From 5894fd9121f78cdaa355e96862d039061d2efb0a Mon Sep 17 00:00:00 2001 From: Greek Date: Tue, 25 Jan 2022 19:04:19 +0100 Subject: [PATCH] Add Level 2 ROS Service Test (AddTwoInts) --- sim/L2_AddTwoInts_test1.do | 145 ++++ sim/modelsim.ini | 2 + src/Tests/testbench.pro | 8 +- src/ros2/Tests/AddTwoInts.vhd | 121 +++ .../Tests/Level_2/L2_AddTwoInts_test1.vhd | 229 ++++++ .../Tests/Level_2/L2_Testbench_ROS_Lib2.vhd | 726 ++++++++++++++++++ .../Level_2/L2_Testbench_ROS_Lib2_config.vhd | 78 ++ .../Tests/Level_2/L2_Testbench_ROS_Lib3.vhd | 715 +++++++++++++++++ .../Level_2/L2_Testbench_ROS_Lib3_config.vhd | 78 ++ src/ros2/Tests/ros_testbench.pro | 85 +- .../example_interfaces/AddTwoInts_package.vhd | 19 + 11 files changed, 2197 insertions(+), 9 deletions(-) create mode 100644 sim/L2_AddTwoInts_test1.do create mode 100644 src/ros2/Tests/AddTwoInts.vhd create mode 100644 src/ros2/Tests/Level_2/L2_AddTwoInts_test1.vhd create mode 100644 src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2.vhd create mode 100644 src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2_config.vhd create mode 100644 src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3.vhd create mode 100644 src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3_config.vhd create mode 100644 src/ros2/example_interfaces/AddTwoInts_package.vhd diff --git a/sim/L2_AddTwoInts_test1.do b/sim/L2_AddTwoInts_test1.do new file mode 100644 index 0000000..ab70666 --- /dev/null +++ b/sim/L2_AddTwoInts_test1.do @@ -0,0 +1,145 @@ +onerror {resume} +radix define ROS_RETCODE { + "10#0#" "ROS_RET_OK", + "10#1#" "ROS_RET_ERROR", + "10#2#" "ROS_RET_TIMEOUT", + "10#3#" "ROS_RET_UNSUPPORTED", + -default unsigned +} +quietly WaveActivateNextPane {} 0 +add wave -noupdate -divider SYSTEM +add wave -noupdate /l2_addtwoints_test1/clk +add wave -noupdate /l2_addtwoints_test1/reset +add wave -noupdate -radix unsigned /l2_addtwoints_test1/time +add wave -noupdate -divider CLIENT +add wave -noupdate -expand -group CLIENT /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/stage +add wave -noupdate -expand -group CLIENT /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/cnt +add wave -noupdate -expand -group CLIENT /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/start_user +add wave -noupdate -expand -group CLIENT /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/ack_user +add wave -noupdate -expand -group CLIENT /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/opcode_user +add wave -noupdate -expand -group CLIENT -radix hexadecimal /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/service_info_user +add wave -noupdate -expand -group CLIENT -radix hexadecimal /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/sequence_id_user +add wave -noupdate -expand -group CLIENT /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/data_available_user +add wave -noupdate -expand -group CLIENT /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/taken_user +add wave -noupdate -expand -group CLIENT -radix hexadecimal /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/a +add wave -noupdate -expand -group CLIENT -radix hexadecimal /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/b +add wave -noupdate -expand -group CLIENT -radix hexadecimal /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/sum +add wave -noupdate -expand -group CLIENT /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/done_user +add wave -noupdate -expand -group CLIENT -radix ROS_RETCODE /l2_addtwoints_test1/client_inst/AddTwoInts_srv_client_inst/return_code_user +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/stage +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/cnt +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/empty +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/rd +add wave -noupdate -group DMC -radix hexadecimal /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/data_in +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/last_word_in +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/full_ro +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/wr_ro +add wave -noupdate -group DMC -radix hexadecimal /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/data_out_ro +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/last_word_out_ro +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/mem_op_start +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/mem_op_done +add wave -noupdate -group DMC /l2_addtwoints_test1/client_inst/rtps_discovery_module_inst/mem_opcode +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/stage +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/cnt +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/empty_meta +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/rd_user +add wave -noupdate -expand -group RQ_W -radix hexadecimal /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/data_in_user +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/last_word_in_user +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/empty_meta +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/rd_meta +add wave -noupdate -expand -group RQ_W -radix hexadecimal /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/data_in_meta +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/last_word_in_meta +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/full_ro +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/wr_ro +add wave -noupdate -expand -group RQ_W -radix hexadecimal /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/data_out_ro +add wave -noupdate -expand -group RQ_W /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/last_word_out_ro +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/stage +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/cnt +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/empty_user +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/rd_user +add wave -noupdate -group RR_R -radix hexadecimal /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/data_in_user +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/last_word_in_user +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/empty_meta +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/rd_meta +add wave -noupdate -group RR_R -radix hexadecimal /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/data_in_meta +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/last_word_in_meta +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/full_ro +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/wr_ro +add wave -noupdate -group RR_R -radix hexadecimal /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/data_out_ro +add wave -noupdate -group RR_R /l2_addtwoints_test1/client_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/last_word_out_ro +add wave -noupdate -divider SERVER +add wave -noupdate -group SERVER /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/stage +add wave -noupdate -group SERVER /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/cnt +add wave -noupdate -group SERVER /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/start_user +add wave -noupdate -group SERVER /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/ack_user +add wave -noupdate -group SERVER /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/opcode_user +add wave -noupdate -group SERVER -radix hexadecimal /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/service_info_user +add wave -noupdate -group SERVER -radix hexadecimal /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/request_id_user +add wave -noupdate -group SERVER /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/data_available_user +add wave -noupdate -group SERVER /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/taken_user +add wave -noupdate -group SERVER -radix hexadecimal /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/a +add wave -noupdate -group SERVER -radix hexadecimal /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/b +add wave -noupdate -group SERVER -radix hexadecimal /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/sum +add wave -noupdate -group SERVER /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/done_user +add wave -noupdate -group SERVER -radix ROS_RETCODE /l2_addtwoints_test1/server_inst/AddTwoInts_srv_server_inst/return_code_user +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/stage +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/cnt +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/empty +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/rd +add wave -noupdate -group DMS -radix hexadecimal /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/data_in +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/last_word_in +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/full_ro +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/wr_ro +add wave -noupdate -group DMS -radix hexadecimal /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/data_out_ro +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/last_word_out_ro +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/mem_op_start +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/mem_op_done +add wave -noupdate -group DMS /l2_addtwoints_test1/server_inst/rtps_discovery_module_inst/mem_opcode +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/stage +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/cnt +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/empty_user +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/rd_user +add wave -noupdate -group RQ_R -radix hexadecimal /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/data_in_user +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/last_word_in_user +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/empty_meta +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/rd_meta +add wave -noupdate -group RQ_R -radix hexadecimal /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/data_in_meta +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/last_word_in_meta +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/full_ro +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/wr_ro +add wave -noupdate -group RQ_R -radix hexadecimal /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/data_out_ro +add wave -noupdate -group RQ_R /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(0)/rtps_endpoint_if/rtps_reader_inst/last_word_out_ro +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/stage +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/cnt +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/empty_user +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/rd_user +add wave -noupdate -group RR_W -radix hexadecimal /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/data_in_user +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/last_word_in_user +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/empty_meta +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/rd_meta +add wave -noupdate -group RR_W -radix hexadecimal /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/data_in_meta +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/last_word_in_meta +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/alive_sig +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/full_ro +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/wr_ro +add wave -noupdate -group RR_W -radix hexadecimal /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/data_out_ro +add wave -noupdate -group RR_W /l2_addtwoints_test1/server_inst/rtps_endpoint_gen(1)/rtps_endpoint_if/rtps_writer_inst/last_word_out_ro +add wave -noupdate -divider MISC +TreeUpdate [SetDefaultTree] +WaveRestoreCursors {{Cursor 1} {148360 ps} 0} +quietly wave cursor active 1 +configure wave -namecolwidth 150 +configure wave -valuecolwidth 100 +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 {0 ps} {1024 ns} diff --git a/sim/modelsim.ini b/sim/modelsim.ini index 6b493ce..c225597 100644 --- a/sim/modelsim.ini +++ b/sim/modelsim.ini @@ -24,6 +24,8 @@ Testbench_Lib4 = W:/HDL-SIM/OSVVM-Scripts/../sim/VHDL_LIBS/ModelSim-2020.02/Test Testbench_Lib5 = W:/HDL-SIM/OSVVM-Scripts/../sim/VHDL_LIBS/ModelSim-2020.02/Testbench_Lib5.lib Testbench_Lib1 = W:/HDL-SIM/OSVVM-Scripts/../sim/VHDL_LIBS/ModelSim-2020.02/Testbench_Lib1.lib Testbench_ROS_Lib1 = W:/HDL-SIM/OSVVM-Scripts/../sim/VHDL_LIBS/ModelSim-2020.02/Testbench_ROS_Lib1.lib +Testbench_ROS_Lib2 = W:/HDL-SIM/OSVVM-Scripts/../sim/VHDL_LIBS/ModelSim-2020.02/Testbench_ROS_Lib2.lib +Testbench_ROS_Lib3 = W:/HDL-SIM/OSVVM-Scripts/../sim/VHDL_LIBS/ModelSim-2020.02/Testbench_ROS_Lib3.lib [vcom] ; VHDL93 variable selects language version as the default. ; Default is VHDL-2002. diff --git a/src/Tests/testbench.pro b/src/Tests/testbench.pro index 825ce07..11092fa 100644 --- a/src/Tests/testbench.pro +++ b/src/Tests/testbench.pro @@ -4,6 +4,7 @@ include ../OSVVM/osvvm.pro library Testbench_Lib2 analyze ../math_pkg.vhd analyze ../rtps_package.vhd +analyze Type1_package.vhd analyze Level_2/L2_Testbench_Lib2_config.vhd analyze ../rtps_config_package.vhd analyze ../rtps_test_package.vhd @@ -28,7 +29,6 @@ analyze ../dds_reader.vhd analyze ../key_holder.vhd analyze ../key_hash_generator.vhd analyze test_key_hash_generator.vhd -analyze Type1_package.vhd analyze Type1_reader_interface.vhd analyze Type1_writer_interface.vhd analyze Type1_key_holder.vhd @@ -38,6 +38,7 @@ analyze Type1_cfg.vhd library Testbench_Lib3 analyze ../math_pkg.vhd analyze ../rtps_package.vhd +analyze Type1_package.vhd analyze Level_2/L2_Testbench_Lib3_config.vhd analyze ../rtps_config_package.vhd analyze ../rtps_test_package.vhd @@ -62,7 +63,6 @@ analyze ../dds_reader.vhd analyze ../key_holder.vhd analyze ../key_hash_generator.vhd analyze test_key_hash_generator.vhd -analyze Type1_package.vhd analyze Type1_reader_interface.vhd analyze Type1_writer_interface.vhd analyze Type1_key_holder.vhd @@ -72,6 +72,7 @@ analyze Type1_cfg.vhd library Testbench_Lib4 analyze ../math_pkg.vhd analyze ../rtps_package.vhd +analyze Type1_package.vhd analyze Level_2/L2_Testbench_Lib4_config.vhd analyze ../rtps_config_package.vhd analyze ../rtps_test_package.vhd @@ -96,7 +97,6 @@ analyze ../dds_reader.vhd analyze ../key_holder.vhd analyze ../key_hash_generator.vhd analyze test_key_hash_generator.vhd -analyze Type1_package.vhd analyze Type1_reader_interface.vhd analyze Type1_writer_interface.vhd analyze Type1_key_holder.vhd @@ -107,6 +107,7 @@ analyze Type1_cfg.vhd library Testbench_Lib5 analyze ../math_pkg.vhd analyze ../rtps_package.vhd +analyze Type1_package.vhd analyze Level_2/L2_Testbench_Lib5_config.vhd analyze ../rtps_config_package.vhd analyze ../rtps_test_package.vhd @@ -131,7 +132,6 @@ analyze ../dds_reader.vhd analyze ../key_holder.vhd analyze ../key_hash_generator.vhd analyze test_key_hash_generator.vhd -analyze Type1_package.vhd analyze Type1_reader_interface.vhd analyze Type1_writer_interface.vhd analyze Type1_key_holder.vhd diff --git a/src/ros2/Tests/AddTwoInts.vhd b/src/ros2/Tests/AddTwoInts.vhd new file mode 100644 index 0000000..11670f9 --- /dev/null +++ b/src/ros2/Tests/AddTwoInts.vhd @@ -0,0 +1,121 @@ +-- altera vhdl_input_version vhdl_2008 +-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html) + +library ieee; +use ieee.std_logic_1164.all; +use ieee.numeric_std.all; + +use work.rtps_package.all; +use work.ros_package.all; + +entity AddTwoInts is + port ( + -- SYSTEM + clk : in std_logic; + reset : in std_logic; + -- SERVICE SERVER + start : out std_logic; + ack : in std_logic; + opcode : out ROS_SERVICE_OPCODE_TYPE; + service_info : in SERVICE_INFO_TYPE; + request_id : out REQUEST_ID_TYPE; + taken : in std_logic; + data_available : in std_logic; + a : in std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0); + b : in std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0); + sum : out std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0); + done : in std_logic; + return_code : in std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) + ); +end entity; + +architecture arch of AddTwoInts is + + --*****TYPE DECLARATION***** + type STAGE_TYPE is (IDLE,A1,B2,C3,D4); + + --*****SIGNAL DECLARATION***** + signal stage, stage_next : STAGE_TYPE; + signal sum_sig, sum_sig_next : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0); + signal request_id_sig, request_id_sig_next : REQUEST_ID_TYPE; + +begin + + sum <= sum_sig; + request_id <= request_id_sig; + + main_prc : process(all) + begin + -- DEFAULT + stage_next <= stage; + sum_sig_next <= sum_sig; + request_id_sig_next <= request_id_sig; + -- DEFAULT Unregistered + start <= '0'; + opcode <= NOP; + + case (stage) is + when IDLE => + -- Reader has Available Data + if (data_available = '1') then + stage_next <= A1; + end if; + when A1 => + start <= '1'; + opcode <= TAKE_REQUEST; + if (ack = '1') then + stage_next <= B2; + end if; + when B2 => + if (done = '1') then + case (return_code) is + when ROS_RET_OK => + if (taken = '1') then + sum_sig_next <= std_logic_vector(unsigned(a) + unsigned(b)); + request_id_sig_next <= service_info.request_id; + + stage_next <= C3; + else + stage_next <= IDLE; + end if; + when others => + report "AddTwoInts: Error taking request" severity FAILURE; + stage_next <= IDLE; + end case; + end if; + when C3 => + start <= '1'; + opcode <= SEND_RESPONSE; + if (ack = '1') then + stage_next <= D4; + end if; + when D4 => + if (done = '1') then + case (return_code) is + when ROS_RET_OK => + -- DONE + stage_next <= IDLE; + when others => + report "AddTwoInts: Error sending response" severity FAILURE; + stage_next <= IDLE; + end case; + end if; + end case; + end process; + + sync_prc : process(clk) + begin + if rising_edge(clk) then + if (reset = '1') then + stage <= IDLE; + request_id_sig <= EMPTY_REQUEST_ID; + sum_sig <= (others => '0'); + else + stage <= stage_next; + request_id_sig <= request_id_sig_next; + sum_sig <= sum_sig_next; + end if; + end if; + end process; + +end architecture; diff --git a/src/ros2/Tests/Level_2/L2_AddTwoInts_test1.vhd b/src/ros2/Tests/Level_2/L2_AddTwoInts_test1.vhd new file mode 100644 index 0000000..974db13 --- /dev/null +++ b/src/ros2/Tests/Level_2/L2_AddTwoInts_test1.vhd @@ -0,0 +1,229 @@ +library ieee; +use ieee.std_logic_1164.all; +use ieee.numeric_std.all; + +library osvvm; -- Utility Library +context osvvm.OsvvmContext; + +library Testbench_ROS_Lib2; +library Testbench_ROS_Lib3; + +use work.rtps_package.all; +use work.ros_package.all; +use work.rtps_test_package.all; + +-- This testbench test the general the general ROS Service operation by interconnecting a system with a service client, with a system with a service server. +-- Libraries are used to allow to use systems with different configurations. Testbench_ROS_Lib2 contains the ROS service server, and Testbench_ROS_Lib3 +-- contains the ROS service client. +-- The ROS Service is the AddTwoInts service used in the example tutorials, with sends a request with 2 64-bit integers, and gets a response of their 64-bit +-- summation. + + +entity L2_AddTwoInts_test1 is +end entity; + +architecture testbench of L2_AddTwoInts_test1 is + + signal clk, reset : std_logic := '0'; + signal time : TIME_TYPE := TIME_ZERO; + signal empty_s, empty_c, read_s, read_c, full_s, full_c, write_s, write_c : std_logic := '0'; + signal data_in_s, data_in_c, data_out_s, data_out_c : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0'); + + signal start_c, ack_c, taken_c, done_c, data_available_c : std_logic := '0'; + signal opcode_c : ROS_SERVICE_OPCODE_TYPE := NOP; + signal service_info_c : Testbench_ROS_Lib3.ros_package.SERVICE_INFO_TYPE := Testbench_ROS_Lib3.ros_package.EMPTY_SERVICE_INFO; + signal sequence_id_c : std_logic_vector(ROS_SEQUENCE_ID_WIDTH-1 downto 0) := (others => '0'); + signal a_c, b_c, sum_c : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0) := (others => '0'); + signal return_code_c : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := ROS_RET_ERROR; + + -- HACK: For some reason (possibly Modelsim/Questasim Bug) I cannot declare the opcode signals from their respective Library sources, + -- because I cannot use a qualified expression to define an enumeration literal (and direct type casting cannot be done because + -- the types are not closely related). So I have to do define explicit type conversions between the types... + + function to_Lib3(input : ROS_SERVICE_OPCODE_TYPE) return Testbench_ROS_Lib3.ros_package.ROS_SERVICE_OPCODE_TYPE is + begin + return Testbench_ROS_Lib3.ros_package.ROS_SERVICE_OPCODE_TYPE'VAL(ROS_SERVICE_OPCODE_TYPE'POS(input)); + end function; + +begin + + server_inst : entity Testbench_ROS_Lib2.L2_Testbench_ROS_Lib2(arch) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + time => Testbench_ROS_Lib2.rtps_package.TIME_TYPE(time), + -- INPUT + empty => empty_s, + read => read_s, + data_in => data_in_s, + -- OUTPUT + full => full_s, + write => write_s, + data_out => data_out_s + ); + + fifo_s_c_inst : configuration Testbench_ROS_Lib2.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 65536/(WORD_WIDTH/BYTE_WIDTH), + DATA_WIDTH => WORD_WIDTH + ) + port map + ( + reset => reset, + clk => clk, + data_in => data_out_s, + write => write_s, + read => read_c, + data_out => data_in_c, + empty => empty_c, + full => full_s, + free => open + ); + + fifo_c_s_inst : configuration Testbench_ROS_Lib2.