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* Update test project
This commit is contained in:
John Ring 2020-09-22 20:59:16 +02:00
parent a841a5c07e
commit 4a6b19ef25
5 changed files with 341 additions and 52 deletions
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146
src/PID_Ref.txt Normal file
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@ -0,0 +1,146 @@
struct PublicationBuiltinTopicData {
@id(0x005A) @key BuiltinTopicKey_t key;
octet value[16];
@id(0x0050) BuiltinTopicKey_t participant_key;
octet value[16];
@id(0x0005) ObjectName topic_name;
string<256>
@id(0x0007) ObjectName type_name;
string<256>
@id(0x0069) @optional TypeIdV1 type_id;// XTYPES 1.1
@id(0x0072) @optional TypeObjectV1 type;// XTYPES 1.1
@id(0x0075) @optional XTypes::TypeInformation type_information;// XTYPES 1.2
@id(0x001D) DurabilityQosPolicy durability;
32-bit enum {VOLATILE_DURABILITY_QOS,TRANSIENT_LOCAL_DURABILITY_QOS,TRANSIENT_DURABILITY_QOS,PERSISTENT_DURABILITY_QOS}
@id(0x001E) DurabilityServiceQosPolicy durability_service;
Duration (2xlong) service_cleanup_delay
32-bit enum {KEEP_LAST_HISTORY_QOS,KEEP_ALL_HISTORY_QOS};
long history_depth
long max_samples
long max_instances
long max_samples_per_instance
@id(0x0023) DeadlineQosPolicy deadline;
Duration (2xlong) period
@id(0x0027) LatencyBudgetQosPolicy latency_budget;
Duration (2xlong) duration
@id(0x001B) LivelinessQosPolicy liveliness;
32-bit enum {AUTOMATIC_LIVELINESS_QOS,MANUAL_BY_PARTICIPANT_LIVELINESS_QOS,MANUAL_BY_TOPIC_LIVELINESS_QOS}
Duration (2xlong) lease_duration
@id(0x001A) ReliabilityQosPolicy reliability;
32-bit enum {BEST_EFFORT_RELIABILITY_QOS=1,RELIABLE_RELIABILITY_QOS=2}
Duration (2xlong) max_blocking_time
@id(0x002B) LifespanQosPolicy lifespan;
Duration (2xlong) duration
@id(0x002C) UserDataQosPolicy user_data;
sequence<octet>
@id(0x001F) OwnershipQosPolicy ownership;
32-bit enum {SHARED_OWNERSHIP_QOS,EXCLUSIVE_OWNERSHIP_QOS}
@id(0x0006) OwnershipStrengthQosPolicy ownership_strength;
long value
@id(0x0025) DestinationOrderQosPolicy destination_order;
32-bit enum {BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS,BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS}
@id(0x0021) PresentationQosPolicy presentation;
32-bit enum {INSTANCE_PRESENTATION_QOS,TOPIC_PRESENTATION_QOS,GROUP_PRESENTATION_QOS}
boolean (octet) coherent_access
boolean (octet) ordered_access
@id(0x0029) PartitionQosPolicy partition;
sequence<string>
@id(0x002E) TopicDataQosPolicy topic_data;
sequence<octet>
@id(0x002D) GroupDataQosPolicy group_data;
sequence<octet>
@id(0x0073) DataRepresentationQosPolicy representation;
sequence<short>
};
struct SubscriptionBuiltinTopicData {
- durability service
- ownership strength
- lifespan
@id(0x0004) TimeBasedFilterQosPolicy time_based_filter;
Duration (2xlong) minimum_separation
@id(0x0074) TypeConsistencyEnforcementQosPolicy type_consistency;
16-bit enum {DISALLOW_TYPE_COERCION,ALLOW_TYPE_COERCION}
boolean (octet) ignore_sequence_bounds
boolean (octet) ignore_string_bounds
boolean (octet) ignore_member_names
boolean (octet) prevent_type_widening
boolean (octet) force_type_validation
}
PID_DOMAIN_ID DomainId_t
long
PID_DOMAIN_TAG string<256>
string<256>
PID_PROTOCOL_VERSION ProtocolVersion_t
octet[2]
PID_VENDORID VendorId_t
octet[2]
PID_UNICAST_LOCATOR Locator_t
PID_MULTICAST_LOCATOR Locator_t
PID_DEFAULT_UNICAST_LOCATOR Locator_t
PID_DEFAULT_MULTICAST_LOCATOR Locator_t
PID_METATRAFFIC_UNICAST_LOCATOR Locator_t
PID_METATRAFFIC_MULTICAST_LOCATOR Locator_t
long kind
long port
