen_sentinel(sub_p.data);
@@ -610,6 +615,24 @@ begin
         sub_p.data  := EMPTY_TEST_PACKET;
         p2_snp      := p2_snp + 1;
         
+        Log("Ignore Participant 2 Writer [Non-Default Partition]", INFO);
+        sub_p.writerSN  := p2_snp;
+        endpoint                    := DEFAULT_ENDPOINT_DATA;
+        endpoint.entityId           := gen_rand_entityid_2(FALSE);
+        endpoint.participant        := p2;
+        endpoint.topic_name         := ENDPOINT_TOPIC(0);
+        endpoint.type_name          := ENDPOINT_TYPE(0);
+        gen_endpoint_data(endpoint, sub_p.data);
+        gen_parameter(PID_PARTITION, partition, sub_p.data);
+        gen_sentinel(sub_p.data);
+        gen_rtps_handler_out(sub_p, endpoint, stimulus);
+        start_test;
+        wait_on_complete;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
+        sub_p.data  := EMPTY_TEST_PACKET;
+        p2_snp      := p2_snp + 1;
+        
         -- Readers
         
         Log("Ignore Participant 2 Reader [Durability Persistent]", INFO);
@@ -691,6 +714,24 @@ begin
         sub_s.data  := EMPTY_TEST_PACKET;
         p2_sns      := p2_sns + 1;
         
+        Log("Ignore Participant 2 Reader [Non-Default Partition]", INFO);
+        sub_s.writerSN  := p2_sns;
+        endpoint                := DEFAULT_ENDPOINT_DATA;
+        endpoint.entityId       := gen_rand_entityid_2(TRUE);
+        endpoint.participant    := p2;
+        endpoint.topic_name     := ENDPOINT_TOPIC(0);
+        endpoint.type_name      := ENDPOINT_TYPE(0);
+        gen_endpoint_data(endpoint, sub_s.data);
+        gen_parameter(PID_PARTITION, partition, sub_s.data);
+        gen_sentinel(sub_s.data);
+        gen_rtps_handler_out(sub_s, endpoint, stimulus);
+        start_test;
+        wait_on_complete;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
+        sub_s.data  := EMPTY_TEST_PACKET;
+        p2_sns      := p2_sns + 1;
+        
         -- Reader/Writer Match/Unmatch
         
         Log("Match Participant 2 Writer [Default]", INFO);

src/Tests/testbench.pro

@@ -17,8 +17,10 @@ analyze ScoreBoard_test_memory.vhd
 analyze Level_0/rtps_builtin_endpoint_test1.vhd
 analyze ScoreBoard_builtin_endpoint.vhd
 analyze Level_0/rtps_builtin_endpoint_test2.vhd
+analyze Level_0/rtps_builtin_endpoint_test3.vhd
 
 #simulate rtps_handler_test1
 #simulate rtps_handler_test2
 #simulate rtps_builtin_endpoint_test1
-simulate rtps_builtin_endpoint_test2
+#simulate rtps_builtin_endpoint_test2
+simulate rtps_builtin_endpoint_test3

