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Add AddTwoInts ROS Service Implementation

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A complete ROS service server and client implementation of the
example_interfaces AddTwoInts service is done, along with an acompaning
testbench.
This commit is contained in:
Greek 2022-01-24 15:56:20 +01:00
parent a99b8f13c8
commit 63ce5642de
76 changed files with 4192 additions and 1 deletions
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105
sim/L1_AddTwoInts_service_test1.do Normal file
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@ -0,0 +1,105 @@
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 /l1_addtwoints_service_test1/clk
add wave -noupdate /l1_addtwoints_service_test1/reset
add wave -noupdate -divider CLIENT
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/start_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/ack_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/get_data_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/done_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/valid_in_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/ready_in_r
add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/data_in_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/last_word_in_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/si_valid_data_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/si_valid_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/si_ack_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/eoc_r
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/start_w
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/ack_w
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/done_w
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/valid_out_w
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/ready_out_w
add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/data_out_w
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/last_word_out_w
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/start_user
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/ack_user
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/opcode_user
add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/service_info_user
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/sequence_id
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/taken_user
add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/a
add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/b
add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/sum
add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/done_user
add wave -noupdate -group CPORTS -radix ROS_RETCODE /l1_addtwoints_service_test1/uut_c/return_code_user
add wave -noupdate /l1_addtwoints_service_test1/uut_c/stage
add wave -noupdate /l1_addtwoints_service_test1/uut_c/encode_stage
add wave -noupdate /l1_addtwoints_service_test1/uut_c/decode_stage
add wave -noupdate /l1_addtwoints_service_test1/uut_c/return_stage
add wave -noupdate /l1_addtwoints_service_test1/uut_c/cnt
add wave -noupdate /l1_addtwoints_service_test1/uut_c/decode_error_latch
add wave -noupdate -divider SERVER
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/start_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/ack_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/get_data_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/done_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/valid_in_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/ready_in_r
add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/data_in_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/last_word_in_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/si_valid_data_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/si_valid_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/si_ack_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/eoc_r
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/start_w
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/ack_w
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/done_w
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/valid_out_w
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/ready_out_w
add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/data_out_w
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/last_word_out_w
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/start_user
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/ack_user
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/opcode_user
add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/service_info_user
add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/request_id_user
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/taken_user
add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/a
add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/b
add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/sum
add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/done_user
add wave -noupdate -group SPORTS -radix ROS_RETCODE /l1_addtwoints_service_test1/uut_s/return_code_user
add wave -noupdate /l1_addtwoints_service_test1/uut_s/stage
add wave -noupdate /l1_addtwoints_service_test1/uut_s/encode_stage
add wave -noupdate /l1_addtwoints_service_test1/uut_s/decode_stage
add wave -noupdate /l1_addtwoints_service_test1/uut_s/return_stage
add wave -noupdate /l1_addtwoints_service_test1/uut_s/cnt
add wave -noupdate /l1_addtwoints_service_test1/uut_s/decode_error_latch
add wave -noupdate -divider MISC
TreeUpdate [SetDefaultTree]
WaveRestoreCursors {{Cursor 1} {325000 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}

1
sim/modelsim.ini
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@ -23,6 +23,7 @@ Testbench_Lib3 = W:/HDL-SIM/OSVVM-Scripts/../sim/VHDL_LIBS/ModelSim-2020.02/Test
Testbench_Lib4 = W:/HDL-SIM/OSVVM-Scripts/../sim/VHDL_LIBS/ModelSim-2020.02/Testbench_Lib4.lib
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
[vcom]
; VHDL93 variable selects language version as the default.
; Default is VHDL-2002.

32
src/ros2/Service_ref.txt Normal file
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@ -0,0 +1,32 @@
31............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| Representation_id | Representation_options |
00 01 (=CDR_LE) 00 00
| request_id.writer_guid |
| |
55 05 54 47 12 ee 90 0d
| request_id.sn |
| |
01 00 00 00 00 00 00 00
| AddTwoInts.a |
| |
02 00 00 00 00 00 00 00
| AddTwoInts.b |
| |
03 00 00 00 00 00 00 00
+---------------------------------------------------------------+
31............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| Representation_id | Representation_options |
00 01 (=CDR_LE) 00 00
| request_id.writer_guid |
| |
55 05 54 47 12 ee 90 0d
| request_id.sn |
| |
01 00 00 00 00 00 00 00
| AddTwoInts.sum |
| |
05 00 00 00 00 00 00 00
+---------------------------------------------------------------+

428
src/ros2/Tests/Level_1/L1_AddTwoInts_srv_test1.vhd Normal file
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@ -0,0 +1,428 @@
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.ros_package.all;
use work.rtps_test_package.all;
-- This testbench tests the General Behavour of the AddTwoInts Service.
-- More specifically following tests are done:
-- * Test Unssuported Opcode Operations
-- * Test RETCODE_NO_DATA response from DDS Reader
-- * Test RETCODE_ERROR response from DDS Reader
-- * Test RETCODE_ERROR response from DDS Writer
-- * Test Sample with No Valid response from DDS Reader
-- * Test Big Endian Encoding/Decoding of AddTwoInts Service Messages
entity L1_AddTwoInts_srv_test1 is
end entity;
architecture testbench of L1_AddTwoInts_srv_test1 is
signal clk, reset : std_logic := '0';
signal valid_rq, valid_rr, ready_rq, ready_rr, last_word_rq, last_word_rr : std_logic := '0';
signal data_rq, data_rr : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
signal start_c, start_s, ack_c, ack_s, taken_c, taken_s, done_c, done_s : std_logic := '0';
signal opcode_c, opcode_s : ROS_SERVICE_OPCODE_TYPE := NOP;
signal return_code_c, return_code_s : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := (others => '0');
signal a_c, a_s, b_c, b_s, sum_c, sum_s : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0) := (others => '0');
signal service_info_c, service_info_s : SERVICE_INFO_TYPE := EMPTY_SERVICE_INFO;
signal sequence_id_c : std_logic_vector(ROS_SEQUENCE_ID_WIDTH-1 downto 0) := (others => '0');
signal request_id_s : REQUEST_ID_TYPE := EMPTY_REQUEST_ID;
signal start_sr, start_cr, si_valid_data_cr, si_valid_data_sr : std_logic := '0';
signal return_code_cr, return_code_cw, return_code_sr, return_code_sw : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := (others => '0');
signal ready_sw, ready_cw, last_word_out_cw, last_word_out_sw, selector : std_logic := '0';
begin
uut_c : entity work.AddTwoInts_srv_client(arch)
port map (
clk => clk,
reset => reset,
start_r => start_cr,--
ack_r => '1',--
opcode_r => open,
instance_state_r => open,
view_state_r => open,
sample_state_r => open,
instance_handle_r => open,
max_samples_r => open,
get_data_r => open,--
done_r => '1',--
return_code_r => return_code_cr,--
valid_in_r => valid_rr,--
ready_in_r => ready_rr,--
data_in_r => data_rr,--
last_word_in_r => last_word_rr,--
si_sample_state_r => ANY_SAMPLE_STATE,
si_view_state_r => ANY_VIEW_STATE,
si_instance_state_r => ANY_INSTANCE_STATE,
si_source_timestamp_r => TIME_INVALID,
si_instance_handle_r => HANDLE_NIL,
si_publication_handle_r => HANDLE_NIL,
si_disposed_generation_count_r => (others => '0'),
si_no_writers_generation_count_r => (others => '0'),
si_sample_rank_r => (others => '0'),
si_generation_rank_r => (others => '0'),
si_absolute_generation_rank_r => (others => '0'),
si_valid_data_r => si_valid_data_cr,--
si_valid_r => '1',--
si_ack_r => open,--
eoc_r => '1',--
status_r => (others => '0'),
start_w => open,--
ack_w => '1',--
opcode_w => open,
instance_handle_out_w => open,
source_ts_w => open,
max_wait_w => open,
done_w => '1',--
return_code_w => return_code_cw,
instance_handle_in_w => HANDLE_NIL,
valid_out_w => valid_rq,--
ready_out_w => ready_cw,--ready_rq,--
data_out_w => data_rq,--
last_word_out_w => last_word_out_cw,--last_word_rq,--
valid_in_w => '0',
ready_in_w => open,
data_in_w => (others => '0'),
last_word_in_w => '0',
status_w => (others => '0'),
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 => open,--
a => a_c,--
b => b_c,--
sum => sum_c,--
done_user => done_c,--
return_code_user => return_code_c --
);
uut_s : entity work.AddTwoInts_srv_server(arch)
port map (
clk => clk,
reset => reset,
start_r => start_sr,--
ack_r => '1',--
opcode_r => open,
instance_state_r => open,
view_state_r => open,
sample_state_r => open,
instance_handle_r => open,
max_samples_r => open,
get_data_r => open,--
done_r => '1',--
return_code_r => return_code_sr,--
valid_in_r => valid_rq,--
ready_in_r => ready_rq,--
data_in_r => data_rq,--
last_word_in_r => last_word_rq,--
si_sample_state_r => ANY_SAMPLE_STATE,
si_view_state_r => ANY_VIEW_STATE,
si_instance_state_r => ANY_INSTANCE_STATE,
si_source_timestamp_r => TIME_INVALID,
si_instance_handle_r => HANDLE_NIL,
si_publication_handle_r => HANDLE_NIL,
si_disposed_generation_count_r => (others => '0'),
si_no_writers_generation_count_r => (others => '0'),
si_sample_rank_r => (others => '0'),
si_generation_rank_r => (others => '0'),
si_absolute_generation_rank_r => (others => '0'),
si_valid_data_r => si_valid_data_sr,--
si_valid_r => '1',--
si_ack_r => open,--
eoc_r => '1',--
status_r => (others => '0'),
start_w => open,--
ack_w => '1',--
opcode_w => open,
instance_handle_out_w => open,
source_ts_w => open,
max_wait_w => open,
done_w => '1',--
return_code_w => return_code_sw,--
instance_handle_in_w => HANDLE_NIL,
valid_out_w => valid_rr,--
ready_out_w => ready_sw,--ready_rr,--
data_out_w => data_rr,--
last_word_out_w => last_word_out_sw,--last_word_rr,--
valid_in_w => '0',
ready_in_w => open,
data_in_w => (others => '0'),
last_word_in_w => '0',
status_w => (others => '0'),
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 => open,--
a => a_s,--
b => b_s,--
sum => sum_s,--
done_user => done_s,--
return_code_user => return_code_s --
);
process (all)
begin
if (selector = '1') then
ready_cw <= '1';
ready_sw <= '1';
last_word_rq <= '0';
last_word_rr <= '0';
else
ready_cw <= ready_rq;
ready_sw <= ready_rr;
last_word_rq <= last_word_out_cw;
last_word_rr <= last_word_out_sw;
end if;
end process;
stimulus_prc : process
variable RV : RandomPType;
variable A, B, SUM, RET : AlertLogIDType;
procedure wait_on_sig(signal sig : std_logic) is
begin
if (sig /= '1') then
wait on sig until sig = '1';
end if;
end procedure;
begin
SetAlertLogName("AddTwoInts Service - Level 1 - (Big Endian) - General");
SetAlertEnable(FAILURE, TRUE);
SetAlertEnable(ERROR, TRUE);
SetAlertEnable(WARNING, TRUE);
SetLogEnable(DEBUG, FALSE);
SetLogEnable(PASSED, FALSE);
SetLogEnable(INFO, TRUE);
RV.InitSeed(RV'instance_name);
A := GetAlertLogID("A", ALERTLOG_BASE_ID);
B := GetAlertLogID("B", ALERTLOG_BASE_ID);
SUM := GetAlertLogID("SUM", ALERTLOG_BASE_ID);
Log("Initial Reset", INFO);
selector <= '1';
return_code_cr <= RETCODE_OK;
return_code_cw <= RETCODE_OK;
return_code_sr <= RETCODE_OK;
return_code_sw <= RETCODE_OK;
si_valid_data_cr <= '0';
si_valid_data_sr <= '0';
start_c <= '0';
start_s <= '0';
reset <= '1';
wait until rising_edge(clk);
wait until rising_edge(clk);
reset <= '0';
Log("CLIENT: Test Unsupported Opcode", INFO);
start_c <= '1';
opcode_c <= TAKE_REQUEST;
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_UNSUPPORTED, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Unsupported Opcode", INFO);
start_s <= '1';
opcode_s <= TAKE_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_UNSUPPORTED, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test No Data", INFO);
return_code_cr <= RETCODE_NO_DATA;
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);
AlertIf(taken_c /= '0', "Client taken is unexpectedly set", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test No Data", INFO);
return_code_sr <= RETCODE_NO_DATA;
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_OK, "Unexpected Server Response", FAILURE);
AlertIf(taken_s /= '0', "Server taken is unexpectedly set", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test Reader Error", INFO);
return_code_cr <= RETCODE_ERROR;
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_ERROR, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Reader Error", INFO);
return_code_sr <= RETCODE_ERROR;
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_ERROR, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test Writer Error", INFO);
return_code_cw <= RETCODE_ERROR;
start_c <= '1';
opcode_c <= SEND_REQUEST;
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_ERROR, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Writer Error", INFO);
return_code_sw <= RETCODE_ERROR;
start_s <= '1';
opcode_s <= SEND_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_ERROR, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
return_code_cr <= RETCODE_OK;
return_code_cw <= RETCODE_OK;
return_code_sr <= RETCODE_OK;
return_code_sw <= RETCODE_OK;
selector <= '0';
Log("Setting Request", INFO);
-- Static
a_c <= RV.RandSlv(a_c'length);
b_c <= RV.RandSlv(b_c'length);
wait for 0 ns;
Log("CLIENT: Send Request", INFO);
start_c <= '1';
opcode_c <= SEND_REQUEST;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
Log("SERVER: Take Request", INFO);
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
-- TEST NO VALID DATA
wait_on_sig(start_sr);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_sig(start_sr);
si_valid_data_sr <= '1';
Log("Wait for Request on Server", INFO);
wait_on_sig(done_s);
wait until rising_edge(clk);
AlertIf(return_code_s /= ROS_RET_OK, "Server did Return ERROR", FAILURE);
AlertIf(taken_s /= '1', "Server did not take Request", FAILURE);
Log("Compare Request", INFO);
AffirmIfEqual(A, a_s, a_c);
AffirmIfEqual(B, b_s, b_c);
Log("Setting Response", INFO);
-- Static
sum_s <= RV.RandSlv(sum_s'length);
wait for 0 ns;
Log("SERVER: Send Response", INFO);
start_s <= '1';
opcode_s <= SEND_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
Log("CLIENT: Take Response", INFO);
start_c <= '1';
opcode_c <= TAKE_RESPONSE;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
-- TEST NO VALID DATA
wait_on_sig(start_cr);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_sig(start_cr);
si_valid_data_cr <= '1';
Log("Wait for Response on Client", INFO);
wait_on_sig(done_c);
wait until rising_edge(clk);
AlertIf(return_code_c /= ROS_RET_OK, "Client did Return ERROR", FAILURE);
AlertIf(taken_c /= '1', "Client did not take Response", FAILURE);
Log("Compare Response", INFO);
AffirmIfEqual(SUM, sum_c, sum_s);
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;
watchdog : process
begin
wait for 1 ms;
Alert("Test timeout", FAILURE);
std.env.stop;
end process;
end architecture;

