Add ROS Action Server implementation
This commit is contained in:
parent
f759f0d201
commit
6bbb5fc102
223
sim/L0_ros_action_server_test1.do
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223
sim/L0_ros_action_server_test1.do
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@ -0,0 +1,223 @@
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onerror {resume}
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radix define DDS_RETCODE {
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"10#0#" "RETCODE_OK",
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"10#1#" "RETCODE_ERROR",
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"10#2#" "RETCODE_UNSUPPORTED",
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"10#3#" "RETCODE_BAD_PARAMETER",
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"10#4#" "RETCODE_PRECONDITION_NOT_MET",
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"10#5#" "RETCODE_OUT_OF_RESOURCES",
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"10#6#" "RETCODE_NOT_ENABLED",
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"10#7#" "RETCODE_IMMUTABLE_POLICY",
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"10#8#" "RETCODE_INCONSISTENT_POLICY",
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"10#9#" "RETCODE_ALREADY_DELETED",
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"10#10#" "RETCODE_TIMEOUT",
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"10#11#" "RETCODE_NO_DATA",
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"10#12#" "RETCODE_ILLEGAL_OPERATION",
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-default unsigned
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}
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radix define ROS_RETCODE {
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"10#0#" "ROS_RET_OK",
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"10#1#" "ROS_RET_ERROR",
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"10#2#" "ROS_RET_TIMEOUT",
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"10#3#" "ROS_RET_UNSUPPORTED",
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"10#10#" "ROS_RET_BAD_ALLOC",
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"10#11#" "ROS_RET_INVALID_ARGUMENT",
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"10#12#" "ROS_RET_INCORRECT_RMW_IMPLEMENTATION",
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"10#100#" "ROS_RET_ALREADY_INIT",
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"10#101#" "ROS_RET_NOT_INIT",
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"10#102#" "ROS_RET_MISMATCHED_RMW",
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"10#103#" "ROS_RET_TOPIC_NAME_INVALID",
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"10#104#" "ROS_RET_SERVICE_NAME_INVALID",
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"10#105#" "ROS_RET_UNKNOWN_SUBSTITUTION",
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"10#106#" "ROS_RET_ALREADY_SHUTDOWN",
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"10#200#" "ROS_RET_NODE_INVALID",
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"10#201#" "ROS_RET_NODE_INVALID_NAME",
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"10#202#" "ROS_RET_NODE_INVALID_NAMESPACE",
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"10#203#" "ROS_RET_NODE_NAME_NON_EXISTENT",
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"10#400#" "ROS_RET_SUBSCRIPTION_INVALID",
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"10#401#" "ROS_RET_SUBSCRIPTION_TAKE_FAILED",
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"10#500#" "ROS_RET_CLIENT_INVALID",
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"10#501#" "ROS_RET_CLIENT_TAKE_FAILED",
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"10#600#" "ROS_RET_SERVICE_INVALID",
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"10#601#" "ROS_RET_SERVICE_TAKE_FAILED",
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"10#800#" "ROS_RET_TIMER_INVALID",
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"10#801#" "ROS_RET_TIMER_CANCELED",
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"10#900#" "ROS_RET_WAIT_SET_INVALID",
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"10#901#" "ROS_RET_WAIT_SET_EMPTY",
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"10#902#" "ROS_RET_WAIT_SET_FULL",
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"10#1001#" "ROS_RET_INVALID_REMAP_RULE",
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"10#1002#" "ROS_RET_WRONG_LEXEME",
