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Add test 4 of RTPS Reader (Level 1)

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Check the output handling (ACKNACK Response) of the RTPS Reader.
Compiling and Passing
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Greek 2021-02-23 11:17:32 +01:00
parent 260acba5b6
commit 597edb5f94
6 changed files with 1629 additions and 9 deletions
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72
sim/L1_rtps_reader_test1_trk.do Normal file
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onerror {resume}
quietly WaveActivateNextPane {} 0
add wave -noupdate -divider SYSTEM
add wave -noupdate /l1_rtps_reader_test1_trk/uut/clk
add wave -noupdate /l1_rtps_reader_test1_trk/uut/reset
add wave -noupdate -radix unsigned /l1_rtps_reader_test1_trk/uut/time
add wave -noupdate -radix unsigned /l1_rtps_reader_test1_trk/uut/check_time
add wave -noupdate -divider INPUT
add wave -noupdate -group META /l1_rtps_reader_test1_trk/uut/empty_meta
add wave -noupdate -group META /l1_rtps_reader_test1_trk/uut/rd_meta
add wave -noupdate -group META /l1_rtps_reader_test1_trk/uut/last_word_in_meta
add wave -noupdate -group META -radix hexadecimal /l1_rtps_reader_test1_trk/uut/data_in_meta
add wave -noupdate -expand -group USER /l1_rtps_reader_test1_trk/uut/empty_user
add wave -noupdate -expand -group USER /l1_rtps_reader_test1_trk/uut/rd_user
add wave -noupdate -expand -group USER -radix hexadecimal /l1_rtps_reader_test1_trk/uut/data_in_user
add wave -noupdate -expand -group USER /l1_rtps_reader_test1_trk/uut/last_word_in_user
add wave -noupdate -divider OUTPUT
add wave -noupdate /l1_rtps_reader_test1_trk/uut/full_rtps
add wave -noupdate /l1_rtps_reader_test1_trk/uut/wr_rtps
add wave -noupdate -radix hexadecimal /l1_rtps_reader_test1_trk/uut/data_out_rtps
add wave -noupdate /l1_rtps_reader_test1_trk/uut/last_word_out_rtps
add wave -noupdate /l1_rtps_reader_test1_trk/rtps_out_inst/wr
add wave -noupdate -radix hexadecimal /l1_rtps_reader_test1_trk/rtps_out_inst/data_out
add wave -noupdate -divider {MAIN FSM}
add wave -noupdate /l1_rtps_reader_test1_trk/uut/stage
add wave -noupdate /l1_rtps_reader_test1_trk/uut/stage_next
add wave -noupdate /l1_rtps_reader_test1_trk/uut/cnt
add wave -noupdate -divider {MEMORY FSM}
add wave -noupdate /l1_rtps_reader_test1_trk/uut/mem_op_done
add wave -noupdate /l1_rtps_reader_test1_trk/uut/mem_op_start
add wave -noupdate /l1_rtps_reader_test1_trk/uut/mem_opcode
add wave -noupdate /l1_rtps_reader_test1_trk/uut/mem_stage
add wave -noupdate /l1_rtps_reader_test1_trk/uut/mem_stage_next
add wave -noupdate /l1_rtps_reader_test1_trk/uut/mem_cnt
add wave -noupdate /l1_rtps_reader_test1_trk/uut/mem_pos
add wave -noupdate -radix unsigned /l1_rtps_reader_test1_trk/uut/mem_addr_base
add wave -noupdate -childformat {{/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.guid -radix hexadecimal} {/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.addr -radix hexadecimal} {/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.portn -radix hexadecimal} {/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.next_seq_nr -radix unsigned -childformat {{/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.next_seq_nr(0) -radix unsigned} {/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.next_seq_nr(1) -radix unsigned}}} {/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.lease_deadline -radix hexadecimal} {/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.res_time -radix unsigned}} -expand -subitemconfig {/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.guid {-height 15 -radix hexadecimal} /l1_rtps_reader_test1_trk/uut/mem_endpoint_data.addr {-height 15 -radix hexadecimal} /l1_rtps_reader_test1_trk/uut/mem_endpoint_data.portn {-height 15 -radix hexadecimal} /l1_rtps_reader_test1_trk/uut/mem_endpoint_data.next_seq_nr {-height 15 -radix unsigned -childformat {{/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.next_seq_nr(0) -radix unsigned} {/l1_rtps_reader_test1_trk/uut/mem_endpoint_data.next_seq_nr(1) -radix unsigned}}} /l1_rtps_reader_test1_trk/uut/mem_endpoint_data.next_seq_nr(0) {-height 15 -radix unsigned} /l1_rtps_reader_test1_trk/uut/mem_endpoint_data.next_seq_nr(1) {-height 15 -radix unsigned} /l1_rtps_reader_test1_trk/uut/mem_endpoint_data.lease_deadline {-height 15 -radix hexadecimal} /l1_rtps_reader_test1_trk/uut/mem_endpoint_data.res_time {-height 15 -radix unsigned}} /l1_rtps_reader_test1_trk/uut/mem_endpoint_data
add wave -noupdate -group MEM_CTRL -radix unsigned /l1_rtps_reader_test1_trk/uut/mem_addr
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_trk/uut/mem_valid_in
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_trk/uut/mem_ready_in
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_trk/uut/mem_read
add wave -noupdate -group MEM_CTRL -radix hexadecimal /l1_rtps_reader_test1_trk/uut/mem_write_data
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_trk/uut/abort_read
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_trk/uut/mem_valid_out
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_trk/uut/mem_ready_out
add wave -noupdate -group MEM_CTRL -radix hexadecimal /l1_rtps_reader_test1_trk/uut/mem_read_data
add wave -noupdate -divider TESTBENCH
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_trk/start_meta
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_trk/packet_sent_meta
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_trk/start_user
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_trk/packet_sent_user
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_trk/out_check_done
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_trk/stim_done
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_trk/test_done
TreeUpdate [SetDefaultTree]
WaveRestoreCursors {Begin {49575000 ps} 1} {Error {16625000 ps} 1} {Cursor {10946042 ps} 0}
quietly wave cursor active 3
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 {10562200 ps} {11586200 ps}

72
sim/L1_rtps_reader_test1_vrk.do Normal file
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onerror {resume}
quietly WaveActivateNextPane {} 0
add wave -noupdate -divider SYSTEM
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/clk
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/reset
add wave -noupdate -radix unsigned /l1_rtps_reader_test1_vrk/uut/time
add wave -noupdate -radix unsigned /l1_rtps_reader_test1_vrk/uut/check_time
add wave -noupdate -divider INPUT
add wave -noupdate -group META /l1_rtps_reader_test1_vrk/uut/empty_meta
add wave -noupdate -group META /l1_rtps_reader_test1_vrk/uut/rd_meta
add wave -noupdate -group META /l1_rtps_reader_test1_vrk/uut/last_word_in_meta
add wave -noupdate -group META -radix hexadecimal /l1_rtps_reader_test1_vrk/uut/data_in_meta
add wave -noupdate -expand -group USER /l1_rtps_reader_test1_vrk/uut/empty_user
add wave -noupdate -expand -group USER /l1_rtps_reader_test1_vrk/uut/rd_user
add wave -noupdate -expand -group USER -radix hexadecimal /l1_rtps_reader_test1_vrk/uut/data_in_user
add wave -noupdate -expand -group USER /l1_rtps_reader_test1_vrk/uut/last_word_in_user
add wave -noupdate -divider OUTPUT
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/full_rtps
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/wr_rtps
add wave -noupdate -radix hexadecimal /l1_rtps_reader_test1_vrk/uut/data_out_rtps
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/last_word_out_rtps
add wave -noupdate /l1_rtps_reader_test1_vrk/rtps_out_inst/wr
add wave -noupdate -radix hexadecimal /l1_rtps_reader_test1_vrk/rtps_out_inst/data_out