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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.ros_package.all;
use work.rtps_test_package.all;
-- This testbench tests the General Behavour of the AddTwoInts Service.
-- More specifically following tests are done:
-- * Test Unssuported Opcode Operations
-- * Test RETCODE_NO_DATA response from DDS Reader
-- * Test RETCODE_ERROR response from DDS Reader
-- * Test RETCODE_ERROR response from DDS Writer
-- * Test Sample with No Valid response from DDS Reader
-- * Test Little Endian Encoding/Decoding of AddTwoInts Service Messages
entity L1_AddTwoInts_srv_test2 is
end entity;
architecture testbench of L1_AddTwoInts_srv_test2 is
signal clk, reset : std_logic := '0';
signal valid_rq, valid_rr, ready_rq, ready_rr, last_word_rq, last_word_rr : std_logic := '0';
signal data_rq, data_rr : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
signal start_c, start_s, ack_c, ack_s, taken_c, taken_s, done_c, done_s : std_logic := '0';
signal opcode_c, opcode_s : ROS_SERVICE_OPCODE_TYPE := NOP;
signal return_code_c, return_code_s : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := (others => '0');
signal a_c, a_s, b_c, b_s, sum_c, sum_s : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0) := (others => '0');
signal service_info_c, service_info_s : SERVICE_INFO_TYPE := EMPTY_SERVICE_INFO;
signal sequence_id_c : std_logic_vector(ROS_SEQUENCE_ID_WIDTH-1 downto 0) := (others => '0');
signal request_id_s : REQUEST_ID_TYPE := EMPTY_REQUEST_ID;
signal start_sr, start_cr, si_valid_data_cr, si_valid_data_sr : std_logic := '0';
signal return_code_cr, return_code_cw, return_code_sr, return_code_sw : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := (others => '0');
signal ready_sw, ready_cw, last_word_out_cw, last_word_out_sw, selector : std_logic := '0';
begin
uut_c : entity work.AddTwoInts_srv_client(arch)
generic map (
LITTLE_ENDIAN => '1'
)
port map (
clk => clk,
reset => reset,
start_r => start_cr,--
ack_r => '1',--
opcode_r => open,
instance_state_r => open,
view_state_r => open,
sample_state_r => open,
instance_handle_r => open,
max_samples_r => open,
get_data_r => open,--
done_r => '1',--
return_code_r => return_code_cr,--
valid_in_r => valid_rr,--
ready_in_r => ready_rr,--
data_in_r => data_rr,--
last_word_in_r => last_word_rr,--
si_sample_state_r => ANY_SAMPLE_STATE,
si_view_state_r => ANY_VIEW_STATE,
si_instance_state_r => ANY_INSTANCE_STATE,
si_source_timestamp_r => TIME_INVALID,
si_instance_handle_r => HANDLE_NIL,
si_publication_handle_r => HANDLE_NIL,
si_disposed_generation_count_r => (others => '0'),
si_no_writers_generation_count_r => (others => '0'),
si_sample_rank_r => (others => '0'),
si_generation_rank_r => (others => '0'),
si_absolute_generation_rank_r => (others => '0'),
si_valid_data_r => si_valid_data_cr,--
si_valid_r => '1',--
si_ack_r => open,--
eoc_r => '1',--
status_r => (others => '0'),
start_w => open,--
ack_w => '1',--
opcode_w => open,
instance_handle_out_w => open,
source_ts_w => open,
max_wait_w => open,
done_w => '1',--
return_code_w => return_code_cw,
instance_handle_in_w => HANDLE_NIL,
valid_out_w => valid_rq,--
ready_out_w => ready_cw,--ready_rq,--
data_out_w => data_rq,--
last_word_out_w => last_word_out_cw,--last_word_rq,--
valid_in_w => '0',
ready_in_w => open,
data_in_w => (others => '0'),
last_word_in_w => '0',
status_w => (others => '0'),
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 => open,--
a => a_c,--
b => b_c,--
sum => sum_c,--
done_user => done_c,--
return_code_user => return_code_c --
);
uut_s : entity work.AddTwoInts_srv_server(arch)
generic map (
LITTLE_ENDIAN => '1'
)
port map (
clk => clk,
reset => reset,
start_r => start_sr,--
ack_r => '1',--
opcode_r => open,
instance_state_r => open,
view_state_r => open,
sample_state_r => open,
instance_handle_r => open,
max_samples_r => open,
get_data_r => open,--
done_r => '1',--
return_code_r => return_code_sr,--
valid_in_r => valid_rq,--
ready_in_r => ready_rq,--
data_in_r => data_rq,--
last_word_in_r => last_word_rq,--
si_sample_state_r => ANY_SAMPLE_STATE,
si_view_state_r => ANY_VIEW_STATE,
si_instance_state_r => ANY_INSTANCE_STATE,
si_source_timestamp_r => TIME_INVALID,
si_instance_handle_r => HANDLE_NIL,
si_publication_handle_r => HANDLE_NIL,
si_disposed_generation_count_r => (others => '0'),
si_no_writers_generation_count_r => (others => '0'),
si_sample_rank_r => (others => '0'),
si_generation_rank_r => (others => '0'),
si_absolute_generation_rank_r => (others => '0'),
si_valid_data_r => si_valid_data_sr,--
si_valid_r => '1',--
si_ack_r => open,--
eoc_r => '1',--
status_r => (others => '0'),
start_w => open,--
ack_w => '1',--
opcode_w => open,
instance_handle_out_w => open,
source_ts_w => open,
max_wait_w => open,
done_w => '1',--
return_code_w => return_code_sw,--
instance_handle_in_w => HANDLE_NIL,
valid_out_w => valid_rr,--
ready_out_w => ready_sw,--ready_rr,--
data_out_w => data_rr,--
last_word_out_w => last_word_out_sw,--last_word_rr,--
valid_in_w => '0',
ready_in_w => open,
data_in_w => (others => '0'),
last_word_in_w => '0',
status_w => (others => '0'),
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 => open,--
a => a_s,--
b => b_s,--
sum => sum_s,--
done_user => done_s,--
return_code_user => return_code_s --
);
process (all)
begin
if (selector = '1') then
ready_cw <= '1';
ready_sw <= '1';
last_word_rq <= '0';
last_word_rr <= '0';
else
ready_cw <= ready_rq;
ready_sw <= ready_rr;
last_word_rq <= last_word_out_cw;
last_word_rr <= last_word_out_sw;
end if;
end process;
stimulus_prc : process
variable RV : RandomPType;
variable A, B, SUM, RET : AlertLogIDType;
procedure wait_on_sig(signal sig : std_logic) is
begin
if (sig /= '1') then
wait on sig until sig = '1';
end if;
end procedure;
begin
SetAlertLogName("AddTwoInts Service - Level 1 - (Little Endian) - General");
SetAlertEnable(FAILURE, TRUE);
SetAlertEnable(ERROR, TRUE);
SetAlertEnable(WARNING, TRUE);
SetLogEnable(DEBUG, FALSE);
SetLogEnable(PASSED, FALSE);
SetLogEnable(INFO, TRUE);
RV.InitSeed(RV'instance_name);
A := GetAlertLogID("A", ALERTLOG_BASE_ID);
B := GetAlertLogID("B", ALERTLOG_BASE_ID);
SUM := GetAlertLogID("SUM", ALERTLOG_BASE_ID);
Log("Initial Reset", INFO);
selector <= '1';
return_code_cr <= RETCODE_OK;
return_code_cw <= RETCODE_OK;
return_code_sr <= RETCODE_OK;
return_code_sw <= RETCODE_OK;
si_valid_data_cr <= '0';
si_valid_data_sr <= '0';
start_c <= '0';
start_s <= '0';
reset <= '1';
wait until rising_edge(clk);
wait until rising_edge(clk);
reset <= '0';
Log("CLIENT: Test Unsupported Opcode", INFO);
start_c <= '1';
opcode_c <= TAKE_REQUEST;
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_UNSUPPORTED, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Unsupported Opcode", INFO);
start_s <= '1';
opcode_s <= TAKE_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_UNSUPPORTED, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test No Data", INFO);
return_code_cr <= RETCODE_NO_DATA;
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);
AlertIf(taken_c /= '0', "Client taken is unexpectedly set", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test No Data", INFO);
return_code_sr <= RETCODE_NO_DATA;
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_OK, "Unexpected Server Response", FAILURE);
AlertIf(taken_s /= '0', "Server taken is unexpectedly set", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test Reader Error", INFO);
return_code_cr <= RETCODE_ERROR;
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_ERROR, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Reader Error", INFO);
return_code_sr <= RETCODE_ERROR;
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_ERROR, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test Writer Error", INFO);
return_code_cw <= RETCODE_ERROR;
start_c <= '1';
opcode_c <= SEND_REQUEST;
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_ERROR, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Writer Error", INFO);
return_code_sw <= RETCODE_ERROR;
start_s <= '1';
opcode_s <= SEND_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_ERROR, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
return_code_cr <= RETCODE_OK;
return_code_cw <= RETCODE_OK;
return_code_sr <= RETCODE_OK;
return_code_sw <= RETCODE_OK;
selector <= '0';
Log("Setting Request", INFO);
-- Static
a_c <= RV.RandSlv(a_c'length);
b_c <= RV.RandSlv(b_c'length);
wait for 0 ns;
Log("CLIENT: Send Request", INFO);
start_c <= '1';
opcode_c <= SEND_REQUEST;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
Log("SERVER: Take Request", INFO);
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
-- TEST NO VALID DATA
wait_on_sig(start_sr);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_sig(start_sr);
si_valid_data_sr <= '1';
Log("Wait for Request on Server", INFO);
wait_on_sig(done_s);
wait until rising_edge(clk);
AlertIf(return_code_s /= ROS_RET_OK, "Server did Return ERROR", FAILURE);
AlertIf(taken_s /= '1', "Server did not take Request", FAILURE);
Log("Compare Request", INFO);
AffirmIfEqual(A, a_s, a_c);
AffirmIfEqual(B, b_s, b_c);
Log("Setting Response", INFO);
-- Static
sum_s <= RV.RandSlv(sum_s'length);
wait for 0 ns;
Log("SERVER: Send Response", INFO);
start_s <= '1';
opcode_s <= SEND_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
Log("CLIENT: Take Response", INFO);
start_c <= '1';
opcode_c <= TAKE_RESPONSE;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
-- TEST NO VALID DATA
wait_on_sig(start_cr);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_sig(start_cr);
si_valid_data_cr <= '1';
Log("Wait for Response on Client", INFO);
wait_on_sig(done_c);
wait until rising_edge(clk);
AlertIf(return_code_c /= ROS_RET_OK, "Client did Return ERROR", FAILURE);
AlertIf(taken_c /= '1', "Client did not take Response", FAILURE);
Log("Compare Response", INFO);
AffirmIfEqual(SUM, sum_c, sum_s);
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;
watchdog : process
begin
wait for 1 ms;
Alert("Test timeout", FAILURE);
std.env.stop;
end process;
end architecture;

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# Compile OSVVM Library
include ../OSVVM/osvvm.pro
# Compile
library Testbench_ROS_Lib1
analyze ../../math_pkg.vhd
analyze ../../rtps_package.vhd
analyze ../../TEMPLATE_user_config.vhd
analyze ../../rtps_config_package.vhd
analyze ../../rtps_test_package.vhd
analyze ../ros_package.vhd
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
# Simulate
simulate L1_AddTwoInts_srv_test1
simulate L1_AddTwoInts_srv_test2

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src/ros2/example_interfaces/AddTwoInts.idl Normal file
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// generated from rosidl_adapter/resource/srv.idl.em
// with input from example_interfaces/srv/AddTwoInts.srv
// generated code does not contain a copyright notice
module example_interfaces {
module srv {
struct AddTwoInts_Request {
int64 a;
int64 b;
};
struct AddTwoInts_Response {
int64 sum;
};
};
};

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int64 a
int64 b
---
int64 sum