octet[16] address
PID_EXPECTS_INLINE_QOS boolean
boolean (octet)
PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT Count_t
long
PID_PARTICIPANT_LEASE_DURATION Duration_t
long seconds
long fraction
PID_CONTENT_FILTER_PROPERTY ContentFilterProperty_t
string<256> contentFilteredTopicName
string<256> relatedTopicName
string<256> filterClassName
string filterExpression
sequence<string> expressionParameters
PID_PARTICIPANT_GUID GUID_t
PID_GROUP_GUID GUID_t
PID_ENDPOINT_GUID GUID_t
octet[12] guidPrefix
octet[3] entityKey
octet entityKind
PID_BUILTIN_ENDPOINT_SET BuiltinEndpointSet_t
bitmask {
@position(0) DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER,
@position(1) DISC_BUILTIN_ENDPOINT_PARTICIPANT_DETECTOR,
@position(2) DISC_BUILTIN_ENDPOINT_PUBLICATIONS_ANNOUNCER,
@position(3) DISC_BUILTIN_ENDPOINT_PUBLICATIONS_DETECTOR,
@position(4) DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_ANNOUNCER,
@position(5) DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_DETECTOR,
@position(10) BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_WRITER,
@position(11) BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_READER,
@position(28) DISC_BUILTIN_ENDPOINT_TOPICS_ANNOUNCER,
@position(29) DISC_BUILTIN_ENDPOINT_TOPICS_DETECTOR
}
PID_BUILTIN_ENDPOINT_QOS BuiltinEndpointQos_t
bitmask {
@position(0) BEST_EFFORT_PARTICIPANT_MESSAGE_DATA_READER
}
PID_PROPERTY_LIST sequence<Property_t>
sequence{
string name
string value
}
PID_TYPE_MAX_SIZE_SERIALIZED long
long
PID_ENTITY_NAME EntityName_t
string
PID_CONTENT_FILTER_INFO DDSI-RTPS 9.6.3.1
PID_COHERENT_SET DDSI-RTPS 9.6.3.2
PID_GROUP_COHERENT_SET DDSI-RTPS 9.6.3.3
PID_GROUP_SEQ_NUM DDSI-RTPS 9.6.3.4
PID_WRITER_GROUP_INFO DDSI-RTPS 9.6.3.5
PID_SECURE_WRITER_GROUP_INFO DDSI-RTPS 9.6.3.6
PID_ORIGINAL_WRITER_INFO DDSI-RTPS 9.6.3.7
PID_KEY_HASH DDSI-RTPS 9.6.3.8
PID_STATUS_INFO DDSI-RTPS 9.6.3.9

126
src/TODO.txt
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@ -52,6 +52,8 @@ Optional features may not be supported by all RTPS implementations.
ENTITYID_UKNOWN also for Built-In?
Ignore Participant/Topic/Publication/Subscription (handle argument of Sampleinfo)
ENDIANNESS
==========
You have to see what datatypes PSM maps to each element.
@ -61,15 +63,17 @@ The elements of an array are in order (but the elements themselves may need to b
ENDPOINT FIFO PACKET FORMAT
===========================
0...2...........8...............16..............24..............32
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| LENTGH |
+---------------+---------------+---------------+---------------+
| OPCODE | FLAGS | UDP_PORT |
| OPCODE | FLAGS | SRC_UDP_PORT |
+---------------+---------------+---------------+---------------+
| IPv4_ADDR |
| SRC_IPv4_ADDR |
+---------------------------------------------------------------+
| ENTITYID |
| SRC_ENTITYID |
+---------------------------------------------------------------+
| DEST_ENTITYID [only for Builtin Destinations] |
+---------------------------------------------------------------+
| |
+ Sequence Number [only for DATA Submessage] +
@ -84,4 +88,116 @@ ENDPOINT_ID
===========
MSB...........LSB
READERS...WRITERS
READERS...WRITERS
BUILT-IN ENDPOINTS
==================
2.2.5 Built-In Topics
The QoS of the built-in Subscriber and DataReader objects is given by the following table:
HISTORY: kind = KEEP_LAST, depth = 1
Since the Built-In Endpoints have a history depth of 1, we can safely reduce the processing complexity of ACKNACK and
HEARTBEAT messages (and even ignore GAP messages).