add wave -noupdate -divider {MAIN FSM}
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/stage
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/stage_next
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/cnt
add wave -noupdate -divider {MEMORY FSM}
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/mem_op_done
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/mem_op_start
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/mem_opcode
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/mem_stage
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/mem_stage_next
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/mem_cnt
add wave -noupdate /l1_rtps_reader_test1_vrk/uut/mem_pos
add wave -noupdate -radix unsigned /l1_rtps_reader_test1_vrk/uut/mem_addr_base
add wave -noupdate -childformat {{/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.guid -radix hexadecimal} {/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.addr -radix hexadecimal} {/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.portn -radix hexadecimal} {/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.next_seq_nr -radix unsigned -childformat {{/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.next_seq_nr(0) -radix unsigned} {/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.next_seq_nr(1) -radix unsigned}}} {/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.lease_deadline -radix hexadecimal} {/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.res_time -radix unsigned}} -expand -subitemconfig {/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.guid {-height 15 -radix hexadecimal} /l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.addr {-height 15 -radix hexadecimal} /l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.portn {-height 15 -radix hexadecimal} /l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.next_seq_nr {-height 15 -radix unsigned -childformat {{/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.next_seq_nr(0) -radix unsigned} {/l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.next_seq_nr(1) -radix unsigned}}} /l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.next_seq_nr(0) {-height 15 -radix unsigned} /l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.next_seq_nr(1) {-height 15 -radix unsigned} /l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.lease_deadline {-height 15 -radix hexadecimal} /l1_rtps_reader_test1_vrk/uut/mem_endpoint_data.res_time {-height 15 -radix unsigned}} /l1_rtps_reader_test1_vrk/uut/mem_endpoint_data
add wave -noupdate -group MEM_CTRL -radix unsigned /l1_rtps_reader_test1_vrk/uut/mem_addr
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_vrk/uut/mem_valid_in
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_vrk/uut/mem_ready_in
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_vrk/uut/mem_read
add wave -noupdate -group MEM_CTRL -radix hexadecimal /l1_rtps_reader_test1_vrk/uut/mem_write_data
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_vrk/uut/abort_read
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_vrk/uut/mem_valid_out
add wave -noupdate -group MEM_CTRL /l1_rtps_reader_test1_vrk/uut/mem_ready_out
add wave -noupdate -group MEM_CTRL -radix hexadecimal /l1_rtps_reader_test1_vrk/uut/mem_read_data
add wave -noupdate -divider TESTBENCH
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_vrk/start_meta
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_vrk/packet_sent_meta
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_vrk/start_user
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_vrk/packet_sent_user
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_vrk/out_check_done
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_vrk/stim_done
add wave -noupdate -group TESTBENCH /l1_rtps_reader_test1_vrk/test_done
TreeUpdate [SetDefaultTree]
WaveRestoreCursors {Begin {49575000 ps} 1} {Error {16625000 ps} 1} {Cursor {10946042 ps} 0}
quietly wave cursor active 3
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 {10562200 ps} {11586200 ps}

729
src/Tests/Level_1/L1_rtps_reader_test1_trk.vhd Normal file
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@ -0,0 +1,729 @@
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
library osvvm; -- Utility Library
context osvvm.OsvvmContext;
use work.rtps_package.all;
use work.user_config.all;
use work.rtps_config_package.all;
use work.rtps_test_package.all;
-- This testbench tests the output handling (ACKNACK) of the RTPS Reader
-- This test is a Level 1 Test (Meaning the input/output is not connected directly to the uut) in order to have output in the same format as the input of the system and allow us to compare using existing data generators.
-- The testflow is as follows (Heartbeat Suppression and Response delay are configured to 5s):
-- * 0s
-- - Match Remote Endpoints 0,1,2
-- - Send HEARTBEAT 0 from Endpoint 0 (Empty, Final Flag) [Test Final Flag Handling]
-- * 1s
-- - Send HEARTBEAT 1 from Endpoint 1 (Empty) [Test Empty HEARTBEAT Response]
-- * 2s
-- - Send HEARTBEAT 2 from Endpoint 2 (First SN 1, Last SN 5, Final Flag) [Test normal HEARTBEAT Handling, Test Durability Behaviour]
-- * 5s
-- - No HEARTBEAT 0 Response
-- - Send HEARTBEAT 3 from Endpoint 0 (First SN 1, Last SN 1, Final Flag) [Test normal HEARTBEAT Handling]
-- * 6s
-- - HEARTBEAT 1 Response
-- * 7s
-- - HEARTBEAT 2 Response
-- * 8s
-- - Send HEARTBEAT 4 from Endpoint 1 (First SN 2, Last SN 2, Final Flag) [Test HEARTBEAT Suppression Delay]
-- * 9s
-- - Send HEARTBEAT 5 from Endpoint 0 (First SN 3, Last SN 4, Final Flag) [Test HEARTBEAT Response Delay]
-- * 10s
-- - HEARTBEAT 3/5 Response
-- * 13s
-- - No HEARTBEAT 4 Response
-- - Send HEARTBEAT 6 from Endpoint 2 (First SN 6, Last SN 10, Final Flag) [Test HEARTBEAT SN Obsoletion]
-- * 17s
-- - HEARTBEAT 6 Response
entity L1_rtps_reader_test1_trk is
end entity;
architecture testbench of L1_rtps_reader_test1_trk is
-- *CONSTANT DECLARATION*
constant MAX_REMOTE_ENDPOINTS : natural := 3;
-- *TYPE DECLARATION*
type SEND_STAGE_TYPE is (IDLE, BUSY);
-- *SIGNAL DECLARATION*
signal clk, empty_user, empty_meta, rd_user, rd_meta, last_word_in_user, last_word_in_meta : std_logic := '0';
signal reset : std_logic := '1';
signal data_in_user, data_in_meta, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
signal wr_sig, full : std_logic := '0';
signal stim_stage_user, stim_stage_meta : SEND_STAGE_TYPE := IDLE;
shared variable stimulus_user, stimulus_meta, reference : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
signal packet_sent_user, packet_sent_meta : std_logic := '0';
signal cnt_stim_meta, cnt_stim_user, count : natural := 0;
signal start_meta, start_user : std_logic := '0';
shared variable SB_out : osvvm.ScoreBoardPkg_slv.ScoreBoardPType;
signal stim_done, out_check_done, test_done : std_logic := '0';
signal test_time : TIME_TYPE := TIME_ZERO;
signal fifo_in, fifo_out : std_logic_vector(WORD_WIDTH downto 0) := (others => '0');
signal fifo_wr, fifo_empty, fifo_full : std_logic := '0';
signal rtps_out_data : RTPS_OUT_DATA_TYPE := (others => (others => '0'));
signal rtps_out_rd, rtps_out_last_word_in, rtps_out_empty : std_logic_vector(0 to NUM_ENDPOINTS) := (others => '0');
-- *FUNCTION DECLARATION*
function gen_sn(input : natural) return SEQUENCENUMBER_TYPE is
variable ret : SEQUENCENUMBER_TYPE;
begin
ret(0) := (others => '0');
ret(1) := unsigned(int(input, WORD_WIDTH));
return ret;
end function;
begin
-- Unit Under Test
uut : entity work.rtps_reader(arch)
generic map (
ENTITYID => DEFAULT_READER_ENTITYID,
RELIABILTY_QOS => RELIABLE_RELIABILITY_QOS,