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-- 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.rtps_config_package.all;
use work.ros_package.all;
entity AddTwoInts_srv_client is
generic (
LITTLE_ENDIAN : std_logic := '0'
);
port (
-- SYSTEM
clk : in std_logic;
reset : in std_logic;
-- FROM DDS READER
start_r : out std_logic;
ack_r : in std_logic;
opcode_r : out DDS_READER_OPCODE_TYPE;
instance_state_r : out std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
view_state_r : out std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
sample_state_r : out std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
instance_handle_r : out INSTANCE_HANDLE_TYPE;
max_samples_r : out std_logic_vector(MAX_SAMPLES_WIDTH-1 downto 0);
get_data_r : out std_logic;
done_r : in std_logic;
return_code_r : in std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
valid_in_r : in std_logic;
ready_in_r : out std_logic;
data_in_r : in std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_r : in std_logic;
-- Sample Info
si_sample_state_r : in std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
si_view_state_r : in std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
si_instance_state_r : in std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
si_source_timestamp_r : in TIME_TYPE;
si_instance_handle_r : in INSTANCE_HANDLE_TYPE;
si_publication_handle_r : in INSTANCE_HANDLE_TYPE;
si_disposed_generation_count_r : in std_logic_vector(DISPOSED_GENERATION_COUNT_WIDTH-1 downto 0);
si_no_writers_generation_count_r : in std_logic_vector(NO_WRITERS_GENERATION_COUNT_WIDTH-1 downto 0);
si_sample_rank_r : in std_logic_vector(SAMPLE_RANK_WIDTH-1 downto 0);
si_generation_rank_r : in std_logic_vector(GENERATION_RANK_WIDTH-1 downto 0);
si_absolute_generation_rank_r : in std_logic_vector(ABSOLUTE_GENERATION_COUNT_WIDTH-1 downto 0);
si_valid_data_r : in std_logic;
si_valid_r : in std_logic;
si_ack_r : out std_logic;
eoc_r : in std_logic;
status_r : in std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
-- FROM DDS WRITER
start_w : out std_logic;
ack_w : in std_logic;
opcode_w : out DDS_WRITER_OPCODE_TYPE;
instance_handle_out_w : out INSTANCE_HANDLE_TYPE;
source_ts_w : out TIME_TYPE;
max_wait_w : out DURATION_TYPE;
done_w : in std_logic;
return_code_w : in std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
instance_handle_in_w : in INSTANCE_HANDLE_TYPE;
valid_out_w : out std_logic;
ready_out_w : in std_logic;
data_out_w : out std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_out_w : out std_logic;
valid_in_w : in std_logic;
ready_in_w : out std_logic;
data_in_w : in std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_w : in std_logic;
status_w : in std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
-- TO USER
start_user : in std_logic;
ack_user : out std_logic;
opcode_user : in ROS_SERVICE_OPCODE_TYPE;
service_info_user : out SERVICE_INFO_TYPE;
sequence_id_user : out std_logic_vector(ROS_SEQUENCE_ID_WIDTH-1 downto 0);
data_available_user : out std_logic;
-- REQUEST
taken_user : out 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);
-- RESPONSE
sum : out std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
done_user : out std_logic;
return_code_user : out std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0)
);
end entity;
architecture arch of AddTwoInts_srv_client is
--*****TYPE DECLARATION*****
-- FSM states. Explained below in detail
type STAGE_TYPE is (IDLE,RETURN_ROS,INITIATE_READ,WAIT_FOR_READER,WAIT_FOR_WRITER,WAIT_FOR_DATA,GET_PAYLOAD_HEADER,FETCH,ALIGN_IN_STREAM,SKIP_PAYLOAD,DECODE_PAYLOAD,INITIATE_WRITE,WRITE_PAYLOAD_HEADER,PUSH,ALIGN_OUT_STREAM,ENCODE_PAYLOAD);
-- ###GENERATED START###
type ENCODE_STAGE_TYPE is (WRITE_RID_WGUID,WRITE_RID_SN,WRITE_A,WRITE_B);
type DECODE_STAGE_TYPE is (GET_RID_WGUID,GET_RID_SN,GET_OPTIONAL_HEADER,GET_SUM);
-- ###GENERATED END###
-- *MAIN PROCESS*
signal stage, stage_next : STAGE_TYPE;
signal cnt, cnt_next : natural range 0 to 5;
signal endian_flag, endian_flag_next : std_logic;
signal last_word_in_latch, last_word_in_latch_next : std_logic;
signal decode_error_latch, decode_error_latch_next : std_logic;
signal dw_latch, dw_latch_next : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
signal align_offset, align_offset_next : unsigned(MAX_ALIGN_OFFSET_WIDTH-1 downto 0);
signal align_op, align_op_next : std_logic;
signal target_align, target_align_next : ALIGN_TYPE;
signal data_in_latch, data_in_latch_next : std_logic_vector(WORD_WIDTH-1 downto 0);
signal optional, optional_next : std_logic;
signal data_out_latch, data_out_latch_next : std_logic_vector(WORD_WIDTH-1 downto 0);
signal abort_mem : std_logic;
signal ready_in_r_sig : std_logic;
signal taken_sig, taken_sig_next : std_logic;
signal service_info_sig, service_info_sig_next : SERVICE_INFO_TYPE;
signal sequence_id_sig, sequence_id_sig_next : unsigned(ROS_SEQUENCE_ID_WIDTH-1 downto 0);
signal finalize_payload, finalize_payload_next : std_logic;
signal encode_stage, encode_stage_next : ENCODE_STAGE_TYPE;
signal decode_stage, decode_stage_next : DECODE_STAGE_TYPE;
signal return_stage, return_stage_next : DECODE_STAGE_TYPE;
signal return_code_latch, return_code_latch_next : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0);
signal data_available_sig, data_available_sig_next : std_logic;
-- ###GENERATED START###
signal sum_latch, sum_latch_next : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
-- ###GENERATED END###
--*****ALIAS DECLARATION*****
alias representation_id : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) is data_in_r(WORD_WIDTH-1 downto WORD_WIDTH-PAYLOAD_REPRESENTATION_ID_WIDTH);
alias representation_options : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) is data_in_r(PAYLOAD_REPRESENTATION_OPTIONS_WIDTH-1 downto 0);
alias parameter_id : std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0) is data_in_latch(WORD_WIDTH-1 downto WORD_WIDTH-PARAMETER_ID_WIDTH);
alias parameter_length : std_logic_vector(PARAMETER_LENGTH_WIDTH-1 downto 0) is data_in_latch(PARAMETER_LENGTH_WIDTH-1 downto 0);
begin
-- ###GENERATED START###
-- MEMORY INSTANTIATIONS
-- ###GENERATED END###
instance_state_r <= ANY_INSTANCE_STATE;
view_state_r <= ANY_VIEW_STATE;
sample_state_r <= ANY_SAMPLE_STATE;
instance_handle_r <= HANDLE_NIL;
max_samples_r <= (others => '0');
instance_handle_out_w <= HANDLE_NIL;
source_ts_w <= TIME_INVALID;
max_wait_w <= DURATION_ZERO;
ready_in_w <= '0'; -- DDS Writer Input is unused
taken_user <= taken_sig;
ready_in_r <= ready_in_r_sig;
service_info_user <= service_info_sig;
sequence_id_user <= std_logic_vector(sequence_id_sig);
data_available_user <= data_available_sig;
-- ###GENERATED START###
sum <= sum_latch;
-- ###GENERATED END###
main_prc : process (all)
variable tmp_length : unsigned(WORD_WIDTH-1 downto 0);
begin
-- DEFAULT
stage_next <= stage;
encode_stage_next <= encode_stage;
decode_stage_next <= decode_stage;
return_stage_next <= return_stage;
cnt_next <= cnt;
endian_flag_next <= endian_flag;
last_word_in_latch_next <= last_word_in_latch;
decode_error_latch_next <= decode_error_latch;
align_offset_next <= align_offset;
target_align_next <= target_align;
data_out_latch_next <= data_out_latch;
finalize_payload_next <= finalize_payload;
optional_next <= optional;
taken_sig_next <= taken_sig;
data_in_latch_next <= data_in_latch;
align_op_next <= align_op;
return_code_latch_next <= return_code_latch;
service_info_sig_next <= service_info_sig;
dw_latch_next <= dw_latch;
sequence_id_sig_next <= sequence_id_sig;
data_available_sig_next <= data_available_sig;
ready_in_r_sig <= '0';
abort_mem <= '0';
ack_user <= '0';
si_ack_r <= '0';
get_data_r <= '0';
start_r <= '0';
opcode_r <= NOP;
start_w <= '0';
opcode_w <= NOP;
valid_out_w <= '0';
last_word_out_w <= '0';
done_user <= '0';
return_code_user <= ROS_RET_OK;
data_out_w <= (others => '0');
-- ###GENERATED START###
sum_latch_next <= sum_latch;
-- ###GENERATED END###
-- Last Word Latch Setter
if (last_word_in_r = '1') then
last_word_in_latch_next <= '1';
end if;
-- Data Available Setter
if (check_mask(status_r, DATA_AVAILABLE_STATUS)) then
data_available_sig_next <= '1';
end if;
case (stage) is
when IDLE =>
if (start_user = '1') then
ack_user <= '1';
case (opcode_user) is
when SEND_REQUEST =>
stage_next <= INITIATE_WRITE;
-- Increment Sequence ID
sequence_id_sig_next <= sequence_id_sig + 1;
when TAKE_RESPONSE =>
stage_next <= INITIATE_READ;
when others =>
return_code_latch_next <= ROS_RET_UNSUPPORTED;
stage_next <= RETURN_ROS;
end case;
-- RESET
taken_sig_next <= '0';
abort_mem <= '1';
else
-- ###GENERATED START###
-- MEMORY SIGNAL CONNECTIONS
-- ###GENERATED END###
end if;
when RETURN_ROS =>
done_user <= '1';
return_code_user <= return_code_latch;
-- DONE
stage_next <= IDLE;
when INITIATE_READ =>
start_r <= '1';
opcode_r <= TAKE_NEXT_SAMPLE;
if (ack_r = '1') then
stage_next <= WAIT_FOR_READER;
end if;
when WAIT_FOR_READER =>
if (done_r = '1') then
case (return_code_r) is
when RETCODE_OK =>
stage_next <= WAIT_FOR_DATA;
when RETCODE_NO_DATA =>
assert (taken_sig = '0') severity FAILURE;
-- Data Available Resetter
data_available_sig_next <= '0';
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_ROS;
when others =>
return_code_latch_next <= ROS_RET_ERROR;
stage_next <= RETURN_ROS;
end case;
end if;
when WAIT_FOR_DATA =>
if (si_valid_r = '1') then
si_ack_r <= '1';
-- Meta Sample
if (si_valid_data_r = '0') then
-- Ignore and read Next Sample
stage_next <= INITIATE_READ;
else
get_data_r <= '1';
stage_next <= GET_PAYLOAD_HEADER;
service_info_sig_next.received_timestamp <= TIME_INVALID;
service_info_sig_next.source_timestamp <= si_source_timestamp_r;
end if;
end if;
when GET_PAYLOAD_HEADER =>
-- TODO: Latch Offset from Options Field?
ready_in_r_sig <= '1';
-- Input Guard
if (valid_in_r = '1') then
case (representation_id) is
when CDR_BE =>
endian_flag_next <= '0';
stage_next <= FETCH;
-- Alignment Reset
align_offset_next <= (others => '0');
decode_stage_next <= GET_RID_WGUID;
cnt_next <= 0;
-- Initial Fetch
when CDR_LE =>
endian_flag_next <= '1';
stage_next <= FETCH;
-- Alignment Reset
align_offset_next <= (others => '0');
decode_stage_next <= GET_RID_WGUID;
cnt_next <= 0;
when others =>
-- Unknown Payload Encoding
stage_next <= SKIP_PAYLOAD;
decode_error_latch_next <= '1';
end case;
end if;
when FETCH =>
ready_in_r_sig <= '1';
-- Input Guard
if (valid_in_r = '1') then
data_in_latch_next <= data_in_r;
-- Alignment Operation in progress
if (align_op = '1') then
stage_next <= ALIGN_IN_STREAM;
-- Reset
align_op_next <= '0';
else
stage_next <= DECODE_PAYLOAD;
end if;
end if;
when ALIGN_IN_STREAM =>
-- Target Stream Alignment reached
if (check_align(align_offset, target_align)) then
-- DONE
stage_next <= DECODE_PAYLOAD;
else
align_offset_next <= align_offset + 1;
-- Need to fetch new Input Word
if (align_offset(1 downto 0) = "11") then
align_op_next <= '1';
stage_next <= FETCH;
end if;
end if;
when DECODE_PAYLOAD =>
case (decode_stage) is
-- NOTE: The Cyclone DDS implementation uses a custom request header that is pre-pended to the actual service request/response.
-- It is defined as follows:
-- struct cdds_request_header_t{
-- uint64_t guid;
-- int64_t seq;
-- };
-- 'seq' is set by a counter that is incremented on each "send_request".
-- 'guid' is set to the publication handle of the request writer of the service client.
-- Note that the publication handle is useless for the server, since it is only meanigful localy (i.e. only the client can do something with it)
-- Nevertheless the same 'guid' has to be returned to the client.
when GET_RID_WGUID =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
service_info_sig_next.request_id.writer_guid(0) <= get_sub_vector(endian_swap(endian_flag, dw_latch),0,WORD_WIDTH,TRUE);
service_info_sig_next.request_id.writer_guid(1) <= get_sub_vector(endian_swap(endian_flag, dw_latch),1,WORD_WIDTH,TRUE);
align_offset_next <= align_offset + 8;
decode_stage_next <= GET_RID_SN;
cnt_next <= 0;
when others =>
null;
end case;
end if;
when GET_RID_SN =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
service_info_sig_next.request_id.sequence_number <= to_double_word(unsigned(endian_swap(endian_flag, dw_latch)));
align_offset_next <= align_offset + 8;
-- ###GENERATED START###
decode_stage_next <= GET_SUM;
cnt_next <= 0;
-- ###GENERATED END###
when others =>
null;
end case;
end if;
-- ###GENERATED START###
when GET_SUM =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
sum_latch_next <= endian_swap(endian_flag, dw_latch);
align_offset_next <= align_offset + 8;
-- DONE
stage_next <= SKIP_PAYLOAD;
when others =>
null;
end case;
end if;
-- ###GENERATED END###
when GET_OPTIONAL_HEADER =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Optional Member Header
when 0 =>
-- Extended Parameter Header
if (endian_swap(endian_flag,parameter_id) = PID_EXTENDED) then
cnt_next <= cnt + 1;
stage_next <= FETCH;
else
stage_next <= FETCH;
decode_stage_next <= return_stage;
cnt_next <= 0;
-- Alignment Reset
align_offset_next <= (others => '0');
-- Optional omitted
if(endian_swap(endian_flag,parameter_length) = (parameter_length'reverse_range => '0')) then
optional_next <= '0';
else
optional_next <= '1';
end if;
end if;
-- eMemberHeader
when 1 =>
-- Ignore Parameter ID
cnt_next <= cnt + 1;
stage_next <= FETCH;
-- Llength
when 2 =>
stage_next <= FETCH;
decode_stage_next <= return_stage;
cnt_next <= 0;
-- Alignment Reset
align_offset_next <= (others => '0');
-- Optional omitted
if(endian_swap(endian_flag, data_in_r) = (data_in_r'reverse_range => '0')) then
optional_next <= '0';
else
optional_next <= '1';
end if;
when others =>
null;
end case;
end if;
when others =>
null;
end case;
when SKIP_PAYLOAD =>
if (last_word_in_latch = '0' and last_word_in_r = '0') then
-- Skip Read
ready_in_r_sig <= '1';
else
-- Reset
last_word_in_latch_next <= '0';
-- If no Decode Error, mark output as valid
if (decode_error_latch = '0') then
taken_sig_next <= '1';
return_code_latch_next <= ROS_RET_OK;
else
taken_sig_next <= '0';
return_code_latch_next <= ROS_RET_ERROR;
end if;
stage_next <= RETURN_ROS;
end if;
when INITIATE_WRITE =>
start_w <= '1';
opcode_w <= WRITE;
if (ack_w = '1') then
stage_next <= WRITE_PAYLOAD_HEADER;
end if;
when WRITE_PAYLOAD_HEADER =>
valid_out_w <= '1';
if (LITTLE_ENDIAN = '0') then
data_out_w <= CDR_BE & x"0000";
else
data_out_w <= CDR_LE & x"0000";
end if;
-- Output Guard
if (ready_out_w = '1') then
stage_next <= ENCODE_PAYLOAD;
-- Reset
align_offset_next <= (others => '0');
data_out_latch_next <= (others => '0');
encode_stage_next <= WRITE_RID_WGUID;
cnt_next <= 0;
end if;
when PUSH =>
-- Mark Last Word
if (finalize_payload = '1') then
last_word_out_w <= '1';
end if;
valid_out_w <= '1';
data_out_w <= data_out_latch;
-- Output Guard
if (ready_out_w = '1') then
-- NOTE: Ensures all padding is zero.
data_out_latch_next <= (others => '0');
-- Alignment Operation in process
if (align_op = '1') then
stage_next <= ALIGN_OUT_STREAM;
-- Reset
align_op_next <= '0';
-- DONE
elsif (finalize_payload = '1') then
finalize_payload_next <= '0';
stage_next <= WAIT_FOR_WRITER;
else
stage_next <= ENCODE_PAYLOAD;
end if;
end if;
when ALIGN_OUT_STREAM =>
-- Target Stream Alignment reached
if (check_align(align_offset, target_align)) then
-- DONE
stage_next <= ENCODE_PAYLOAD;
else
align_offset_next <= align_offset + 1;
-- Need to push Word
if (align_offset(1 downto 0) = "11") then
align_op_next <= '1';
stage_next <= PUSH;
end if;
end if;
when ENCODE_PAYLOAD =>
case (encode_stage) is
when WRITE_RID_WGUID =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= (others => '0');
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= (others => '0');
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
encode_stage_next <= WRITE_RID_SN;
cnt_next <= 0;
when others =>
end case;
end if;
when WRITE_RID_SN =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, std_logic_vector(sequence_id_sig)), 0, WORD_WIDTH, TRUE);
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, std_logic_vector(sequence_id_sig)), 1, WORD_WIDTH, TRUE);
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
-- ###GENERATED START###
encode_stage_next <= WRITE_A;
cnt_next <= 0;
-- ###GENERATED END###
when others =>
end case;
end if;
-- ###GENERATED START###
when WRITE_A =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, a), 0, WORD_WIDTH, TRUE);
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, a), 1, WORD_WIDTH, TRUE);
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
encode_stage_next <= WRITE_B;
cnt_next <= 0;
when others =>
end case;
end if;
when WRITE_B =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, b), 0, WORD_WIDTH, TRUE);
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, b), 1, WORD_WIDTH, TRUE);
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
-- DONE
finalize_payload_next <= '1';
when others =>
end case;
end if;
-- ###GENERATED END###
when others =>
null;
end case;
when WAIT_FOR_WRITER =>
if (done_w = '1') then
case (return_code_w) is
when RETCODE_OK =>
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_ROS;
when others =>
return_code_latch_next <= ROS_RET_ERROR;
stage_next <= RETURN_ROS;
end case;
end if;
when others =>
null;
end case;
-- OVERREAD GUARD
-- Attempted read on empty input
if (last_word_in_latch = '1' and last_word_in_r = '0' and ready_in_r_sig = '1') then
stage_next <= SKIP_PAYLOAD;
decode_error_latch_next <= '1';
end if;
end process;
sync_prc : process(clk)
begin
if rising_edge(clk) then
if (reset = '1') then
stage <= IDLE;
encode_stage <= WRITE_RID_WGUID;
decode_stage <= GET_RID_WGUID;
return_stage <= GET_RID_WGUID;
target_align <= ALIGN_1;
cnt <= 0;
endian_flag <= '0';
last_word_in_latch <= '0';
decode_error_latch <= '0';
optional <= '0';
taken_sig <= '0';
align_op <= '0';
finalize_payload <= '0';
data_available_sig <= '0';
align_offset <= (others => '0');
data_in_latch <= (others => '0');
data_out_latch <= (others => '0');
dw_latch <= (others => '0');
sequence_id_sig <= (others => '0');
return_code_latch <= ROS_RET_OK;
service_info_sig <= EMPTY_SERVICE_INFO;
-- ###GENERATED START###
sum_latch <= (others => '0');
-- ###GENERATED END###
else
stage <= stage_next;
encode_stage <= encode_stage_next;
decode_stage <= decode_stage_next;
return_stage <= return_stage_next;
target_align <= target_align_next;
cnt <= cnt_next;
endian_flag <= endian_flag_next;
last_word_in_latch <= last_word_in_latch_next;
decode_error_latch <= decode_error_latch_next;
optional <= optional_next;
taken_sig <= taken_sig_next;
align_op <= align_op_next;
finalize_payload <= finalize_payload_next;
data_available_sig <= data_available_sig_next;
align_offset <= align_offset_next;
data_in_latch <= data_in_latch_next;
data_out_latch <= data_out_latch_next;
dw_latch <= dw_latch_next;
sequence_id_sig <= sequence_id_sig_next;
return_code_latch <= return_code_latch_next;
service_info_sig <= service_info_sig_next;
-- ###GENERATED START###
sum_latch <= sum_latch_next;
-- ###GENERATED END###
end if;
end if;
end process;
end architecture;