src/rtps_builtin_endpoint.vhd

@@ -374,7 +374,7 @@ architecture arch of rtps_builtin_endpoint is
     -- RTPS PARAMETER LIST HEADER
     alias parameter_id              : std_logic_vector(15 downto 0) is data_in(31 downto 16);
     alias parameter_length          : std_logic_vector(15 downto 0) is data_in(15 downto 0);
-    alias must_undersand            : std_logic is parameter_id(14);
+    alias must_understand            : std_logic is parameter_id(14);
     -- RTPS DATA PAYLOAD HEADER
     alias representation_id         : std_logic_vector(15 downto 0) is data_in(31 downto 16);
     alias representation_options    : std_logic_vector(15 downto 0) is data_in(15 downto 0);
@@ -1710,7 +1710,8 @@ begin
                             -- Ignore in-line QoS
                             -- Only relevant for Endpoint Discovery Protocol
                             if(qos_flag = '0' and message_type = EDP) then
-                                stage_next <= RXO_RELIABILITY;
+                                stage_next  <= RXO_RELIABILITY;
+                                cnt_next    <= 0;
                                 rcvd_next(RELIABILITY_QOS_RCVD_FLAG)    <= '1';
                             end if;
                         when PID_DESTINATION_ORDER =>
@@ -1886,7 +1887,7 @@ begin
                             null;
                         when others =>
                             -- If MUST_UNDERSTAND Flag is set, we have incompatible communication. Drop Packet
-                            if (must_undersand = '1') then
+                            if (must_understand = '1') then
                                 stage_next  <= SKIP_PACKET;
                             -- Else skip Uknown Parameter
                             else
@@ -2243,18 +2244,26 @@ begin
                 -- Input FIFO Guard
                 if (empty = '0') then
                     rd_guard    := '1';
+                    cnt_next    <= cnt + 1;
                     
-                    -- Check QoS Compatibility (Unmark match on incompatibility)
+                    case (cnt) is
-                    -- COMPATIBLE (DDS v1.4): offered >= requested, with BEST_EFFORT < RELIABLE
+                        when 0 =>
-                    for i in 0 to NUM_ENDPOINTS-1 loop
+                            -- Check QoS Compatibility (Unmark match on incompatibility)
-                        if (not check_qos_compatibility(is_subscriber, '1', unsigned(data_in_swapped), unsigned(ENDPOINT_RELIABILITY_QOS(i)))) then
+                            -- COMPATIBLE (DDS v1.4): offered >= requested, with BEST_EFFORT < RELIABLE
-                            endpoint_mask_next(i) <= '0';
+                            for i in 0 to NUM_ENDPOINTS-1 loop
-                        end if;
+                                if (not check_qos_compatibility(is_subscriber, '1', unsigned(data_in_swapped), unsigned(ENDPOINT_RELIABILITY_QOS(i)))) then
-                    end loop;
+                                    endpoint_mask_next(i) <= '0';
-                    
+                                end if;
-                    -- NOTE: The max_blocking_time value is ignored
+                            end loop;
-                    -- DONE
+                        when 1 =>
-                    stage_next  <= SKIP_PARAMETER;
+                            -- NOTE: The max_blocking_time value is ignored
+                            null;
+                        when 2 =>
+                            -- DONE
+                            stage_next  <= SKIP_PARAMETER;
+                        when others =>
+                            null;
+                    end case;
                 end if;
             when RXO_DESTINATION_ORDER =>
                 -- Input FIFO Guard

src/rtps_test_package.vhd

@@ -227,7 +227,7 @@ package rtps_test_package is
     function gen_endpoint_array(readers : boolean) return ENDPOINT_DATA_ARRAY_TYPE;
     
     procedure gen_sentinel(output : inout TEST_PACKET_TYPE);
-    procedure gen_parameter(pid : in std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0); length : in natural; data : in TEST_PACKET_TYPE; output : inout TEST_PACKET_TYPE);
+    procedure gen_parameter(pid : in std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0); data : in TEST_PACKET_TYPE; output : inout TEST_PACKET_TYPE);
     