LIVELINESS_QOS => AUTOMATIC_LIVELINESS_QOS,
DURABILITY_QOS => TRANSIENT_LOCAL_DURABILITY_QOS,
HEARTBEAT_RESPONSE_DELAY => gen_duration(5,0),
HEARTBEAT_SUPPRESSION_DELAY => gen_duration(5,0),
LEASE_DURATION => DURATION_INFINITE,
WITH_KEY => TRUE,
MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS
)
port map (
-- SYSTEM
clk => clk,
reset => reset,
time => test_time,
empty_user => empty_user or packet_sent_user,
rd_user => rd_user,
data_in_user => data_in_user,
last_word_in_user => last_word_in_user,
empty_meta => empty_meta or packet_sent_meta,
rd_meta => rd_meta,
data_in_meta => data_in_meta,
last_word_in_meta => last_word_in_meta,
wr_rtps => fifo_wr,
full_rtps => fifo_full,
last_word_out_rtps => fifo_in(WORD_WIDTH),
data_out_rtps => fifo_in(WORD_WIDTH-1 downto 0),
start_hc => open,
opcode_hc => open,
ack_hc => '1',
done_hc => '1',
ret_hc => OK,
data_out_hc => open,
valid_out_hc => open,
ready_out_hc => '1',
last_word_out_hc => open
);
fifo_inst : entity work.FWFT_FIFO(arch)
generic map (
FIFO_DEPTH => 2,
DATA_WIDTH => WORD_WIDTH+1
)
port map
(
reset => reset,
clk => clk,
data_in => fifo_in,
write => fifo_wr,
read => rtps_out_rd(0),
data_out => fifo_out,
empty => fifo_empty,
full => fifo_full,
free => open
);
rtps_out_data <= (0 => fifo_out(WORD_WIDTH-1 downto 0), others => (others => '0'));
rtps_out_last_word_in <= (0 => fifo_out(WORD_WIDTH), others => '0');
rtps_out_empty <= (0 => fifo_empty, others => '1');
rtps_out_inst : entity work.rtps_out(arch)
port map (
clk => clk,
reset => reset,
data_in => rtps_out_data,
last_word_in=> rtps_out_last_word_in,
rd => rtps_out_rd,
empty => rtps_out_empty,
data_out => data_out,
wr => wr_sig,
full => full
);
stimulus_prc : process
variable RV : RandomPType;
variable e0, e1, e2, endpoint : ENDPOINT_DATA_TYPE := DEFAULT_ENDPOINT_DATA;
variable sub : RTPS_SUBMESSAGE_TYPE := DEFAULT_RTPS_SUBMESSAGE;
variable cc : CACHE_CHANGE_TYPE := DEFAULT_CACHE_CHANGE;
variable OUT_HEADER : OUTPUT_HEADER_TYPE := DEFAULT_OUTPUT_HEADER;
variable rtps_header : RTPS_HEADER_TYPE := DEFAULT_RTPS_HEADER;
alias idle_sig is <<signal uut.idle_sig : std_logic>>;
alias mem_op_done is <<signal uut.mem_op_done : std_logic>>;
-- Wrapper to use procedure as function
impure function gen_rand_loc_2 return LOCATOR_TYPE is
variable ret : LOCATOR_TYPE := EMPTY_LOCATOR;
begin
gen_rand_loc(RV, ret);
return ret;
end function;
impure function gen_rand_entityid_2(reader : boolean) return std_logic_vector is
variable ret : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (others => '0');
begin
gen_rand_entityid(RV, reader, ret);
return ret;
end function;
impure function gen_rand_guid_prefix return GUIDPREFIX_TYPE is
variable ret : GUIDPREFIX_TYPE;
begin
ret := (0 => RV.RandSlv(WORD_WIDTH), 1 => RV.RandSlv(WORD_WIDTH), 2 => RV.RandSlv(WORD_WIDTH));
return ret;
end function;
procedure start_meta_test is
begin
start_meta <= '1';
wait until rising_edge(clk);
start_meta <= '0';
wait until rising_edge(clk);
end procedure;
procedure start_user_test is
begin
start_user <= '1';
wait until rising_edge(clk);
start_user <= '0';
wait until rising_edge(clk);
end procedure;
procedure push_reference is
begin
for i in 0 to reference.length-1 loop
SB_out.Push(reference.data(i));
end loop;
end procedure;
procedure wait_on_meta_sent is
begin
wait until rising_edge(packet_sent_meta);
end procedure;
procedure wait_on_user_sent is
begin
wait until rising_edge(packet_sent_user);
end procedure;
procedure wait_on_out_check is
begin
if (out_check_done /= '1') then
wait until out_check_done = '1';
end if;
end procedure;
procedure wait_on_completion is
begin
if (test_done /= '1') then
wait until test_done = '1';
end if;
end procedure;
procedure wait_on_idle is
begin
if (idle_sig /= '1' or mem_op_done /= '1') then
wait until idle_sig = '1' and mem_op_done = '1';
end if;
end procedure;
begin
SetAlertLogName("rtps_reader (Transient Local, Reliable, Keyed) - Level 1 - RTPS Output");
SetAlertEnable(FAILURE, TRUE);
SetAlertEnable(ERROR, TRUE);
SetAlertEnable(WARNING, TRUE);
SetLogEnable(DEBUG, FALSE);
SetLogEnable(PASSED, FALSE);
SetLogEnable(INFO, TRUE);
RV.InitSeed(RV'instance_name);
-- Endpoint 1
e0 := DEFAULT_ENDPOINT_DATA;
e0.nr := 0;
e0.match := MATCH;
e0.entityid := RV.RandSlv(ENTITYID_WIDTH);
e0.participant.guidPrefix := gen_rand_guid_prefix;
e0.unicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR));
-- Endpoint 2
e1 := DEFAULT_ENDPOINT_DATA;
e1.nr := 1;
e1.match := MATCH;
e1.entityid := RV.RandSlv(ENTITYID_WIDTH);
e1.participant.guidPrefix := gen_rand_guid_prefix;
e1.unicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR));
-- Endpoint 3
e2 := DEFAULT_ENDPOINT_DATA;
e2.nr := 2;
e2.match := MATCH;
e2.entityid := RV.RandSlv(ENTITYID_WIDTH);
e2.participant.guidPrefix := gen_rand_guid_prefix;
e2.unicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR));
Log("Initiating Test", INFO);
Log("Current Time: 0s", INFO);
count <= 1;
stim_done <= '0';
start_meta <= '0';
start_user <= '0';
reset <= '1';
wait until rising_edge(clk);
wait until rising_edge(clk);
reset <= '0';
Log("Insert Endpoint 0,1,2", INFO);
gen_endpoint_match_frame(e0, stimulus_meta);
gen_endpoint_match_frame(e1, stimulus_meta);
gen_endpoint_match_frame(e2, stimulus_meta);
start_meta_test;
wait_on_meta_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
Log("Endpoint 0 Heartbeat [First 1, Last 0, Final Flag] (No Response)", INFO);
endpoint := e0;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(1);
sub.lastSN := gen_sn(0);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 1s", INFO);
test_time <= gen_duration(1,0);
wait until rising_edge(clk);
Log("Endpoint 1 Heartbeat [First 1, Last 0] (ACKNACK Response)", INFO);
endpoint := e1;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(1);
sub.lastSN := gen_sn(0);
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 2s", INFO);
test_time <= gen_duration(2,0);
wait until rising_edge(clk);
Log("Endpoint 2 Heartbeat [First 1, Last 5, Final Flag] (ACKNACK Response)", INFO);
endpoint := e2;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(1);
sub.lastSN := gen_sn(5);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 5s", INFO);
test_time <= gen_duration(5,0);
wait until rising_edge(clk);
Log("Endpoint 0 Heartbeat [First 1, Last 1, Final Flag] (ACKNACK Response)", INFO);
endpoint := e0;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(1);
sub.lastSN := gen_sn(1);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 6s", INFO);
test_time <= gen_duration(6,0);
wait until rising_edge(clk);
Log("Check Endpoint 1 ACKNACK Response", INFO);
endpoint := e1;
-- OUTPUT HEADER
OUT_HEADER := DEFAULT_OUTPUT_HEADER;
OUT_HEADER := (dest => get_loc(endpoint), src => DEST_LOC.user.locator(1));
gen_output_header(OUT_HEADER, reference);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, reference);
-- ACKNACK
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_ACKNACK;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.count := std_logic_vector(to_unsigned(count, CDR_LONG_WIDTH));
sub.readerSNState := (base => gen_sn(1), numBits => int(32, CDR_LONG_WIDTH), bitmap => (0 to 31 => '1', others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_submessage(sub, reference);
fix_output_packet(reference);
push_reference;
wait until rising_edge(clk); -- Prevent Fall through (Allow out_check_done to go low)
wait_on_out_check;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
count <= count + 1;
wait_on_idle;
Log("Current Time: 7s", INFO);
test_time <= gen_duration(7,0);
wait until rising_edge(clk);
Log("Check Endpoint 2 ACKNACK Response", INFO);