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src/ros2/example_interfaces/AddTwoInts_srv_server.vhd Normal file
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-- 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.rtps_config_package.all;
use work.ros_package.all;
entity AddTwoInts_srv_server is
generic (
LITTLE_ENDIAN : std_logic := '0'
);
port (
-- SYSTEM
clk : in std_logic;
reset : in std_logic;
-- FROM DDS READER
start_r : out std_logic;
ack_r : in std_logic;
opcode_r : out DDS_READER_OPCODE_TYPE;
instance_state_r : out std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
view_state_r : out std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
sample_state_r : out std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
instance_handle_r : out INSTANCE_HANDLE_TYPE;
max_samples_r : out std_logic_vector(MAX_SAMPLES_WIDTH-1 downto 0);
get_data_r : out std_logic;
done_r : in std_logic;
return_code_r : in std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
valid_in_r : in std_logic;
ready_in_r : out std_logic;
data_in_r : in std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_r : in std_logic;
-- Sample Info
si_sample_state_r : in std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
si_view_state_r : in std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
si_instance_state_r : in std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
si_source_timestamp_r : in TIME_TYPE;
si_instance_handle_r : in INSTANCE_HANDLE_TYPE;
si_publication_handle_r : in INSTANCE_HANDLE_TYPE;
si_disposed_generation_count_r : in std_logic_vector(DISPOSED_GENERATION_COUNT_WIDTH-1 downto 0);
si_no_writers_generation_count_r : in std_logic_vector(NO_WRITERS_GENERATION_COUNT_WIDTH-1 downto 0);
si_sample_rank_r : in std_logic_vector(SAMPLE_RANK_WIDTH-1 downto 0);
si_generation_rank_r : in std_logic_vector(GENERATION_RANK_WIDTH-1 downto 0);
si_absolute_generation_rank_r : in std_logic_vector(ABSOLUTE_GENERATION_COUNT_WIDTH-1 downto 0);
si_valid_data_r : in std_logic;
si_valid_r : in std_logic;
si_ack_r : out std_logic;
eoc_r : in std_logic;
status_r : in std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
-- FROM DDS WRITER
start_w : out std_logic;
ack_w : in std_logic;
opcode_w : out DDS_WRITER_OPCODE_TYPE;
instance_handle_out_w : out INSTANCE_HANDLE_TYPE;
source_ts_w : out TIME_TYPE;
max_wait_w : out DURATION_TYPE;
done_w : in std_logic;
return_code_w : in std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
instance_handle_in_w : in INSTANCE_HANDLE_TYPE;
valid_out_w : out std_logic;
ready_out_w : in std_logic;
data_out_w : out std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_out_w : out std_logic;
valid_in_w : in std_logic;
ready_in_w : out std_logic;
data_in_w : in std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_w : in std_logic;
status_w : in std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
-- TO USER
start_user : in std_logic;
ack_user : out std_logic;
opcode_user : in ROS_SERVICE_OPCODE_TYPE;
service_info_user : out SERVICE_INFO_TYPE;
request_id_user : in REQUEST_ID_TYPE;
data_available_user : out std_logic;
-- REQUEST
taken_user : out std_logic;
a : out std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
b : out std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
-- RESPONSE
sum : in std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
done_user : out std_logic;
return_code_user : out std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0)
);
end entity;
architecture arch of AddTwoInts_srv_server is
--*****TYPE DECLARATION*****
-- FSM states. Explained below in detail
type STAGE_TYPE is (IDLE,RETURN_ROS,INITIATE_READ,WAIT_FOR_READER,WAIT_FOR_WRITER,WAIT_FOR_DATA,GET_PAYLOAD_HEADER,FETCH,ALIGN_IN_STREAM,SKIP_PAYLOAD,DECODE_PAYLOAD,INITIATE_WRITE,WRITE_PAYLOAD_HEADER,PUSH,ALIGN_OUT_STREAM,ENCODE_PAYLOAD);
-- ###GENERATED START###
type ENCODE_STAGE_TYPE is (WRITE_RID_WGUID,WRITE_RID_SN,WRITE_SUM);
type DECODE_STAGE_TYPE is (GET_RID_WGUID,GET_RID_SN,GET_OPTIONAL_HEADER,GET_A,GET_B);
-- ###GENERATED END###
-- *MAIN PROCESS*
signal stage, stage_next : STAGE_TYPE;
signal cnt, cnt_next : natural range 0 to 5;
signal endian_flag, endian_flag_next : std_logic;
signal last_word_in_latch, last_word_in_latch_next : std_logic;
signal decode_error_latch, decode_error_latch_next : std_logic;
signal dw_latch, dw_latch_next : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
signal align_offset, align_offset_next : unsigned(MAX_ALIGN_OFFSET_WIDTH-1 downto 0);
signal align_op, align_op_next : std_logic;
signal target_align, target_align_next : ALIGN_TYPE;
signal data_in_latch, data_in_latch_next : std_logic_vector(WORD_WIDTH-1 downto 0);
signal optional, optional_next : std_logic;
signal data_out_latch, data_out_latch_next : std_logic_vector(WORD_WIDTH-1 downto 0);
signal abort_mem : std_logic;
signal ready_in_r_sig : std_logic;
signal taken_sig, taken_sig_next : std_logic;
signal service_info_sig, service_info_sig_next : SERVICE_INFO_TYPE;
signal finalize_payload, finalize_payload_next : std_logic;
signal encode_stage, encode_stage_next : ENCODE_STAGE_TYPE;
signal decode_stage, decode_stage_next : DECODE_STAGE_TYPE;
signal return_stage, return_stage_next : DECODE_STAGE_TYPE;
signal return_code_latch, return_code_latch_next : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0);
signal data_available_sig, data_available_sig_next : std_logic;
-- ###GENERATED START###
signal a_latch, a_latch_next : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
signal b_latch, b_latch_next : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
-- ###GENERATED END###
--*****ALIAS DECLARATION*****
alias representation_id : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) is data_in_r(WORD_WIDTH-1 downto WORD_WIDTH-PAYLOAD_REPRESENTATION_ID_WIDTH);
alias representation_options : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) is data_in_r(PAYLOAD_REPRESENTATION_OPTIONS_WIDTH-1 downto 0);
alias parameter_id : std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0) is data_in_latch(WORD_WIDTH-1 downto WORD_WIDTH-PARAMETER_ID_WIDTH);
alias parameter_length : std_logic_vector(PARAMETER_LENGTH_WIDTH-1 downto 0) is data_in_latch(PARAMETER_LENGTH_WIDTH-1 downto 0);
begin
-- ###GENERATED START###
-- MEMORY INSTANTIATIONS
-- ###GENERATED END###
instance_state_r <= ANY_INSTANCE_STATE;
view_state_r <= ANY_VIEW_STATE;
sample_state_r <= ANY_SAMPLE_STATE;
instance_handle_r <= HANDLE_NIL;
max_samples_r <= (others => '0');
instance_handle_out_w <= HANDLE_NIL;
source_ts_w <= TIME_INVALID;
max_wait_w <= DURATION_ZERO;
ready_in_w <= '0'; -- DDS Writer Input is unused
taken_user <= taken_sig;
ready_in_r <= ready_in_r_sig;
service_info_user <= service_info_sig;
data_available_user <= data_available_sig;
-- ###GENERATED START###
a <= a_latch;
b <= b_latch;
-- ###GENERATED END###
main_prc : process (all)
variable tmp_length : unsigned(WORD_WIDTH-1 downto 0);
begin
-- DEFAULT
stage_next <= stage;
encode_stage_next <= encode_stage;
decode_stage_next <= decode_stage;
return_stage_next <= return_stage;
cnt_next <= cnt;
endian_flag_next <= endian_flag;
last_word_in_latch_next <= last_word_in_latch;
decode_error_latch_next <= decode_error_latch;
align_offset_next <= align_offset;
target_align_next <= target_align;
data_out_latch_next <= data_out_latch;
finalize_payload_next <= finalize_payload;
optional_next <= optional;
taken_sig_next <= taken_sig;
data_in_latch_next <= data_in_latch;
align_op_next <= align_op;
return_code_latch_next <= return_code_latch;
service_info_sig_next <= service_info_sig;
dw_latch_next <= dw_latch;
data_available_sig_next <= data_available_sig;
ready_in_r_sig <= '0';
abort_mem <= '0';
ack_user <= '0';
si_ack_r <= '0';
get_data_r <= '0';
start_r <= '0';
opcode_r <= NOP;
start_w <= '0';
opcode_w <= NOP;
valid_out_w <= '0';
last_word_out_w <= '0';
done_user <= '0';
return_code_user <= ROS_RET_OK;
data_out_w <= (others => '0');
-- ###GENERATED START###
a_latch_next <= a_latch;
b_latch_next <= b_latch;
-- ###GENERATED END###
-- Last Word Latch Setter
if (last_word_in_r = '1') then
last_word_in_latch_next <= '1';
end if;
-- Data Available Setter
if (check_mask(status_r, DATA_AVAILABLE_STATUS)) then
data_available_sig_next <= '1';
end if;
case (stage) is
when IDLE =>
if (start_user = '1') then
ack_user <= '1';
case (opcode_user) is
when TAKE_REQUEST =>
stage_next <= INITIATE_READ;
when SEND_RESPONSE =>
stage_next <= INITIATE_WRITE;
when others =>
return_code_latch_next <= ROS_RET_UNSUPPORTED;
stage_next <= RETURN_ROS;
end case;
-- RESET
taken_sig_next <= '0';
abort_mem <= '1';
else
-- ###GENERATED START###
-- MEMORY SIGNAL CONNECTIONS
-- ###GENERATED END###
end if;
when RETURN_ROS =>
done_user <= '1';
return_code_user <= return_code_latch;
-- DONE
stage_next <= IDLE;
when INITIATE_READ =>
start_r <= '1';
opcode_r <= TAKE_NEXT_SAMPLE;
if (ack_r = '1') then
stage_next <= WAIT_FOR_READER;
end if;
when WAIT_FOR_READER =>
if (done_r = '1') then
case (return_code_r) is
when RETCODE_OK =>
stage_next <= WAIT_FOR_DATA;
when RETCODE_NO_DATA =>
assert (taken_sig = '0') severity FAILURE;
-- Data Available Resetter
data_available_sig_next <= '0';
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_ROS;
when others =>
return_code_latch_next <= ROS_RET_ERROR;
stage_next <= RETURN_ROS;
end case;
end if;
when WAIT_FOR_DATA =>
if (si_valid_r = '1') then
si_ack_r <= '1';
-- Meta Sample
if (si_valid_data_r = '0') then
-- Ignore and read Next Sample
stage_next <= INITIATE_READ;
else
get_data_r <= '1';
stage_next <= GET_PAYLOAD_HEADER;
service_info_sig_next.received_timestamp <= TIME_INVALID;
service_info_sig_next.source_timestamp <= si_source_timestamp_r;
end if;
end if;
when GET_PAYLOAD_HEADER =>
-- TODO: Latch Offset from Options Field?
ready_in_r_sig <= '1';
-- Input Guard
if (valid_in_r = '1') then
case (representation_id) is
when CDR_BE =>
endian_flag_next <= '0';
stage_next <= FETCH;
-- Alignment Reset
align_offset_next <= (others => '0');
decode_stage_next <= GET_RID_WGUID;
cnt_next <= 0;
-- Initial Fetch
when CDR_LE =>
endian_flag_next <= '1';
stage_next <= FETCH;
-- Alignment Reset
align_offset_next <= (others => '0');
decode_stage_next <= GET_RID_WGUID;
cnt_next <= 0;
when others =>
-- Unknown Payload Encoding
stage_next <= SKIP_PAYLOAD;
decode_error_latch_next <= '1';
end case;
end if;
when FETCH =>
ready_in_r_sig <= '1';
-- Input Guard
if (valid_in_r = '1') then
data_in_latch_next <= data_in_r;
-- Alignment Operation in progress
if (align_op = '1') then
stage_next <= ALIGN_IN_STREAM;
-- Reset
align_op_next <= '0';
else
stage_next <= DECODE_PAYLOAD;
end if;
end if;
when ALIGN_IN_STREAM =>
-- Target Stream Alignment reached
if (check_align(align_offset, target_align)) then
-- DONE
stage_next <= DECODE_PAYLOAD;
else
align_offset_next <= align_offset + 1;
-- Need to fetch new Input Word
if (align_offset(1 downto 0) = "11") then
align_op_next <= '1';
stage_next <= FETCH;
end if;
end if;
when DECODE_PAYLOAD =>
case (decode_stage) is
-- NOTE: The Cyclone DDS implementation uses a custom request header that is pre-pended to the actual service request/response.
-- It is defined as follows:
-- struct cdds_request_header_t{
-- uint64_t guid;
-- int64_t seq;
-- };
-- 'seq' is set by a counter that is incremented on each "send_request".
-- 'guid' is set to the publication handle of the request writer of the service client.
-- Note that the publication handle is useless for the server, since it is only meanigful localy (i.e. only the client can do something with it)
-- Nevertheless the same 'guid' has to be returned to the client.
when GET_RID_WGUID =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
service_info_sig_next.request_id.writer_guid(0) <= get_sub_vector(endian_swap(endian_flag, dw_latch),0,WORD_WIDTH,TRUE);
service_info_sig_next.request_id.writer_guid(1) <= get_sub_vector(endian_swap(endian_flag, dw_latch),1,WORD_WIDTH,TRUE);
align_offset_next <= align_offset + 8;
decode_stage_next <= GET_RID_SN;
cnt_next <= 0;
when others =>
null;
end case;
end if;
when GET_RID_SN =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
service_info_sig_next.request_id.sequence_number <= to_double_word(unsigned(endian_swap(endian_flag, dw_latch)));
align_offset_next <= align_offset + 8;
-- ###GENERATED START###
decode_stage_next <= GET_A;
cnt_next <= 0;
-- ###GENERATED END###
when others =>
null;
end case;
end if;
-- ###GENERATED START###
when GET_A =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
a_latch_next <= endian_swap(endian_flag, dw_latch);
align_offset_next <= align_offset + 8;
decode_stage_next <= GET_B;
cnt_next <= 0;
when others =>
null;
end case;
end if;
when GET_B =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
b_latch_next <= endian_swap(endian_flag, dw_latch);
align_offset_next <= align_offset + 8;
-- DONE
stage_next <= SKIP_PAYLOAD;
when others =>
null;
end case;
end if;
-- ###GENERATED END###
when GET_OPTIONAL_HEADER =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Optional Member Header
when 0 =>
-- Extended Parameter Header
if (endian_swap(endian_flag,parameter_id) = PID_EXTENDED) then
cnt_next <= cnt + 1;
stage_next <= FETCH;
else
stage_next <= FETCH;
decode_stage_next <= return_stage;
cnt_next <= 0;
-- Alignment Reset
align_offset_next <= (others => '0');
-- Optional omitted
if(endian_swap(endian_flag,parameter_length) = (parameter_length'reverse_range => '0')) then
optional_next <= '0';
else
optional_next <= '1';
end if;
end if;
-- eMemberHeader
when 1 =>
-- Ignore Parameter ID
cnt_next <= cnt + 1;
stage_next <= FETCH;
-- Llength
when 2 =>
stage_next <= FETCH;
decode_stage_next <= return_stage;
cnt_next <= 0;
-- Alignment Reset
align_offset_next <= (others => '0');
-- Optional omitted
if(endian_swap(endian_flag, data_in_r) = (data_in_r'reverse_range => '0')) then
optional_next <= '0';
else
optional_next <= '1';
end if;
when others =>
null;
end case;
end if;
when others =>
null;
end case;
when SKIP_PAYLOAD =>
if (last_word_in_latch = '0' and last_word_in_r = '0') then
-- Skip Read
ready_in_r_sig <= '1';
else
-- Reset
last_word_in_latch_next <= '0';
-- If no Decode Error, mark output as valid
if (decode_error_latch = '0') then
taken_sig_next <= '1';
return_code_latch_next <= ROS_RET_OK;
else
taken_sig_next <= '0';
return_code_latch_next <= ROS_RET_ERROR;
end if;
stage_next <= RETURN_ROS;
end if;
when INITIATE_WRITE =>
start_w <= '1';
opcode_w <= WRITE;
if (ack_w = '1') then
stage_next <= WRITE_PAYLOAD_HEADER;
end if;
when WRITE_PAYLOAD_HEADER =>
valid_out_w <= '1';
if (LITTLE_ENDIAN = '0') then
data_out_w <= CDR_BE & x"0000";
else
data_out_w <= CDR_LE & x"0000";
end if;
-- Output Guard
if (ready_out_w = '1') then
stage_next <= ENCODE_PAYLOAD;
-- Reset
align_offset_next <= (others => '0');
data_out_latch_next <= (others => '0');
encode_stage_next <= WRITE_RID_WGUID;
cnt_next <= 0;
end if;
when PUSH =>
-- Mark Last Word
if (finalize_payload = '1') then
last_word_out_w <= '1';
end if;
valid_out_w <= '1';
data_out_w <= data_out_latch;
-- Output Guard
if (ready_out_w = '1') then
-- NOTE: Ensures all padding is zero.
data_out_latch_next <= (others => '0');
-- Alignment Operation in process
if (align_op = '1') then
stage_next <= ALIGN_OUT_STREAM;
-- Reset
align_op_next <= '0';
-- DONE
elsif (finalize_payload = '1') then
finalize_payload_next <= '0';
stage_next <= WAIT_FOR_WRITER;
else
stage_next <= ENCODE_PAYLOAD;
end if;
end if;
when ALIGN_OUT_STREAM =>
-- Target Stream Alignment reached
if (check_align(align_offset, target_align)) then
-- DONE
stage_next <= ENCODE_PAYLOAD;
else
align_offset_next <= align_offset + 1;
-- Need to push Word
if (align_offset(1 downto 0) = "11") then
align_op_next <= '1';
stage_next <= PUSH;
end if;
end if;
when ENCODE_PAYLOAD =>
case (encode_stage) is
when WRITE_RID_WGUID =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, get_sub_vector(std_logic_vector(to_unsigned(request_id_user.writer_guid)), 0, 64, TRUE)), 0, WORD_WIDTH, TRUE);
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, get_sub_vector(std_logic_vector(to_unsigned(request_id_user.writer_guid)), 0, 64, TRUE)), 1, WORD_WIDTH, TRUE);
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
encode_stage_next <= WRITE_RID_SN;
cnt_next <= 0;
when others =>
end case;
end if;
when WRITE_RID_SN =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, std_logic_vector(to_unsigned(request_id_user.sequence_number))), 0, WORD_WIDTH, TRUE);
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, std_logic_vector(to_unsigned(request_id_user.sequence_number))), 1, WORD_WIDTH, TRUE);
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
-- ###GENERATED START###
encode_stage_next <= WRITE_SUM;
cnt_next <= 0;
-- ###GENERATED END###
when others =>
end case;
end if;
-- ###GENERATED START###
when WRITE_SUM =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, sum), 0, WORD_WIDTH, TRUE);
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, sum), 1, WORD_WIDTH, TRUE);
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
-- DONE
finalize_payload_next <= '1';
when others =>
end case;
end if;
-- ###GENERATED END###
when others =>
null;
end case;
when WAIT_FOR_WRITER =>
if (done_w = '1') then
case (return_code_w) is
when RETCODE_OK =>
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_ROS;
when others =>
return_code_latch_next <= ROS_RET_ERROR;
stage_next <= RETURN_ROS;
end case;
end if;
when others =>
null;
end case;
-- OVERREAD GUARD
-- Attempted read on empty input
if (last_word_in_latch = '1' and last_word_in_r = '0' and ready_in_r_sig = '1') then
stage_next <= SKIP_PAYLOAD;
decode_error_latch_next <= '1';
end if;
end process;
sync_prc : process(clk)
begin
if rising_edge(clk) then
if (reset = '1') then
stage <= IDLE;
encode_stage <= WRITE_RID_WGUID;
decode_stage <= GET_RID_WGUID;
return_stage <= GET_RID_WGUID;
target_align <= ALIGN_1;
cnt <= 0;
endian_flag <= '0';
last_word_in_latch <= '0';
decode_error_latch <= '0';
optional <= '0';
taken_sig <= '0';
align_op <= '0';
finalize_payload <= '0';
data_available_sig <= '0';
align_offset <= (others => '0');
data_in_latch <= (others => '0');
data_out_latch <= (others => '0');
dw_latch <= (others => '0');
return_code_latch <= ROS_RET_OK;
service_info_sig <= EMPTY_SERVICE_INFO;
-- ###GENERATED START###
a_latch <= (others => '0');
b_latch <= (others => '0');
-- ###GENERATED END###
else
stage <= stage_next;
encode_stage <= encode_stage_next;
decode_stage <= decode_stage_next;
return_stage <= return_stage_next;
target_align <= target_align_next;
cnt <= cnt_next;
endian_flag <= endian_flag_next;
last_word_in_latch <= last_word_in_latch_next;
decode_error_latch <= decode_error_latch_next;
optional <= optional_next;
taken_sig <= taken_sig_next;
align_op <= align_op_next;
finalize_payload <= finalize_payload_next;
data_available_sig <= data_available_sig_next;
align_offset <= align_offset_next;
data_in_latch <= data_in_latch_next;
data_out_latch <= data_out_latch_next;
dw_latch <= dw_latch_next;
return_code_latch <= return_code_latch_next;
service_info_sig <= service_info_sig_next;
-- ###GENERATED START###
a_latch <= a_latch_next;
b_latch <= b_latch_next;
-- ###GENERATED END###
end if;
end if;
end process;
end architecture;