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"10#1003#" "ROS_RET_INVALID_ROS_ARGS",
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"10#1010#" "ROS_RET_INVALID_PARAM_RULE",
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"10#1020#" "ROS_RET_INVALID_LOG_LEVEL_RULE",
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"10#2001#" "ROS_RET_EVENT_TAKE_FAILED",
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"10#2000#" "ROS_RET_ACTION_NAME_INVALID",
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"10#2100#" "ROS_RET_ACTION_GOAL_ACCEPTED",
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"10#2101#" "ROS_RET_ACTION_GOAL_REJECTED",
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"10#2102#" "ROS_RET_ACTION_CLIENT_INVALID",
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"10#2103#" "ROS_RET_ACTION_CLIENT_TAKE_FAILED",
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"10#2200#" "ROS_RET_ACTION_SERVER_INVALID",
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"10#2201#" "ROS_RET_ACTION_SERVER_TAKE_FAILED",
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"10#2300#" "ROS_RET_ACTION_GOAL_HANDLE_INVALID",
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"10#2301#" "ROS_RET_ACTION_GOAL_EVENT_INVALID",
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"10#3000#" "ROS_RET_LIFECYCLE_STATE_REGISTERED",
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"10#3001#" "ROS_RET_LIFECYCLE_STATE_NOT_REGISTERED",
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-default unsigned
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}
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radix define GOAL_STATUS {
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"10#0#" "STATUS_UNKNOWN",
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"10#1#" "STATUS_ACCEPTED",
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"10#2#" "STATUS_EXECUTING",
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"10#3#" "STATUS_CANCELING",
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"10#4#" "STATUS_SUCCEEDED",
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"10#5#" "STATUS_CANCELED",
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"10#6#" "STATUS_ABORTED",
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-default unsigned
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}
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radix define CANCEL_RETCODE {
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"10#0#" "ERROR_NONE",
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"10#1#" "ERROR_REJECTED",
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"10#2#" "ERROR_UNKNOWN_GOAL_ID",
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"10#3#" "ERROR_GOAL_TERMINATED",
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-default unsigned
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}
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quietly WaveActivateNextPane {} 0
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add wave -noupdate -divider SYSTEM
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add wave -noupdate /l0_ros_action_server_test1/uut/clk
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add wave -noupdate /l0_ros_action_server_test1/uut/reset
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add wave -noupdate -radix unsigned /l0_ros_action_server_test1/uut/time
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add wave -noupdate -radix unsigned /l0_ros_action_server_test1/uut/check_time
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add wave -noupdate -divider GOAL
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add wave -noupdate -group GOAL /l0_ros_action_server_test1/uut/data_available_g
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add wave -noupdate -group GOAL /l0_ros_action_server_test1/uut/start_g
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add wave -noupdate -group GOAL /l0_ros_action_server_test1/uut/ack_g
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add wave -noupdate -group GOAL /l0_ros_action_server_test1/uut/opcode_g
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add wave -noupdate -group GOAL -radix hexadecimal /l0_ros_action_server_test1/uut/service_info_g
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add wave -noupdate -group GOAL -radix hexadecimal /l0_ros_action_server_test1/uut/request_id_g
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add wave -noupdate -group GOAL /l0_ros_action_server_test1/uut/taken_g