     procedure gen_rand_loc(RV : inout RandomPType; ret : out LOCATOR_TYPE);
     procedure gen_rand_entityid(RV : inout RandomPType; reader : boolean; ret : out std_logic_vector(ENTITYID_WIDTH-1 downto 0));
@@ -935,7 +935,7 @@ package body rtps_test_package is
         output.length       := output.length + 1;
         -- GUID
         if (pid = PID_PARTICIPANT_GUID) then
-            assert (16+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+            assert (16+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
             output.data(output.length) := PID_PARTICIPANT_GUID & endian_swap(ref.littleEndian, int(16+(offset*4), PARAMETER_LENGTH_WIDTH));
         else
             output.data(output.length) := PID_PARTICIPANT_GUID & endian_swap(ref.littleEndian, int(16, PARAMETER_LENGTH_WIDTH));
@@ -954,7 +954,7 @@ package body rtps_test_package is
         end if;
         -- DOMAIN ID
         if (pid = PID_DOMAIN_ID) then
-            assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+            assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
             output.data(output.length) := PID_DOMAIN_ID & endian_swap(ref.littleEndian, int(4+(offset*4), PARAMETER_LENGTH_WIDTH));
         else
             output.data(output.length) := PID_DOMAIN_ID & endian_swap(ref.littleEndian, int(4, PARAMETER_LENGTH_WIDTH));
@@ -966,10 +966,10 @@ package body rtps_test_package is
             output.length       := output.length + offset;
         end if;
         -- DOMAIN TAG
-        if (ref.domainTag /= DEFAULT_DOMAIN_TAG) then
+        if (ref.domainTag /= DEFAULT_DOMAIN_TAG or pid = PID_DOMAIN_TAG) then
             tmp                 := string_len(ref.domainTag);
             if (pid = PID_DOMAIN_TAG) then
-                assert (((round_div(tmp,4)+1)*4)+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (((round_div(tmp,4)+1)*4)+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_DOMAIN_TAG & endian_swap(ref.littleEndian, int(((round_div(tmp,4)+1)*4)+(offset*4), PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_DOMAIN_TAG & endian_swap(ref.littleEndian, int((round_div(tmp,4)+1)*4, PARAMETER_LENGTH_WIDTH));
@@ -987,7 +987,7 @@ package body rtps_test_package is
         end if;
         -- PROTOCOL VERSION
         if (pid = PID_PROTOCOL_VERSION) then
-            assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+            assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
             output.data(output.length) := PID_PROTOCOL_VERSION & endian_swap(ref.littleEndian, int(4+(offset*4), PARAMETER_LENGTH_WIDTH));
         else
             output.data(output.length) := PID_PROTOCOL_VERSION & endian_swap(ref.littleEndian, int(4, PARAMETER_LENGTH_WIDTH));
@@ -1001,7 +1001,7 @@ package body rtps_test_package is
         end if;
         -- VENDORID
         if (pid = PID_VENDORID) then
-            assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+            assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
             output.data(output.length) := PID_VENDORID & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
         else
             output.data(output.length) := PID_VENDORID & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1014,9 +1014,9 @@ package body rtps_test_package is
             output.length       := output.length + offset;
         end if;
         -- EXPECTS IN-LINE QOS
-        if (ref.expectsInlineQoS(0) /= DEFAULT_EXPECTS_INLINE_QOS) then
+        if (ref.expectsInlineQoS(0) /= DEFAULT_EXPECTS_INLINE_QOS or pid = PID_EXPECTS_INLINE_QOS) then
             if (pid = PID_EXPECTS_INLINE_QOS) then
-                assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_EXPECTS_INLINE_QOS & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_EXPECTS_INLINE_QOS & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1034,7 +1034,7 @@ package body rtps_test_package is
             tmp                 := to_integer(unsigned(ref.metatrafficMulticastLocatorList.numLocators));
             for i in 0 to tmp-1 loop
                 if (pid = PID_METATRAFFIC_MULTICAST_LOCATOR) then
-                    assert (24+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                    assert (24+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                     output.data(output.length) := PID_METATRAFFIC_MULTICAST_LOCATOR & endian_swap(ref.littleEndian, int(24+(offset*4),PARAMETER_LENGTH_WIDTH));
                 else
                     output.data(output.length) := PID_METATRAFFIC_MULTICAST_LOCATOR & endian_swap(ref.littleEndian, int(24,PARAMETER_LENGTH_WIDTH));
@@ -1062,7 +1062,7 @@ package body rtps_test_package is
             tmp                 := to_integer(unsigned(ref.metatrafficUnicastLocatorList.numLocators));
             for i in 0 to tmp-1 loop
