BUG FIX: rtps_handler was droping valid ACKNACKs and GAPs

The rtps_handler was droping SequenceNumberSets where the 0 bit was set.
The rtps_handler Test1 was also extended a bit to test for more invalid
variants.

src/REF.txt

@@ -927,7 +927,7 @@ NumberSet (9.4.2.6)
 ---------
 * bitmapBase <= 0
 * numBits < 0 or numBits > 256
-* M/=(numBits+31)/32 longs in Submessage
+* M /= (numBits+31)/32 longs in Submessage
 
 Parameter List (8.3.5.9)
 --------------

src/Tests/Level_0/L0_rtps_handler_test1.vhd

@@ -243,6 +243,25 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
+        Log("Sending valid RTPS Header [Protocol Minor Version Missmatch]", INFO);
+        -- UDP Header
+        gen_output_header(UDP_META, stimulus);
+        -- RTPS Header
+        rtps_header             := DEFAULT_RTPS_HEADER;
+        rtps_header.version     := PROTOCOLVERSION_2_1;
+        gen_rtps_header(rtps_header, stimulus);
+        -- Valid Data
+        gen_rtps_submessage(rtps_data, stimulus);
+        gen_rtps_handler_out(rtps_data, UDP_META.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
+        rtps_data.writerSN := rtps_data.writerSN + 1;
+        -- Finalize Packet
+        fix_output_packet(stimulus);
+        start_test;
+        wait_on_complete;
+        check_cnt := check_cnt + reference.length;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
+        
         -- Valid RTPS Header from here on
         rtps_header := DEFAULT_RTPS_HEADER;
         
@@ -403,12 +422,12 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
-        Log("Sending invalid DATA [Invalid writerSN]", INFO);
+        Log("Sending invalid DATA [Invalid writerSN (0)]", INFO);
         -- UDP Header
         gen_output_header(UDP_META, stimulus);
         -- RTPS Header
         gen_rtps_header(rtps_header, stimulus);
-        -- Valid DATA [Invalid writerSN] (Dropped)
+        -- Valid DATA (Dropped)
         rtps_sub                                    := DEFAULT_RTPS_SUBMESSAGE;
         rtps_sub.submessageID                       := SID_DATA;
         rtps_sub.writerId                           := DEFAULT_WRITER_ENTITYID;
@@ -427,6 +446,53 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
+        Log("Sending invalid DATA [Invalid writerSN (-8589934592)]", INFO);
+        -- UDP Header
+        gen_output_header(UDP_META, stimulus);
+        -- RTPS Header
+        gen_rtps_header(rtps_header, stimulus);
+        -- Valid DATA (Dropped)
+        rtps_sub                                    := DEFAULT_RTPS_SUBMESSAGE;
+        rtps_sub.submessageID                       := SID_DATA;
+        rtps_sub.writerId                           := DEFAULT_WRITER_ENTITYID;
+        rtps_sub.flags(SUBMESSAGE_DATA_FLAG_POS)    := '1';
+        rtps_sub.data                               := RAND_DATA;
+        rtps_sub.writerSN                           := (0 => unsigned(int(-2,WORD_WIDTH)), 1 => (others => '0'));
+        gen_rtps_submessage(rtps_sub, stimulus);
+        -- Valid Data (Dropped)
+        gen_rtps_submessage(rtps_data, stimulus);
+        rtps_data.writerSN := rtps_data.writerSN + 1;
+        -- Finalize Packet
+        fix_output_packet(stimulus);
+        start_test;
+        wait_on_complete;
+        check_cnt := check_cnt + reference.length;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
+        
+        Log("Sending invalid DATA [Invalid writerSN (SEQUENCENUMBER_UNKNOWN)]", INFO);
+        -- UDP Header
+        gen_output_header(UDP_META, stimulus);
+        -- RTPS Header
+        gen_rtps_header(rtps_header, stimulus);
+        -- Valid DATA (Dropped)
+        rtps_sub                                    := DEFAULT_RTPS_SUBMESSAGE;
+        rtps_sub.submessageID                       := SID_DATA;
+        rtps_sub.writerId                           := DEFAULT_WRITER_ENTITYID;
+        rtps_sub.flags(SUBMESSAGE_DATA_FLAG_POS)    := '1';
+        rtps_sub.data                               := RAND_DATA;
+        rtps_sub.writerSN                           := SEQUENCENUMBER_UNKNOWN;
+        gen_rtps_submessage(rtps_sub, stimulus);
+        -- Valid Data (Dropped)
+        gen_rtps_submessage(rtps_data, stimulus);
+        rtps_data.writerSN := rtps_data.writerSN + 1;
+        -- Finalize Packet
+        fix_output_packet(stimulus);
+        start_test;
+        wait_on_complete;
+        check_cnt := check_cnt + reference.length;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
         