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add wave -noupdate -group GOAL /l0_ros_action_server_test1/uut/done_g
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add wave -noupdate -group GOAL -radix ROS_RETCODE /l0_ros_action_server_test1/uut/return_code_g
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add wave -noupdate -group GOAL -radix hexadecimal /l0_ros_action_server_test1/uut/goal_id_g
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add wave -noupdate -group GOAL /l0_ros_action_server_test1/uut/accepted_g
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add wave -noupdate -group GOAL -radix hexadecimal /l0_ros_action_server_test1/uut/stamp_g
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add wave -noupdate -divider RESULT
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add wave -noupdate -group RESULT /l0_ros_action_server_test1/uut/data_available_r
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add wave -noupdate -group RESULT /l0_ros_action_server_test1/uut/start_r
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add wave -noupdate -group RESULT /l0_ros_action_server_test1/uut/ack_r
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add wave -noupdate -group RESULT /l0_ros_action_server_test1/uut/opcode_r
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add wave -noupdate -group RESULT -radix hexadecimal /l0_ros_action_server_test1/uut/service_info_r
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add wave -noupdate -group RESULT -radix hexadecimal /l0_ros_action_server_test1/uut/request_id_r
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add wave -noupdate -group RESULT /l0_ros_action_server_test1/uut/taken_r
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add wave -noupdate -group RESULT /l0_ros_action_server_test1/uut/done_r
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add wave -noupdate -group RESULT -radix ROS_RETCODE /l0_ros_action_server_test1/uut/return_code_r
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add wave -noupdate -group RESULT -radix unsigned /l0_ros_action_server_test1/uut/result_index
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add wave -noupdate -group RESULT /l0_ros_action_server_test1/uut/result_sel
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add wave -noupdate -group RESULT /l0_ros_action_server_test1/uut/result_sel_ack
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add wave -noupdate -group RESULT -radix hexadecimal /l0_ros_action_server_test1/uut/goal_id_r
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add wave -noupdate -group RESULT -radix GOAL_STATUS /l0_ros_action_server_test1/uut/status_r
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add wave -noupdate -divider CANCEL
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add wave -noupdate -group CANCEL /l0_ros_action_server_test1/uut/data_available_c
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add wave -noupdate -group CANCEL /l0_ros_action_server_test1/uut/start_c
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add wave -noupdate -group CANCEL /l0_ros_action_server_test1/uut/ack_c
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add wave -noupdate -group CANCEL /l0_ros_action_server_test1/uut/opcode_c
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add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test1/uut/service_info_c
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add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test1/uut/request_id_c
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add wave -noupdate -group CANCEL /l0_ros_action_server_test1/uut/taken_c
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add wave -noupdate -group CANCEL /l0_ros_action_server_test1/uut/done_c
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add wave -noupdate -group CANCEL -radix CANCEL_RETCODE /l0_ros_action_server_test1/uut/return_code_c
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add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test1/uut/goal_info_goal_id_c
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add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test1/uut/goal_info_stamp_c
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add wave -noupdate -group CANCEL -radix GOAL_STATUS /l0_ros_action_server_test1/uut/cancel_return_code_c
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add wave -noupdate -group CANCEL -radix unsigned /l0_ros_action_server_test1/uut/goals_canceling_len_c