                 if (pid = PID_METATRAFFIC_UNICAST_LOCATOR) then
-                    assert (24+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                    assert (24+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                     output.data(output.length) := PID_METATRAFFIC_UNICAST_LOCATOR & endian_swap(ref.littleEndian, int(24+(offset*4),PARAMETER_LENGTH_WIDTH));
                 else
                     output.data(output.length) := PID_METATRAFFIC_UNICAST_LOCATOR & endian_swap(ref.littleEndian, int(24,PARAMETER_LENGTH_WIDTH));
@@ -1090,7 +1090,7 @@ package body rtps_test_package is
             tmp                 := to_integer(unsigned(ref.defaultMulticastLocatorList.numLocators));
             for i in 0 to tmp-1 loop
                 if (pid = PID_DEFAULT_MULTICAST_LOCATOR) then
-                    assert (24+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                    assert (24+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                     output.data(output.length) := PID_DEFAULT_MULTICAST_LOCATOR & endian_swap(ref.littleEndian, int(24+(offset*4),PARAMETER_LENGTH_WIDTH));
                 else
                     output.data(output.length) := PID_DEFAULT_MULTICAST_LOCATOR & endian_swap(ref.littleEndian, int(24,PARAMETER_LENGTH_WIDTH));
@@ -1119,7 +1119,7 @@ package body rtps_test_package is
             tmp                 := to_integer(unsigned(ref.defaultUnicastLocatorList.numLocators));
             for i in 0 to tmp-1 loop
                 if (pid = PID_DEFAULT_UNICAST_LOCATOR) then
-                    assert (24+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                    assert (24+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                     output.data(output.length) := PID_DEFAULT_UNICAST_LOCATOR & endian_swap(ref.littleEndian, int(24+(offset*4),PARAMETER_LENGTH_WIDTH));
                 else
                     output.data(output.length) := PID_DEFAULT_UNICAST_LOCATOR & endian_swap(ref.littleEndian, int(24,PARAMETER_LENGTH_WIDTH));
@@ -1143,9 +1143,9 @@ package body rtps_test_package is
             end loop;
         end if;
         -- LEASE DURATION
-        if (ref.leaseDuration /= DEFAULT_PARTICIPANT_LEASE_DURATION) then
+        if (ref.leaseDuration /= DEFAULT_PARTICIPANT_LEASE_DURATION or pid = PID_PARTICIPANT_LEASE_DURATION) then
             if (pid = PID_PARTICIPANT_LEASE_DURATION) then
-                assert (8+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (8+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_PARTICIPANT_LEASE_DURATION & endian_swap(ref.littleEndian, int(8+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_PARTICIPANT_LEASE_DURATION & endian_swap(ref.littleEndian, int(8,PARAMETER_LENGTH_WIDTH));
@@ -1161,7 +1161,7 @@ package body rtps_test_package is
         end if;
         -- AVAILABLE ENDPOINTS
         if (pid = PID_BUILTIN_ENDPOINT_SET) then
-            assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+            assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
             output.data(output.length) := PID_BUILTIN_ENDPOINT_SET & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
         else
             output.data(output.length) := PID_BUILTIN_ENDPOINT_SET & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1172,9 +1172,22 @@ package body rtps_test_package is
         if (pid = PID_BUILTIN_ENDPOINT_SET) then
             output.length       := output.length + offset;
         end if;
+        -- BUILTIN ENDPOINT QOS
+        if (pid = PID_BUILTIN_ENDPOINT_QOS) then
+            assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
+            output.data(output.length) := PID_BUILTIN_ENDPOINT_QOS & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
+        else
+            output.data(output.length) := PID_BUILTIN_ENDPOINT_QOS & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
+        end if;
+        output.length       := output.length + 1;
+        output.data(output.length) := endian_swap(ref.littleEndian, ref.builtinEndpointQoS);
+        output.length       := output.length + 1;
+        if (pid = PID_BUILTIN_ENDPOINT_QOS) then
+            output.length       := output.length + offset;
+        end if;
         -- MANUAL LIVELINESS COUNT
         if (pid = PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT) then
-            assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+            assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
             output.data(output.length) := PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
         else
             output.data(output.length) := PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1281,6 +1294,8 @@ package body rtps_test_package is
         return ret;
     end function;
     