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 65536/(WORD_WIDTH/BYTE_WIDTH), + DATA_WIDTH => WORD_WIDTH + ) + port map + ( + reset => reset, + clk => clk, + data_in => data_out_c, + write => write_c, + read => read_s, + data_out => data_in_s, + empty => empty_s, + full => full_c, + free => open + ); + + client_inst : entity Testbench_ROS_Lib3.L2_Testbench_ROS_Lib3(arch) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + time => Testbench_ROS_Lib3.rtps_package.TIME_TYPE(time), + -- INPUT + empty => empty_c, + read => read_c, + data_in => data_in_c, + -- OUTPUT + full => full_c, + write => write_c, + data_out => data_out_c, + -- SERVICE CLIENT + start_c => start_c, + ack_c => ack_c, + opcode_c => to_Lib3(opcode_c), + service_info_c => service_info_c, + sequence_id_c => sequence_id_c, + taken_c => taken_c, + data_available_c => data_available_c, + a_c => a_c, + b_c => b_c, + sum_c => sum_c, + done_c => done_c, + return_code_c => return_code_c + ); + + stimulus_prc : process + variable RV : RandomPType; + variable ref : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0); + variable sid : std_logic_vector(ROS_SEQUENCE_ID_WIDTH-1 downto 0); + + -- Waits until signal toggles high for at least 1 ps + procedure wait_on_sig(signal sig : std_logic) is + begin + loop + if (sig /= '1') then + wait on sig until sig = '1'; + end if; + -- Prevent triggering on glitches + wait for 1 ps; + if (sig = '1') then + exit; + end if; + end loop; + end procedure; + begin + + SetAlertLogName("ROS Service - Level 2 - (AddTwoInts) - General"); + SetAlertEnable(FAILURE, TRUE); + SetAlertEnable(ERROR, TRUE); + SetAlertEnable(WARNING, TRUE); + SetLogEnable(DEBUG, FALSE); + SetLogEnable(PASSED, FALSE); + SetLogEnable(INFO, TRUE); + RV.InitSeed(RV'instance_name); + + Log("Initial Reset", INFO); + reset <= '1'; + wait until rising_edge(clk); + wait until rising_edge(clk); + reset <= '0'; + + Log("Sent Request", INFO); + start_c <= '1'; + opcode_c <= SEND_REQUEST; + a_c <= std_logic_vector(resize(unsigned(RV.RandSlv(CDR_LONG_WIDTH)),a_c'length)); + b_c <= std_logic_vector(resize(unsigned(RV.RandSlv(CDR_LONG_WIDTH)),a_c'length)); + wait_on_sig(ack_c); + wait until rising_edge(clk); + start_c <= '0'; + wait_on_sig(done_c); + wait for 1 ps; -- Make sure all signals stable + AlertIf(return_code_c /= ROS_RET_OK, "Unexpected client response", FAILURE); + sid := sequence_id_c; + + Log("Wait for Response", INFO); + wait_on_sig(data_available_c); + + Log("Take & compare Response", INFO); + start_c <= '1'; + opcode_c <= TAKE_RESPONSE; + wait_on_sig(ack_c); + wait until rising_edge(clk); + start_c <= '0'; + wait_on_sig(done_c); + wait for 1 ps; -- Make sure all signals stable + AlertIf(return_code_c /= ROS_RET_OK, "Unexpected client response", FAILURE); + AffirmIfEqual(unsigned(sum_c), unsigned(a_c) + unsigned(b_c)); + AffirmIfEqual(to_unsigned(SEQUENCENUMBER_TYPE(service_info_c.request_id.sequence_number)), unsigned(sid)); + + TranscriptOpen(RESULTS_FILE, APPEND_MODE); + SetTranscriptMirror; + ReportAlerts; + TranscriptClose; + std.env.stop; + wait; + end process; + + clock_prc : process + begin + clk <= '0'; + wait for TEST_CLOCK_PERIOD/2; + clk <= '1'; + wait for TEST_CLOCK_PERIOD/2; + end process; + + time_prc : process(clk) + begin + if rising_edge(clk) then + if (reset = '1') then + time <= TIME_ZERO; + else + time <= time + gen_duration(TEST_CLOCK_PERIOD); + end if; + end if; + end process; + + watchdog : process + begin + wait for 1 ms; + Alert("Test timeout", FAILURE); + std.env.stop; + end process; + +end architecture; \ No newline at end of file diff --git a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2.vhd b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2.vhd new file mode 100644 index 0000000..c32f512 --- /dev/null +++ b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2.vhd @@ -0,0 +1,726 @@ +-- altera vhdl_input_version vhdl_2008 +-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html) + +library ieee; +use ieee.std_logic_1164.all; +use ieee.numeric_std.all; + +use work.ros_package.all; +use work.ros_config.all; +use work.rtps_package.all; +use work.user_config.all; +use work.rtps_config_package.all; +use work.rtps_test_package.all; + + + +entity L2_Testbench_ROS_Lib2 is + port ( + -- SYSTEM + clk : in std_logic; + reset : in std_logic; + time : in TIME_TYPE; + -- INPUT + empty : in std_logic; + read : out std_logic; + data_in : in std_logic_vector(WORD_WIDTH-1 downto 0); + -- OUTPUT + full : in std_logic; + write : out std_logic; + data_out : out std_logic_vector(WORD_WIDTH-1 downto 0) + ); +end entity; + +architecture arch of L2_Testbench_ROS_Lib2 is + + type EARRAY_DATA_TYPE is array (0 to NUM_ENDPOINTS-1) of std_logic_vector(WORD_WIDTH downto 0); + type HISTORY_CACHE_OPCODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of HISTORY_CACHE_OPCODE_TYPE; + type HISTORY_CACHE_OPCODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of HISTORY_CACHE_OPCODE_TYPE; + type HISTORY_CACHE_RESPONSE_RARRAY_TYPE is array (0 to NUM_READERS-1) of HISTORY_CACHE_RESPONSE_TYPE; + type HISTORY_CACHE_RESPONSE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of HISTORY_CACHE_RESPONSE_TYPE; + type RARRAY_DATA_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(WORD_WIDTH downto 0); + type WARRAY_DATA_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(WORD_WIDTH downto 0); + type SEQUENCENUMBER_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of SEQUENCENUMBER_TYPE; + type INSTANCE_HANDLE_RARRAY_TYPE is array (0 to NUM_READERS-1) of INSTANCE_HANDLE_TYPE; + type INSTANCE_HANDLE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of INSTANCE_HANDLE_TYPE; + type CACHE_CHANGE_KIND_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of CACHE_CHANGE_KIND_TYPE; + type TIME_RARRAY_TYPE is array (0 to NUM_READERS-1) of TIME_TYPE; + type TIME_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of TIME_TYPE; + type DDS_READER_OPCODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of DDS_READER_OPCODE_TYPE; + type DDS_WRITER_OPCODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of DDS_WRITER_OPCODE_TYPE; + type INSTANCE_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0); + type VIEW_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0); + type SAMPLE_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0); + type MAX_SAMPLES_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(MAX_SAMPLES_WIDTH-1 downto 0); + type RETURN_CODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(RETURN_CODE_WIDTH-1 downto 0); + type RETURN_CODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(RETURN_CODE_WIDTH-1 downto 0); + type DISPOSED_GENERATION_COUNT_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(DISPOSED_GENERATION_COUNT_WIDTH-1 downto 0); + type NO_WRITERS_GENERATION_COUNT_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(NO_WRITERS_GENERATION_COUNT_WIDTH-1 downto 0); + type SAMPLE_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(SAMPLE_RANK_WIDTH-1 downto 0); + type GENERATION_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(GENERATION_RANK_WIDTH-1 downto 0); + type ABSOLUTE_GENERATION_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(ABSOLUTE_GENERATION_COUNT_WIDTH-1 downto 0); + type STATUS_KIND_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(STATUS_KIND_WIDTH-1 downto 0); + type STATUS_KIND_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(STATUS_KIND_WIDTH-1 downto 0); + type DURATION_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of DURATION_TYPE; + + signal full_fire_rh, write_rh_fire : std_logic_vector(0 to NUM_ENDPOINTS-1); + signal data_rh_fire, data_rh_fidm : std_logic_vector(WORD_WIDTH downto 0); + signal full_fidm_rh, write_rh_fidm : std_logic; + signal read_dm_fidm, empty_fidm_dm : std_logic; + signal data_fidm_dm : std_logic_vector(WORD_WIDTH downto 0); + signal read_re_fire, empty_fire_re : std_logic_vector(0 to NUM_ENDPOINTS); + signal data_fire_re : EARRAY_DATA_TYPE; + signal alive_re_dm, full_fdmre_re, write_dm_fdmre : std_logic_vector(0 to NUM_ENDPOINTS-1); + signal data_dm_fdmre , data_dm_firo : std_logic_vector(WORD_WIDTH downto 0); + signal full_firo_dm, write_dm_firo : std_logic; + signal empty_fdmre_re, read_re_fdmre : std_logic_vector(0 to NUM_ENDPOINTS-1); + signal data_fdmre_re : EARRAY_DATA_TYPE; + signal full_firo_re, write_re_firo : std_logic_vector(0 to NUM_ENDPOINTS-1); + signal data_re_firo : EARRAY_DATA_TYPE; + signal start_rr_dr, ack_dr_rr, done_dr_rr, valid_rr_dr, ready_dr_rr : std_logic_vector(0 to NUM_READERS-1); + signal opcode_rr_dr : HISTORY_CACHE_OPCODE_RARRAY_TYPE; + signal ret_dr_rr : HISTORY_CACHE_RESPONSE_RARRAY_TYPE; + signal data_rr_dr : RARRAY_DATA_TYPE; + signal liveliness_assertion_dw_rw, data_available_dw_rw, start_rw_dw, ack_dw_rw, done_rw_dw, get_data_rw_dw, valid_dw_rw, ready_rw_dw : std_logic_vector(0 to NUM_WRITERS-1); + signal opcode_rw_dw : HISTORY_CACHE_OPCODE_WARRAY_TYPE; + signal seq_nr_rw_dw, cc_seq_nr_dw_rw : SEQUENCENUMBER_WARRAY_TYPE; + signal ret_dw_rw : HISTORY_CACHE_RESPONSE_WARRAY_TYPE; + signal data_dw_rw : WARRAY_DATA_TYPE; + signal cc_instance_handle_dw_rw : INSTANCE_HANDLE_WARRAY_TYPE; + signal cc_kind_dw_rw : CACHE_CHANGE_KIND_WARRAY_TYPE; + signal cc_source_timestamp_dw_rw : TIME_WARRAY_TYPE; + signal start_ri_dr, ack_dr_ri, get_data_ri_dr, done_dr_ri, ready_ri_dr, valid_dr_ri, si_valid_data_dr_ri, si_valid_dr_ri, si_ack_ri_dr, eoc_dr_ri : std_logic_vector(0 to NUM_READERS-1); + signal opcode_ri_dr : DDS_READER_OPCODE_RARRAY_TYPE; + signal instance_state_ri_dr, si_instance_state_dr_ri : INSTANCE_STATE_RARRAY_TYPE; + signal view_state_ri_dr, si_view_state_dr_ri : VIEW_STATE_RARRAY_TYPE; + signal sample_state_ri_dr, si_sample_state_dr_ri : SAMPLE_STATE_RARRAY_TYPE; + signal instance_handle_ri_dr, si_instance_handle_dr_ri, si_publication_handle_dr_ri : INSTANCE_HANDLE_RARRAY_TYPE; + signal max_samples_ri_dr : MAX_SAMPLES_RARRAY_TYPE; + signal return_code_dr_ri : RETURN_CODE_RARRAY_TYPE; + signal data_dr_ri : RARRAY_DATA_TYPE; + signal si_source_timestamp_dr_ri : TIME_RARRAY_TYPE; + signal si_disposed_generation_count_dr_ri : DISPOSED_GENERATION_COUNT_RARRAY_TYPE; + signal si_no_writers_generation_count_dr_ri : NO_WRITERS_GENERATION_COUNT_RARRAY_TYPE; + signal si_sample_rank_dr_ri : SAMPLE_RANK_RARRAY_TYPE; + signal si_generation_rank_dr_ri : GENERATION_RANK_RARRAY_TYPE; + signal si_absolute_generation_rank_dr_ri : ABSOLUTE_GENERATION_RANK_RARRAY_TYPE; + signal status_dr_ri : STATUS_KIND_RARRAY_TYPE; + signal start_wi_dw, ack_dw_wi, done_dw_wi, valid_wi_dw, valid_dw_wi, ready_wi_dw, ready_dw_wi : std_logic_vector(0 to NUM_WRITERS-1); + signal opcode_wi_dw : DDS_WRITER_OPCODE_WARRAY_TYPE; + signal instance_handle_wi_dw, instance_handle_dw_wi : INSTANCE_HANDLE_WARRAY_TYPE; + signal source_ts_wi_dw : TIME_WARRAY_TYPE; + signal max_wait_wi_dw : DURATION_WARRAY_TYPE; + signal return_code_dw_wi : RETURN_CODE_WARRAY_TYPE; + signal data_dw_wi, data_wi_dw : WARRAY_DATA_TYPE; + signal status_dw_wi : STATUS_KIND_WARRAY_TYPE; + signal empty_firo_ro, read_ro_firo, last_word_firo_ro : std_logic_vector(0 to NUM_ENDPOINTS); + signal data_firo_ro : RTPS_OUT_DATA_TYPE; + signal service_if : SERVICE_INTERFACE_ARRAY_TYPE(0 to NUM_SERVICES-1); + + -- ###GENERATED START### + signal start_s, ack_s, taken_s, done_s, data_available_s : std_logic; + signal opcode_s : ROS_SERVICE_OPCODE_TYPE; + signal service_info_s : SERVICE_INFO_TYPE; + signal request_id_s : REQUEST_ID_TYPE; + signal a_s, b_s, sum_s : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0); + signal return_code_s : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0); + -- ###GENERATED END### + +begin + + + rtps_handler_inst : entity work.rtps_handler(arch) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + -- INPUT + empty => empty, + rd => read, + data_in => data_in, + -- TO DISCOVERY MODULE + full_dm => full_fidm_rh, + wr_dm => write_rh_fidm, + data_out_dm => data_rh_fidm(WORD_WIDTH-1 downto 0), + last_word_out_dm => data_rh_fidm(WORD_WIDTH), + -- TO USER ENDPOINTS + full_rtps => full_fire_rh, + wr_rtps => write_rh_fire, + data_out_rtps => data_rh_fire(WORD_WIDTH-1 downto 0), + last_word_out_rtps => data_rh_fire(WORD_WIDTH) + ); + + + fifo_in_dm_inst : configuration work.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 2, + DATA_WIDTH => WORD_WIDTH+1 + ) + port map ( + -- SYSTEM + reset => reset, + clk => clk, + -- INPUT + full => full_fidm_rh, + write => write_rh_fidm, + data_in => data_rh_fidm, + -- OUTPUT + empty => empty_fidm_dm, + read => read_dm_fidm, + data_out => data_fidm_dm, + -- MISC + free => open + ); + + + fifo_in_re_gen : for i in 0 to NUM_ENDPOINTS-1 generate + fifo_in_re_inst : configuration work.