         -- *ACKNACK SUBMESSAGE*
         Log("Sending valid ACKNACK [Meta Traffic, Both Endianness]", INFO);
@@ -512,7 +578,7 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
-        Log("Sending invalid ACKNACK [ReaderSNState invalid (Base invalid)]", INFO);
+        Log("Sending invalid ACKNACK [ReaderSNState invalid (Base invalid (0))]", INFO);
         -- UDP Header
         gen_output_header(UDP_META, stimulus);
         -- RTPS Header
@@ -534,7 +600,29 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
-        Log("Sending invalid ACKNACK [ReaderSNState invalid (NumBits invalid)]", INFO);
+        Log("Sending invalid ACKNACK [ReaderSNState invalid (Base invalid (-8589934592))]", INFO);
+        -- UDP Header
+        gen_output_header(UDP_META, stimulus);
+        -- RTPS Header
+        gen_rtps_header(rtps_header, stimulus);
+        -- Invalid ACKNACK [readerSNState invalid (Base Invalid)] (Dropped)
+        rtps_sub                    := DEFAULT_RTPS_SUBMESSAGE;
+        rtps_sub.submessageID       := SID_ACKNACK;
+        rtps_sub.readerId           := DEFAULT_READER_ENTITYID;
+        rtps_sub.readerSNState.base := (0 => unsigned(int(-2,WORD_WIDTH)), 1 => (others => '0'));
+        gen_rtps_submessage(rtps_sub, stimulus);
+        -- Valid DATA (Dropped)
+        gen_rtps_submessage(rtps_data, stimulus);
+        rtps_data.writerSN := rtps_data.writerSN + 1;
+        -- Finalize Packet
+        fix_output_packet(stimulus);
+        start_test;
+        wait_on_complete;
+        check_cnt := check_cnt + reference.length;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
+        
+        Log("Sending invalid ACKNACK [ReaderSNState invalid (NumBits invalid (-2))]", INFO);
         -- UDP Header
         gen_output_header(UDP_META, stimulus);
         -- RTPS Header
@@ -543,7 +631,29 @@ begin
         rtps_sub                        := DEFAULT_RTPS_SUBMESSAGE;
         rtps_sub.submessageID           := SID_ACKNACK;
         rtps_sub.readerId               := DEFAULT_READER_ENTITYID;
-        rtps_sub.readerSNState.numBits  := int(257, 32);
+        rtps_sub.readerSNState.numBits  := int(-2, WORD_WIDTH);
+        gen_rtps_submessage(rtps_sub, stimulus);
+        -- Valid DATA (Dropped)
+        gen_rtps_submessage(rtps_data, stimulus);
+        rtps_data.writerSN := rtps_data.writerSN + 1;
+        -- Finalize Packet
+        fix_output_packet(stimulus);
+        start_test;
+        wait_on_complete;
+        check_cnt := check_cnt + reference.length;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
+        
+        Log("Sending invalid ACKNACK [ReaderSNState invalid (NumBits invalid (257))]", INFO);
+        -- UDP Header
+        gen_output_header(UDP_META, stimulus);
+        -- RTPS Header
+        gen_rtps_header(rtps_header, stimulus);
+        -- Invalid ACKNACK [readerSNState invalid (NumBits Invalid)] (Dropped)
+        rtps_sub                        := DEFAULT_RTPS_SUBMESSAGE;
+        rtps_sub.submessageID           := SID_ACKNACK;
+        rtps_sub.readerId               := DEFAULT_READER_ENTITYID;
+        rtps_sub.readerSNState.numBits  := int(257, WORD_WIDTH);
         gen_rtps_submessage(rtps_sub, stimulus);
         -- Valid DATA (Dropped)
         gen_rtps_submessage(rtps_data, stimulus);
@@ -640,7 +750,7 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
-        Log("Sending invalid GAP [GapStart invalid]", INFO);
+        Log("Sending invalid GAP [GapStart invalid (0)]", INFO);
         -- UDP Header
         gen_output_header(UDP_META, stimulus);
         -- RTPS Header
@@ -662,7 +772,29 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
-        Log("Sending invalid GAP [GapList invalid (Base invalid)]", INFO);
+        Log("Sending invalid GAP [GapStart invalid (-8589934592)]", INFO);
+        -- UDP Header
+        gen_output_header(UDP_META, stimulus);
+        -- RTPS Header
+        gen_rtps_header(rtps_header, stimulus);