+    -- 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
         variable tmp : natural := 0;
     begin
@@ -1293,7 +1308,7 @@ package body rtps_test_package is
         output.length       := output.length + 1;
         -- GUID
         if (pid = PID_ENDPOINT_GUID) then
-            assert (16+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+            assert (16+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
             output.data(output.length) := PID_ENDPOINT_GUID & endian_swap(ref.littleEndian, int(16+(offset*4),PARAMETER_LENGTH_WIDTH));
         else
             output.data(output.length) := PID_ENDPOINT_GUID & endian_swap(ref.littleEndian, int(16,PARAMETER_LENGTH_WIDTH));
@@ -1311,9 +1326,9 @@ package body rtps_test_package is
             output.length       := output.length + offset;
         end if;
         -- EXPECTS IN-LINE QOS
-        if (ref.expectsInlineQoS(0) /= '0') then
+        if (ref.expectsInlineQoS(0) /= DEFAULT_EXPECTS_INLINE_QOS or pid = PID_EXPECTS_INLINE_QOS) then
             if (pid = PID_EXPECTS_INLINE_QOS) then
-                assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_EXPECTS_INLINE_QOS & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_EXPECTS_INLINE_QOS & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1327,9 +1342,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- TOPIC NAME
-        tmp                 := string_len(ref.topic_name);
+        tmp := string_len(ref.topic_name);
         if (pid = PID_TOPIC_NAME) then
-            assert (((round_div(tmp,4)+1)*4)+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+            assert (((round_div(tmp,4)+1)*4)+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
             output.data(output.length) := PID_TOPIC_NAME & endian_swap(ref.littleEndian, int(((round_div(tmp,4)+1)*4)+(offset*4),PARAMETER_LENGTH_WIDTH));
         else
             output.data(output.length) := PID_TOPIC_NAME & endian_swap(ref.littleEndian, int((round_div(tmp,4)+1)*4,PARAMETER_LENGTH_WIDTH));
@@ -1345,9 +1360,9 @@ package body rtps_test_package is
             output.length       := output.length + offset;
         end if;
         -- TYPE NAME
-        tmp                 := string_len(ref.type_name);
+        tmp := string_len(ref.type_name);
         if (pid = PID_TYPE_NAME) then
-            assert (((round_div(tmp,4)+1)*4)+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+            assert (((round_div(tmp,4)+1)*4)+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
             output.data(output.length) := PID_TYPE_NAME & endian_swap(ref.littleEndian, int(((round_div(tmp,4)+1)*4)+(offset*4),PARAMETER_LENGTH_WIDTH));
         else
             output.data(output.length) := PID_TYPE_NAME & endian_swap(ref.littleEndian, int((round_div(tmp,4)+1)*4,PARAMETER_LENGTH_WIDTH));
@@ -1363,9 +1378,9 @@ package body rtps_test_package is
             output.length       := output.length + offset;
         end if;
         -- DURABILITY
-        if (ref.durability /= DEFAULT_DURABILITY_QOS) then
+        if (ref.durability /= DEFAULT_DURABILITY_QOS or pid = PID_DURABILITY) then
             if (pid = PID_DURABILITY) then
-                assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_DURABILITY & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_DURABILITY & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1380,9 +1395,9 @@ package body rtps_test_package is
         -- DURABILITY SERVICE
         if (ref.durability_service_cleanup_delay /= DEFAULT_DURABILITY_SERVICE_CLEANUP_DELAY or ref.durability_service_history /= DEFAULT_DURABILITY_SERVICE_HISTORY or 
         ref.durability_service_history_depth /= DEFAULT_DURABILITY_SERVICE_HISTORY_DEPTH or ref.durability_service_max_samples /= DEFAULT_DURABILITY_SERVICE_MAX_SAMPLES or 
-        ref.durability_service_max_instances /= DEFAULT_DURABILITY_SERVICE_MAX_INSTANCES or ref.durability_service_max_samples_per_instances /= DEFAULT_DURABILITY_SERVICE_MAX_SAMPLES_PER_INSTANCE) then