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 2, + DATA_WIDTH => WORD_WIDTH+1 + ) + port map ( + -- SYSTEM + reset => reset, + clk => clk, + -- INPUT + full => full_fire_rh(i), + write => write_rh_fire(i), + data_in => data_rh_fire, -- Multicast + -- OUTPUT + empty => empty_fire_re(i), + read => read_re_fire(i), + data_out => data_fire_re(i), + -- MISC + free => open + ); + end generate; + + + rtps_discovery_module_inst : entity work.rtps_discovery_module(arch) + generic map ( + MAX_REMOTE_PARTICIPANTS => MAX_REMOTE_PARTICIPANTS + ) + port map ( + clk => clk, + reset => reset, + time => time, + -- FROM RTPS HANDLER + empty => empty_fidm_dm, + rd => read_dm_fidm, + data_in => data_fidm_dm(WORD_WIDTH-1 downto 0), + last_word_in => data_fidm_dm(WORD_WIDTH), + -- FROM RTPS ENDPOINTS + alive => alive_re_dm, + -- TO RTPS ENDPOINTS + full_rtps => full_fdmre_re, + wr_rtps => write_dm_fdmre, + data_out_rtps => data_dm_fdmre(WORD_WIDTH-1 downto 0), + last_word_out_rtps => data_dm_fdmre(WORD_WIDTH), + -- TO RTPS OUT + full_ro => full_firo_dm, + wr_ro => write_dm_firo, + data_out_ro => data_dm_firo(WORD_WIDTH-1 downto 0), + last_word_out_ro => data_dm_firo(WORD_WIDTH) + ); + + + fifo_dm_re_gen : for i in 0 to NUM_ENDPOINTS-1 generate + fifo_dm_re_inst : configuration work.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 2, + DATA_WIDTH => WORD_WIDTH+1 + ) + port map ( + -- SYSTEM + reset => reset, + clk => clk, + -- INPUT + full => full_fdmre_re(i), + write => write_dm_fdmre(i), + data_in => data_dm_fdmre, -- Multicast + -- OUTPUT + empty => empty_fdmre_re(i), + read => read_re_fdmre(i), + data_out => data_fdmre_re(i), + -- MISC + free => open + ); + end generate; + + + rtps_endpoint_gen : for i in 0 to NUM_ENDPOINTS-1 generate + rtps_endpoint_if : if (i < NUM_READERS) generate + rtps_reader_inst : entity work.rtps_reader(arch) + generic map ( + ENTITYID => ENTITYID(i), + RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS, + LIVELINESS_QOS => ENDPOINT_CONFIG(i).LIVELINESS_QOS, + DURABILITY_QOS => ENDPOINT_CONFIG(i).DURABILITY_QOS, + HEARTBEAT_RESPONSE_DELAY => ENDPOINT_CONFIG(i).HEARTBEAT_RESPONSE_DELAY, + HEARTBEAT_SUPPRESSION_DELAY => ENDPOINT_CONFIG(i).HEARTBEAT_SUPPRESSION_DELAY, + LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION, + WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, + MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS + ) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + time => time, + -- FROM RTPS_HANDLER (USER TRAFFIC) + empty_user => empty_fire_re(i), + rd_user => read_re_fire(i), + data_in_user => data_fire_re(i)(WORD_WIDTH-1 downto 0), + last_word_in_user => data_fire_re(i)(WORD_WIDTH), + -- FROM DISCOVERY MODULE (META TRAFFIC) + empty_meta => empty_fdmre_re(i), + rd_meta => read_re_fdmre(i), + data_in_meta => data_fdmre_re(i)(WORD_WIDTH-1 downto 0), + last_word_in_meta => data_fdmre_re(i)(WORD_WIDTH), + -- RTPS OUTPUT + full_ro => full_firo_re(i), + wr_ro => write_re_firo(i), + data_out_ro => data_re_firo(i)(WORD_WIDTH-1 downto 0), + last_word_out_ro => data_re_firo(i)(WORD_WIDTH), + -- TO HISTORY CACHE + start_hc => start_rr_dr(i), + opcode_hc => opcode_rr_dr(i), + ack_hc => ack_dr_rr(i), + done_hc => done_dr_rr(i), + ret_hc => ret_dr_rr(i), + valid_out_hc => valid_rr_dr(i), + ready_out_hc => ready_dr_rr(i), + data_out_hc => data_rr_dr(i)(WORD_WIDTH-1 downto 0), + last_word_out_hc => data_rr_dr(i)(WORD_WIDTH) + ); + + -- Set Alive Signals of Readers to Zero + alive_re_dm(i) <= ('0'); + else generate + rtps_writer_inst : entity work.rtps_writer(arch) + generic map ( + RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS, + LIVELINESS_QOS => ENDPOINT_CONFIG(i).LIVELINESS_QOS, + DURABILITY_QOS => ENDPOINT_CONFIG(i).DURABILITY_QOS, + DESTINATION_ORDER_QOS => ENDPOINT_CONFIG(i).DESTINATION_ORDER_QOS, + ACKNACK_RESPONSE_DELAY => ENDPOINT_CONFIG(i).ACKNACK_RESPONSE_DELAY, + ACKNACK_SUPPRESSION_DELAY => ENDPOINT_CONFIG(i).ACKNACK_SUPPRESSION_DELAY, + LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION, + HEARTBEAT_PERIOD => ENDPOINT_CONFIG(i).HEARTBEAT_PERIOD, + ENTITYID => ENTITYID(i), + WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, + PUSH_MODE => ENDPOINT_CONFIG(i).PUSH_MODE, + INLINE_QOS => gen_inline_qos(i), + MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS + ) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + time => time, + -- FROM RTPS_HANDLER (USER TRAFFIC) + empty_user => empty_fire_re(i), + rd_user => read_re_fire(i), + data_in_user => data_fire_re(i)(WORD_WIDTH-1 downto 0), + last_word_in_user => data_fire_re(i)(WORD_WIDTH), + -- FROM DISCOVERY MODULE (META TRAFFIC) + empty_meta => empty_fdmre_re(i), + rd_meta => read_re_fdmre(i), + data_in_meta => data_fdmre_re(i)(WORD_WIDTH-1 downto 0), + last_word_in_meta => data_fdmre_re(i)(WORD_WIDTH), + -- TO DISCOVERY MODULE (META TRAFFIC) + alive_sig => alive_re_dm(i), + -- RTPS OUTPUT + full_ro => full_firo_re(i), + wr_ro => write_re_firo(i), + data_out_ro => data_re_firo(i)(WORD_WIDTH-1 downto 0), + last_word_out_ro => data_re_firo(i)(WORD_WIDTH), + -- FROM HC + liveliness_assertion => liveliness_assertion_dw_rw(i-NUM_READERS), + data_available => data_available_dw_rw(i-NUM_READERS), + start_hc => start_rw_dw(i-NUM_READERS), + opcode_hc => opcode_rw_dw(i-NUM_READERS), + ack_hc => ack_dw_rw(i-NUM_READERS), + seq_nr_hc => seq_nr_rw_dw(i-NUM_READERS), + done_hc => done_rw_dw(i-NUM_READERS), + ret_hc => ret_dw_rw(i-NUM_READERS), + get_data_hc => get_data_rw_dw(i-NUM_READERS), + valid_in_hc => valid_dw_rw(i-NUM_READERS), + ready_in_hc => ready_rw_dw(i-NUM_READERS), + data_in_hc => data_dw_rw(i-NUM_READERS)(WORD_WIDTH-1 downto 0), + last_word_in_hc => data_dw_rw(i-NUM_READERS)(WORD_WIDTH), + cc_instance_handle => cc_instance_handle_dw_rw(i-NUM_READERS), + cc_kind => cc_kind_dw_rw(i-NUM_READERS), + cc_source_timestamp => cc_source_timestamp_dw_rw(i-NUM_READERS), + cc_seq_nr => cc_seq_nr_dw_rw(i-NUM_READERS) + ); + end generate; + end generate; + + + dds_endpoint_gen : for i in 0 to NUM_ENDPOINTS-2 generate + dds_endpoint_if : if (i < NUM_READERS) generate + dds_reader_inst : entity work.dds_reader(arch) + generic map ( + TIME_BASED_FILTER_QOS => ENDPOINT_CONFIG(i).TIME_BASED_FILTER_QOS, + DEADLINE_QOS => ENDPOINT_CONFIG(i).DEADLINE_QOS, + MAX_INSTANCES => ENDPOINT_CONFIG(i).MAX_INSTANCES, + MAX_SAMPLES_PER_INSTANCE => ENDPOINT_CONFIG(i).MAX_SAMPLES_PER_INSTANCE, + MAX_SAMPLES => ENDPOINT_CONFIG(i).MAX_SAMPLES, + HISTORY_QOS => ENDPOINT_CONFIG(i).HISTORY_QOS, + RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS, + PRESENTATION_QOS => ENDPOINT_CONFIG(i).PRESENTATION_QOS, + DESTINATION_ORDER_QOS => ENDPOINT_CONFIG(i).DESTINATION_ORDER_QOS, + COHERENT_ACCESS => ENDPOINT_CONFIG(i).COHERENT_ACCESS, + ORDERED_ACCESS => ENDPOINT_CONFIG(i).ORDERED_ACCESS, + WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, + PAYLOAD_FRAME_SIZE => ENDPOINT_CONFIG(i).MAX_PAYLOAD_SIZE, + MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS + ) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + time => time, + -- FROM RTPS ENDPOINT + start_rtps => start_rr_dr(i), + opcode_rtps => opcode_rr_dr(i), + ack_rtps => ack_dr_rr(i), + done_rtps => done_dr_rr(i), + ret_rtps => ret_dr_rr(i), + valid_in_rtps => valid_rr_dr(i), + ready_in_rtps => ready_dr_rr(i), + data_in_rtps => data_rr_dr(i)(WORD_WIDTH-1 downto 0), + last_word_in_rtps => data_rr_dr(i)(WORD_WIDTH), + -- TO USER ENTITY + start_dds => start_ri_dr(i), + ack_dds => ack_dr_ri(i), + opcode_dds => opcode_ri_dr(i), + instance_state_dds => instance_state_ri_dr(i), + view_state_dds => view_state_ri_dr(i), + sample_state_dds => sample_state_ri_dr(i), + instance_handle_dds => instance_handle_ri_dr(i), + max_samples_dds => max_samples_ri_dr(i), + get_data_dds => get_data_ri_dr(i), + done_dds => done_dr_ri(i), + return_code_dds => return_code_dr_ri(i), + valid_out_dds => valid_dr_ri(i), + ready_out_dds => ready_ri_dr(i), + data_out_dds => data_dr_ri(i)(WORD_WIDTH-1 downto 0), + last_word_out_dds => data_dr_ri(i)(WORD_WIDTH), + -- Sample Info + si_sample_state => si_sample_state_dr_ri(i), + si_view_state => si_view_state_dr_ri(i), + si_instance_state => si_instance_state_dr_ri(i), + si_source_timestamp => si_source_timestamp_dr_ri(i), + si_instance_handle => si_instance_handle_dr_ri(i), + si_publication_handle => si_publication_handle_dr_ri(i), + si_disposed_generation_count => si_disposed_generation_count_dr_ri(i), + si_no_writers_generation_count => si_no_writers_generation_count_dr_ri(i), + si_sample_rank => si_sample_rank_dr_ri(i), + si_generation_rank => si_generation_rank_dr_ri(i), + si_absolute_generation_rank => si_absolute_generation_rank_dr_ri(i), + si_valid_data => si_valid_data_dr_ri(i), + si_valid => si_valid_dr_ri(i), + si_ack => si_ack_ri_dr(i), + eoc => eoc_dr_ri(i), + -- Communication Status + status => status_dr_ri(i) + ); + else generate + dds_writer_inst : entity work.dds_writer(arch) + generic map ( + HISTORY_QOS => ENDPOINT_CONFIG(i).HISTORY_QOS, + DEADLINE_QOS => ENDPOINT_CONFIG(i).DEADLINE_QOS, + LIFESPAN_QOS => ENDPOINT_CONFIG(i).LIFESPAN_QOS, + LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION, + WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, + MAX_SAMPLES => ENDPOINT_CONFIG(i).MAX_SAMPLES, + MAX_INSTANCES => ENDPOINT_CONFIG(i).MAX_INSTANCES, + MAX_SAMPLES_PER_INSTANCE => ENDPOINT_CONFIG(i).MAX_SAMPLES_PER_INSTANCE, + PAYLOAD_FRAME_SIZE => ENDPOINT_CONFIG(i).MAX_PAYLOAD_SIZE + ) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + time => time, + -- TO/FROM RTPS ENDPOINT + start_rtps => start_rw_dw(i-NUM_READERS), + opcode_rtps => opcode_rw_dw(i-NUM_READERS), + ack_rtps => ack_dw_rw(i-NUM_READERS), + done_rtps => done_rw_dw(i-NUM_READERS), + ret_rtps => ret_dw_rw(i-NUM_READERS), + seq_nr_rtps => seq_nr_rw_dw(i-NUM_READERS), + get_data_rtps => get_data_rw_dw(i-NUM_READERS), + valid_out_rtps => valid_dw_rw(i-NUM_READERS), + ready_out_rtps => ready_rw_dw(i-NUM_READERS), + data_out_rtps => data_dw_rw(i-NUM_READERS)(WORD_WIDTH-1 downto 0), + last_word_out_rtps => data_dw_rw(i-NUM_READERS)(WORD_WIDTH), + liveliness_assertion => liveliness_assertion_dw_rw(i-NUM_READERS), + data_available => data_available_dw_rw(i-NUM_READERS), + -- Cache Change + cc_instance_handle => cc_instance_handle_dw_rw(i-NUM_READERS), + cc_kind => cc_kind_dw_rw(i-NUM_READERS), + cc_source_timestamp => cc_source_timestamp_dw_rw(i-NUM_READERS), + cc_seq_nr => cc_seq_nr_dw_rw(i-NUM_READERS), + -- TO/FROM USER ENTITY + start_dds => start_wi_dw(i-NUM_READERS), + ack_dds => ack_dw_wi(i-NUM_READERS), + opcode_dds => opcode_wi_dw(i-NUM_READERS), + instance_handle_in_dds => instance_handle_wi_dw(i-NUM_READERS), + source_ts_dds => source_ts_wi_dw(i-NUM_READERS), + max_wait_dds => max_wait_wi_dw(i-NUM_READERS), + done_dds => done_dw_wi(i-NUM_READERS), + return_code_dds => return_code_dw_wi(i-NUM_READERS), + instance_handle_out_dds => instance_handle_dw_wi(i-NUM_READERS), + valid_in_dds => valid_wi_dw(i-NUM_READERS), + ready_in_dds => ready_dw_wi(i-NUM_READERS), + data_in_dds => data_wi_dw(i-NUM_READERS)(WORD_WIDTH-1 downto 0), + last_word_in_dds => data_wi_dw(i-NUM_READERS)(WORD_WIDTH), + valid_out_dds => valid_dw_wi(i-NUM_READERS), + ready_out_dds => ready_wi_dw(i-NUM_READERS), + data_out_dds => data_dw_wi(i-NUM_READERS)(WORD_WIDTH-1 downto 0), + last_word_out_dds => data_dw_wi(i-NUM_READERS)(WORD_WIDTH), + -- Communication Status + status => status_dw_wi(i-NUM_READERS) + ); + end generate; + end generate; + + ros_discovery_writer_inst : entity work.ros_static_discovery_writer(arch) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + -- TO/FROM RTPS ENDPOINT + start => start_rw_dw(NUM_WRITERS-1), + opcode => opcode_rw_dw(NUM_WRITERS-1), + ack => ack_dw_rw(NUM_WRITERS-1), + done => done_rw_dw(NUM_WRITERS-1), + ret => ret_dw_rw(NUM_WRITERS-1), + seq_nr => seq_nr_rw_dw(NUM_WRITERS-1), + get_data => get_data_rw_dw(NUM_WRITERS-1), + valid_out => valid_dw_rw(NUM_WRITERS-1), + ready_out => ready_rw_dw(NUM_WRITERS-1), + data_out => data_dw_rw(NUM_WRITERS-1)(WORD_WIDTH-1 downto 0), + last_word_out => data_dw_rw(NUM_WRITERS-1)(WORD_WIDTH), + liveliness_assertion => liveliness_assertion_dw_rw(NUM_WRITERS-1), + data_available => data_available_dw_rw(NUM_WRITERS-1), + -- Cache Change + cc_instance_handle => cc_instance_handle_dw_rw(NUM_WRITERS-1), + cc_kind => cc_kind_dw_rw(NUM_WRITERS-1), + cc_source_timestamp => cc_source_timestamp_dw_rw(NUM_WRITERS-1), + cc_seq_nr => cc_seq_nr_dw_rw(NUM_WRITERS-1) + ); + + + fifo_in_ro_gen : for i in 0 to NUM_ENDPOINTS generate + fifo_in_ro_if : if (i = NUM_ENDPOINTS) generate + fifo_in_ro_inst : configuration work.