+        -- Invalid GAP [GapStart invalid] (Dropped)
+        rtps_sub                        := DEFAULT_RTPS_SUBMESSAGE;
+        rtps_sub.submessageID           := SID_GAP;
+        rtps_sub.writerId               := DEFAULT_WRITER_ENTITYID;
+        rtps_sub.gapStart               := (0 => unsigned(int(-2,WORD_WIDTH)), 1 => (others => '0'));
+        gen_rtps_submessage(rtps_sub, stimulus);
+        -- Valid Data (Dropped)
+        gen_rtps_submessage(rtps_data, stimulus);
+        rtps_data.writerSN := rtps_data.writerSN + 1;
+        -- Finalize Packet
+        fix_output_packet(stimulus);
+        start_test;
+        wait_on_complete;
+        check_cnt := check_cnt + reference.length;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
+        
+        Log("Sending invalid GAP [GapList invalid (Base invalid (0))]", INFO);
         -- UDP Header
         gen_output_header(UDP_META, stimulus);
         -- RTPS Header
@@ -684,16 +816,16 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
-        Log("Sending invalid GAP [GapList invalid (NumBits invalid)]", INFO);
+        Log("Sending invalid GAP [GapList invalid (Base invalid (-8589934592))]", INFO);
         -- UDP Header
         gen_output_header(UDP_META, stimulus);
         -- RTPS Header
         gen_rtps_header(rtps_header, stimulus);
-        -- Invalid GAP [GapList invalid (NumBits invalid)] (Dropped)
+        -- Invalid GAP [GapList invalid (Base invalid)] (Dropped)
         rtps_sub                        := DEFAULT_RTPS_SUBMESSAGE;
         rtps_sub.submessageID           := SID_GAP;
         rtps_sub.writerId               := DEFAULT_WRITER_ENTITYID;
-        rtps_sub.gapList.numBits        := int(257,32);
+        rtps_sub.gapList.base           := (0 => unsigned(int(-2,WORD_WIDTH)), 1 => (others => '0'));
         gen_rtps_submessage(rtps_sub, stimulus);
         -- Valid Data (Dropped)
         gen_rtps_submessage(rtps_data, stimulus);
@@ -706,6 +838,49 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
+        Log("Sending invalid GAP [GapList invalid (NumBits invalid (-2))]", INFO);
+        -- UDP Header
+        gen_output_header(UDP_META, stimulus);
+        -- RTPS Header
+        gen_rtps_header(rtps_header, stimulus);
+        -- Invalid GAP [GapList invalid (NumBits invalid)] (Dropped)
+        rtps_sub                        := DEFAULT_RTPS_SUBMESSAGE;
+        rtps_sub.submessageID           := SID_GAP;
+        rtps_sub.writerId               := DEFAULT_WRITER_ENTITYID;
+        rtps_sub.gapList.numBits        := int(-2,WORD_WIDTH);
+        gen_rtps_submessage(rtps_sub, stimulus);
+        -- Valid Data (Dropped)
+        gen_rtps_submessage(rtps_data, stimulus);
+        rtps_data.writerSN := rtps_data.writerSN + 1;
+        -- Finalize Packet
+        fix_output_packet(stimulus);
+        start_test;
+        wait_on_complete;
+        check_cnt := check_cnt + reference.length;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
+        
+        Log("Sending invalid GAP [GapList invalid (NumBits invalid (257))]", INFO);
+        -- UDP Header
+        gen_output_header(UDP_META, stimulus);
+        -- RTPS Header
+        gen_rtps_header(rtps_header, stimulus);
+        -- Invalid GAP [GapList invalid (NumBits invalid)] (Dropped)
+        rtps_sub                        := DEFAULT_RTPS_SUBMESSAGE;
+        rtps_sub.submessageID           := SID_GAP;
+        rtps_sub.writerId               := DEFAULT_WRITER_ENTITYID;
+        rtps_sub.gapList.numBits        := int(257,WORD_WIDTH);
+        gen_rtps_submessage(rtps_sub, stimulus);
+        -- Valid Data (Dropped)
+        gen_rtps_submessage(rtps_data, stimulus);
+        rtps_data.writerSN := rtps_data.writerSN + 1;
+        -- Finalize Packet
+        fix_output_packet(stimulus);
+        start_test;
+        wait_on_complete;
+        check_cnt := check_cnt + reference.length;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
         