17
src/ros2/example_interfaces/Bool.idl Normal file
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Bool.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, bool." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct Bool {
boolean data;
};
};
};

5
src/ros2/example_interfaces/Bool.msg Normal file
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, bool.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
bool data

17
src/ros2/example_interfaces/Byte.idl Normal file
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Byte.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, byte." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct Byte {
octet data;
};
};
};

5
src/ros2/example_interfaces/Byte.msg Normal file
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, byte.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
byte data

25
src/ros2/example_interfaces/ByteMultiArray.idl Normal file
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/ByteMultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct ByteMultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<octet> data;
};
};
};

9
src/ros2/example_interfaces/ByteMultiArray.msg Normal file
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
byte[] data # array of data

17
src/ros2/example_interfaces/Char.idl Normal file
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Char.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, char." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct Char {
uint8 data;
};
};
};

5
src/ros2/example_interfaces/Char.msg Normal file
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, char.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
char data

15
src/ros2/example_interfaces/Empty.idl Normal file
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@ -0,0 +1,15 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Empty.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type.")
struct Empty {
uint8 structure_needs_at_least_one_member;
};
};
};

2
src/ros2/example_interfaces/Empty.msg Normal file
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@ -0,0 +1,2 @@
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.

8
src/ros2/example_interfaces/Fibonacci.action Normal file
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@ -0,0 +1,8 @@
# Goal
int32 order
---
# Result
int32[] sequence
---
# Feedback
int32[] sequence

17
src/ros2/example_interfaces/Float32.idl Normal file
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Float32.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, float32." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct Float32 {
float data;
};
};
};

5
src/ros2/example_interfaces/Float32.msg Normal file
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, float32.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
float32 data

25
src/ros2/example_interfaces/Float32MultiArray.idl Normal file
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Float32MultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct Float32MultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<float> data;
};
};
};

9
src/ros2/example_interfaces/Float32MultiArray.msg Normal file
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
float32[] data # array of data

17
src/ros2/example_interfaces/Float64.idl Normal file
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Float64.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, float64." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct Float64 {
double data;
};
};
};

5
src/ros2/example_interfaces/Float64.msg Normal file
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, float64.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
float64 data

25
src/ros2/example_interfaces/Float64MultiArray.idl Normal file
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Float64MultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct Float64MultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<double> data;
};
};
};

9
src/ros2/example_interfaces/Float64MultiArray.msg Normal file
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
float64[] data # array of data

17
src/ros2/example_interfaces/Int16.idl Normal file
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Int16.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, int16." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct Int16 {
int16 data;
};
};
};

5
src/ros2/example_interfaces/Int16.msg Normal file
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, int16.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
int16 data

25
src/ros2/example_interfaces/Int16MultiArray.idl Normal file
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Int16MultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct Int16MultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<int16> data;
};
};
};

9
src/ros2/example_interfaces/Int16MultiArray.msg Normal file
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
int16[] data # array of data

17
src/ros2/example_interfaces/Int32.idl Normal file
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Int32.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, int32." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct Int32 {
int32 data;
};
};
};

5
src/ros2/example_interfaces/Int32.msg Normal file
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, int32.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
int32 data

25
src/ros2/example_interfaces/Int32MultiArray.idl Normal file
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Int32MultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct Int32MultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<int32> data;
};
};
};

9
src/ros2/example_interfaces/Int32MultiArray.msg Normal file
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
int32[] data # array of data

17
src/ros2/example_interfaces/Int64.idl Normal file
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Int64.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, int64." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct Int64 {
int64 data;
};
};
};

5
src/ros2/example_interfaces/Int64.msg Normal file
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, int64.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
int64 data

25
src/ros2/example_interfaces/Int64MultiArray.idl Normal file
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Int64MultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct Int64MultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<int64> data;
};
};
};

9
src/ros2/example_interfaces/Int64MultiArray.msg Normal file
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
int64[] data # array of data

17
src/ros2/example_interfaces/Int8.idl Normal file
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Int8.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, in8." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct Int8 {
int8 data;
};
};
};

5
src/ros2/example_interfaces/Int8.msg Normal file
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, in8.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
int8 data

25
src/ros2/example_interfaces/Int8MultiArray.idl Normal file
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/Int8MultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct Int8MultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<int8> data;
};
};
};

9
src/ros2/example_interfaces/Int8MultiArray.msg Normal file
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
int8[] data # array of data

26
src/ros2/example_interfaces/MultiArrayDimension.idl Normal file
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@ -0,0 +1,26 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/MultiArrayDimension.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct MultiArrayDimension {
@verbatim (language="comment", text=
" label of given dimension")
string label;
@verbatim (language="comment", text=
" size of given dimension (in type units)")
uint32 size;
@verbatim (language="comment", text=
" stride of given dimension")
uint32 stride;
};
};
};

7
src/ros2/example_interfaces/MultiArrayDimension.msg Normal file
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@ -0,0 +1,7 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
string label # label of given dimension
uint32 size # size of given dimension (in type units)
uint32 stride # stride of given dimension

46
src/ros2/example_interfaces/MultiArrayLayout.idl Normal file
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@ -0,0 +1,46 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/MultiArrayLayout.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayDimension.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct MultiArrayLayout {
@verbatim (language="comment", text=
" The multiarray declares a generic multi-dimensional array of a" "\n"
" particular data type. Dimensions are ordered from outer most" "\n"
" to inner most." "\n"
"" "\n"
" Accessors should ALWAYS be written in terms of dimension stride" "\n"
" and specified outer-most dimension first." "\n"
"" "\n"
" multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]" "\n"
"" "\n"
" A standard, 3-channel 640x480 image with interleaved color channels" "\n"
" would be specified as:" "\n"
"" "\n"
" dim[0].label = \"height\"" "\n"
" dim[0].size = 480" "\n"
" dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)" "\n"
" dim[1].label = \"width\"" "\n"
" dim[1].size = 640" "\n"
" dim[1].stride = 3*640 = 1920" "\n"
" dim[2].label = \"channel\"" "\n"
" dim[2].size = 3" "\n"
" dim[2].stride = 3" "\n"
"" "\n"
" multiarray(i,j,k) refers to the ith row, jth column, and kth channel." "\n"
" Array of dimension properties")
sequence<example_interfaces::msg::MultiArrayDimension> dim;
@verbatim (language="comment", text=
" padding bytes at front of data")
uint32 data_offset;
};
};
};

30
src/ros2/example_interfaces/MultiArrayLayout.msg Normal file
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@ -0,0 +1,30 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# The multiarray declares a generic multi-dimensional array of a
# particular data type. Dimensions are ordered from outer most
# to inner most.
#
# Accessors should ALWAYS be written in terms of dimension stride
# and specified outer-most dimension first.
#
# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
#
# A standard, 3-channel 640x480 image with interleaved color channels
# would be specified as:
#
# dim[0].label = "height"
# dim[0].size = 480
# dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)
# dim[1].label = "width"
# dim[1].size = 640
# dim[1].stride = 3*640 = 1920
# dim[2].label = "channel"
# dim[2].size = 3
# dim[2].stride = 3
#
# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
MultiArrayDimension[] dim # Array of dimension properties
uint32 data_offset # padding bytes at front of data

27
src/ros2/example_interfaces/SetBool.idl Normal file
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@ -0,0 +1,27 @@
// generated from rosidl_adapter/resource/srv.idl.em
// with input from example_interfaces/srv/SetBool.srv
// generated code does not contain a copyright notice
module example_interfaces {
module srv {
@verbatim (language="comment", text=
" This is an example of a service to set a boolean value." "\n"
" This can be used for testing but a semantically meaningful" "\n"
" one should be created to be built upon.")
struct SetBool_Request {
@verbatim (language="comment", text=
" e.g. for hardware enabling / disabling")
boolean data;
};
struct SetBool_Response {
@verbatim (language="comment", text=
" indicate successful run of triggered service")
boolean success;
@verbatim (language="comment", text=
" informational, e.g. for error messages")
string message;
};
};
};

8
src/ros2/example_interfaces/SetBool.srv Normal file
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@ -0,0 +1,8 @@
# This is an example of a service to set a boolean value.
# This can be used for testing but a semantically meaningful
# one should be created to be built upon.
bool data # e.g. for hardware enabling / disabling
---
bool success # indicate successful run of triggered service
string message # informational, e.g. for error messages

17
src/ros2/example_interfaces/String.idl Normal file
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/String.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, string." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct String {
string data;
};
};
};

5
src/ros2/example_interfaces/String.msg Normal file
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, string.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
string data

25
src/ros2/example_interfaces/Trigger.idl Normal file
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/srv.idl.em
// with input from example_interfaces/srv/Trigger.srv
// generated code does not contain a copyright notice
module example_interfaces {
module srv {
@verbatim (language="comment", text=
" An example of a trigger service." "\n"
" This can be used for testing but a semantically meaningful" "\n"
" one should be created to be built upon.")
struct Trigger_Request {
uint8 structure_needs_at_least_one_member;
};
struct Trigger_Response {
@verbatim (language="comment", text=
" indicate successful run of triggered service")
boolean success;
@verbatim (language="comment", text=
" informational, e.g. for error messages.")
string message;
};
};
};

7
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# An example of a trigger service.
# This can be used for testing but a semantically meaningful
# one should be created to be built upon.
---
bool success # indicate successful run of triggered service
string message # informational, e.g. for error messages.

17
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// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/UInt16.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, uint16." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct UInt16 {
uint16 data;
};
};
};

5
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, uint16.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
uint16 data

25
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// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/UInt16MultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct UInt16MultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<uint16> data;
};
};
};

9
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
uint16[] data # array of data

17
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// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/UInt32.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, uint32." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct UInt32 {
uint32 data;
};
};
};

5
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, uint32.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
uint32 data

25
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/UInt32MultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct UInt32MultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<uint32> data;
};
};
};

9
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
uint32[] data # array of data

17
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// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/UInt64.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, unint64." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct UInt64 {
uint64 data;
};
};
};

5
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, unint64.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
uint64 data

25
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/UInt64MultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct UInt64MultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<uint64> data;
};
};
};

9
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
uint64[] data # array of data

17
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@ -0,0 +1,17 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/UInt8.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, uint8." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct UInt8 {
uint8 data;
};
};
};

5
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, uint8.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
uint8 data

25
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@ -0,0 +1,25 @@
// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/UInt8MultiArray.msg
// generated code does not contain a copyright notice
#include "example_interfaces/msg/MultiArrayLayout.idl"
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example of using complex datatypes." "\n"
" It is not recommended to use directly." "\n"
" To use a similar datastruct please define a custom message with appropriate semantic meaning.")
struct UInt8MultiArray {
@verbatim (language="comment", text=
" Please look at the MultiArrayLayout message definition for" "\n"
" documentation on all multiarrays." "\n"
" specification of data layout")
example_interfaces::msg::MultiArrayLayout layout;
@verbatim (language="comment", text=
" array of data")
sequence<uint8> data;
};
};
};

9
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@ -0,0 +1,9 @@
# This is an example of using complex datatypes.
# It is not recommended to use directly.
# To use a similar datastruct please define a custom message with appropriate semantic meaning.
# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.
MultiArrayLayout layout # specification of data layout
uint8[] data # array of data

17
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// generated from rosidl_adapter/resource/msg.idl.em
// with input from example_interfaces/msg/WString.msg
// generated code does not contain a copyright notice
module example_interfaces {
module msg {
@verbatim (language="comment", text=
" This is an example message of using a primitive datatype, wstring." "\n"
" If you want to test with this that's fine, but if you are deploying" "\n"
" it into a system you should create a semantically meaningful message type." "\n"
" If you want to embed it in another message, use the primitive data type instead.")
struct WString {
wstring data;
};
};
};

5
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@ -0,0 +1,5 @@
# This is an example message of using a primitive datatype, wstring.
# If you want to test with this that's fine, but if you are deploying
# it into a system you should create a semantically meaningful message type.
# If you want to embed it in another message, use the primitive data type instead.
wstring data