endpoint := e2;
-- OUTPUT HEADER
OUT_HEADER := DEFAULT_OUTPUT_HEADER;
OUT_HEADER := (dest => get_loc(endpoint), src => DEST_LOC.user.locator(1));
gen_output_header(OUT_HEADER, reference);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, reference);
-- ACKNACK
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_ACKNACK;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.count := std_logic_vector(to_unsigned(count, CDR_LONG_WIDTH));
sub.readerSNState := (base => gen_sn(1), numBits => int(32, CDR_LONG_WIDTH), bitmap => (0 to 31 => '1', others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_submessage(sub, reference);
fix_output_packet(reference);
push_reference;
wait until rising_edge(clk); -- Prevent Fall through (Allow out_check_done to go low)
wait_on_out_check;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
count <= count + 1;
wait_on_idle;
Log("Current Time: 8s", INFO);
test_time <= gen_duration(8,0);
wait until rising_edge(clk);
Log("Endpoint 1 Heartbeat [First 2, Last 2, Final Flag] (No Response, Suppression Delay)", INFO);
endpoint := e1;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(2);
sub.lastSN := gen_sn(2);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 9s", INFO);
test_time <= gen_duration(9,0);
wait until rising_edge(clk);
Log("Endpoint 0 Heartbeat [First 3, Last 4, Final Flag] (Update expected Response)", INFO);
endpoint := e0;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(3);
sub.lastSN := gen_sn(4);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 10s", INFO);
test_time <= gen_duration(10,0);
wait until rising_edge(clk);
Log("Check Endpoint 0 ACKNACK Response", INFO);
endpoint := e0;
-- OUTPUT HEADER
OUT_HEADER := DEFAULT_OUTPUT_HEADER;
OUT_HEADER := (dest => get_loc(endpoint), src => DEST_LOC.user.locator(1));
gen_output_header(OUT_HEADER, reference);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, reference);
-- ACKNACK
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_ACKNACK;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.count := std_logic_vector(to_unsigned(count, CDR_LONG_WIDTH));
sub.readerSNState := (base => gen_sn(3), numBits => int(32, CDR_LONG_WIDTH), bitmap => (0 to 31 => '1', others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_submessage(sub, reference);
fix_output_packet(reference);
push_reference;
wait until rising_edge(clk); -- Prevent Fall through (Allow out_check_done to go low)
wait_on_out_check;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
count <= count + 1;
wait_on_idle;
Log("Current Time: 12s", INFO);
test_time <= gen_duration(12,0);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_idle;
Log("Current Time: 13s", INFO);
test_time <= gen_duration(13,0);
wait until rising_edge(clk);
Log("Endpoint 2 Heartbeat [First 6, Last 10, Final Flag] (Response expected)", INFO);
endpoint := e2;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(6);
sub.lastSN := gen_sn(10);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 17s", INFO);
test_time <= gen_duration(18,0);
wait until rising_edge(clk);
Log("Check Endpoint 2 ACKNACK Response", INFO);
endpoint := e2;
-- OUTPUT HEADER
OUT_HEADER := DEFAULT_OUTPUT_HEADER;
OUT_HEADER := (dest => get_loc(endpoint), src => DEST_LOC.user.locator(1));
gen_output_header(OUT_HEADER, reference);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, reference);
-- ACKNACK
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_ACKNACK;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.count := std_logic_vector(to_unsigned(count, CDR_LONG_WIDTH));
sub.readerSNState := (base => gen_sn(6), numBits => int(32, CDR_LONG_WIDTH), bitmap => (0 to 31 => '1', others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_submessage(sub, reference);
fix_output_packet(reference);
push_reference;
wait_on_out_check;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
count <= count + 1;
stim_done <= '1';
wait_on_completion;
TranscriptOpen(RESULTS_FILE, APPEND_MODE);
SetTranscriptMirror;
ReportAlerts;
TranscriptClose;
std.env.stop;
wait;
end process;
clock_prc : process
begin
clk <= '0';
wait for 25 ns;
clk <= '1';
wait for 25 ns;
end process;
empty_meta_prc : process
begin
empty_meta <= '0';
wait until rd_meta = '1';
wait until rising_edge(clk);
empty_meta <= '1';
wait until rising_edge(clk);
end process;
empty_user_prc : process
begin
empty_user <= '0';
wait until rd_user = '1';
wait until rising_edge(clk);
empty_user <= '1';
wait until rising_edge(clk);
end process;
rtps_full_prc : process
begin
full <= '0';
wait until wr_sig = '1';
wait until rising_edge(clk);
full <= '1';
wait until rising_edge(clk);
end process;
alert_prc : process(all)
begin
if rising_edge(clk) then
alertif(empty_meta = '1' and rd_meta = '1', "Input FIFO read signal high while empty signal high (meta)", ERROR);
alertif(empty_user = '1' and rd_user = '1', "Input FIFO read signal high while empty signal high (user)", ERROR);
alertif(full = '1' and wr_sig = '1', "Output FIFO write signal high while full signal high", ERROR);
end if;
end process;
input_meta_prc : process(all)
begin
data_in_meta <= stimulus_meta.data(cnt_stim_meta);
last_word_in_meta <= stimulus_meta.last(cnt_stim_meta);
if rising_edge(clk) then
if (reset = '1') then
cnt_stim_meta <= 0;
stim_stage_meta <= IDLE;
packet_sent_meta <= '1';
else
case (stim_stage_meta) is
when IDLE =>
if (start_meta = '1' and stimulus_meta.length /= 0) then
stim_stage_meta <= BUSY;
packet_sent_meta <= '0';
end if;
when BUSY =>
if (rd_meta = '1') then
if (cnt_stim_meta = stimulus_meta.length-1) then
stim_stage_meta <= IDLE;
packet_sent_meta <= '1';
cnt_stim_meta <= 0;
else
cnt_stim_meta <= cnt_stim_meta + 1;
end if;
end if;
end case;
end if;
end if;
end process;
input_user_prc : process(all)
begin
data_in_user <= stimulus_user.data(cnt_stim_user);
last_word_in_user <= stimulus_user.last(cnt_stim_user);
if rising_edge(clk) then
if (reset = '1') then
cnt_stim_user <= 0;
stim_stage_user <= IDLE;
packet_sent_user <= '1';
else
case (stim_stage_user) is
when IDLE =>
if (start_user = '1' and stimulus_user.length /= 0) then
stim_stage_user <= BUSY;
packet_sent_user <= '0';
end if;
when BUSY =>
if (rd_user = '1') then
if (cnt_stim_user = stimulus_user.length-1) then
stim_stage_user <= IDLE;
packet_sent_user <= '1';
cnt_stim_user <= 0;
else
cnt_stim_user <= cnt_stim_user + 1;
end if;
end if;
end case;
end if;
end if;
end process;
done_proc : process(clk)
begin
if rising_edge(clk) then
if (stim_done = '1' and SB_out.empty) then
test_done <= '1';
else
test_done <= '0';
end if;
end if;
end process;
output_check_prc : process(all)
begin
if rising_edge(clk) then
if (wr_sig = '1') then
SB_out.Check(data_out);
end if;
if (SB_out.empty) then
out_check_done <= '1';
else
out_check_done <= '0';
end if;
end if;
end process;
watchdog : process
begin
wait for 1 ms;
Alert("Test timeout", FAILURE);
std.env.stop;
end process;
end architecture;

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src/Tests/Level_1/L1_rtps_reader_test1_vrk.vhd Normal file
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library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
library osvvm; -- Utility Library
context osvvm.OsvvmContext;
use work.rtps_package.all;
use work.user_config.all;
use work.rtps_config_package.all;
use work.rtps_test_package.all;
-- This testbench tests the output handling (ACKNACK) of the RTPS Reader
-- This test is a Level 1 Test (Meaning the input/output is not connected directly to the uut) in order to have output in the same format as the input of the system and allow us to compare using existing data generators.