         -- *HEARTBEAT SUBMESSAGE*
         Log("Sending valid HEARTBEAT [Meta Traffic, Both Endianness]", INFO);
@@ -791,7 +966,7 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
-        Log("Sending invalid HEARTBEAT [FirstSN invalid]", INFO);
+        Log("Sending invalid HEARTBEAT [FirstSN invalid (0)]", INFO);
         -- UDP Header
         gen_output_header(UDP_META, stimulus);
         -- RTPS Header
@@ -813,7 +988,29 @@ begin
         stimulus    := EMPTY_TEST_PACKET;
         reference   := EMPTY_TEST_PACKET;
         
-        Log("Sending invalid HEARTBEAT [LastSN invalid]", INFO);
+        Log("Sending invalid HEARTBEAT [FirstSN invalid (-8589934592)]", INFO);
+        -- UDP Header
+        gen_output_header(UDP_META, stimulus);
+        -- RTPS Header
+        gen_rtps_header(rtps_header, stimulus);
+        -- Invalid HEARTBEAT [FirstSN invalid] (Dropped)
+        rtps_sub                        := DEFAULT_RTPS_SUBMESSAGE;
+        rtps_sub.submessageID           := SID_HEARTBEAT;
+        rtps_sub.writerId               := DEFAULT_WRITER_ENTITYID;
+        rtps_sub.firstSN                := (0 => unsigned(int(-2,WORD_WIDTH)), 1 => (others => '0'));
+        gen_rtps_submessage(rtps_sub, stimulus);
+        -- Valid Data (Dropped)
+        gen_rtps_submessage(rtps_data, stimulus);
+        rtps_data.writerSN := rtps_data.writerSN + 1;
+        -- Finalize Packet
+        fix_output_packet(stimulus);
+        start_test;
+        wait_on_complete;
+        check_cnt := check_cnt + reference.length;
+        stimulus    := EMPTY_TEST_PACKET;
+        reference   := EMPTY_TEST_PACKET;
+        
+        Log("Sending invalid HEARTBEAT [LastSN invalid (-8589934592)]", INFO);
         -- UDP Header
         gen_output_header(UDP_META, stimulus);
         -- RTPS Header
@@ -822,7 +1019,7 @@ begin
         rtps_sub                        := DEFAULT_RTPS_SUBMESSAGE;
         rtps_sub.submessageID           := SID_HEARTBEAT;
         rtps_sub.writerId               := DEFAULT_WRITER_ENTITYID;
-        rtps_sub.lastSN                 := (others => (others => '1')); -- Negative
+        rtps_sub.lastSN                 := (0 => unsigned(int(-2,WORD_WIDTH)), 1 => (others => '0'));
         gen_rtps_submessage(rtps_sub, stimulus);
         -- Valid Data (Dropped)
         gen_rtps_submessage(rtps_data, stimulus);
@@ -844,8 +1041,8 @@ begin
         rtps_sub                        := DEFAULT_RTPS_SUBMESSAGE;
         rtps_sub.submessageID           := SID_HEARTBEAT;
         rtps_sub.writerId               := DEFAULT_WRITER_ENTITYID;
-        rtps_sub.firstSN                := ((others => '0'), unsigned(int(5,WORD_WIDTH))); -- 5
+        rtps_sub.firstSN                := ((others => '0'), unsigned(int(5,WORD_WIDTH)));
-        rtps_sub.lastSN                 := ((others => '0'), unsigned(int(1,WORD_WIDTH))); -- 1
+        rtps_sub.lastSN                 := ((others => '0'), unsigned(int(1,WORD_WIDTH)));
         gen_rtps_submessage(rtps_sub, stimulus);
         -- Valid Data (Dropped)
         gen_rtps_submessage(rtps_data, stimulus);

src/rtps_handler.vhd

@@ -805,7 +805,7 @@ begin
                             cnt2_next           <= 0;
                             
                             -- VALIDITY CHECK
-                            if (data_in_swapped(0) = '1' or unsigned(data_in_swapped) > 256) then
+                            if (unsigned(data_in_swapped) > 256) then
                                 -- If numBits is negative or larger than 256, Number Set is invalid (see DDSI-RTPS 2.3 Section 9.4.2.6)
                                 -- If readerSNState is invalid, skip Packet (see DDSI-RTPS 2.3 Section 8.3.7.1.3 and 8.3.4.1)
                                 stage_next  <= SKIP_PACKET;
@@ -893,7 +893,7 @@ begin
                             
                             -- VALIDITY CHECK
                             -- TODO: Shouldn't that check the highest bit?
-                            if (data_in_swapped(0) = '1' or unsigned(data_in_swapped) > 256) then
+                            if (unsigned(data_in_swapped) > 256) then
                                 -- If numBits is negative or larger than 256, Number Set is invalid (see DDSI-RTPS 2.3 Section 9.4.2.6)
                                 -- If gapList is invalid, skip Packet (see DDSI-RTPS 2.3 Section 8.3.7.4.3 and 8.3.4.1)
                                 stage_next  <= SKIP_PACKET;