248
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RCL
===
rcl_get_zero_initialized_node () [NODE]
rcl_node_init (node, name, namespace, context, options) [RET]
rcl_node_fini (node) [RET]
rcl_node_is_valid (node) [BOOL]
rcl_node_is_valid_except_context (node) [BOOL]
rcl_node_get_name (node) [NAME]
rcl_node_get_namespace (node) [NAMESPACE]
rcl_node_get_fully_qualified_name (node) [FQN]
rcl_node_get_options (node) [OPTIONS]
rcl_node_get_domain_id (node, domain_id) [RET]
rcl_node_get_rmw_handle (node) [RMW NODE]
rcl_node_get_rcl_instance_id (node) [INSTANCE ID]
rcl_node_get_graph_guard_condition (node) [GUARD CONDITION]
rcl_node_get_logger_name (node) [LOGGER NAME]
rcl_get_zero_initialized_publisher () [PUBLISHER]
rcl_publisher_init (publisher, node, type_support, topic_name, options) [RET]
rcl_publisher_fini (publisher, node) [RET]
rcl_publisher_get_default_options () [options]
rcl_borrow_loaned_message (publisher, type_support, ros_message) [RET]
rcl_return_loaned_message_from_publisher (publisher, loaned_message) [RET]
rcl_publish (publisher, ros_message, allocation) [RET]
rcl_publish_serialized_message (publisher, serialized_message, allocation) [RET]
rcl_publish_loaned_message (publisher, ros_message, allocation) [RET]
rcl_publisher_assert_liveliness (publisher) [RET]
rcl_publisher_get_topic_name (publisher) [TOPIC NAME]
rcl_publisher_get_options (publisher) [OPTIONS]
rcl_publisher_get_rmw_handle (publisher) [RMW PUBLISHER]
rcl_publisher_get_context (publisher) [CONTEXT]
rcl_publisher_is_valid (publisher) [BOOL]
rcl_publisher_is_valid_except_context (publisher) [BOOL]
rcl_publisher_get_subscription_count (publisher, subscription_count) [RET]
rcl_publisher_get_actual_qos (publisher) [RMW QOS PROFILE]
rcl_publisher_can_loan_messages (publisher) [BOOL]
rcl_get_zero_initialized_subscription () [SUBSCRIBER]
rcl_subscription_init (subscriber, node, type_support, topic_name, options) [RET]
rcl_subscription_fini (subscriber, node) [RET]
rcl_subscription_get_default_options() [OPTIONS]
rcl_take (subscriber, ros_message, message_info, allocation) [RET]
rcl_take_sequence (subscriber, message_sequence, message_info_sequence, allocation) [RET]
rcl_take_serialized_message (subscriber, serialized_message, message_info, allocation) [RET]
rcl_take_loaned_message (subscriber, loaned_message, message_info, allocation) [RET]
rcl_return_loaned_message_from_subscription (subscriber, loaned_message) [RET]
rcl_subscription_get_topic_name (subscriber) [TOPIC NAME]
rcl_subscription_get_options (subscriber) [OPTIONS]
rcl_subscription_get_rmw_handle (subscriber) [RMW SUBSCRIBER]
rcl_subscription_is_valid (subscriber) [BOOL]
rcl_subscription_get_publisher_count (subscriber, publisher_count) [RET]
rcl_subscription_get_actual_qos (subscriber) [QOS PROFILE]
rcl_subscription_can_loan_messages (subscriber) [BOOL]
rcl_get_zero_initialized_client () [CLIENT]
rcl_client_init (client, node, type_support, service_name, options) [RET]
rcl_client_fini (client, node) [RET]
rcl_client_get_default_options () [OPTIONS]
rcl_send_request (client, ros_request, sequence_number) [RET]
rcl_take_response_with_info (client, request_header, ros_response)
rcl_take_response (client, request_header, ros_response)
rcl_client_get_service_name (client) [SERVICE NAME]
rcl_client_get_options (client) [OPTIONS]
rcl_client_get_rmw_handle (client) [RMW HANDLE]
rcl_client_is_valid (client) [BOOL]
rcl_get_zero_initialized_service () [SERVICE]
rcl_service_init (service, node, type_support, service_name, options) [RET]
rcl_service_fini (service, node) [RET]
rcl_service_get_default_options () [OPTIONS]
rcl_take_request_with_info (service, request_header, ros_request) [RET]
rcl_take_request (service, request_header, ros_request) [RET]
rcl_send_response (service, response_header, ros_response) [RET]
rcl_service_get_service_name (service) [SERVICE NAME]
rcl_service_get_options (service) [OPTIONS]
rcl_service_get_rmw_handle (service) [RMW SERVICE]
rcl_service_is_valid (service) [BOOL]
rcl_get_zero_initialized_timer () [TIMER]
rcl_timer_init (timer, clock, context, period, callback, allocator) [RET]
rcl_timer_fini (timer) [RET]
rcl_timer_call (timer) [RET]
rcl_timer_clock (timer, clock) [RET]
rcl_timer_is_ready (timer, is_ready) [RET]
rcl_timer_get_time_until_next_call (timer, time_until_next_call) [RET]
rcl_timer_get_time_since_last_call (timer, time_since_last_call) [RET]
rcl_timer_get_period (timer, period) [RET]
rcl_timer_exchange_period (timer, new_period, old_period) [RET]
rcl_timer_get_callback (timer) [TIMER CALLBACK]
rcl_timer_exchange_callback (TIMER, NEW_CALLBACK) [TIMER CALLBACK]
rcl_timer_cancel (timer) [RET]
rcl_timer_is_canceled (timer, is_canceled) [RET]
rcl_timer_reset (timer) [RET]
rcl_timer_get_allocator (timer) [ALLOCATOR]
rcl_timer_get_guard_condition (timer) [GUARD CONDITION]
RMW
===
rmw_get_zero_initialized_context () [CONTEXT]
rmw_init (options, context) [RET]
rmw_shutdown (context) [RET]
rmw_context_fini (context) [RET]
rmw_get_implementation_identifier () [IMPLEMENTATION IDENTIFIER]
rmw_get_serialization_format () [SERIALIZATION FORMAT]
rmw_create_node (context, name, namespace, domain_id, localhost_only) [NODE]
rmw_destroy_node (node) [RET]
rmw_node_get_graph_guard_condition (node) [GUARD CONDITION]
rmw_init_publisher_allocation (type_support, message_bound, allocation) [RET]
rmw_fini_publisher_allocation (allocation) [RET]
rmw_get_default_publisher_options () [PUB OPTIONS]
rmw_create_publisher (node, type_support, topic_name, qos_policies, publisher_options) [PUBLISHER]
rmw_destroy_publisher (node, publisher)
rmw_borrow_loaned_message (publisher, type_support, ros_message) [RET]
rmw_return_loaned_message_from_publisher (publisher, loaned_message [RET]
rmw_publish (publisher, ros_message, allocation) [RET]
rmw_publish_loaned_message (publisher, ros_message, allocation) [RET]
rmw_publisher_count_matched_subscriptions (publisher, subscription_count) [RET]
rmw_publisher_get_actual_qos (publisher, qos) [RET]
rmw_publish_serialized_message (publisher, serialized_message, allocation) [RET]
rmw_get_serialized_message_size (type_support, message_bounds, size) [RET]
rmw_publisher_assert_liveliness (publisher) [RET]
rmw_serialize (ros_message, type_support, serialized_message) [RET]
rmw_deserialize (serialized_message, type_support, ros_message) [RET]
rmw_init_subscription_allocation (type_support, message_bounds, allocation) [RET]
rmw_fini_subscription_allocation (allocation) [RET]
rmw_create_subscription (node, type_support, topic_name, qos_policies, subscriber_options) [SUBSCRIBER]
rmw_destroy_subscription (node, subscriber) [RET]
rmw_subscription_count_matched_publishers (subscriber, publisher_count) [RET]
rmw_subscription_get_actual_qos (subscriber, qos) [RET]
rmw_take (subscriber, ros_message, taken, allocation) [RET]
rmw_take_with_info (subscriber, ros_message, taken, message_info, allocation) [RET]
rmw_take_sequence (subscriber, count, message_sequence, message_info_sequence, taken, allocation) [RET]
rmw_take_serialized_message (subscriber, serialized_message, taken, allocation) [RET]
rmw_take_serialized_message_with_info (subscriber, serialized_message, taken, message_info, allocation) [RET]
rmw_take_loaned_message (subscriber, loaned_message, taken, allocation) [RET]
rmw_take_loaned_message_with_info (subscriber, loaned_message, taken, message_info, allocation) [RET]
rmw_return_loaned_message_from_subscription (subscriber, loaned_message) [RET]
rmw_create_client (node, type_support, service_name, qos_policies) [CLIENT]
rmw_destroy_client (node, client) [RET]
rmw_send_request (client, ros_request, sequence_id) [RET]
rmw_take_response (client, service_info, ros_response, taken) [RET]
rmw_create_service (node, type_support, service_name, qos_policies) [SERVICE]
rmw_destroy_service (node, service) [RET]
rmw_take_request (service, service_info, ros_request, taken) [RET]
rmw_send_response (service, request_id, ros_response) [RET]
rmw_create_guard_condition (context) [GUARD CONDITION]
rmw_destroy_guard_condition (guard_condition) [RET]
rmw_trigger_guard_condition (guard_condition) [RET]
rmw_create_wait_set (context, max_conditions) [WAIT_SET]
rmw_destroy_wait_set (wait_set) [RET]
rmw_wait (subscriber, guard_condition, services, clients, events, wait_set, wait_timeout) [RET]
rmw_get_node_names (node, node_names, node_namespaces) [RET]
rmw_get_node_names_with_enclaves (node, node_names, node_namespaces, enclaves) [RET]
rmw_count_publishers (node, topic_name, count) [RET]
rmw_count_subscribers (node, topic_name, count) [RET]
rmw_get_gid_for_publisher (publisher, gid) [RET]
rmw_compare_gids_equal (gid1, gid2, result) [RET]
rmw_service_server_is_available (node, client, is_available) [RET]
rmw_set_log_severity (severity) [RET]
CONTEXT
-------
instance_id, implementation_identifier, options, impl
OPTIONS
-------
instance_id, implementation_identifier, domain_id, security_options, localhost_only, enclave, allocator, impl
SECURITY OPTIONS
----------------
enforce_security, security_root_path
GUARD CONDITION
---------------
implementation_identifier, data, context
SERVICE INFO
------------
source_timestamp, received_timestamp, request_id
REQUEST ID
----------
writer_guid, sequence_number
##################################
http://design.ros2.org/articles/legacy_interface_definition.html
http://design.ros2.org/articles/idl_interface_definition.html
http://design.ros2.org/articles/topic_and_service_names.html
http://design.ros2.org/articles/clock_and_time.html
http://design.ros2.org/articles/qos.html
http://design.ros2.org/articles/qos_configurability.html
http://design.ros2.org/articles/qos_deadline_liveliness_lifespan.html
GENERAL
=======
http://design.ros2.org/articles/Node_to_Participant_mapping.html
REF: https://github.com/ros2/rmw_dds_common.git
TOPIC: 'ros_discovery_info' [ParticipantInfo.msg]
QOS: TRANSIENT_LOCAL, KEEP_LAST, DEPTH 1, RELIABLE
Each Participant publishes a message with all the information needed to match an entity to a Node.
When one entity is updated (e.g.: a Publisher is created or destroyed), a new message is sent.
SERVICE
=======
REF: https://github.com/ros2/rmw_cyclonedds.git
TOPIC: 'rq<SERVICE_NAME>Request' [cdds_request_wrapper_t]
TOPIC: 'rr<SERVICE_NAME>Response' [cdds_request_wrapper_t]
QOS: According to caling rmw_function
NOTE: This is Cyclone DDS implementation specific
ACTION
======
http://design.ros2.org/articles/actions.html
REF: https://github.com/ros2/rclcpp.git [/rlcpp_action]
SERVICE: '<ACTIONNAME>/_action/send_goal' [1st section of .action Definition]
SERVICE: '<ACTIONNAME>/_action/cancel_goal' [rcl_interfaces/action_msgs/CancelGoal.srv]
SERVICE: '<ACTIONNAME>/_action/get_result' [2nd section of .action Definition]
TOPIC: '<ACTIONNAME>/_action/feedback' [3rd section of .action Definition]
TOPIC: '<ACTIONNAME>/_action/status'
PARAMETER
=========
http://design.ros2.org/articles/ros_parameters.html
REF: https://github.com/ros2/rclcpp.git
SERVICE: 'GetParameters'
SERVICE: 'HasParameters'
SERVICE: 'ListParameters'
SERVICE: 'SetParameters'
TOPIC: 'ParameterEvent'
TOPIC: 'ParameterEventDescriptor'
MANAGED NODE
============
http://design.ros2.org/articles/node_lifecycle.html
REF: https://github.com/ros2/rclcpp.git [/rlcpp_lifecycle]