-- The testflow is as follows (Heartbeat Suppression and Response delay are configured to 5s):
-- * 0s
-- - Match Remote Endpoints 0,1,2
-- - Send HEARTBEAT 0 from Endpoint 0 (Empty, Final Flag) [Test Final Flag Handling]
-- * 1s
-- - Send HEARTBEAT 1 from Endpoint 1 (Empty) [Test Empty HEARTBEAT Response]
-- * 2s
-- - Send HEARTBEAT 2 from Endpoint 2 (First SN 1, Last SN 5, Final Flag) [Test normal HEARTBEAT Handling, Test Durability Behaviour]
-- * 5s
-- - No HEARTBEAT 0 Response
-- - Send HEARTBEAT 3 from Endpoint 0 (First SN 1, Last SN 1, Final Flag) [Test normal HEARTBEAT Handling]
-- * 6s
-- - HEARTBEAT 1 Response
-- * 7s
-- - HEARTBEAT 2 Response
-- * 8s
-- - Send HEARTBEAT 4 from Endpoint 1 (First SN 2, Last SN 2, Final Flag) [Test HEARTBEAT Suppression Delay]
-- * 9s
-- - Send HEARTBEAT 5 from Endpoint 0 (First SN 3, Last SN 4, Final Flag) [Test HEARTBEAT Response Delay]
-- * 10s
-- - HEARTBEAT 3/5 Response
-- * 13s
-- - No HEARTBEAT 4 Response
-- - Send HEARTBEAT 6 from Endpoint 2 (First SN 6, Last SN 10, Final Flag) [Test HEARTBEAT SN Obsoletion]
-- * 17s
-- - HEARTBEAT 6 Response
entity L1_rtps_reader_test1_vrk is
end entity;
architecture testbench of L1_rtps_reader_test1_vrk is
-- *CONSTANT DECLARATION*
constant MAX_REMOTE_ENDPOINTS : natural := 3;
-- *TYPE DECLARATION*
type SEND_STAGE_TYPE is (IDLE, BUSY);
-- *SIGNAL DECLARATION*
signal clk, empty_user, empty_meta, rd_user, rd_meta, last_word_in_user, last_word_in_meta : std_logic := '0';
signal reset : std_logic := '1';
signal data_in_user, data_in_meta, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
signal wr_sig, full : std_logic := '0';
signal stim_stage_user, stim_stage_meta : SEND_STAGE_TYPE := IDLE;
shared variable stimulus_user, stimulus_meta, reference : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
signal packet_sent_user, packet_sent_meta : std_logic := '0';
signal cnt_stim_meta, cnt_stim_user, count : natural := 0;
signal start_meta, start_user : std_logic := '0';
shared variable SB_out : osvvm.ScoreBoardPkg_slv.ScoreBoardPType;
signal stim_done, out_check_done, test_done : std_logic := '0';
signal test_time : TIME_TYPE := TIME_ZERO;
signal fifo_in, fifo_out : std_logic_vector(WORD_WIDTH downto 0) := (others => '0');
signal fifo_wr, fifo_empty, fifo_full : std_logic := '0';
signal rtps_out_data : RTPS_OUT_DATA_TYPE := (others => (others => '0'));
signal rtps_out_rd, rtps_out_last_word_in, rtps_out_empty : std_logic_vector(0 to NUM_ENDPOINTS) := (others => '0');
-- *FUNCTION DECLARATION*
function gen_sn(input : natural) return SEQUENCENUMBER_TYPE is
variable ret : SEQUENCENUMBER_TYPE;
begin
ret(0) := (others => '0');
ret(1) := unsigned(int(input, WORD_WIDTH));
return ret;
end function;
begin
-- Unit Under Test
uut : entity work.rtps_reader(arch)
generic map (
ENTITYID => DEFAULT_READER_ENTITYID,
RELIABILTY_QOS => RELIABLE_RELIABILITY_QOS,
LIVELINESS_QOS => AUTOMATIC_LIVELINESS_QOS,
DURABILITY_QOS => VOLATILE_DURABILITY_QOS,
HEARTBEAT_RESPONSE_DELAY => gen_duration(5,0),
HEARTBEAT_SUPPRESSION_DELAY => gen_duration(5,0),
LEASE_DURATION => DURATION_INFINITE,
WITH_KEY => TRUE,
MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS
)
port map (
-- SYSTEM
clk => clk,
reset => reset,
time => test_time,
empty_user => empty_user or packet_sent_user,
rd_user => rd_user,
data_in_user => data_in_user,
last_word_in_user => last_word_in_user,
empty_meta => empty_meta or packet_sent_meta,
rd_meta => rd_meta,
data_in_meta => data_in_meta,
last_word_in_meta => last_word_in_meta,
wr_rtps => fifo_wr,
full_rtps => fifo_full,
last_word_out_rtps => fifo_in(WORD_WIDTH),
data_out_rtps => fifo_in(WORD_WIDTH-1 downto 0),
start_hc => open,
opcode_hc => open,
ack_hc => '1',
done_hc => '1',
ret_hc => OK,
data_out_hc => open,
valid_out_hc => open,
ready_out_hc => '1',
last_word_out_hc => open
);
fifo_inst : entity work.FWFT_FIFO(arch)
generic map (
FIFO_DEPTH => 2,
DATA_WIDTH => WORD_WIDTH+1
)
port map
(
reset => reset,
clk => clk,
data_in => fifo_in,
write => fifo_wr,
read => rtps_out_rd(0),
data_out => fifo_out,
empty => fifo_empty,
full => fifo_full,
free => open
);
rtps_out_data <= (0 => fifo_out(WORD_WIDTH-1 downto 0), others => (others => '0'));
rtps_out_last_word_in <= (0 => fifo_out(WORD_WIDTH), others => '0');
rtps_out_empty <= (0 => fifo_empty, others => '1');
rtps_out_inst : entity work.rtps_out(arch)
port map (
clk => clk,
reset => reset,
data_in => rtps_out_data,
last_word_in=> rtps_out_last_word_in,
rd => rtps_out_rd,
empty => rtps_out_empty,
data_out => data_out,
wr => wr_sig,
full => full
);
stimulus_prc : process
variable RV : RandomPType;
variable e0, e1, e2, endpoint : ENDPOINT_DATA_TYPE := DEFAULT_ENDPOINT_DATA;
variable sub : RTPS_SUBMESSAGE_TYPE := DEFAULT_RTPS_SUBMESSAGE;
variable cc : CACHE_CHANGE_TYPE := DEFAULT_CACHE_CHANGE;
variable OUT_HEADER : OUTPUT_HEADER_TYPE := DEFAULT_OUTPUT_HEADER;
variable rtps_header : RTPS_HEADER_TYPE := DEFAULT_RTPS_HEADER;
alias idle_sig is <<signal uut.idle_sig : std_logic>>;
alias mem_op_done is <<signal uut.mem_op_done : std_logic>>;
-- Wrapper to use procedure as function
impure function gen_rand_loc_2 return LOCATOR_TYPE is
variable ret : LOCATOR_TYPE := EMPTY_LOCATOR;
begin
gen_rand_loc(RV, ret);
return ret;
end function;
impure function gen_rand_entityid_2(reader : boolean) return std_logic_vector is
variable ret : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (others => '0');
begin
gen_rand_entityid(RV, reader, ret);
return ret;
end function;
impure function gen_rand_guid_prefix return GUIDPREFIX_TYPE is
variable ret : GUIDPREFIX_TYPE;
begin
ret := (0 => RV.RandSlv(WORD_WIDTH), 1 => RV.RandSlv(WORD_WIDTH), 2 => RV.RandSlv(WORD_WIDTH));
return ret;
end function;
procedure start_meta_test is
begin
start_meta <= '1';
wait until rising_edge(clk);
start_meta <= '0';
wait until rising_edge(clk);
end procedure;
procedure start_user_test is
begin
start_user <= '1';
wait until rising_edge(clk);
start_user <= '0';
wait until rising_edge(clk);
end procedure;
procedure push_reference is
begin
for i in 0 to reference.length-1 loop
SB_out.Push(reference.data(i));
end loop;
end procedure;
procedure wait_on_meta_sent is
begin
wait until rising_edge(packet_sent_meta);
end procedure;