PARTICICPANT DATA
=================
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
| |
+ +
| GUIDPREFIX |
+ +
| |
+---------------------------------------------------------------+
| META_IPv4_ADDRESS |
+---------------------------------------------------------------+
| DEFAULT_IPv4_ADDRESS |
+---------------------------------------------------------------+
| META_UDP_PORT | DEFAULT_UDP_PORT |
+---------------------------------------------------------------+
| LEASE_DURATION |
+ +
| |
+---------------------------------------------------------------+
| LEASE_DEADLINE |
+ +
| |
+---------------------------------------------------------------+
| EXTRA_FLAGS |
+---------------------------------------------------------------+
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
| ENTITYID |
+---------------------------------------------------------------+
| PARTICICPANT_INDEX |
+---------------------------------------------------------------+
| |
~ ENDPOINT_BITMASK ~
| |
+---------------------------------------------------------------+
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
| PARTICICPANT_INDEX |
+---------------------------------------------------------------+
| ENTITYID |
+---------------------------------------------------------------+
| IPv4_ADDRESS |
+---------------------------------------------------------------+
| UDP_PORT | EXTRA_FLAGS |
+---------------------------------------------------------------+
| LIFESPAN |
+ +
| (READER_ONLY) |
+---------------------------------------------------------------+
TOPIC KEYS
==========
Nominally the key is part of the serialized data of a data submessage.
Using the key hash benefits implementations by providing a faster alternative than deserializing the full key from the received data-object.
MISC
====
8.2.9 Relation to DDS Entities
How exactly a DDS Entity interacts with the HistoryCache however, is implementation specific and not
formally modeled by the RTPS protocol. Instead, the Behavior Module of the RTPS protocol only specifies how
CacheChange changes are transferred from the HistoryCache of the RTPS Writer to the HistoryCache of
each matching RTPS Reader.
8.2.9.1
When using strict reliable communication, a change can
only be removed when it has been acknowledged by all readers the change was sent to and which are still
active and alive.
8.2.9.2
Each matching Writer will attempt to transfer all relevant samples from its HistoryCache to the HistoryCache of the Reader.
8.4.3
It is also not able to drop out-of-order samples on the Reader side as this
requires keeping track of the largest sequence number received from each remote Writer.
--> Suggests there is multiple writers
8.5.4.2
For the purpose of interoperability, it is sufficient that an
implementation provides the required built-in Endpoints and reliable communication that satisfies the general
requirements listed in 8.4.2.
8.5.4.4
An implementation of the protocol need not necessarily send all information contained in the DataTypes. If any
information is not present, the implementation can assume the default values, as defined by the PSM.
8.7.2.2.6
In order to implement the DDS_BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS policy,
implementations must include an InfoTimestamp Submessage with every update from a Writer.
DDS_Advanced_Tutorial_2006_00-T1-2_Pardo.pdf (P.16)

56
src/test.vhd
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@ -2,45 +2,21 @@ library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
package rtps_package is
-- Number of Domains
constant NUM_DOMAIN : integer := 1;
-----------------------------------------------------------------------------------------------------
-- *DO NOT MODIFY BEGIN*
type USER_DOMAIN_ID_TYPE is array (NUM_DOMAIN-1 downto 0) of integer;
-- *DO NOT MODIFY END*
-----------------------------------------------------------------------------------------------------
-- Array of Domain IDs
constant USER_DOMAIN_ID : USER_DOMAIN_ID_TYPE := (0 => 1);
constant DOMAIN_ID_WIDTH : integer := 32;
type DOMAIN_ID_TYPE is array (NUM_DOMAIN-1 downto 0) of std_logic_vector(DOMAIN_ID_WIDTH-1 downto 0);
function gen_domain_ids (user_id : USER_DOMAIN_ID_TYPE) return DOMAIN_ID_TYPE;
end package;
use work.math_pkg.all;
use work.test_package.all;
package body rtps_package is
-- TODO: Remove alignment logic for RTPS Submessages, since all Submessages are 32-bit aligned
-- Checksum has to be checked before
function gen_domain_ids (user_id : USER_DOMAIN_ID_TYPE) return DOMAIN_ID_TYPE is
variable ret : DOMAIN_ID_TYPE;
begin
ret := (others => (others => '0'));
for i in 0 to user_id'length-1 loop
-- Check if User provided Domain ID fits
-- NOTE: Cannot assert due to vhdl integer overflow.