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add wave -noupdate -group CANCEL -radix unsigned /l0_ros_action_server_test1/uut/goals_canceling_addr_c
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add wave -noupdate -group CANCEL /l0_ros_action_server_test1/uut/goals_canceling_ready_c
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add wave -noupdate -group CANCEL /l0_ros_action_server_test1/uut/goals_canceling_wen_c
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add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test1/uut/goals_canceling_goal_id_w_c
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add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test1/uut/goals_canceling_stamp_w_c
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add wave -noupdate -divider STATUS
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add wave -noupdate -group STATUS /l0_ros_action_server_test1/uut/start_s
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add wave -noupdate -group STATUS /l0_ros_action_server_test1/uut/opcode_s
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add wave -noupdate -group STATUS /l0_ros_action_server_test1/uut/ack_s
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add wave -noupdate -group STATUS /l0_ros_action_server_test1/uut/done_s
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add wave -noupdate -group STATUS -radix ROS_RETCODE /l0_ros_action_server_test1/uut/return_code_s
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add wave -noupdate -group STATUS /l0_ros_action_server_test1/uut/status_list_len_s
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add wave -noupdate -group STATUS /l0_ros_action_server_test1/uut/status_list_addr_s
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add wave -noupdate -group STATUS /l0_ros_action_server_test1/uut/status_list_ready_s
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add wave -noupdate -group STATUS /l0_ros_action_server_test1/uut/status_list_wen_s
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add wave -noupdate -group STATUS -radix hexadecimal /l0_ros_action_server_test1/uut/status_list_goal_info_goal_id_w_s
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add wave -noupdate -group STATUS -radix hexadecimal /l0_ros_action_server_test1/uut/status_list_goal_info_stamp_w_s
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add wave -noupdate -group STATUS -radix GOAL_STATUS /l0_ros_action_server_test1/uut/status_list_status_w_s
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add wave -noupdate -divider USER
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/start
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/opcode
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/ack
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/done
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add wave -noupdate -expand -group USER -radix ROS_RETCODE /l0_ros_action_server_test1/uut/return_code
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add wave -noupdate -expand -group USER -radix hexadecimal /l0_ros_action_server_test1/uut/goal_handle_in
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add wave -noupdate -expand -group USER -radix hexadecimal /l0_ros_action_server_test1/uut/goal_handle_out
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add wave -noupdate -expand -group USER -radix GOAL_STATUS /l0_ros_action_server_test1/uut/goal_state_in
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add wave -noupdate -expand -group USER -radix GOAL_STATUS /l0_ros_action_server_test1/uut/goal_state_out
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add wave -noupdate -expand -group USER -radix hexadecimal /l0_ros_action_server_test1/uut/goal_id
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add wave -noupdate -expand -group USER -radix unsigned /l0_ros_action_server_test1/uut/goal_result_index
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/goal_stamp
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/new_goal_request
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add wave -noupdate -expand -group USER -radix hexadecimal /l0_ros_action_server_test1/uut/new_goal_handle
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add wave -noupdate -expand -group USER -radix unsigned /l0_ros_action_server_test1/uut/new_goal_result_index
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/new_goal_accepted
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/new_goal_response
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/cancel_request