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 2, + DATA_WIDTH => WORD_WIDTH+1 + ) + port map ( + -- SYSTEM + reset => reset, + clk => clk, + -- INPUT + full => full_firo_dm, + write => write_dm_firo, + data_in => data_dm_firo, + -- OUTPUT + empty => empty_firo_ro(i), + read => read_ro_firo(i), + data_out(WORD_WIDTH) => last_word_firo_ro(i), + data_out(WORD_WIDTH-1 downto 0) => data_firo_ro(i), + -- MISC + free => open + ); + else generate + fifo_in_ro_inst : configuration work.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 2, + DATA_WIDTH => WORD_WIDTH+1 + ) + port map ( + -- SYSTEM + reset => reset, + clk => clk, + -- INPUT + full => full_firo_re(i), + write => write_re_firo(i), + data_in => data_re_firo(i), + -- OUTPUT + empty => empty_firo_ro(i), + read => read_ro_firo(i), + data_out(WORD_WIDTH) => last_word_firo_ro(i), + data_out(WORD_WIDTH-1 downto 0) => data_firo_ro(i), + -- MISC + free => open + ); + end generate; + end generate; + + + rtps_out_inst : entity work.rtps_out(arch) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + -- INPUT + empty => empty_firo_ro, + rd => read_ro_firo, + data_in => data_firo_ro, + last_word_in => last_word_firo_ro, + -- OUTPUT + full => full, + wr => write, + data_out => data_out + ); + + service_if_gen : for i in 0 to NUM_SERVICES-1 generate + start_ri_dr(i) <= service_if(i).start_r; + service_if(i).ack_r <= ack_dr_ri(i); + opcode_ri_dr(i) <= service_if(i).opcode_r; + instance_state_ri_dr(i) <= service_if(i).instance_state_r; + view_state_ri_dr(i) <= service_if(i).view_state_r; + sample_state_ri_dr(i) <= service_if(i).sample_state_r; + instance_handle_ri_dr(i) <= service_if(i).instance_handle_r; + max_samples_ri_dr(i) <= service_if(i).max_samples_r; + get_data_ri_dr(i) <= service_if(i).get_data_r; + service_if(i).done_r <= done_dr_ri(i); + service_if(i).return_code_r <= return_code_dr_ri(i); + service_if(i).valid_in_r <= valid_dr_ri(i); + ready_ri_dr(i) <= service_if(i).ready_in_r; + service_if(i).data_in_r <= data_dr_ri(i)(WORD_WIDTH-1 downto 0); + service_if(i).last_word_in_r <= data_dr_ri(i)(WORD_WIDTH); + service_if(i).si_sample_state_r <= si_sample_state_dr_ri(i); + service_if(i).si_view_state_r <= si_view_state_dr_ri(i); + service_if(i).si_instance_state_r <= si_instance_state_dr_ri(i); + service_if(i).si_source_timestamp_r <= si_source_timestamp_dr_ri(i); + service_if(i).si_instance_handle_r <= si_instance_handle_dr_ri(i); + service_if(i).si_publication_handle_r <= si_publication_handle_dr_ri(i); + service_if(i).si_disposed_generation_count_r <= si_disposed_generation_count_dr_ri(i); + service_if(i).si_no_writers_generation_count_r <= si_no_writers_generation_count_dr_ri(i); + service_if(i).si_sample_rank_r <= si_sample_rank_dr_ri(i); + service_if(i).si_generation_rank_r <= si_generation_rank_dr_ri(i); + service_if(i).si_absolute_generation_rank_r <= si_absolute_generation_rank_dr_ri(i); + service_if(i).si_valid_data_r <= si_valid_data_dr_ri(i); + service_if(i).si_valid_r <= si_valid_dr_ri(i); + si_ack_ri_dr(i) <= service_if(i).si_ack_r; + service_if(i).eoc_r <= eoc_dr_ri(i); + service_if(i).status_r <= status_dr_ri(i); + start_wi_dw(i) <= service_if(i).start_w; + service_if(i).ack_w <= ack_dw_wi(i); + opcode_wi_dw(i) <= service_if(i).opcode_w; + service_if(i).instance_handle_out_w <= instance_handle_dw_wi(i); + source_ts_wi_dw(i) <= service_if(i).source_ts_w; + max_wait_wi_dw(i) <= service_if(i).max_wait_w; + service_if(i).done_w <= done_dw_wi(i); + service_if(i).return_code_w <= return_code_dw_wi(i); + instance_handle_wi_dw(i) <= service_if(i).instance_handle_in_w; + valid_wi_dw(i) <= service_if(i).valid_out_w; + service_if(i).ready_out_w <= ready_dw_wi(i); + data_wi_dw(i)(WORD_WIDTH-1 downto 0) <= service_if(i).data_out_w; + data_wi_dw(i)(WORD_WIDTH) <= service_if(i).last_word_out_w; + service_if(i).valid_in_w <= valid_dw_wi(i); + ready_wi_dw(i) <= service_if(i).ready_in_w; + service_if(i).data_in_w <= data_dw_wi(i)(WORD_WIDTH-1 downto 0); + service_if(i).last_word_in_w <= data_dw_wi(i)(WORD_WIDTH); + service_if(i).status_w <= status_dw_wi(i); + end generate; + + -- ######GENERATED START###### + + AddTwoInts_srv_server_inst : entity work.AddTwoInts_srv_server(arch) + port map ( + clk => clk, + reset => reset, + start_r => service_if(0).start_r, + ack_r => service_if(0).ack_r, + opcode_r => service_if(0).opcode_r, + instance_state_r => service_if(0).instance_state_r, + view_state_r => service_if(0).view_state_r, + sample_state_r => service_if(0).sample_state_r, + instance_handle_r => service_if(0).instance_handle_r, + max_samples_r => service_if(0).max_samples_r, + get_data_r => service_if(0).get_data_r, + done_r => service_if(0).done_r, + return_code_r => service_if(0).return_code_r, + valid_in_r => service_if(0).valid_in_r, + ready_in_r => service_if(0).ready_in_r, + data_in_r => service_if(0).data_in_r, + last_word_in_r => service_if(0).last_word_in_r, + si_sample_state_r => service_if(0).si_sample_state_r, + si_view_state_r => service_if(0).si_view_state_r, + si_instance_state_r => service_if(0).si_instance_state_r, + si_source_timestamp_r => service_if(0).si_source_timestamp_r, + si_instance_handle_r => service_if(0).si_instance_handle_r, + si_publication_handle_r => service_if(0).si_publication_handle_r, + si_disposed_generation_count_r => service_if(0).si_disposed_generation_count_r, + si_no_writers_generation_count_r => service_if(0).si_no_writers_generation_count_r, + si_sample_rank_r => service_if(0).si_sample_rank_r, + si_generation_rank_r => service_if(0).si_generation_rank_r, + si_absolute_generation_rank_r => service_if(0).si_absolute_generation_rank_r, + si_valid_data_r => service_if(0).si_valid_data_r, + si_valid_r => service_if(0).si_valid_r, + si_ack_r => service_if(0).si_ack_r, + eoc_r => service_if(0).eoc_r, + status_r => service_if(0).status_r, + start_w => service_if(0).start_w, + ack_w => service_if(0).ack_w, + opcode_w => service_if(0).opcode_w, + instance_handle_out_w => service_if(0).instance_handle_out_w, + source_ts_w => service_if(0).source_ts_w, + max_wait_w => service_if(0).max_wait_w, + done_w => service_if(0).done_w, + return_code_w => service_if(0).return_code_w, + instance_handle_in_w => service_if(0).instance_handle_in_w, + valid_out_w => service_if(0).valid_out_w, + ready_out_w => service_if(0).ready_out_w, + data_out_w => service_if(0).data_out_w, + last_word_out_w => service_if(0).last_word_out_w, + valid_in_w => service_if(0).valid_in_w, + ready_in_w => service_if(0).ready_in_w, + data_in_w => service_if(0).data_in_w, + last_word_in_w => service_if(0).last_word_in_w, + status_w => service_if(0).status_w, + + start_user => start_s, + ack_user => ack_s, + opcode_user => opcode_s, + service_info_user => service_info_s, + request_id_user => request_id_s, + taken_user => taken_s, + data_available_user => data_available_s, + a => a_s, + b => b_s, + sum => sum_s, + done_user => done_s, + return_code_user => return_code_s + ); + + + AddTwoInts_inst : entity work.AddTwoInts(arch) + port map ( + clk => clk, + reset => reset, + start => start_s, + ack => ack_s, + opcode => opcode_s, + service_info => service_info_s, + request_id => request_id_s, + taken => taken_s, + data_available => data_available_s, + a => a_s, + b => b_s, + sum => sum_s, + done => done_s, + return_code => return_code_s + ); + -- ######GENERATED END###### + +end architecture; diff --git a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2_config.vhd b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2_config.vhd new file mode 100644 index 0000000..9ad9c33 --- /dev/null +++ b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2_config.vhd @@ -0,0 +1,78 @@ +-- altera vhdl_input_version vhdl_2008 +-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html) + +library ieee; +use ieee.std_logic_1164.all; +use ieee.numeric_std.all; + +use work.rtps_package.all; +use work.ros_package.all; +use work.AddTwoInts_package.all; + +package ros_config is + + -- IPv4 Address of ROS System [Default 192.168.0.129] + constant ROS_ADDRESS : std_logic_vector(IPv4_ADDRESS_WIDTH-1 downto 0) := x"C0A80081"; + -- Random Key used to generate GUIDs + constant ROS_RAND_KEY : std_logic_vector(47 downto 0) := x"1D4EEC915C7C"; + + constant NUM_NODES : natural := 1; + + constant ROS_NODES : ROS_NODE_ARRAY_TYPE(0 to NUM_NODES-1) := ( + 0 => ( + name => gen_user_string("add_two_ints_server"), + namespace => gen_user_string(""), + domain_id => 0, + NUM_PUBS => 0, + NUM_SUBS => 0, + NUM_SERVICES => 1, + NUM_ACTIONS => 0 + ) + ); + + constant NUM_PUBS : natural := get_num_pubs(ROS_NODES); + constant NUM_SUBS : natural := get_num_subs(ROS_NODES); + constant NUM_SERVICES : natural := get_num_services(ROS_NODES); + constant NUM_ACTIONS : natural := get_num_actions(ROS_NODES); + + constant ROS_PUBLICATIONS : ROS_TOPIC_ARRAY_TYPE(0 to NUM_PUBS-1) := ( + others => ( + node_id => 0, + TOPICNAME => gen_user_string(""), + TYPENAME => gen_user_string(""), + QOS => ROS_QOS_PROFILE_DEFAULT, + MAX_SIZE => 0 + ) + ); + + constant ROS_SUBSCRIPTIONS : ROS_TOPIC_ARRAY_TYPE(0 to NUM_SUBS-1) := ( + others => ( + node_id => 0, + TOPICNAME => gen_user_string(""), + TYPENAME => gen_user_string(""), + QOS => ROS_QOS_PROFILE_DEFAULT, + MAX_SIZE => 0 + ) + ); + + constant ROS_SERVICES : ROS_SERVICE_ARRAY_TYPE(0 to NUM_SERVICES-1) := ( + 0 => ( + node_id => 0, + SERVICENAME => gen_user_string("add_two_ints"), + TYPENAME => gen_user_string("example_interfaces::srv::dds_::AddTwoInts_Request_"), + QOS => ROS_QOS_PROFILE_TRANSIENT, + MAX_RQ_SIZE => MAX_ADDTWOINTS_RQ_SIZE, + MAX_RR_SIZE => MAX_ADDTWOINTS_RR_SIZE, + is_client => FALSE + ) + ); + + constant ROS_ACTIONS : ROS_ACTION_ARRAY_TYPE(0 to NUM_ACTIONS-1) := ( + others => ( + node_id => 0 + ) + ); + + -- Defines sensible RTPS timings for simulation + constant SIMULATION_TIMING : boolean := TRUE; +end package; \ No newline at end of file diff --git a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3.vhd b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3.vhd new file mode 100644 index 0000000..7d47a97 --- /dev/null +++ b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3.vhd @@ -0,0 +1,715 @@ +-- altera vhdl_input_version vhdl_2008 +-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html) + +library ieee; +use ieee.std_logic_1164.all; +use ieee.numeric_std.all; + +use work.ros_package.all; +use work.ros_config.all; +use work.rtps_package.all; +use work.user_config.all; +use work.rtps_config_package.all; +use work.rtps_test_package.all; + + + +entity L2_Testbench_ROS_Lib3 is + port ( + -- SYSTEM + clk : in std_logic; + reset : in std_logic; + time : in TIME_TYPE; + -- INPUT + empty : in std_logic; + read : out std_logic; + data_in : in std_logic_vector(WORD_WIDTH-1 downto 0); + -- OUTPUT + full : in std_logic; + write : out std_logic; + data_out : out std_logic_vector(WORD_WIDTH-1 downto 0); + + -- SERVICE CLIENT + start_c : in std_logic; + ack_c : out std_logic; + opcode_c : in ROS_SERVICE_OPCODE_TYPE; + service_info_c : out SERVICE_INFO_TYPE; + sequence_id_c : out std_logic_vector(ROS_SEQUENCE_ID_WIDTH-1 downto 0); + data_available_c: out std_logic; + taken_c : out std_logic; + a_c : in std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0); + b_c : in std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0); + sum_c : out std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0); + done_c : out std_logic; + return_code_c : out std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) + ); +end entity; + +architecture arch of L2_Testbench_ROS_Lib3 is + + type EARRAY_DATA_TYPE is array (0 to NUM_ENDPOINTS-1) of std_logic_vector(WORD_WIDTH downto 0); + type HISTORY_CACHE_OPCODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of HISTORY_CACHE_OPCODE_TYPE; + type HISTORY_CACHE_OPCODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of HISTORY_CACHE_OPCODE_TYPE; + type HISTORY_CACHE_RESPONSE_RARRAY_TYPE is array (0 to NUM_READERS-1) of HISTORY_CACHE_RESPONSE_TYPE; + type HISTORY_CACHE_RESPONSE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of HISTORY_CACHE_RESPONSE_TYPE; + type RARRAY_DATA_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(WORD_WIDTH downto 0); + type WARRAY_DATA_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(WORD_WIDTH downto 0); + type SEQUENCENUMBER_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of SEQUENCENUMBER_TYPE; + type INSTANCE_HANDLE_RARRAY_TYPE is array (0 to NUM_READERS-1) of INSTANCE_HANDLE_TYPE; + type INSTANCE_HANDLE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of INSTANCE_HANDLE_TYPE; + type CACHE_CHANGE_KIND_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of CACHE_CHANGE_KIND_TYPE; + type TIME_RARRAY_TYPE is array (0 to NUM_READERS-1) of TIME_TYPE; + type TIME_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of TIME_TYPE; + type DDS_READER_OPCODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of DDS_READER_OPCODE_TYPE; + type DDS_WRITER_OPCODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of DDS_WRITER_OPCODE_TYPE; + type INSTANCE_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0); + type VIEW_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0); + type SAMPLE_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0); + type MAX_SAMPLES_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(MAX_SAMPLES_WIDTH-1 downto 0); + type RETURN_CODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(RETURN_CODE_WIDTH-1 downto 0); + type RETURN_CODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(RETURN_CODE_WIDTH-1 downto 0); + type DISPOSED_GENERATION_COUNT_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(DISPOSED_GENERATION_COUNT_WIDTH-1 downto 0); + type NO_WRITERS_GENERATION_COUNT_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(NO_WRITERS_GENERATION_COUNT_WIDTH-1 downto 0); + type SAMPLE_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(SAMPLE_RANK_WIDTH-1 downto 0); + type GENERATION_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(GENERATION_RANK_WIDTH-1 downto 0); + type ABSOLUTE_GENERATION_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(ABSOLUTE_GENERATION_COUNT_WIDTH-1 downto 0); + type STATUS_KIND_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(STATUS_KIND_WIDTH-1 downto 0); + type STATUS_KIND_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(STATUS_KIND_WIDTH-1 downto 0); + type DURATION_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of DURATION_TYPE; + + signal full_fire_rh, write_rh_fire : std_logic_vector(0 to NUM_ENDPOINTS-1); + signal data_rh_fire, data_rh_fidm : std_logic_vector(WORD_WIDTH downto 0); + signal full_fidm_rh, write_rh_fidm : std_logic; + signal read_dm_fidm, empty_fidm_dm : std_logic; + signal data_fidm_dm : std_logic_vector(WORD_WIDTH downto 0); + signal read_re_fire, empty_fire_re : std_logic_vector(0 to NUM_ENDPOINTS); + signal data_fire_re : EARRAY_DATA_TYPE; + signal alive_re_dm, full_fdmre_re, write_dm_fdmre : std_logic_vector(0 to NUM_ENDPOINTS-1); + signal data_dm_fdmre , data_dm_firo : std_logic_vector(WORD_WIDTH downto 0); + signal full_firo_dm, write_dm_firo : std_logic; + signal empty_fdmre_re, read_re_fdmre : std_logic_vector(0 to NUM_ENDPOINTS-1); + signal data_fdmre_re : EARRAY_DATA_TYPE; + signal full_firo_re, write_re_firo : std_logic_vector(0 to NUM_ENDPOINTS-1); + signal data_re_firo : EARRAY_DATA_TYPE; + signal start_rr_dr, ack_dr_rr, done_dr_rr, valid_rr_dr, ready_dr_rr : std_logic_vector(0 to NUM_READERS-1); + signal opcode_rr_dr : HISTORY_CACHE_OPCODE_RARRAY_TYPE; + signal ret_dr_rr : HISTORY_CACHE_RESPONSE_RARRAY_TYPE; + signal data_rr_dr : RARRAY_DATA_TYPE; + signal liveliness_assertion_dw_rw, data_available_dw_rw, start_rw_dw, ack_dw_rw, done_rw_dw, get_data_rw_dw, valid_dw_rw, ready_rw_dw : std_logic_vector(0 to NUM_WRITERS-1); + signal opcode_rw_dw : HISTORY_CACHE_OPCODE_WARRAY_TYPE; + signal seq_nr_rw_dw, cc_seq_nr_dw_rw : SEQUENCENUMBER_WARRAY_TYPE; + signal ret_dw_rw : HISTORY_CACHE_RESPONSE_WARRAY_TYPE; + signal data_dw_rw : WARRAY_DATA_TYPE; + signal cc_instance_handle_dw_rw : INSTANCE_HANDLE_WARRAY_TYPE; + signal cc_kind_dw_rw : CACHE_CHANGE_KIND_WARRAY_TYPE; + signal cc_source_timestamp_dw_rw : TIME_WARRAY_TYPE; + signal start_ri_dr, ack_dr_ri, get_data_ri_dr, done_dr_ri, ready_ri_dr, valid_dr_ri, si_valid_data_dr_ri, si_valid_dr_ri, si_ack_ri_dr, eoc_dr_ri : std_logic_vector(0 to NUM_READERS-1); + signal opcode_ri_dr : DDS_READER_OPCODE_RARRAY_TYPE; + signal instance_state_ri_dr, si_instance_state_dr_ri : INSTANCE_STATE_RARRAY_TYPE; + signal view_state_ri_dr, si_view_state_dr_ri : VIEW_STATE_RARRAY_TYPE; + signal sample_state_ri_dr, si_sample_state_dr_ri : SAMPLE_STATE_RARRAY_TYPE; + signal instance_handle_ri_dr, si_instance_handle_dr_ri, si_publication_handle_dr_ri : INSTANCE_HANDLE_RARRAY_TYPE; + signal max_samples_ri_dr : MAX_SAMPLES_RARRAY_TYPE; + signal return_code_dr_ri : RETURN_CODE_RARRAY_TYPE; + signal data_dr_ri : RARRAY_DATA_TYPE; + signal si_source_timestamp_dr_ri : TIME_RARRAY_TYPE; + signal si_disposed_generation_count_dr_ri : DISPOSED_GENERATION_COUNT_RARRAY_TYPE; + signal si_no_writers_generation_count_dr_ri : NO_WRITERS_GENERATION_COUNT_RARRAY_TYPE; + signal si_sample_rank_dr_ri : SAMPLE_RANK_RARRAY_TYPE; + signal si_generation_rank_dr_ri : GENERATION_RANK_RARRAY_TYPE; + signal si_absolute_generation_rank_dr_ri : ABSOLUTE_GENERATION_RANK_RARRAY_TYPE; + signal status_dr_ri : STATUS_KIND_RARRAY_TYPE; + signal start_wi_dw, ack_dw_wi, done_dw_wi, valid_wi_dw, valid_dw_wi, ready_wi_dw, ready_dw_wi : std_logic_vector(0 to NUM_WRITERS-1); + signal opcode_wi_dw : DDS_WRITER_OPCODE_WARRAY_TYPE; + signal instance_handle_wi_dw, instance_handle_dw_wi : INSTANCE_HANDLE_WARRAY_TYPE; + signal source_ts_wi_dw : TIME_WARRAY_TYPE; + signal max_wait_wi_dw : DURATION_WARRAY_TYPE; + signal return_code_dw_wi : RETURN_CODE_WARRAY_TYPE; + signal data_dw_wi, data_wi_dw : WARRAY_DATA_TYPE; + signal status_dw_wi : STATUS_KIND_WARRAY_TYPE; + signal empty_firo_ro, read_ro_firo, last_word_firo_ro : std_logic_vector(0 to NUM_ENDPOINTS); + signal data_firo_ro : RTPS_OUT_DATA_TYPE; + signal service_if : SERVICE_INTERFACE_ARRAY_TYPE(0 to NUM_SERVICES-1); + -- ###GENERATED START### + -- INTERFACE-USER SIGNALS + -- ###GENERATED END### + +begin + + + rtps_handler_inst : entity work.rtps_handler(arch) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + -- INPUT + empty => empty, + rd => read, + data_in => data_in, + -- TO DISCOVERY MODULE + full_dm => full_fidm_rh, + wr_dm => write_rh_fidm, + data_out_dm => data_rh_fidm(WORD_WIDTH-1 downto 0), + last_word_out_dm => data_rh_fidm(WORD_WIDTH), + -- TO USER ENDPOINTS + full_rtps => full_fire_rh, + wr_rtps => write_rh_fire, + data_out_rtps => data_rh_fire(WORD_WIDTH-1 downto 0), + last_word_out_rtps => data_rh_fire(WORD_WIDTH) + ); + + + fifo_in_dm_inst : configuration work.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 2, + DATA_WIDTH => WORD_WIDTH+1 + ) + port map ( + -- SYSTEM + reset => reset, + clk => clk, + -- INPUT + full => full_fidm_rh, + write => write_rh_fidm, + data_in => data_rh_fidm, + -- OUTPUT + empty => empty_fidm_dm, + read => read_dm_fidm, + data_out => data_fidm_dm, + -- MISC + free => open + ); + + + fifo_in_re_gen : for i in 0 to NUM_ENDPOINTS-1 generate + fifo_in_re_inst : configuration work.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 2, + DATA_WIDTH => WORD_WIDTH+1 + ) + port map ( + -- SYSTEM + reset => reset, + clk => clk, + -- INPUT + full => full_fire_rh(i), + write => write_rh_fire(i), + data_in => data_rh_fire, -- Multicast + -- OUTPUT + empty => empty_fire_re(i), + read => read_re_fire(i), + data_out => data_fire_re(i), + -- MISC + free => open + ); + end generate; + + + rtps_discovery_module_inst : entity work.rtps_discovery_module(arch) + generic map ( + MAX_REMOTE_PARTICIPANTS => MAX_REMOTE_PARTICIPANTS + ) + port map ( + clk => clk, + reset => reset, + time => time, + -- FROM RTPS HANDLER + empty => empty_fidm_dm, + rd => read_dm_fidm, + data_in => data_fidm_dm(WORD_WIDTH-1 downto 0), + last_word_in => data_fidm_dm(WORD_WIDTH), + -- FROM RTPS ENDPOINTS + alive => alive_re_dm, + -- TO RTPS ENDPOINTS + full_rtps => full_fdmre_re, + wr_rtps => write_dm_fdmre, + data_out_rtps => data_dm_fdmre(WORD_WIDTH-1 downto 0), + last_word_out_rtps => data_dm_fdmre(WORD_WIDTH), + -- TO RTPS OUT + full_ro => full_firo_dm, + wr_ro => write_dm_firo, + data_out_ro => data_dm_firo(WORD_WIDTH-1 downto 0), + last_word_out_ro => data_dm_firo(WORD_WIDTH) + ); + + + fifo_dm_re_gen : for i in 0 to NUM_ENDPOINTS-1 generate + fifo_dm_re_inst : configuration work.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 2, + DATA_WIDTH => WORD_WIDTH+1 + ) + port map ( + -- SYSTEM + reset => reset, + clk => clk, + -- INPUT + full => full_fdmre_re(i), + write => write_dm_fdmre(i), + data_in => data_dm_fdmre, -- Multicast + -- OUTPUT + empty => empty_fdmre_re(i), + read => read_re_fdmre(i), + data_out => data_fdmre_re(i), + -- MISC + free => open + ); + end generate; + + + rtps_endpoint_gen : for i in 0 to NUM_ENDPOINTS-1 generate + rtps_endpoint_if : if (i < NUM_READERS) generate + rtps_reader_inst : entity work.rtps_reader(arch) + generic map ( + ENTITYID => ENTITYID(i), + RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS, + LIVELINESS_QOS => ENDPOINT_CONFIG(i).LIVELINESS_QOS, + DURABILITY_QOS => ENDPOINT_CONFIG(i).DURABILITY_QOS, + HEARTBEAT_RESPONSE_DELAY => ENDPOINT_CONFIG(i).HEARTBEAT_RESPONSE_DELAY, + HEARTBEAT_SUPPRESSION_DELAY => ENDPOINT_CONFIG(i).HEARTBEAT_SUPPRESSION_DELAY, + LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION, + WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, + MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS + ) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + time => time, + -- FROM RTPS_HANDLER (USER TRAFFIC) + empty_user => empty_fire_re(i), + rd_user => read_re_fire(i), + data_in_user => data_fire_re(i)(WORD_WIDTH-1 downto 0), + last_word_in_user => data_fire_re(i)(WORD_WIDTH), + -- FROM DISCOVERY MODULE (META TRAFFIC) + empty_meta => empty_fdmre_re(i), + rd_meta => read_re_fdmre(i), + data_in_meta => data_fdmre_re(i)(WORD_WIDTH-1 downto 0), + last_word_in_meta => data_fdmre_re(i)(WORD_WIDTH), + -- RTPS OUTPUT + full_ro => full_firo_re(i), + wr_ro => write_re_firo(i), + data_out_ro => data_re_firo(i)(WORD_WIDTH-1 downto 0), + last_word_out_ro => data_re_firo(i)(WORD_WIDTH), + -- TO HISTORY CACHE + start_hc => start_rr_dr(i), + opcode_hc => opcode_rr_dr(i), + ack_hc => ack_dr_rr(i), + done_hc => done_dr_rr(i), + ret_hc => ret_dr_rr(i), + valid_out_hc => valid_rr_dr(i), + ready_out_hc => ready_dr_rr(i), + data_out_hc => data_rr_dr(i)(WORD_WIDTH-1 downto 0), + last_word_out_hc => data_rr_dr(i)(WORD_WIDTH) + ); + + -- Set Alive Signals of Readers to Zero + alive_re_dm(i) <= ('0'); + else generate + rtps_writer_inst : entity work.rtps_writer(arch) + generic map ( + RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS, + LIVELINESS_QOS => ENDPOINT_CONFIG(i).LIVELINESS_QOS, + DURABILITY_QOS => ENDPOINT_CONFIG(i).DURABILITY_QOS, + DESTINATION_ORDER_QOS => ENDPOINT_CONFIG(i).DESTINATION_ORDER_QOS, + ACKNACK_RESPONSE_DELAY => ENDPOINT_CONFIG(i).ACKNACK_RESPONSE_DELAY, + ACKNACK_SUPPRESSION_DELAY => ENDPOINT_CONFIG(i).ACKNACK_SUPPRESSION_DELAY, + LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION, + HEARTBEAT_PERIOD => ENDPOINT_CONFIG(i).HEARTBEAT_PERIOD, + ENTITYID => ENTITYID(i), + WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, + PUSH_MODE => ENDPOINT_CONFIG(i).PUSH_MODE, + INLINE_QOS => gen_inline_qos(i), + MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS + ) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + time => time, + -- FROM RTPS_HANDLER (USER TRAFFIC) + empty_user => empty_fire_re(i), + rd_user => read_re_fire(i), + data_in_user => data_fire_re(i)(WORD_WIDTH-1 downto 0), + last_word_in_user => data_fire_re(i)(WORD_WIDTH), + -- FROM DISCOVERY MODULE (META TRAFFIC) + empty_meta => empty_fdmre_re(i), + rd_meta => read_re_fdmre(i), + data_in_meta => data_fdmre_re(i)(WORD_WIDTH-1 downto 0), + last_word_in_meta => data_fdmre_re(i)(WORD_WIDTH), + -- TO DISCOVERY MODULE (META TRAFFIC) + alive_sig => alive_re_dm(i), + -- RTPS OUTPUT + full_ro => full_firo_re(i), + wr_ro => write_re_firo(i), + data_out_ro => data_re_firo(i)(WORD_WIDTH-1 downto 0), + last_word_out_ro => data_re_firo(i)(WORD_WIDTH), + -- FROM HC + liveliness_assertion => liveliness_assertion_dw_rw(i-NUM_READERS), + data_available => data_available_dw_rw(i-NUM_READERS), + start_hc => start_rw_dw(i-NUM_READERS), + opcode_hc => opcode_rw_dw(i-NUM_READERS), + ack_hc => ack_dw_rw(i-NUM_READERS), + seq_nr_hc => seq_nr_rw_dw(i-NUM_READERS), + done_hc => done_rw_dw(i-NUM_READERS), + ret_hc => ret_dw_rw(i-NUM_READERS), + get_data_hc => get_data_rw_dw(i-NUM_READERS), + valid_in_hc => valid_dw_rw(i-NUM_READERS), + ready_in_hc => ready_rw_dw(i-NUM_READERS), + data_in_hc => data_dw_rw(i-NUM_READERS)(WORD_WIDTH-1 downto 0), + last_word_in_hc => data_dw_rw(i-NUM_READERS)(WORD_WIDTH), + cc_instance_handle => cc_instance_handle_dw_rw(i-NUM_READERS), + cc_kind => cc_kind_dw_rw(i-NUM_READERS), + cc_source_timestamp => cc_source_timestamp_dw_rw(i-NUM_READERS), + cc_seq_nr => cc_seq_nr_dw_rw(i-NUM_READERS) + ); + end generate; + end generate; + + + dds_endpoint_gen : for i in 0 to NUM_ENDPOINTS-2 generate + dds_endpoint_if : if (i < NUM_READERS) generate + dds_reader_inst : entity work.dds_reader(arch) + generic map ( + TIME_BASED_FILTER_QOS => ENDPOINT_CONFIG(i).TIME_BASED_FILTER_QOS, + DEADLINE_QOS => ENDPOINT_CONFIG(i).DEADLINE_QOS, + MAX_INSTANCES => ENDPOINT_CONFIG(i).MAX_INSTANCES, + MAX_SAMPLES_PER_INSTANCE => ENDPOINT_CONFIG(i).MAX_SAMPLES_PER_INSTANCE, + MAX_SAMPLES => ENDPOINT_CONFIG(i).MAX_SAMPLES, + HISTORY_QOS => ENDPOINT_CONFIG(i).HISTORY_QOS, + RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS, + PRESENTATION_QOS => ENDPOINT_CONFIG(i).PRESENTATION_QOS, + DESTINATION_ORDER_QOS => ENDPOINT_CONFIG(i).DESTINATION_ORDER_QOS, + COHERENT_ACCESS => ENDPOINT_CONFIG(i).COHERENT_ACCESS, + ORDERED_ACCESS => ENDPOINT_CONFIG(i).ORDERED_ACCESS, + WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, + PAYLOAD_FRAME_SIZE => ENDPOINT_CONFIG(i).MAX_PAYLOAD_SIZE, + MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS + ) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + time => time, + -- FROM RTPS ENDPOINT + start_rtps => start_rr_dr(i), + opcode_rtps => opcode_rr_dr(i), + ack_rtps => ack_dr_rr(i), + done_rtps => done_dr_rr(i), + ret_rtps => ret_dr_rr(i), + valid_in_rtps => valid_rr_dr(i), + ready_in_rtps => ready_dr_rr(i), + data_in_rtps => data_rr_dr(i)(WORD_WIDTH-1 downto 0), + last_word_in_rtps => data_rr_dr(i)(WORD_WIDTH), + -- TO USER ENTITY + start_dds => start_ri_dr(i), + ack_dds => ack_dr_ri(i), + opcode_dds => opcode_ri_dr(i), + instance_state_dds => instance_state_ri_dr(i), + view_state_dds => view_state_ri_dr(i), + sample_state_dds => sample_state_ri_dr(i), + instance_handle_dds => instance_handle_ri_dr(i), + max_samples_dds => max_samples_ri_dr(i), + get_data_dds => get_data_ri_dr(i), + done_dds => done_dr_ri(i), + return_code_dds => return_code_dr_ri(i), + valid_out_dds => valid_dr_ri(i), + ready_out_dds => ready_ri_dr(i), + data_out_dds => data_dr_ri(i)(WORD_WIDTH-1 downto 0), + last_word_out_dds => data_dr_ri(i)(WORD_WIDTH), + -- Sample Info + si_sample_state => si_sample_state_dr_ri(i), + si_view_state => si_view_state_dr_ri(i), + si_instance_state => si_instance_state_dr_ri(i), + si_source_timestamp => si_source_timestamp_dr_ri(i), + si_instance_handle => si_instance_handle_dr_ri(i), + si_publication_handle => si_publication_handle_dr_ri(i), + si_disposed_generation_count => si_disposed_generation_count_dr_ri(i), + si_no_writers_generation_count => si_no_writers_generation_count_dr_ri(i), + si_sample_rank => si_sample_rank_dr_ri(i), + si_generation_rank => si_generation_rank_dr_ri(i), + si_absolute_generation_rank => si_absolute_generation_rank_dr_ri(i), + si_valid_data => si_valid_data_dr_ri(i), + si_valid => si_valid_dr_ri(i), + si_ack => si_ack_ri_dr(i), + eoc => eoc_dr_ri(i), + -- Communication Status + status => status_dr_ri(i) + ); + else generate + dds_writer_inst : entity work.dds_writer(arch) + generic map ( + HISTORY_QOS => ENDPOINT_CONFIG(i).HISTORY_QOS, + DEADLINE_QOS => ENDPOINT_CONFIG(i).DEADLINE_QOS, + LIFESPAN_QOS => ENDPOINT_CONFIG(i).LIFESPAN_QOS, + LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION, + WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, + MAX_SAMPLES => ENDPOINT_CONFIG(i).MAX_SAMPLES, + MAX_INSTANCES => ENDPOINT_CONFIG(i).MAX_INSTANCES, + MAX_SAMPLES_PER_INSTANCE => ENDPOINT_CONFIG(i).MAX_SAMPLES_PER_INSTANCE, + PAYLOAD_FRAME_SIZE => ENDPOINT_CONFIG(i).MAX_PAYLOAD_SIZE + ) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + time => time, + -- TO/FROM RTPS ENDPOINT + start_rtps => start_rw_dw(i-NUM_READERS), + opcode_rtps => opcode_rw_dw(i-NUM_READERS), + ack_rtps => ack_dw_rw(i-NUM_READERS), + done_rtps => done_rw_dw(i-NUM_READERS), + ret_rtps => ret_dw_rw(i-NUM_READERS), + seq_nr_rtps => seq_nr_rw_dw(i-NUM_READERS), + get_data_rtps => get_data_rw_dw(i-NUM_READERS), + valid_out_rtps => valid_dw_rw(i-NUM_READERS), + ready_out_rtps => ready_rw_dw(i-NUM_READERS), + data_out_rtps => data_dw_rw(i-NUM_READERS)(WORD_WIDTH-1 downto 0), + last_word_out_rtps => data_dw_rw(i-NUM_READERS)(WORD_WIDTH), + liveliness_assertion => liveliness_assertion_dw_rw(i-NUM_READERS), + data_available => data_available_dw_rw(i-NUM_READERS), + -- Cache Change + cc_instance_handle => cc_instance_handle_dw_rw(i-NUM_READERS), + cc_kind => cc_kind_dw_rw(i-NUM_READERS), + cc_source_timestamp => cc_source_timestamp_dw_rw(i-NUM_READERS), + cc_seq_nr => cc_seq_nr_dw_rw(i-NUM_READERS), + -- TO/FROM USER ENTITY + start_dds => start_wi_dw(i-NUM_READERS), + ack_dds => ack_dw_wi(i-NUM_READERS), + opcode_dds => opcode_wi_dw(i-NUM_READERS), + instance_handle_in_dds => instance_handle_wi_dw(i-NUM_READERS), + source_ts_dds => source_ts_wi_dw(i-NUM_READERS), + max_wait_dds => max_wait_wi_dw(i-NUM_READERS), + done_dds => done_dw_wi(i-NUM_READERS), + return_code_dds => return_code_dw_wi(i-NUM_READERS), + instance_handle_out_dds => instance_handle_dw_wi(i-NUM_READERS), + valid_in_dds => valid_wi_dw(i-NUM_READERS), + ready_in_dds => ready_dw_wi(i-NUM_READERS), + data_in_dds => data_wi_dw(i-NUM_READERS)(WORD_WIDTH-1 downto 0), + last_word_in_dds => data_wi_dw(i-NUM_READERS)(WORD_WIDTH), + valid_out_dds => valid_dw_wi(i-NUM_READERS), + ready_out_dds => ready_wi_dw(i-NUM_READERS), + data_out_dds => data_dw_wi(i-NUM_READERS)(WORD_WIDTH-1 downto 0), + last_word_out_dds => data_dw_wi(i-NUM_READERS)(WORD_WIDTH), + -- Communication Status + status => status_dw_wi(i-NUM_READERS) + ); + end generate; + end generate; + + ros_discovery_writer_inst : entity work.ros_static_discovery_writer(arch) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + -- TO/FROM RTPS ENDPOINT + start => start_rw_dw(NUM_WRITERS-1), + opcode => opcode_rw_dw(NUM_WRITERS-1), + ack => ack_dw_rw(NUM_WRITERS-1), + done => done_rw_dw(NUM_WRITERS-1), + ret => ret_dw_rw(NUM_WRITERS-1), + seq_nr => seq_nr_rw_dw(NUM_WRITERS-1), + get_data => get_data_rw_dw(NUM_WRITERS-1), + valid_out => valid_dw_rw(NUM_WRITERS-1), + ready_out => ready_rw_dw(NUM_WRITERS-1), + data_out => data_dw_rw(NUM_WRITERS-1)(WORD_WIDTH-1 downto 0), + last_word_out => data_dw_rw(NUM_WRITERS-1)(WORD_WIDTH), + liveliness_assertion => liveliness_assertion_dw_rw(NUM_WRITERS-1), + data_available => data_available_dw_rw(NUM_WRITERS-1), + -- Cache Change + cc_instance_handle => cc_instance_handle_dw_rw(NUM_WRITERS-1), + cc_kind => cc_kind_dw_rw(NUM_WRITERS-1), + cc_source_timestamp => cc_source_timestamp_dw_rw(NUM_WRITERS-1), + cc_seq_nr => cc_seq_nr_dw_rw(NUM_WRITERS-1) + ); + + fifo_in_ro_gen : for i in 0 to NUM_ENDPOINTS generate + fifo_in_ro_if : if (i = NUM_ENDPOINTS) generate + fifo_in_ro_inst : configuration work.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 2, + DATA_WIDTH => WORD_WIDTH+1 + ) + port map ( + -- SYSTEM + reset => reset, + clk => clk, + -- INPUT + full => full_firo_dm, + write => write_dm_firo, + data_in => data_dm_firo, + -- OUTPUT + empty => empty_firo_ro(i), + read => read_ro_firo(i), + data_out(WORD_WIDTH) => last_word_firo_ro(i), + data_out(WORD_WIDTH-1 downto 0) => data_firo_ro(i), + -- MISC + free => open + ); + else generate + fifo_in_ro_inst : configuration work.FWFT_FIFO_cfg + generic map ( + FIFO_DEPTH => 2, + DATA_WIDTH => WORD_WIDTH+1 + ) + port map ( + -- SYSTEM + reset => reset, + clk => clk, + -- INPUT + full => full_firo_re(i), + write => write_re_firo(i), + data_in => data_re_firo(i), + -- OUTPUT + empty => empty_firo_ro(i), + read => read_ro_firo(i), + data_out(WORD_WIDTH) => last_word_firo_ro(i), + data_out(WORD_WIDTH-1 downto 0) => data_firo_ro(i), + -- MISC + free => open + ); + end generate; + end generate; + + + rtps_out_inst : entity work.rtps_out(arch) + port map ( + -- SYSTEM + clk => clk, + reset => reset, + -- INPUT + empty => empty_firo_ro, + rd => read_ro_firo, + data_in => data_firo_ro, + last_word_in => last_word_firo_ro, + -- OUTPUT + full => full, + wr => write, + data_out => data_out + ); + + service_if_gen : for i in 0 to NUM_SERVICES-1 generate + start_ri_dr(i) <= service_if(i).start_r; + service_if(i).ack_r <= ack_dr_ri(i); + opcode_ri_dr(i) <= service_if(i).opcode_r; + instance_state_ri_dr(i) <= service_if(i).instance_state_r; + view_state_ri_dr(i) <= service_if(i).view_state_r; + sample_state_ri_dr(i) <= service_if(i).sample_state_r; + instance_handle_ri_dr(i) <= service_if(i).instance_handle_r; + max_samples_ri_dr(i) <= service_if(i).max_samples_r; + get_data_ri_dr(i) <= service_if(i).get_data_r; + service_if(i).done_r <= done_dr_ri(i); + service_if(i).return_code_r <= return_code_dr_ri(i); + service_if(i).valid_in_r <= valid_dr_ri(i); + ready_ri_dr(i) <= service_if(i).ready_in_r; + service_if(i).data_in_r <= data_dr_ri(i)(WORD_WIDTH-1 downto 0); + service_if(i).last_word_in_r <= data_dr_ri(i)(WORD_WIDTH); + service_if(i).si_sample_state_r <= si_sample_state_dr_ri(i); + service_if(i).si_view_state_r <= si_view_state_dr_ri(i); + service_if(i).si_instance_state_r <= si_instance_state_dr_ri(i); + service_if(i).si_source_timestamp_r <= si_source_timestamp_dr_ri(i); + service_if(i).si_instance_handle_r <= si_instance_handle_dr_ri(i); + service_if(i).si_publication_handle_r <= si_publication_handle_dr_ri(i); + service_if(i).si_disposed_generation_count_r <= si_disposed_generation_count_dr_ri(i); + service_if(i).si_no_writers_generation_count_r <= si_no_writers_generation_count_dr_ri(i); + service_if(i).si_sample_rank_r <= si_sample_rank_dr_ri(i); + service_if(i).si_generation_rank_r <= si_generation_rank_dr_ri(i); + service_if(i).si_absolute_generation_rank_r <= si_absolute_generation_rank_dr_ri(i); + service_if(i).si_valid_data_r <= si_valid_data_dr_ri(i); + service_if(i).si_valid_r <= si_valid_dr_ri(i); + si_ack_ri_dr(i) <= service_if(i).si_ack_r; + service_if(i).eoc_r <= eoc_dr_ri(i); + service_if(i).status_r <= status_dr_ri(i); + start_wi_dw(i) <= service_if(i).start_w; + service_if(i).ack_w <= ack_dw_wi(i); + opcode_wi_dw(i) <= service_if(i).opcode_w; + service_if(i).instance_handle_out_w <= instance_handle_dw_wi(i); + source_ts_wi_dw(i) <= service_if(i).source_ts_w; + max_wait_wi_dw(i) <= service_if(i).max_wait_w; + service_if(i).done_w <= done_dw_wi(i); + service_if(i).return_code_w <= return_code_dw_wi(i); + instance_handle_wi_dw(i) <= service_if(i).instance_handle_in_w; + valid_wi_dw(i) <= service_if(i).valid_out_w; + service_if(i).ready_out_w <= ready_dw_wi(i); + data_wi_dw(i)(WORD_WIDTH-1 downto 0) <= service_if(i).data_out_w; + data_wi_dw(i)(WORD_WIDTH) <= service_if(i).last_word_out_w; + service_if(i).valid_in_w <= valid_dw_wi(i); + ready_wi_dw(i) <= service_if(i).ready_in_w; + service_if(i).data_in_w <= data_dw_wi(i)(WORD_WIDTH-1 downto 0); + service_if(i).last_word_in_w <= data_dw_wi(i)(WORD_WIDTH); + service_if(i).status_w <= status_dw_wi(i); + end generate; + + -- ######GENERATED START###### + + AddTwoInts_srv_client_inst : entity work.AddTwoInts_srv_client(arch) + port map ( + clk => clk, + reset => reset, + start_r => service_if(0).start_r, + ack_r => service_if(0).ack_r, + opcode_r => service_if(0).opcode_r, + instance_state_r => service_if(0).instance_state_r, + view_state_r => service_if(0).view_state_r, + sample_state_r => service_if(0).sample_state_r, + instance_handle_r => service_if(0).instance_handle_r, + max_samples_r => service_if(0).max_samples_r, + get_data_r => service_if(0).get_data_r, + done_r => service_if(0).done_r, + return_code_r => service_if(0).return_code_r, + valid_in_r => service_if(0).valid_in_r, + ready_in_r => service_if(0).ready_in_r, + data_in_r => service_if(0).data_in_r, + last_word_in_r => service_if(0).last_word_in_r, + si_sample_state_r => service_if(0).si_sample_state_r, + si_view_state_r => service_if(0).si_view_state_r, + si_instance_state_r => service_if(0).si_instance_state_r, + si_source_timestamp_r => service_if(0).si_source_timestamp_r, + si_instance_handle_r => service_if(0).si_instance_handle_r, + si_publication_handle_r => service_if(0).si_publication_handle_r, + si_disposed_generation_count_r => service_if(0).si_disposed_generation_count_r, + si_no_writers_generation_count_r => service_if(0).si_no_writers_generation_count_r, + si_sample_rank_r => service_if(0).si_sample_rank_r, + si_generation_rank_r => service_if(0).si_generation_rank_r, + si_absolute_generation_rank_r => service_if(0).si_absolute_generation_rank_r, + si_valid_data_r => service_if(0).si_valid_data_r, + si_valid_r => service_if(0).si_valid_r, + si_ack_r => service_if(0).si_ack_r, + eoc_r => service_if(0).eoc_r, + status_r => service_if(0).status_r, + start_w => service_if(0).start_w, + ack_w => service_if(0).ack_w, + opcode_w => service_if(0).opcode_w, + instance_handle_out_w => service_if(0).instance_handle_out_w, + source_ts_w => service_if(0).source_ts_w, + max_wait_w => service_if(0).max_wait_w, + done_w => service_if(0).done_w, + return_code_w => service_if(0).return_code_w, + instance_handle_in_w => service_if(0).instance_handle_in_w, + valid_out_w => service_if(0).valid_out_w, + ready_out_w => service_if(0).ready_out_w, + data_out_w => service_if(0).data_out_w, + last_word_out_w => service_if(0).last_word_out_w, + valid_in_w => service_if(0).valid_in_w, + ready_in_w => service_if(0).ready_in_w, + data_in_w => service_if(0).data_in_w, + last_word_in_w => service_if(0).last_word_in_w, + status_w => service_if(0).status_w, + + start_user => start_c, + ack_user => ack_c, + opcode_user => opcode_c, + service_info_user => service_info_c, + sequence_id_user => sequence_id_c, + taken_user => taken_c, + data_available_user => data_available_c, + a => a_c, + b => b_c, + sum => sum_c, + done_user => done_c, + return_code_user => return_code_c + ); + + -- ######GENERATED END###### + +end architecture; diff --git a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3_config.vhd b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3_config.vhd new file mode 100644 index 0000000..ef3f9fe --- /dev/null +++ b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3_config.vhd @@ -0,0 +1,78 @@ +-- altera vhdl_input_version vhdl_2008 +-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html) + +library ieee; +use ieee.std_logic_1164.all; +use ieee.numeric_std.all; + +use work.rtps_package.all; +use work.ros_package.all; +use work.AddTwoInts_package.all; + +package ros_config is + + -- IPv4 Address of ROS System [Default 192.168.0.130] + constant ROS_ADDRESS : std_logic_vector(IPv4_ADDRESS_WIDTH-1 downto 0) := x"C0A80082"; + -- Random Key used to generate GUIDs + constant ROS_RAND_KEY : std_logic_vector(47 downto 0) := x"6E6592234DB4"; + + constant NUM_NODES : natural := 1; + + constant ROS_NODES : ROS_NODE_ARRAY_TYPE(0 to NUM_NODES-1) := ( + 0 => ( + name => gen_user_string("add_two_ints_client"), + namespace => gen_user_string(""), + domain_id => 0, + NUM_PUBS => 0, + NUM_SUBS => 0, + NUM_SERVICES => 1, + NUM_ACTIONS => 0 + ) + ); + + constant NUM_PUBS : natural := get_num_pubs(ROS_NODES); + constant NUM_SUBS : natural := get_num_subs(ROS_NODES); + constant NUM_SERVICES : natural := get_num_services(ROS_NODES); + constant NUM_ACTIONS : natural := get_num_actions(ROS_NODES); + + constant ROS_PUBLICATIONS : ROS_TOPIC_ARRAY_TYPE(0 to NUM_PUBS-1) := ( + others => ( + node_id => 0, + TOPICNAME => gen_user_string(""), + TYPENAME => gen_user_string(""), + QOS => ROS_QOS_PROFILE_DEFAULT, + MAX_SIZE => 0 + ) + ); + + constant ROS_SUBSCRIPTIONS : ROS_TOPIC_ARRAY_TYPE(0 to NUM_SUBS-1) := ( + others => ( + node_id => 0, + TOPICNAME => gen_user_string(""), + TYPENAME => gen_user_string(""), + QOS => ROS_QOS_PROFILE_DEFAULT, + MAX_SIZE => 0 + ) + ); + + constant ROS_SERVICES : ROS_SERVICE_ARRAY_TYPE(0 to NUM_SERVICES-1) := ( + 0 => ( + node_id => 0, + SERVICENAME => gen_user_string("add_two_ints"), + TYPENAME => gen_user_string("example_interfaces::srv::dds_::AddTwoInts_Request_"), + QOS => ROS_QOS_PROFILE_TRANSIENT, + MAX_RQ_SIZE => MAX_ADDTWOINTS_RQ_SIZE, + MAX_RR_SIZE => MAX_ADDTWOINTS_RR_SIZE, + is_client => TRUE + ) + ); + + constant ROS_ACTIONS : ROS_ACTION_ARRAY_TYPE(0 to NUM_ACTIONS-1) := ( + others => ( + node_id => 0 + ) + ); + + -- Defines sensible RTPS timings for simulation + constant SIMULATION_TIMING : boolean := TRUE; +end package; \ No newline at end of file diff --git a/src/ros2/Tests/ros_testbench.pro b/src/ros2/Tests/ros_testbench.pro index ccde246..80e49f1 100644 --- a/src/ros2/Tests/ros_testbench.pro +++ b/src/ros2/Tests/ros_testbench.pro @@ -1,7 +1,81 @@ # Compile OSVVM Library -include ../OSVVM/osvvm.pro +include ../../OSVVM/osvvm.pro + +library Testbench_ROS_Lib2 +analyze ../../math_pkg.vhd +analyze ../../rtps_package.vhd +analyze ../ros_package.vhd +analyze ../example_interfaces/AddTwoInts_package.vhd +analyze Level_2/L2_Testbench_ROS_Lib2_config.vhd +analyze ../dds_user_config.vhd +analyze ../../rtps_config_package.vhd +analyze ../../rtps_test_package.vhd +analyze ../ros_config_package.vhd +analyze ../../single_port_ram.vhd +analyze ../../single_port_ram_Altera.vhd +analyze ../../single_port_ram_cfg.vhd +analyze ../../dual_port_ram.vhd +analyze ../../dual_port_ram_Altera.vhd +analyze ../../dual_port_ram_cfg.vhd +analyze ../../FWFT_FIFO.vhd +analyze ../../FWFT_FIFO_Altera.vhd +analyze ../../FWFT_FIFO_cfg.vhd +analyze ../../mem_ctrl.vhd +analyze ../../dp_mem_ctrl.vhd +analyze ../../rtps_handler.vhd +analyze ../../rtps_discovery_module.vhd +analyze ../../rtps_out.vhd +analyze ../../rtps_reader.vhd +analyze ../../rtps_writer.vhd +analyze ../../dds_writer.vhd +analyze ../../dds_reader.vhd +analyze ../../key_holder.vhd +analyze ../../key_hash_generator.vhd +analyze ../../Tests/test_key_holder.vhd +analyze ../../Tests/test_key_hash_generator.vhd +analyze ../ros_static_discovery_writer.vhd +analyze ../example_interfaces/AddTwoInts_srv_client.vhd +analyze ../example_interfaces/AddTwoInts_srv_server.vhd +analyze AddTwoInts.vhd +analyze Level_2/L2_Testbench_ROS_Lib2.vhd + +library Testbench_ROS_Lib3 +analyze ../../math_pkg.vhd +analyze ../../rtps_package.vhd +analyze ../ros_package.vhd +analyze ../example_interfaces/AddTwoInts_package.vhd +analyze Level_2/L2_Testbench_ROS_Lib3_config.vhd +analyze ../dds_user_config.vhd +analyze ../../rtps_config_package.vhd +analyze ../../rtps_test_package.vhd +analyze ../ros_config_package.vhd +analyze ../../single_port_ram.vhd +analyze ../../single_port_ram_Altera.vhd +analyze ../../single_port_ram_cfg.vhd +analyze ../../dual_port_ram.vhd +analyze ../../dual_port_ram_Altera.vhd +analyze ../../dual_port_ram_cfg.vhd +analyze ../../FWFT_FIFO.vhd +analyze ../../FWFT_FIFO_Altera.vhd +analyze ../../FWFT_FIFO_cfg.vhd +analyze ../../mem_ctrl.vhd +analyze ../../dp_mem_ctrl.vhd +analyze ../../rtps_handler.vhd +analyze ../../rtps_discovery_module.vhd +analyze ../../rtps_out.vhd +analyze ../../rtps_reader.vhd +analyze ../../rtps_writer.vhd +analyze ../../dds_writer.vhd +analyze ../../dds_reader.vhd +analyze ../../key_holder.vhd +analyze ../../key_hash_generator.vhd +analyze ../../Tests/test_key_holder.vhd +analyze ../../Tests/test_key_hash_generator.vhd +analyze ../ros_static_discovery_writer.vhd +analyze ../example_interfaces/AddTwoInts_srv_client.vhd +analyze ../example_interfaces/AddTwoInts_srv_server.vhd +analyze Level_2/L2_Testbench_ROS_Lib3.vhd -# Compile library Testbench_ROS_Lib1 analyze ../../math_pkg.vhd analyze ../../rtps_package.vhd @@ -13,7 +87,8 @@ analyze ../example_interfaces/AddTwoInts_srv_client.vhd analyze ../example_interfaces/AddTwoInts_srv_server.vhd analyze Level_1/L1_AddTwoInts_srv_test1.vhd analyze Level_1/L1_AddTwoInts_srv_test2.vhd +analyze Level_2/L2_AddTwoInts_test1.vhd -# Simulate -simulate L1_AddTwoInts_srv_test1 -simulate L1_AddTwoInts_srv_test2 +#simulate L1_AddTwoInts_srv_test1 +#simulate L1_AddTwoInts_srv_test2 +simulate L2_AddTwoInts_test1 diff --git a/src/ros2/example_interfaces/AddTwoInts_package.vhd b/src/ros2/example_interfaces/AddTwoInts_package.vhd new file mode 100644 index 0000000..9a99c0e --- /dev/null +++ b/src/ros2/example_interfaces/AddTwoInts_package.vhd @@ -0,0 +1,19 @@ +library ieee; +use ieee.std_logic_1164.all; +use ieee.numeric_std.all; + +use work.math_pkg.all; +use work.ros_package.all; + +package AddTwoInts_package is + + -- REQUEST + constant MAX_RQ_A_SIZE : natural := 8; + constant MAX_RQ_B_SIZE : natural := 8; -- 16 + constant MAX_ADDTWOINTS_RQ_SIZE : natural := 16 + SERVICE_OVERHEAD_BYTES; + + -- RESPONSE + constant MAX_RR_SUM_SIZE : natural := 8; + constant MAX_ADDTWOINTS_RR_SIZE : natural := 8 + SERVICE_OVERHEAD_BYTES; + +end package; \ No newline at end of file