procedure wait_on_user_sent is
begin
wait until rising_edge(packet_sent_user);
end procedure;
procedure wait_on_out_check is
begin
if (out_check_done /= '1') then
wait until out_check_done = '1';
end if;
end procedure;
procedure wait_on_completion is
begin
if (test_done /= '1') then
wait until test_done = '1';
end if;
end procedure;
procedure wait_on_idle is
begin
if (idle_sig /= '1' or mem_op_done /= '1') then
wait until idle_sig = '1' and mem_op_done = '1';
end if;
end procedure;
begin
SetAlertLogName("rtps_reader (Volatile, Reliable, Keyed) - Level 1 - RTPS Output");
SetAlertEnable(FAILURE, TRUE);
SetAlertEnable(ERROR, TRUE);
SetAlertEnable(WARNING, TRUE);
SetLogEnable(DEBUG, FALSE);
SetLogEnable(PASSED, FALSE);
SetLogEnable(INFO, TRUE);
RV.InitSeed(RV'instance_name);
-- Endpoint 1
e0 := DEFAULT_ENDPOINT_DATA;
e0.nr := 0;
e0.match := MATCH;
e0.entityid := RV.RandSlv(ENTITYID_WIDTH);
e0.participant.guidPrefix := gen_rand_guid_prefix;
e0.unicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR));
-- Endpoint 2
e1 := DEFAULT_ENDPOINT_DATA;
e1.nr := 1;
e1.match := MATCH;
e1.entityid := RV.RandSlv(ENTITYID_WIDTH);
e1.participant.guidPrefix := gen_rand_guid_prefix;
e1.unicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR));
-- Endpoint 3
e2 := DEFAULT_ENDPOINT_DATA;
e2.nr := 2;
e2.match := MATCH;
e2.entityid := RV.RandSlv(ENTITYID_WIDTH);
e2.participant.guidPrefix := gen_rand_guid_prefix;
e2.unicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR));
Log("Initiating Test", INFO);
Log("Current Time: 0s", INFO);
count <= 1;
stim_done <= '0';
start_meta <= '0';
start_user <= '0';
reset <= '1';
wait until rising_edge(clk);
wait until rising_edge(clk);
reset <= '0';
Log("Insert Endpoint 0,1,2", INFO);
gen_endpoint_match_frame(e0, stimulus_meta);
gen_endpoint_match_frame(e1, stimulus_meta);
gen_endpoint_match_frame(e2, stimulus_meta);
start_meta_test;
wait_on_meta_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
Log("Endpoint 0 Heartbeat [First 1, Last 0, Final Flag] (No Response)", INFO);
endpoint := e0;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(1);
sub.lastSN := gen_sn(0);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 1s", INFO);
test_time <= gen_duration(1,0);
wait until rising_edge(clk);
Log("Endpoint 1 Heartbeat [First 1, Last 0] (ACKNACK Response)", INFO);
endpoint := e1;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(1);
sub.lastSN := gen_sn(0);
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 2s", INFO);
test_time <= gen_duration(2,0);
wait until rising_edge(clk);
Log("Endpoint 2 Heartbeat [First 1, Last 5, Final Flag] (ACKNACK Response)", INFO);
endpoint := e2;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(1);
sub.lastSN := gen_sn(5);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 5s", INFO);
test_time <= gen_duration(5,0);
wait until rising_edge(clk);
Log("Endpoint 0 Heartbeat [First 1, Last 1, Final Flag] (ACKNACK Response)", INFO);
endpoint := e0;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(1);
sub.lastSN := gen_sn(1);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 6s", INFO);
test_time <= gen_duration(6,0);
wait until rising_edge(clk);
Log("Check Endpoint 1 ACKNACK Response", INFO);
endpoint := e1;
-- OUTPUT HEADER
OUT_HEADER := DEFAULT_OUTPUT_HEADER;
OUT_HEADER := (dest => get_loc(endpoint), src => DEST_LOC.user.locator(1));
gen_output_header(OUT_HEADER, reference);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, reference);
-- ACKNACK
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_ACKNACK;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.count := std_logic_vector(to_unsigned(count, CDR_LONG_WIDTH));
sub.readerSNState := (base => gen_sn(1), numBits => int(32, CDR_LONG_WIDTH), bitmap => (0 to 31 => '1', others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_submessage(sub, reference);
fix_output_packet(reference);
push_reference;
wait until rising_edge(clk); -- Prevent Fall through (Allow out_check_done to go low)
wait_on_out_check;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
count <= count + 1;
wait_on_idle;
Log("Current Time: 7s", INFO);
test_time <= gen_duration(7,0);
wait until rising_edge(clk);
Log("Check Endpoint 2 ACKNACK Response", INFO);
endpoint := e2;
-- OUTPUT HEADER
OUT_HEADER := DEFAULT_OUTPUT_HEADER;
OUT_HEADER := (dest => get_loc(endpoint), src => DEST_LOC.user.locator(1));
gen_output_header(OUT_HEADER, reference);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, reference);
-- ACKNACK
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_ACKNACK;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.count := std_logic_vector(to_unsigned(count, CDR_LONG_WIDTH));
sub.readerSNState := (base => gen_sn(5), numBits => int(32, CDR_LONG_WIDTH), bitmap => (0 to 31 => '1', others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_submessage(sub, reference);
fix_output_packet(reference);
push_reference;
wait until rising_edge(clk); -- Prevent Fall through (Allow out_check_done to go low)
wait_on_out_check;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
count <= count + 1;
wait_on_idle;
Log("Current Time: 8s", INFO);
test_time <= gen_duration(8,0);
wait until rising_edge(clk);
Log("Endpoint 1 Heartbeat [First 2, Last 2, Final Flag] (No Response, Suppression Delay)", INFO);
endpoint := e1;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(2);
sub.lastSN := gen_sn(2);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 9s", INFO);
test_time <= gen_duration(9,0);
wait until rising_edge(clk);
Log("Endpoint 0 Heartbeat [First 3, Last 4, Final Flag] (Update expected Response)", INFO);
endpoint := e0;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(3);
sub.lastSN := gen_sn(4);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 10s", INFO);
test_time <= gen_duration(10,0);
wait until rising_edge(clk);
Log("Check Endpoint 0 ACKNACK Response", INFO);
endpoint := e0;
-- OUTPUT HEADER
OUT_HEADER := DEFAULT_OUTPUT_HEADER;
OUT_HEADER := (dest => get_loc(endpoint), src => DEST_LOC.user.locator(1));
gen_output_header(OUT_HEADER, reference);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, reference);
-- ACKNACK