+        ref.durability_service_max_instances /= DEFAULT_DURABILITY_SERVICE_MAX_INSTANCES or ref.durability_service_max_samples_per_instances /= DEFAULT_DURABILITY_SERVICE_MAX_SAMPLES_PER_INSTANCE or pid = PID_DURABILITY_SERVICE) then
             if (pid = PID_DURABILITY_SERVICE) then
-                assert (28+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (28+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_DURABILITY_SERVICE & endian_swap(ref.littleEndian, int(28+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_DURABILITY_SERVICE & endian_swap(ref.littleEndian, int(28,PARAMETER_LENGTH_WIDTH));
@@ -1407,9 +1422,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- PRESENTATION
-        if (ref.presentation /= DEFAULT_PRESENTATION_QOS or ref.coherent_access(0) /= boolean_to_std_logic(DEFAULT_COHERENT_ACCESS) or ref.ordered_access(0) /= boolean_to_std_logic(DEFAULT_ORDERED_ACCESS)) then
+        if (ref.presentation /= DEFAULT_PRESENTATION_QOS or ref.coherent_access(0) /= boolean_to_std_logic(DEFAULT_COHERENT_ACCESS) or ref.ordered_access(0) /= boolean_to_std_logic(DEFAULT_ORDERED_ACCESS) or pid = PID_PRESENTATION) then
             if (pid = PID_PRESENTATION) then
-                assert (8+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (8+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_PRESENTATION & endian_swap(ref.littleEndian, int(8+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_PRESENTATION & endian_swap(ref.littleEndian, int(8,PARAMETER_LENGTH_WIDTH));
@@ -1424,9 +1439,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- DEADLINE
-        if (ref.deadline /= DEFAULT_DEADLINE_QOS) then
+        if (ref.deadline /= DEFAULT_DEADLINE_QOS or pid = PID_DEADLINE) then
             if (pid = PID_DEADLINE) then
-                assert (8+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (8+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_DEADLINE & endian_swap(ref.littleEndian, int(8+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_DEADLINE & endian_swap(ref.littleEndian, int(8,PARAMETER_LENGTH_WIDTH));
@@ -1441,9 +1456,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- LATENCY BUDGET
-        if (ref.latency_budget /= DEFAULT_LATENCY_BUDGET_QOS) then
+        if (ref.latency_budget /= DEFAULT_LATENCY_BUDGET_QOS or pid = PID_LATENCY_BUDGET) then
             if (pid = PID_LATENCY_BUDGET) then
-                assert (8+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (8+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_LATENCY_BUDGET & endian_swap(ref.littleEndian, int(8+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_LATENCY_BUDGET & endian_swap(ref.littleEndian, int(8,PARAMETER_LENGTH_WIDTH));
@@ -1458,9 +1473,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- OWNERSHIP
-        if (ref.ownership /= DEFAULT_OWNERSHIP_QOS) then
+        if (ref.ownership /= DEFAULT_OWNERSHIP_QOS or pid = PID_OWNERSHIP) then
             if (pid = PID_OWNERSHIP) then
-                assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_OWNERSHIP & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_OWNERSHIP & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1473,9 +1488,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- OWNERSHIP STRENGTH
-        if (ref.ownership /= DEFAULT_OWNERSHIP_STRENGTH_QOS) then
+        if (ref.ownership /= DEFAULT_OWNERSHIP_STRENGTH_QOS or pid = PID_OWNERSHIP_STRENGTH) then
             if (pid = PID_OWNERSHIP_STRENGTH) then
-                assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_OWNERSHIP_STRENGTH & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_OWNERSHIP_STRENGTH & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1488,9 +1503,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- LIVELINESS
-        if (ref.liveliness /= DEFAULT_LIVELINESS_QOS or ref.leaseDuration /= DEFAULT_LEASE_DURATION) then
+        if (ref.liveliness /= DEFAULT_LIVELINESS_QOS or ref.leaseDuration /= DEFAULT_LEASE_DURATION or pid = PID_LIVELINESS) then