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add wave -noupdate -expand -group USER -radix hexadecimal /l0_ros_action_server_test1/uut/cancel_request_handle
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/cancel_accepted
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add wave -noupdate -expand -group USER /l0_ros_action_server_test1/uut/cancel_response
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add wave -noupdate -divider FSM
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add wave -noupdate /l0_ros_action_server_test1/uut/stage
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add wave -noupdate /l0_ros_action_server_test1/uut/cnt
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add wave -noupdate /l0_ros_action_server_test1/uut/terminal_cnt
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add wave -noupdate -divider MEM
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add wave -noupdate /l0_ros_action_server_test1/uut/mem_start
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add wave -noupdate /l0_ros_action_server_test1/uut/mem_opcode
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add wave -noupdate /l0_ros_action_server_test1/uut/mem_done
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add wave -noupdate -childformat {{/l0_ros_action_server_test1/uut/mem_r.addr -radix unsigned} {/l0_ros_action_server_test1/uut/mem_r.goal_id -radix hexadecimal} {/l0_ros_action_server_test1/uut/mem_r.stamp -radix hexadecimal} {/l0_ros_action_server_test1/uut/mem_r.deadline -radix hexadecimal} {/l0_ros_action_server_test1/uut/mem_r.res_ind -radix unsigned} {/l0_ros_action_server_test1/uut/mem_r.state -radix GOAL_STATUS}} -subitemconfig {/l0_ros_action_server_test1/uut/mem_r.addr {-height 15 -radix unsigned} /l0_ros_action_server_test1/uut/mem_r.goal_id {-height 15 -radix hexadecimal} /l0_ros_action_server_test1/uut/mem_r.stamp {-height 15 -radix hexadecimal} /l0_ros_action_server_test1/uut/mem_r.deadline {-height 15 -radix hexadecimal} /l0_ros_action_server_test1/uut/mem_r.res_ind {-height 15 -radix unsigned} /l0_ros_action_server_test1/uut/mem_r.state {-height 15 -radix GOAL_STATUS}} /l0_ros_action_server_test1/uut/mem_r
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add wave -noupdate -radix unsigned /l0_ros_action_server_test1/uut/mem_addr_base
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add wave -noupdate /l0_ros_action_server_test1/uut/mem_stage
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add wave -noupdate /l0_ros_action_server_test1/uut/mem_cnt
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add wave -noupdate -group GOAL_MEM -radix unsigned /l0_ros_action_server_test1/uut/goal_mem_ctrl_inst/addr
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add wave -noupdate -group GOAL_MEM /l0_ros_action_server_test1/uut/goal_mem_ctrl_inst/read
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add wave -noupdate -group GOAL_MEM /l0_ros_action_server_test1/uut/goal_mem_ctrl_inst/ready_in
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add wave -noupdate -group GOAL_MEM /l0_ros_action_server_test1/uut/goal_mem_ctrl_inst/valid_in
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add wave -noupdate -group GOAL_MEM -radix hexadecimal /l0_ros_action_server_test1/uut/goal_mem_ctrl_inst/data_in
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add wave -noupdate -group GOAL_MEM /l0_ros_action_server_test1/uut/goal_mem_ctrl_inst/ready_out
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add wave -noupdate -group GOAL_MEM /l0_ros_action_server_test1/uut/goal_mem_ctrl_inst/valid_out
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add wave -noupdate -group GOAL_MEM -radix hexadecimal /l0_ros_action_server_test1/uut/goal_mem_ctrl_inst/data_out
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add wave -noupdate -group RRQ_MEM -radix unsigned /l0_ros_action_server_test1/uut/rrq_mem_ctrl_inst/addr
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add wave -noupdate -group RRQ_MEM /l0_ros_action_server_test1/uut/rrq_mem_ctrl_inst/read
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add wave -noupdate -group RRQ_MEM /l0_ros_action_server_test1/uut/rrq_mem_ctrl_inst/ready_in
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add wave -noupdate -group RRQ_MEM /l0_ros_action_server_test1/uut/rrq_mem_ctrl_inst/valid_in
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add wave -noupdate -group RRQ_MEM -radix hexadecimal /l0_ros_action_server_test1/uut/rrq_mem_ctrl_inst/data_in