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_ACKNACK;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.count := std_logic_vector(to_unsigned(count, CDR_LONG_WIDTH));
sub.readerSNState := (base => gen_sn(3), numBits => int(32, CDR_LONG_WIDTH), bitmap => (0 to 31 => '1', others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_submessage(sub, reference);
fix_output_packet(reference);
push_reference;
wait until rising_edge(clk); -- Prevent Fall through (Allow out_check_done to go low)
wait_on_out_check;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
count <= count + 1;
wait_on_idle;
Log("Current Time: 12s", INFO);
test_time <= gen_duration(12,0);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_idle;
Log("Current Time: 13s", INFO);
test_time <= gen_duration(13,0);
wait until rising_edge(clk);
Log("Endpoint 2 Heartbeat [First 6, Last 10, Final Flag] (Response expected)", INFO);
endpoint := e2;
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_HEARTBEAT;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.firstSN := gen_sn(6);
sub.lastSN := gen_sn(10);
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user);
start_user_test;
wait_on_user_sent;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
wait_on_idle;
Log("Current Time: 17s", INFO);
test_time <= gen_duration(18,0);
wait until rising_edge(clk);
Log("Check Endpoint 2 ACKNACK Response", INFO);
endpoint := e2;
-- OUTPUT HEADER
OUT_HEADER := DEFAULT_OUTPUT_HEADER;
OUT_HEADER := (dest => get_loc(endpoint), src => DEST_LOC.user.locator(1));
gen_output_header(OUT_HEADER, reference);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, reference);
-- ACKNACK
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_ACKNACK;
sub.writerId := endpoint.entityid;
sub.readerId := DEFAULT_READER_ENTITYID;
sub.count := std_logic_vector(to_unsigned(count, CDR_LONG_WIDTH));
sub.readerSNState := (base => gen_sn(6), numBits => int(32, CDR_LONG_WIDTH), bitmap => (0 to 31 => '1', others => '0'));
sub.flags(SUBMESSAGE_FINAL_FLAG_POS) := '1';
gen_rtps_submessage(sub, reference);
fix_output_packet(reference);
push_reference;
wait_on_out_check;
stimulus_meta := EMPTY_TEST_PACKET;
stimulus_user := EMPTY_TEST_PACKET;
reference := EMPTY_TEST_PACKET;
count <= count + 1;
stim_done <= '1';
wait_on_completion;
TranscriptOpen(RESULTS_FILE, APPEND_MODE);
SetTranscriptMirror;
ReportAlerts;
TranscriptClose;
std.env.stop;
wait;
end process;
clock_prc : process
begin
clk <= '0';
wait for 25 ns;
clk <= '1';
wait for 25 ns;
end process;
empty_meta_prc : process
begin
empty_meta <= '0';
wait until rd_meta = '1';
wait until rising_edge(clk);
empty_meta <= '1';
wait until rising_edge(clk);
end process;
empty_user_prc : process
begin
empty_user <= '0';
wait until rd_user = '1';
wait until rising_edge(clk);
empty_user <= '1';
wait until rising_edge(clk);
end process;
rtps_full_prc : process
begin
full <= '0';
wait until wr_sig = '1';
wait until rising_edge(clk);
full <= '1';
wait until rising_edge(clk);
end process;
alert_prc : process(all)
begin
if rising_edge(clk) then
alertif(empty_meta = '1' and rd_meta = '1', "Input FIFO read signal high while empty signal high (meta)", ERROR);
alertif(empty_user = '1' and rd_user = '1', "Input FIFO read signal high while empty signal high (user)", ERROR);
alertif(full = '1' and wr_sig = '1', "Output FIFO write signal high while full signal high", ERROR);
end if;
end process;
input_meta_prc : process(all)
begin
data_in_meta <= stimulus_meta.data(cnt_stim_meta);
last_word_in_meta <= stimulus_meta.last(cnt_stim_meta);
if rising_edge(clk) then
if (reset = '1') then
cnt_stim_meta <= 0;
stim_stage_meta <= IDLE;
packet_sent_meta <= '1';
else
case (stim_stage_meta) is
when IDLE =>
if (start_meta = '1' and stimulus_meta.length /= 0) then
stim_stage_meta <= BUSY;
packet_sent_meta <= '0';
end if;
when BUSY =>
if (rd_meta = '1') then
if (cnt_stim_meta = stimulus_meta.length-1) then
stim_stage_meta <= IDLE;
packet_sent_meta <= '1';
cnt_stim_meta <= 0;
else
cnt_stim_meta <= cnt_stim_meta + 1;
end if;
end if;
end case;
end if;
end if;
end process;
input_user_prc : process(all)
begin
data_in_user <= stimulus_user.data(cnt_stim_user);
last_word_in_user <= stimulus_user.last(cnt_stim_user);
if rising_edge(clk) then
if (reset = '1') then
cnt_stim_user <= 0;
stim_stage_user <= IDLE;
packet_sent_user <= '1';
else
case (stim_stage_user) is
when IDLE =>
if (start_user = '1' and stimulus_user.length /= 0) then
stim_stage_user <= BUSY;
packet_sent_user <= '0';
end if;
when BUSY =>
if (rd_user = '1') then
if (cnt_stim_user = stimulus_user.length-1) then
stim_stage_user <= IDLE;
packet_sent_user <= '1';
cnt_stim_user <= 0;
else
cnt_stim_user <= cnt_stim_user + 1;
end if;
end if;
end case;
end if;
end if;
end process;
done_proc : process(clk)
begin
if rising_edge(clk) then
if (stim_done = '1' and SB_out.empty) then
test_done <= '1';
else
test_done <= '0';
end if;
end if;
end process;
output_check_prc : process(all)
begin
if rising_edge(clk) then
if (wr_sig = '1') then
SB_out.Check(data_out);
end if;
if (SB_out.empty) then
out_check_done <= '1';
else
out_check_done <= '0';
end if;
end if;
end process;
watchdog : process
begin
wait for 1 ms;
Alert("Test timeout", FAILURE);
std.env.stop;
end process;
end architecture;

6
src/Tests/testbench.pro
View File

@ -38,6 +38,8 @@ analyze Level_0/L0_rtps_reader_test2_tbk.vhd
analyze Level_0/L0_rtps_reader_test2_vrn.vhd analyze Level_0/L0_rtps_reader_test2_vrn.vhd
analyze Level_0/L0_rtps_reader_test3_a.vhd analyze Level_0/L0_rtps_reader_test3_a.vhd
analyze Level_0/L0_rtps_reader_test3_m.vhd analyze Level_0/L0_rtps_reader_test3_m.vhd
analyze Level_1/L1_rtps_reader_test1_vrk.vhd
analyze Level_1/L1_rtps_reader_test1_trk.vhd
#simulate L0_rtps_handler_test1 #simulate L0_rtps_handler_test1
#simulate L0_rtps_handler_test2 #simulate L0_rtps_handler_test2
@ -59,4 +61,6 @@ analyze Level_0/L0_rtps_reader_test3_m.vhd
#simulate L0_rtps_reader_test2_tbk #simulate L0_rtps_reader_test2_tbk
#simulate L0_rtps_reader_test2_vrn #simulate L0_rtps_reader_test2_vrn
#simulate L0_rtps_reader_test3_a #simulate L0_rtps_reader_test3_a
simulate L0_rtps_reader_test3_m #simulate L0_rtps_reader_test3_m
#simulate L1_rtps_reader_test1_vrk
simulate L1_rtps_reader_test1_trk

29
src/rtps_reader.vhd