             if (pid = PID_LIVELINESS) then
-                assert (12+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (12+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_LIVELINESS & endian_swap(ref.littleEndian, int(12+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_LIVELINESS & endian_swap(ref.littleEndian, int(12,PARAMETER_LENGTH_WIDTH));
@@ -1507,9 +1522,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- TIME BASED FILTER
-        if (ref.time_based_filter /= DEFAULT_TIME_BASED_FILTER_QOS) then
+        if (ref.time_based_filter /= DEFAULT_TIME_BASED_FILTER_QOS or pid = PID_TIME_BASED_FILTER) then
             if (pid = PID_TIME_BASED_FILTER) then
-                assert (8+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (8+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_TIME_BASED_FILTER & endian_swap(ref.littleEndian, int(8+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_TIME_BASED_FILTER & endian_swap(ref.littleEndian, int(8,PARAMETER_LENGTH_WIDTH));
@@ -1524,9 +1539,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- RELIABILITY
-        if (ref.reliability /= DEFAULT_RELIABILTY_QOS or ref.max_blocking_time /= DEFAULT_MAX_BLOCKING_TIME) then
+        if (ref.reliability /= DEFAULT_RELIABILTY_QOS or ref.max_blocking_time /= DEFAULT_MAX_BLOCKING_TIME or pid = PID_RELIABILITY) then
             if (pid = PID_RELIABILITY) then
-                assert (12+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (12+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_RELIABILITY & endian_swap(ref.littleEndian, int(12+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_RELIABILITY & endian_swap(ref.littleEndian, int(12,PARAMETER_LENGTH_WIDTH));
@@ -1543,9 +1558,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- TRANSPORT PRIORITY
-        if (ref.transportnpriority /= DEFAULT_TRANSPORT_PRIORITY_QOS) then
+        if (ref.transportnpriority /= DEFAULT_TRANSPORT_PRIORITY_QOS or pid = PID_TRANSPORT_PRIORITY) then
             if (pid = PID_TRANSPORT_PRIORITY) then
-                assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_TRANSPORT_PRIORITY & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_TRANSPORT_PRIORITY & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1558,9 +1573,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- LIFESPAN
-        if (ref.lifespan /= DEFAULT_LIFESPAN_QOS) then
+        if (ref.lifespan /= DEFAULT_LIFESPAN_QOS or pid = PID_LIFESPAN) then
             if (pid = PID_LIFESPAN) then
-                assert (8+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (8+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_LIFESPAN & endian_swap(ref.littleEndian, int(8+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_LIFESPAN & endian_swap(ref.littleEndian, int(8,PARAMETER_LENGTH_WIDTH));
@@ -1575,9 +1590,9 @@ package body rtps_test_package is
             end if;
         end if;
         -- DESTINATION ORDER
-        if (ref.destination_order /= DEFAULT_DESTINATION_ORDER_QOS) then
+        if (ref.destination_order /= DEFAULT_DESTINATION_ORDER_QOS or pid = PID_DESTINATION_ORDER) then
             if (pid = PID_DESTINATION_ORDER) then
-                assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_DESTINATION_ORDER & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_DESTINATION_ORDER & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1594,7 +1609,7 @@ package body rtps_test_package is
             tmp := to_integer(unsigned(ref.unicastLocatorList.numLocators));
             for i in 0 to tmp-1 loop
                 if (pid = PID_UNICAST_LOCATOR) then
-                    assert (24+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                    assert (24+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                     output.data(output.length) := PID_UNICAST_LOCATOR & endian_swap(ref.littleEndian, int(24+(offset*4),PARAMETER_LENGTH_WIDTH));
                 else