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-- 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.rtps_config_package.all; --TODO: Remove after putting DDS_*_OPCODE_TYPE inside rtps_package
package ros_package is
type ROS_QOS_PROFILE_TYPE is record
HISTORY_QOS : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0);
HISTORY_DEPTH : std_logic_vector(CDR_LONG_WIDTH-1 downto 0);
RELIABILITY_QOS : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0);
DURABILITY_QOS : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0);
DEADLINE_QOS : DURATION_TYPE;
LIFESPAN_QOS : DURATION_TYPE;
LIVELINESS_QOS : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0);
LEASE_DURATION : DURATION_TYPE;
AVOID_ROS_NAMESPACE_CONVENTION : boolean;
end record;
constant ROS_QOS_PROFILE_SENSOR_DATA : ROS_QOS_PROFILE_TYPE := (
HISTORY_QOS => KEEP_LAST_HISTORY_QOS,
HISTORY_DEPTH => std_logic_vector(to_unsigned(5, CDR_LONG_WIDTH)),
RELIABILITY_QOS => BEST_EFFORT_RELIABILITY_QOS,
DURABILITY_QOS => VOLATILE_DURABILITY_QOS,
DEADLINE_QOS => DEFAULT_DEADLINE_QOS,
LIFESPAN_QOS => DEFAULT_LIFESPAN_QOS,
LIVELINESS_QOS => DEFAULT_LIVELINESS_QOS,
LEASE_DURATION => DEFAULT_LEASE_DURATION,
AVOID_ROS_NAMESPACE_CONVENTION => FALSE
);
constant ROS_QOS_PROFILE_PARAMETERS : ROS_QOS_PROFILE_TYPE := (
HISTORY_QOS => KEEP_LAST_HISTORY_QOS,
HISTORY_DEPTH => std_logic_vector(to_unsigned(1000, CDR_LONG_WIDTH)),
RELIABILITY_QOS => RELIABLE_RELIABILITY_QOS,
DURABILITY_QOS => VOLATILE_DURABILITY_QOS,
DEADLINE_QOS => DEFAULT_DEADLINE_QOS,
LIFESPAN_QOS => DEFAULT_LIFESPAN_QOS,
LIVELINESS_QOS => DEFAULT_LIVELINESS_QOS,
LEASE_DURATION => DEFAULT_LEASE_DURATION,
AVOID_ROS_NAMESPACE_CONVENTION => FALSE
);
constant ROS_QOS_PROFILE_DEFAULT : ROS_QOS_PROFILE_TYPE := (
HISTORY_QOS => KEEP_LAST_HISTORY_QOS,
HISTORY_DEPTH => std_logic_vector(to_unsigned(10, CDR_LONG_WIDTH)),
RELIABILITY_QOS => RELIABLE_RELIABILITY_QOS,
DURABILITY_QOS => VOLATILE_DURABILITY_QOS,
DEADLINE_QOS => DEFAULT_DEADLINE_QOS,
LIFESPAN_QOS => DEFAULT_LIFESPAN_QOS,
LIVELINESS_QOS => DEFAULT_LIVELINESS_QOS,
LEASE_DURATION => DEFAULT_LEASE_DURATION,
AVOID_ROS_NAMESPACE_CONVENTION => FALSE
);
constant ROS_QOS_PROFILE_SERVICES_DEFAULT : ROS_QOS_PROFILE_TYPE := (
HISTORY_QOS => KEEP_LAST_HISTORY_QOS,
HISTORY_DEPTH => std_logic_vector(to_unsigned(10, CDR_LONG_WIDTH)),
RELIABILITY_QOS => RELIABLE_RELIABILITY_QOS,
DURABILITY_QOS => VOLATILE_DURABILITY_QOS,
DEADLINE_QOS => DEFAULT_DEADLINE_QOS,
LIFESPAN_QOS => DEFAULT_LIFESPAN_QOS,
LIVELINESS_QOS => DEFAULT_LIVELINESS_QOS,
LEASE_DURATION => DEFAULT_LEASE_DURATION,
AVOID_ROS_NAMESPACE_CONVENTION => FALSE
);
constant ROS_QOS_PROFILE_PARAMETER_EVENTS : ROS_QOS_PROFILE_TYPE := (
HISTORY_QOS => KEEP_LAST_HISTORY_QOS,
HISTORY_DEPTH => std_logic_vector(to_unsigned(1000, CDR_LONG_WIDTH)),
RELIABILITY_QOS => RELIABLE_RELIABILITY_QOS,
DURABILITY_QOS => VOLATILE_DURABILITY_QOS,
DEADLINE_QOS => DEFAULT_DEADLINE_QOS,
LIFESPAN_QOS => DEFAULT_LIFESPAN_QOS,
LIVELINESS_QOS => DEFAULT_LIVELINESS_QOS,
LEASE_DURATION => DEFAULT_LEASE_DURATION,
AVOID_ROS_NAMESPACE_CONVENTION => FALSE
);
constant ROS_QOS_PROFILE_SYSTEM_DEFAULT : ROS_QOS_PROFILE_TYPE := (
HISTORY_QOS => DEFAULT_HISTORY_QOS,
HISTORY_DEPTH => DEFAULT_HISTORY_DEPTH,
RELIABILITY_QOS => DEFAULT_RELIABILITY_QOS_R,
DURABILITY_QOS => DEFAULT_DURABILITY_QOS,
DEADLINE_QOS => DEFAULT_DEADLINE_QOS,
LIFESPAN_QOS => DEFAULT_LIFESPAN_QOS,
LIVELINESS_QOS => DEFAULT_LIVELINESS_QOS,
LEASE_DURATION => DEFAULT_LEASE_DURATION,
AVOID_ROS_NAMESPACE_CONVENTION => FALSE
);
type ROS_NODE_TYPE is record
--context_id : natural;
name : USER_STRING_TYPE;
namespace : USER_STRING_TYPE;
domain_id : natural;
NUM_PUBS : natural;
NUM_SUBS : natural;
NUM_SERVICES : natural;
NUM_ACTIONS : natural;
end record;
type ROS_TOPIC_TYPE is record
node_id : natural;
TOPICNAME : USER_STRING_TYPE;
TYPENAME : USER_STRING_TYPE;
QOS : ROS_QOS_PROFILE_TYPE;
end record;
type ROS_SERVICE_TYPE is record
node_id : natural;
SERVICENAME : USER_STRING_TYPE;
TYPENAME : USER_STRING_TYPE;
QOS : ROS_QOS_PROFILE_TYPE;
is_client : boolean;
end record;
type ROS_ACTION_TYPE is record
node_id : natural;
-- TODO
end record;
type REQUEST_ID_TYPE is record
writer_guid : GUID_TYPE;
sequence_number : SEQUENCENUMBER_TYPE;
end record;
constant EMPTY_REQUEST_ID : REQUEST_ID_TYPE := (writer_guid => GUID_UNKNOWN, sequence_number => SEQUENCENUMBER_UNKNOWN);
type SERVICE_INFO_TYPE is record
source_timestamp : TIME_TYPE;
received_timestamp : TIME_TYPE;
request_id : REQUEST_ID_TYPE;
end record;
constant EMPTY_SERVICE_INFO : SERVICE_INFO_TYPE := (source_timestamp => TIME_INVALID, received_timestamp => TIME_INVALID, request_id => EMPTY_REQUEST_ID);
type ROS_NODE_ARRAY_TYPE is array (natural range <>) of ROS_NODE_TYPE;
type ROS_TOPIC_ARRAY_TYPE is array (natural range <>) of ROS_TOPIC_TYPE;
type ROS_SERVICE_ARRAY_TYPE is array (natural range <>) of ROS_SERVICE_TYPE;
type ROS_ACTION_ARRAY_TYPE is array (natural range <>) of ROS_ACTION_TYPE;
-- *ROS RETURN CODES*
constant ROS_RETCODE_WIDTH : natural := 32;
constant ROS_RET_OK : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(0,ROS_RETCODE_WIDTH));
constant ROS_RET_ERROR : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(1,ROS_RETCODE_WIDTH));
constant ROS_RET_TIMEOUT : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(2,ROS_RETCODE_WIDTH));
constant ROS_RET_UNSUPPORTED : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(3,ROS_RETCODE_WIDTH));
type ROS_SERVICE_OPCODE_TYPE is (NOP, SEND_REQUEST, TAKE_REQUEST, SEND_RESPONSE, TAKE_RESPONSE);
constant ROS_SEQUENCE_ID_WIDTH : natural := 64;
type ENDPOINT_ROS_NODE_MAPPING_ARRAY_TYPE is array (natural range <>) of natural;
constant GID_WIDTH : natural := 192;
type GID_TYPE is array (0 to (GID_WIDTH/WORD_WIDTH)-1) of std_logic_vector(WORD_WIDTH-1 downto 0);
function to_gid(guid : GUID_TYPE) return GID_TYPE;
function get_num_pubs(nodes : ROS_NODE_ARRAY_TYPE) return natural;
function get_num_subs(nodes : ROS_NODE_ARRAY_TYPE) return natural;
function get_num_services(nodes : ROS_NODE_ARRAY_TYPE) return natural;
function get_num_actions(nodes : ROS_NODE_ARRAY_TYPE) return natural;
function get_domain_id(nodes : ROS_NODE_ARRAY_TYPE) return natural;
function gen_fqn(ns : string; node : string; name : string) return USER_STRING_TYPE;
procedure check_node_mapping(nodes : in ROS_NODE_ARRAY_TYPE; pubs : in ROS_TOPIC_ARRAY_TYPE; subs : in ROS_TOPIC_ARRAY_TYPE; services : in ROS_SERVICE_ARRAY_TYPE; actions : in ROS_ACTION_ARRAY_TYPE);
procedure set_from_qos_profile(profile : in ROS_QOS_PROFILE_TYPE; config : inout CONFIG_TYPE);
type SERVICE_INTERFACE_TYPE is record
start_r : std_logic;
ack_r : std_logic;
opcode_r : DDS_READER_OPCODE_TYPE;
instance_state_r : std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
view_state_r : std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
sample_state_r : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
instance_handle_r : INSTANCE_HANDLE_TYPE;
max_samples_r : std_logic_vector(MAX_SAMPLES_WIDTH-1 downto 0);
get_data_r : std_logic;
done_r : std_logic;
return_code_r : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
valid_in_r : std_logic;
ready_in_r : std_logic;
data_in_r : std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_r : std_logic;
si_sample_state_r : std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
si_view_state_r : std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
si_instance_state_r : std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
si_source_timestamp_r : TIME_TYPE;
si_instance_handle_r : INSTANCE_HANDLE_TYPE;
si_publication_handle_r : INSTANCE_HANDLE_TYPE;
si_disposed_generation_count_r : std_logic_vector(DISPOSED_GENERATION_COUNT_WIDTH-1 downto 0);
si_no_writers_generation_count_r : std_logic_vector(NO_WRITERS_GENERATION_COUNT_WIDTH-1 downto 0);
si_sample_rank_r : std_logic_vector(SAMPLE_RANK_WIDTH-1 downto 0);
si_generation_rank_r : std_logic_vector(GENERATION_RANK_WIDTH-1 downto 0);
si_absolute_generation_rank_r : std_logic_vector(ABSOLUTE_GENERATION_COUNT_WIDTH-1 downto 0);
si_valid_data_r : std_logic;
si_valid_r : std_logic;
si_ack_r : std_logic;
eoc_r : std_logic;
status_r : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
start_w : std_logic;
ack_w : std_logic;
opcode_w : DDS_WRITER_OPCODE_TYPE;
instance_handle_out_w : INSTANCE_HANDLE_TYPE;
source_ts_w : TIME_TYPE;
max_wait_w : DURATION_TYPE;
done_w : std_logic;
return_code_w : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
instance_handle_in_w : INSTANCE_HANDLE_TYPE;
valid_out_w : std_logic;
ready_out_w : std_logic;
data_out_w : std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_out_w : std_logic;
valid_in_w : std_logic;
ready_in_w : std_logic;
data_in_w : std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_w : std_logic;
status_w : std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
end record;
type SERVICE_INTERFACE_ARRAY_TYPE is array (natural range <>) of SERVICE_INTERFACE_TYPE;