View File

@ -59,7 +59,7 @@ architecture arch of rtps_reader is
--*****CONSTANT DECLARATION***** --*****CONSTANT DECLARATION*****
-- *ENDPOINT MEMORY* -- *ENDPOINT MEMORY*
-- 4-Byte Word Size of a Participant Entry in Memory -- 4-Byte Word Size of a Remote Endpoint Entry in Memory
function gen_frame_size(qos : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0)) return natural is function gen_frame_size(qos : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0)) return natural is
variable ret : natural := 0; variable ret : natural := 0;
begin begin
@ -892,11 +892,12 @@ begin
-- If Reader is Volatile and we have not received anything from the writer yet -- If Reader is Volatile and we have not received anything from the writer yet
if (DURABILITY_QOS = VOLATILE_DURABILITY_QOS and mem_endpoint_data.next_seq_nr = SEQUENCENUMBER_UNKNOWN) then if (DURABILITY_QOS = VOLATILE_DURABILITY_QOS and mem_endpoint_data.next_seq_nr = SEQUENCENUMBER_UNKNOWN) then
-- Mark last available SN as next expected (Ignore historical data) -- Mark last available SN as next expected (Ignore historical data)
next_seq_nr_next <= last_seq_nr; next_seq_nr_next <= last_seq_nr when (first_seq_nr <= last_seq_nr) else first_seq_nr;
mem_op_start <= '1'; mem_op_start <= '1';
mem_opcode <= UPDATE_ENDPOINT; mem_opcode <= UPDATE_ENDPOINT;
tmp_flags := tmp_flags or EMF_NEXT_SEQ_NR_FLAG or EMF_RES_TIME_FLAG; tmp_flags := tmp_flags or EMF_NEXT_SEQ_NR_FLAG or EMF_RES_TIME_FLAG;
if (HEARTBEAT_RESPONSE_DELAY /= DURATION_INFINITE) then -- NOTE: Only response with ACKNACK if SN is available (Or no Final Flag)
if (HEARTBEAT_RESPONSE_DELAY /= DURATION_INFINITE and (first_seq_nr <= last_seq_nr or final_flag = '0')) then
res_time <= time + HEARTBEAT_RESPONSE_DELAY; res_time <= time + HEARTBEAT_RESPONSE_DELAY;
-- NOTE: Last Bit denotes if this is Response or Suppression Delay -- NOTE: Last Bit denotes if this is Response or Suppression Delay
res_time(1)(0) <= '0'; res_time(1)(0) <= '0';
@ -911,7 +912,8 @@ begin
mem_op_start <= '1'; mem_op_start <= '1';
mem_opcode <= UPDATE_ENDPOINT; mem_opcode <= UPDATE_ENDPOINT;
tmp_flags := tmp_flags or EMF_NEXT_SEQ_NR_FLAG or EMF_RES_TIME_FLAG; tmp_flags := tmp_flags or EMF_NEXT_SEQ_NR_FLAG or EMF_RES_TIME_FLAG;
if (HEARTBEAT_RESPONSE_DELAY /= DURATION_INFINITE) then -- NOTE: Only response with ACKNACK if SN is available (Or no Final Flag)
if (HEARTBEAT_RESPONSE_DELAY /= DURATION_INFINITE and (first_seq_nr <= last_seq_nr or final_flag = '0')) then
res_time <= time + HEARTBEAT_RESPONSE_DELAY; res_time <= time + HEARTBEAT_RESPONSE_DELAY;
-- NOTE: Last Bit denotes if this is Response or Suppression Delay -- NOTE: Last Bit denotes if this is Response or Suppression Delay
res_time(1)(0) <= '0'; res_time(1)(0) <= '0';
@ -938,6 +940,9 @@ begin
elsif (mem_endpoint_data.res_time(1)(0) = '0') then elsif (mem_endpoint_data.res_time(1)(0) = '0') then
-- If current Sequence Number obsolete (removed from source history cache) -- If current Sequence Number obsolete (removed from source history cache)
if (first_seq_nr > mem_endpoint_data.next_seq_nr) then if (first_seq_nr > mem_endpoint_data.next_seq_nr) then
-- NOTE: Even if first_seq_nr > last_seq_nr, meaning that the writer does not have any stored SNs
-- we don't cancel the response, because it may have been initiated by the Final Flag.
-- Store new expected Sequence Number -- Store new expected Sequence Number
next_seq_nr_next <= first_seq_nr; next_seq_nr_next <= first_seq_nr;
mem_op_start <= '1'; mem_op_start <= '1';
@ -1441,7 +1446,7 @@ begin
-- Get Additional Data -- Get Additional Data
mem_op_start <= '1'; mem_op_start <= '1';
mem_opcode <= GET_ENDPOINT; mem_opcode <= GET_ENDPOINT;
mem_field_flags <= EMF_IPV4_ADDR_FLAG or EMF_UDP_PORT_FLAG or EMF_NEXT_SEQ_NR_FLAG; mem_field_flags <= EMF_ENTITYID_FLAG or EMF_IPV4_ADDR_FLAG or EMF_UDP_PORT_FLAG or EMF_NEXT_SEQ_NR_FLAG;
cnt_next <= 2; cnt_next <= 2;
end if; end if;
else else
@ -1450,10 +1455,14 @@ begin
if (mem_endpoint_data.res_time < check_time) then if (mem_endpoint_data.res_time < check_time) then
check_time_next <= mem_endpoint_data.res_time; check_time_next <= mem_endpoint_data.res_time;
end if; end if;
else elsif (mem_endpoint_data.lease_deadline /= TIME_INVALID) then
if (mem_endpoint_data.lease_deadline /= TIME_INVALID and mem_endpoint_data.lease_deadline < check_time) then if (mem_endpoint_data.lease_deadline < check_time) then
check_time_next <= mem_endpoint_data.lease_deadline; check_time_next <= mem_endpoint_data.lease_deadline;
end if; end if;
elsif (RELIABILTY_QOS = RELIABLE_RELIABILITY_QOS and mem_endpoint_data.res_time /= TIME_INVALID) then
if (mem_endpoint_data.res_time < check_time) then
check_time_next <= mem_endpoint_data.res_time;
end if;
end if; end if;
-- Continue Search -- Continue Search
@ -1473,6 +1482,10 @@ begin
-- XXX: Possible Worst Case Path (64-bit addition and comparison in same clock) -- XXX: Possible Worst Case Path (64-bit addition and comparison in same clock)
-- Update Check Time -- Update Check Time
if ((time + HEARTBEAT_SUPPRESSION_DELAY) < check_time) then if ((time + HEARTBEAT_SUPPRESSION_DELAY) < check_time) then
-- NOTE: Strictly speaking the check time may not EXACTLY represent the res_time (Since the last bit is ovverriden for a different functionality)
-- Since the difference is at most 1/10^(-32) seconds, this will never practically impose any problem (since the time will most certainly have
-- progressed beyond that difference from the check_time trigger to the actual res_time check).
-- Nevertheless this has to be taken into account in testbenches that use "static" time.
check_time_next <= time + HEARTBEAT_SUPPRESSION_DELAY; check_time_next <= time + HEARTBEAT_SUPPRESSION_DELAY;
end if; end if;
else else
@ -1550,7 +1563,7 @@ begin
data_out_rtps <= ENTITYID; data_out_rtps <= ENTITYID;
-- Writer Entity ID -- Writer Entity ID
when 2 => when 2 =>
data_out_rtps <= ENTITYID_UNKNOWN; data_out_rtps <= mem_endpoint_data.guid(3);
-- Sequence Number Set (Bitmap Base 1/2) -- Sequence Number Set (Bitmap Base 1/2)
when 3 => when 3 =>
data_out_rtps <= std_logic_vector(mem_endpoint_data.next_seq_nr(0)); data_out_rtps <= std_logic_vector(mem_endpoint_data.next_seq_nr(0));