                     output.data(output.length) := PID_UNICAST_LOCATOR & endian_swap(ref.littleEndian, int(24,PARAMETER_LENGTH_WIDTH));
@@ -1622,7 +1637,7 @@ package body rtps_test_package is
             tmp := to_integer(unsigned(ref.multicastLocatorList.numLocators));
             for i in 0 to tmp-1 loop
                 if (pid = PID_MULTICAST_LOCATOR) then
-                    assert (24+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                    assert (24+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                     output.data(output.length) := PID_MULTICAST_LOCATOR & endian_swap(ref.littleEndian, int(24+(offset*4),PARAMETER_LENGTH_WIDTH));
                 else
                     output.data(output.length) := PID_MULTICAST_LOCATOR & endian_swap(ref.littleEndian, int(24,PARAMETER_LENGTH_WIDTH));
@@ -1646,7 +1661,7 @@ package body rtps_test_package is
             end loop;
         end if;
         -- USER DATA
-        tmp                 := string_len(ref.user_data);
+        tmp := string_len(ref.user_data);
         if (tmp > 1) then
             output.data(output.length) := PID_USER_DATA & endian_swap(ref.littleEndian, int((round_div(tmp,4)+1)*4,PARAMETER_LENGTH_WIDTH));
             output.length       := output.length + 1;
@@ -1658,7 +1673,7 @@ package body rtps_test_package is
             end loop;
         end if;
         -- TOPIC DATA
-        tmp                 := string_len(ref.topic_data);
+        tmp := string_len(ref.topic_data);
         if (tmp > 1) then
             output.data(output.length) := PID_TOPIC_DATA & endian_swap(ref.littleEndian, int((round_div(tmp,4)+1)*4,PARAMETER_LENGTH_WIDTH));
             output.length       := output.length + 1;
@@ -1670,7 +1685,7 @@ package body rtps_test_package is
             end loop;
         end if;
         -- GROUP DATA
-        tmp                 := string_len(ref.group_data);
+        tmp := string_len(ref.group_data);
         if (tmp > 1) then
             output.data(output.length) := PID_GROUP_DATA & endian_swap(ref.littleEndian, int((round_div(tmp,4)+1)*4,PARAMETER_LENGTH_WIDTH));
             output.length       := output.length + 1;
@@ -1682,9 +1697,10 @@ package body rtps_test_package is
             end loop;
         end if;
         -- MAX SIZE SERIALIZED
+        -- NOTE: PID_DATA_MAX_SIZE_SERIALIZED has no default value, but we use the value zero as default for not sending the parameter
         if (unsigned(ref.max_size_serialized) /= 0) then
             if (pid = PID_DATA_MAX_SIZE_SERIALIZED) then
-                assert (4+(offset*4) > 0) report "Parameter Length < 0" severity FAILURE;
+                assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
                 output.data(output.length) := PID_DATA_MAX_SIZE_SERIALIZED & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
             else
                 output.data(output.length) := PID_DATA_MAX_SIZE_SERIALIZED & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
@@ -1751,13 +1767,13 @@ package body rtps_test_package is
         output.length               := output.length + 1;
     end procedure;
     
-    procedure gen_parameter(pid : in std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0); length : in natural; data : in TEST_PACKET_TYPE; output : inout TEST_PACKET_TYPE) is
+    procedure gen_parameter(pid : in std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0); data : in TEST_PACKET_TYPE; output : inout TEST_PACKET_TYPE) is
     begin
         -- PARAMETER HEADER
-        output.data(output.length) := pid & int(length*4,PARAMETER_LENGTH_WIDTH);
+        output.data(output.length) := pid & int(data.length*4,PARAMETER_LENGTH_WIDTH);
         output.length       := output.length + 1;
         -- DATA
-        for i in 0 to length-1 loop
+        for i in 0 to data.length-1 loop
             output.data(output.length)  := data.data(i);
             output.length               := output.length + 1;
         end loop;