end package;
package body ros_package is
function to_gid(guid : GUID_TYPE) return GID_TYPE is
variable ret : GID_TYPE;
begin
ret := (others => (others => '0'));
for i in 0 to guid'length-1 loop
ret(i) := guid(i);
end loop;
return ret;
end function;
function get_num_pubs(nodes : ROS_NODE_ARRAY_TYPE) return natural is
variable ret : natural;
begin
ret := 0;
for i in 0 to nodes'length-1 loop
ret := ret + nodes(i).NUM_PUBS;
end loop;
return ret;
end function;
function get_num_subs(nodes : ROS_NODE_ARRAY_TYPE) return natural is
variable ret : natural;
begin
ret := 0;
for i in 0 to nodes'length-1 loop
ret := ret + nodes(i).NUM_SUBS;
end loop;
return ret;
end function;
function get_num_services(nodes : ROS_NODE_ARRAY_TYPE) return natural is
variable ret : natural;
begin
ret := 0;
for i in 0 to nodes'length-1 loop
ret := ret + nodes(i).NUM_SERVICES;
end loop;
return ret;
end function;
function get_num_actions(nodes : ROS_NODE_ARRAY_TYPE) return natural is
variable ret : natural;
begin
ret := 0;
for i in 0 to nodes'length-1 loop
ret := ret + nodes(i).NUM_ACTIONS;
end loop;
return ret;
end function;
function is_numeric_char (char : character) return boolean is
variable ret : boolean;
begin
if (character'POS(char) >= character'POS('0') and character'POS(char) <= character'POS('9')) then
return TRUE;
else
return FALSE;
end if;
end function;
function is_valid_char (char : character) return boolean is
variable ret : boolean;
begin
-- Whitelist
-- Name may contain alphanumeric characters ([0-9|a-z|A-Z]), underscores (_), or forward slashes (/)
if is_numeric_char(char) then
return TRUE;
elsif (character'POS(char) >= character'POS('A') and character'POS(char) <= character'POS('Z')) then
return TRUE;
elsif (character'POS(char) >= character'POS('a') and character'POS(char) <= character'POS('z')) then
return TRUE;
elsif (char = '_' or char = '/') then
return TRUE;
end if;
return FALSE;
end function;
procedure is_valid_name (name : in string) is
variable start : natural;
variable prev : character;
begin
assert (string_len(name) > 0) report "Name must not be empty" severity FAILURE;
assert (not is_numeric_char(name(1))) report "Name must not start with a numeric character" severity FAILURE;
assert (name(string_len(name)) /= '/') report "Name must not end with a forward slash (/)" severity FAILURE;
start := 1;
if (name(1) = '~') then
if (string_len(name) > 1) then
assert (name(2) = '/') report "Name must separate a tilde (~) from the rest of the name with a forward slash (/), i.e. ~/foo not ~foo" severity FAILURE;
end if;
start := 2; -- Skip valid char checking for '~'
end if;
prev := ' ';
for i in start to string_len(name) loop
assert (name(i) /= '{') report "Substitution is not supported" severity FAILURE;
assert (not (name(i) = '/' and name(i) = prev)) report "Name must not contain any number of repeated forward slashes (/)" severity FAILURE;
assert (not (name(i) = '_' and name(i) = prev)) report "Name must not contain any number of repeated underscores (_)" severity FAILURE;
assert (is_valid_char(name(i))) report "Name may contain alphanumeric characters ([0-9|a-z|A-Z]), underscores (_), or forward slashes (/)" severity FAILURE;
prev := name(i);
end loop;
end procedure;
function get_domain_id(nodes : ROS_NODE_ARRAY_TYPE) return natural is
variable ret : natural;
begin
ret := nodes(0).domain_id;
for i in 1 to nodes'length-1 loop
assert (nodes(i).domain_id = ret) report "No support for multiple domain IDs in same ROS context" severity FAILURE;
end loop;
return ret;
end function;
procedure check_node_mapping (nodes : in ROS_NODE_ARRAY_TYPE; pubs : in ROS_TOPIC_ARRAY_TYPE; subs : in ROS_TOPIC_ARRAY_TYPE; services : in ROS_SERVICE_ARRAY_TYPE; actions : in ROS_ACTION_ARRAY_TYPE) is
variable tmp : natural;
begin
for i in 0 to nodes'length loop
-- Check PUB Mapping
if (nodes(i).NUM_PUBS > 0) then
tmp := 0;
for j in 0 to pubs'length loop
if (pubs(j).node_id = i) then
tmp := tmp + 1;
end if;
end loop;
assert (tmp = nodes(i).NUM_PUBS) report "Missing publication definition for Node " & integer'image(i) severity FAILURE;
end if;
-- Check SUB Mapping
if (nodes(i).NUM_SUBS > 0) then
tmp := 0;
for j in 0 to subs'length loop
if (subs(j).node_id = i) then
tmp := tmp + 1;
end if;
end loop;
assert (tmp = nodes(i).NUM_SUBS) report "Missing subscription definition for Node " & integer'image(i) severity FAILURE;
end if;
-- Check SERVICE Mapping
if (nodes(i).NUM_SERVICES > 0) then
tmp := 0;
for j in 0 to services'length loop
if (services(j).node_id = i) then
tmp := tmp + 1;
end if;
end loop;
assert (tmp = nodes(i).NUM_SERVICES) report "Missing service definition for Node " & integer'image(i) severity FAILURE;
end if;
-- Check ACTION Mapping
if (nodes(i).NUM_ACTIONS > 0) then
tmp := 0;
for j in 0 to actions'length loop
if (actions(j).node_id = i) then
tmp := tmp + 1;
end if;
end loop;
assert (tmp = nodes(i).NUM_ACTIONS) report "Missing action definition for Node " & integer'image(i) severity FAILURE;
end if;
end loop;
end procedure;
procedure set_from_qos_profile(profile : in ROS_QOS_PROFILE_TYPE; config : inout CONFIG_TYPE) is
begin
config.RELIABILITY_QOS := profile.RELIABILITY_QOS;
config.DURABILITY_QOS := profile.DURABILITY_QOS;
config.HISTORY_QOS := profile.HISTORY_QOS;
config.HISTORY_DEPTH := profile.HISTORY_DEPTH;
config.DEADLINE_QOS := profile.DEADLINE_QOS;
config.LIFESPAN_QOS := profile.LIFESPAN_QOS;
config.LIVELINESS_QOS := profile.LIVELINESS_QOS;
config.LEASE_DURATION := profile.LEASE_DURATION;
-- Since ROS does not use Keyed Topics, we can effectively limit the Resources to the History Depth
config.MAX_SAMPLES := profile.HISTORY_DEPTH;
config.MAX_INSTANCES := profile.HISTORY_DEPTH;
config.MAX_SAMPLES_PER_INSTANCE := profile.HISTORY_DEPTH;
end procedure;
function gen_fqn(ns : string; node : string; name : string) return USER_STRING_TYPE is
variable ret : USER_STRING_TYPE;
begin
ret := EMPTY_USER_STRING;
is_valid_name(name);
-- Private Namespace
if (name(1) = '~') then
-- NAMESPACE
if (string_len(ns) > 0) then
assert(ns(1) = '/') report "Namespace has to be absolute" severity FAILURE;
is_valid_name(ns);
ret := concat(ns,"/");
else
ret := gen_user_string("/");
end if;
-- NODENAME
assert(node(1) /= '/') report "Nodename cannot start with '/'" severity FAILURE;
is_valid_name(node);
ret := concat(ret,node);
-- NAME
if (string_len(name) > 1) then
-- Remove First Character ('~')
ret := concat(ret,substr(2,string_len(name),name));
end if;
-- Absolute Name
elsif (name(1) = '/') then
ret := name;
-- Relative Name
else
-- NAMESPACE
if (string_len(ns) > 0) then
assert(ns(1) = '/') report "Namespace has to be absolute" severity FAILURE;
is_valid_name(ns);
ret := concat(ns,"/");
else
ret := gen_user_string("/");
end if;
-- NAME
ret := concat(ret,name);
end if;
return ret;
end function;
end package body;

51
src/rtps_package.vhd
View File

@ -473,9 +473,13 @@ package rtps_package is
type USER_ENUMERATION_ARRAY_TYPE is array (natural range <>) of std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0);
type USER_LONG_ARRAY_TYPE is array (natural range <>) of std_logic_vector(CDR_LONG_WIDTH-1 downto 0);
constant DEFAULT_USER_DOMAIN_TAG : USER_STRING_TYPE := (others => NUL);
constant EMPTY_USER_STRING : USER_STRING_TYPE := (others => NUL);
constant DEFAULT_USER_DOMAIN_TAG : USER_STRING_TYPE := EMPTY_USER_STRING;
function gen_user_string(input : string) return string;
function string_len (str : string) return natural;
function concat(A,B : string) return USER_STRING_TYPE;
function substr(first : natural; last : natural; str : string) return USER_STRING_TYPE;
type CONFIG_TYPE is record
-- If Endpoint uses Keye Topics
@ -956,4 +960,49 @@ package body rtps_package is
AUTOPURGE_DISPOSED_SAMPLES_DELAY => DEFAULT_AUTOPURGE_DISPOSED_SAMPLES_DELAY
);
function string_len(str : string) return natural is
variable ret : natural;
begin
ret := 0;
for i in 1 to str'length loop
if (str(i) = NUL) then
exit;
end if;
ret := ret + 1;
end loop;
return ret;
end function;
function concat(A,B : string) return USER_STRING_TYPE is
variable ret : USER_STRING_TYPE;
variable index : natural;
begin
assert (string_len(A) + string_len(B) <= USER_STRING_TYPE'length) report "Concatenated String exceeds USER_STRING_TYPE character limit" severity FAILURE;
ret := EMPTY_USER_STRING;
index := 1;
for i in 1 to string_len(A) loop
ret(index) := A(i);
index := index + 1;
end loop;
for i in 1 to string_len(B) loop
ret(index) := B(i);
index := index + 1;
end loop;
return ret;
end function;
function substr(first : natural; last : natural; str : string) return USER_STRING_TYPE is
variable ret : USER_STRING_TYPE;
begin
assert (last >= first) report "SUBSTR: Last index has to come after first index" severity FAILURE;
assert (last <= string_len(str)) report "SUBSTR: Last index exceeds string length" severity FAILURE;
ret := EMPTY_USER_STRING;
for i in 1 to last-first+1 loop
ret(i) := str(first+i);
end loop;
return ret;
end function;
end package body;