--assert (user_id(i) < (2**DOMAIN_ID_WIDTH-1 - PORT_CONFIG_PB) / PORT_CONFIG_DG) report "Domain ID range exceeded" severity failure;
ret(i) := std_logic_vector(to_unsigned(user_id(i), ret(i)'length));
end loop;
return ret;
end function;
constant DOMAIN_ID : DOMAIN_ID_TYPE := gen_domain_ids(USER_DOMAIN_ID);
end package body;
entity test is
port (
clk : in std_logic; -- Input Clock
reset : in std_logic; -- Synchronous Reset
output : out std_logic
);
end entity;
architecture arch of test is
begin
end architecture;

49
src/test_package.vhd Normal file
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@ -0,0 +1,49 @@
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
package test_package is
-- Number of Domains
constant NUM_DOMAIN : integer := 1;
-----------------------------------------------------------------------------------------------------
-- *DO NOT MODIFY BEGIN*
type USER_DOMAIN_ID_TYPE is array (NUM_DOMAIN-1 downto 0) of integer;
-- *DO NOT MODIFY END*
-----------------------------------------------------------------------------------------------------
-- Array of Domain IDs
constant USER_DOMAIN_ID : USER_DOMAIN_ID_TYPE := (0 => 1);
constant DOMAIN_ID_WIDTH : integer := 32;
type TEST_ARRAY_TYPE is array (1 downto 0) of string(1 to 10);
constant TEST1 : string(1 to 10) := "Blah" & (1 to 6 => NUL);
constant TEST2 : TEST_ARRAY_TYPE := (0 => "Blah" & (1 to 6 => NUL),
1 => "Baba" & (1 to 6 => NUL));
type DOMAIN_ID_TYPE is array (NUM_DOMAIN-1 downto 0) of std_logic_vector(DOMAIN_ID_WIDTH-1 downto 0);
function gen_domain_ids (user_id : USER_DOMAIN_ID_TYPE) return DOMAIN_ID_TYPE;
end package;
package body test_package is
function gen_domain_ids (user_id : USER_DOMAIN_ID_TYPE) return DOMAIN_ID_TYPE is
variable ret : DOMAIN_ID_TYPE;
begin
ret := (others => (others => '0'));
for i in 0 to user_id'length-1 loop
-- Check if User provided Domain ID fits
-- NOTE: Cannot assert due to vhdl integer overflow.
--assert (user_id(i) < (2**DOMAIN_ID_WIDTH-1 - PORT_CONFIG_PB) / PORT_CONFIG_DG) report "Domain ID range exceeded" severity failure;
ret(i) := std_logic_vector(to_unsigned(user_id(i), ret(i)'length));
end loop;
return ret;
end function;
constant DOMAIN_ID : DOMAIN_ID_TYPE := gen_domain_ids(USER_DOMAIN_ID);
end package body;

16
syn/DE10-Nano/top.qsf
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@ -38,18 +38,20 @@
set_global_assignment -name FAMILY "Cyclone V"
set_global_assignment -name DEVICE 5CSEBA6U23I7
set_global_assignment -name TOP_LEVEL_ENTITY rtps_handler
set_global_assignment -name TOP_LEVEL_ENTITY test
set_global_assignment -name ORIGINAL_QUARTUS_VERSION 18.1.0
set_global_assignment -name PROJECT_CREATION_TIME_DATE "12:05:11 MAY 29, 2020"
set_global_assignment -name LAST_QUARTUS_VERSION "18.1.0 Lite Edition"
set_global_assignment -name VHDL_FILE ../../src/rtps_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/rtps_handler.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/math_pkg.vhd -hdl_version VHDL_2008
set_global_assignment -name LAST_QUARTUS_VERSION "19.1.0 Lite Edition"
set_global_assignment -name PROJECT_OUTPUT_DIRECTORY output_files
set_global_assignment -name MIN_CORE_JUNCTION_TEMP "-40"
set_global_assignment -name MAX_CORE_JUNCTION_TEMP 100
set_global_assignment -name ERROR_CHECK_FREQUENCY_DIVISOR 256
set_instance_assignment -name PARTITION_HIERARCHY root_partition -to | -section_id Top
set_global_assignment -name POWER_PRESET_COOLING_SOLUTION "23 MM HEAT SINK WITH 200 LFPM AIRFLOW"
set_global_assignment -name POWER_BOARD_THERMAL_MODEL "NONE (CONSERVATIVE)"
set_global_assignment -name PARTITION_NETLIST_TYPE SOURCE -section_id Top
set_global_assignment -name PARTITION_FITTER_PRESERVATION_LEVEL PLACEMENT_AND_ROUTING -section_id Top
set_global_assignment -name PARTITION_COLOR 16764057 -section_id Top
set_global_assignment -name PARTITION_COLOR 16764057 -section_id Top
set_global_assignment -name VHDL_FILE ../../src/test_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/test.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/math_pkg.vhd -hdl_version VHDL_2008
set_instance_assignment -name PARTITION_HIERARCHY root_partition -to | -section_id Top