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add wave -noupdate -group RRQ_MEM /l0_ros_action_server_test1/uut/rrq_mem_ctrl_inst/ready_out
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add wave -noupdate -group RRQ_MEM /l0_ros_action_server_test1/uut/rrq_mem_ctrl_inst/valid_out
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add wave -noupdate -group RRQ_MEM -radix hexadecimal /l0_ros_action_server_test1/uut/rrq_mem_ctrl_inst/data_out
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add wave -noupdate -childformat {{/l0_ros_action_server_test1/uut/mem_data.addr -radix unsigned} {/l0_ros_action_server_test1/uut/mem_data.goal_id -radix hexadecimal} {/l0_ros_action_server_test1/uut/mem_data.stamp -radix hexadecimal} {/l0_ros_action_server_test1/uut/mem_data.deadline -radix hexadecimal} {/l0_ros_action_server_test1/uut/mem_data.res_ind -radix unsigned} {/l0_ros_action_server_test1/uut/mem_data.state -radix GOAL_STATUS}} -subitemconfig {/l0_ros_action_server_test1/uut/mem_data.addr {-height 15 -radix unsigned} /l0_ros_action_server_test1/uut/mem_data.goal_id {-height 15 -radix hexadecimal} /l0_ros_action_server_test1/uut/mem_data.stamp {-height 15 -radix hexadecimal} /l0_ros_action_server_test1/uut/mem_data.deadline {-height 15 -radix hexadecimal} /l0_ros_action_server_test1/uut/mem_data.res_ind {-height 15 -radix unsigned} /l0_ros_action_server_test1/uut/mem_data.state {-height 15 -radix GOAL_STATUS}} /l0_ros_action_server_test1/uut/mem_data
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add wave -noupdate -radix unsigned /l0_ros_action_server_test1/uut/mem_occupied_head
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add wave -noupdate -radix unsigned /l0_ros_action_server_test1/uut/mem_occupied_tail
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add wave -noupdate -radix unsigned /l0_ros_action_server_test1/uut/mem_empty_head
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add wave -noupdate -radix unsigned /l0_ros_action_server_test1/uut/mem_empty_tail
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add wave -noupdate -divider MISC
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TreeUpdate [SetDefaultTree]
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WaveRestoreCursors {{Cursor 1} {139775000 ps} 0}
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quietly wave cursor active 1
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configure wave -namecolwidth 218
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configure wave -valuecolwidth 100
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configure wave -justifyvalue left
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configure wave -signalnamewidth 1
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configure wave -snapdistance 10
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configure wave -datasetprefix 0
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configure wave -rowmargin 4
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configure wave -childrowmargin 2
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configure wave -gridoffset 0
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configure wave -gridperiod 1
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configure wave -griddelta 40
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configure wave -timeline 0
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configure wave -timelineunits ns
|
||||
update
|
||||
WaveRestoreZoom {139284504 ps} {140265496 ps}
|
||||
223
sim/L0_ros_action_server_test2.do
Normal file
223
sim/L0_ros_action_server_test2.do
Normal file
@ -0,0 +1,223 @@
|
||||
onerror {resume}
|
||||
radix define DDS_RETCODE {
|
||||
"10#0#" "RETCODE_OK",
|
||||
"10#1#" "RETCODE_ERROR",
|
||||
"10#2#" "RETCODE_UNSUPPORTED",
|
||||
"10#3#" "RETCODE_BAD_PARAMETER",
|
||||
"10#4#" "RETCODE_PRECONDITION_NOT_MET",
|
||||
"10#5#" "RETCODE_OUT_OF_RESOURCES",
|
||||
"10#6#" "RETCODE_NOT_ENABLED",
|
||||
"10#7#" "RETCODE_IMMUTABLE_POLICY",
|
||||
"10#8#" "RETCODE_INCONSISTENT_POLICY",
|
||||
"10#9#" "RETCODE_ALREADY_DELETED",
|
||||
"10#10#" "RETCODE_TIMEOUT",
|
||||
"10#11#" "RETCODE_NO_DATA",
|
||||
"10#12#" "RETCODE_ILLEGAL_OPERATION",
|
||||
-default unsigned
|
||||
}
|
||||
radix define ROS_RETCODE {
|
||||
"10#0#" "ROS_RET_OK",
|
||||
"10#1#" "ROS_RET_ERROR",
|
||||
"10#2#" "ROS_RET_TIMEOUT",
|
||||
"10#3#" "ROS_RET_UNSUPPORTED",
|
||||
"10#10#" "ROS_RET_BAD_ALLOC",
|
||||
"10#11#" "ROS_RET_INVALID_ARGUMENT",
|
||||
"10#12#" "ROS_RET_INCORRECT_RMW_IMPLEMENTATION",
|
||||
"10#100#" "ROS_RET_ALREADY_INIT",
|
||||
"10#101#" "ROS_RET_NOT_INIT",
|
||||
"10#102#" "ROS_RET_MISMATCHED_RMW",
|
||||
"10#103#" "ROS_RET_TOPIC_NAME_INVALID",
|
||||
"10#104#" "ROS_RET_SERVICE_NAME_INVALID",
|
||||
"10#105#" "ROS_RET_UNKNOWN_SUBSTITUTION",
|
||||
"10#106#" "ROS_RET_ALREADY_SHUTDOWN",
|
||||
"10#200#" "ROS_RET_NODE_INVALID",
|
||||
"10#201#" "ROS_RET_NODE_INVALID_NAME",
|
||||
"10#202#" "ROS_RET_NODE_INVALID_NAMESPACE",
|
||||
"10#203#" "ROS_RET_NODE_NAME_NON_EXISTENT",
|
||||
"10#400#" "ROS_RET_SUBSCRIPTION_INVALID",
|
||||
"10#401#" "ROS_RET_SUBSCRIPTION_TAKE_FAILED",
|
||||
"10#500#" "ROS_RET_CLIENT_INVALID",
|
||||
"10#501#" "ROS_RET_CLIENT_TAKE_FAILED",
|
||||
"10#600#" "ROS_RET_SERVICE_INVALID",
|
||||
"10#601#" "ROS_RET_SERVICE_TAKE_FAILED",
|
||||
"10#800#" "ROS_RET_TIMER_INVALID",
|
||||
"10#801#" "ROS_RET_TIMER_CANCELED",
|
||||
"10#900#" "ROS_RET_WAIT_SET_INVALID",
|
||||
"10#901#" "ROS_RET_WAIT_SET_EMPTY",
|
||||
"10#902#" "ROS_RET_WAIT_SET_FULL",
|
||||
"10#1001#" "ROS_RET_INVALID_REMAP_RULE",
|
||||
"10#1002#" "ROS_RET_WRONG_LEXEME",
|
||||
"10#1003#" "ROS_RET_INVALID_ROS_ARGS",
|
||||
"10#1010#" "ROS_RET_INVALID_PARAM_RULE",
|
||||
"10#1020#" "ROS_RET_INVALID_LOG_LEVEL_RULE",
|
||||
"10#2001#" "ROS_RET_EVENT_TAKE_FAILED",
|
||||
"10#2000#" "ROS_RET_ACTION_NAME_INVALID",
|
||||
"10#2100#" "ROS_RET_ACTION_GOAL_ACCEPTED",
|
||||
"10#2101#" "ROS_RET_ACTION_GOAL_REJECTED",
|
||||
"10#2102#" "ROS_RET_ACTION_CLIENT_INVALID",
|
||||
"10#2103#" "ROS_RET_ACTION_CLIENT_TAKE_FAILED",
|
||||
"10#2200#" "ROS_RET_ACTION_SERVER_INVALID",
|
||||
"10#2201#" "ROS_RET_ACTION_SERVER_TAKE_FAILED",
|
||||
"10#2300#" "ROS_RET_ACTION_GOAL_HANDLE_INVALID",
|
||||
"10#2301#" "ROS_RET_ACTION_GOAL_EVENT_INVALID",
|
||||
"10#3000#" "ROS_RET_LIFECYCLE_STATE_REGISTERED",
|
||||
"10#3001#" "ROS_RET_LIFECYCLE_STATE_NOT_REGISTERED",
|
||||
-default unsigned
|
||||
}
|
||||
radix define GOAL_STATUS {
|
||||
"10#0#" "STATUS_UNKNOWN",
|
||||
"10#1#" "STATUS_ACCEPTED",
|
||||
"10#2#" "STATUS_EXECUTING",
|
||||
"10#3#" "STATUS_CANCELING",
|
||||
"10#4#" "STATUS_SUCCEEDED",
|
||||
"10#5#" "STATUS_CANCELED",
|
||||
"10#6#" "STATUS_ABORTED",
|
||||
-default unsigned
|
||||
}
|
||||
radix define CANCEL_RETCODE {
|
||||
"10#0#" "ERROR_NONE",
|
||||
"10#1#" "ERROR_REJECTED",
|
||||
"10#2#" "ERROR_UNKNOWN_GOAL_ID",
|
||||
"10#3#" "ERROR_GOAL_TERMINATED",
|
||||
-default unsigned
|
||||
}
|
||||
quietly WaveActivateNextPane {} 0
|
||||
add wave -noupdate -divider SYSTEM
|
||||
add wave -noupdate /l0_ros_action_server_test2/uut/clk
|
||||
add wave -noupdate /l0_ros_action_server_test2/uut/reset
|
||||
add wave -noupdate -radix unsigned /l0_ros_action_server_test2/uut/time
|
||||
add wave -noupdate -radix unsigned /l0_ros_action_server_test2/uut/check_time
|
||||
add wave -noupdate -divider GOAL
|
||||
add wave -noupdate -group GOAL /l0_ros_action_server_test2/uut/data_available_g
|
||||
add wave -noupdate -group GOAL /l0_ros_action_server_test2/uut/start_g
|
||||
add wave -noupdate -group GOAL /l0_ros_action_server_test2/uut/ack_g
|
||||
add wave -noupdate -group GOAL /l0_ros_action_server_test2/uut/opcode_g
|
||||
add wave -noupdate -group GOAL -radix hexadecimal /l0_ros_action_server_test2/uut/service_info_g
|
||||
add wave -noupdate -group GOAL -radix hexadecimal /l0_ros_action_server_test2/uut/request_id_g
|
||||
add wave -noupdate -group GOAL /l0_ros_action_server_test2/uut/taken_g
|
||||
add wave -noupdate -group GOAL /l0_ros_action_server_test2/uut/done_g
|
||||
add wave -noupdate -group GOAL -radix ROS_RETCODE /l0_ros_action_server_test2/uut/return_code_g
|
||||
add wave -noupdate -group GOAL -radix hexadecimal /l0_ros_action_server_test2/uut/goal_id_g
|
||||
add wave -noupdate -group GOAL /l0_ros_action_server_test2/uut/accepted_g
|
||||
add wave -noupdate -group GOAL -radix hexadecimal /l0_ros_action_server_test2/uut/stamp_g
|
||||
add wave -noupdate -divider RESULT
|
||||
add wave -noupdate -group RESULT /l0_ros_action_server_test2/uut/data_available_r
|
||||
add wave -noupdate -group RESULT /l0_ros_action_server_test2/uut/start_r
|
||||
add wave -noupdate -group RESULT /l0_ros_action_server_test2/uut/ack_r
|
||||
add wave -noupdate -group RESULT /l0_ros_action_server_test2/uut/opcode_r
|
||||
add wave -noupdate -group RESULT -radix hexadecimal /l0_ros_action_server_test2/uut/service_info_r
|
||||
add wave -noupdate -group RESULT -radix hexadecimal /l0_ros_action_server_test2/uut/request_id_r
|
||||
add wave -noupdate -group RESULT /l0_ros_action_server_test2/uut/taken_r
|
||||
add wave -noupdate -group RESULT /l0_ros_action_server_test2/uut/done_r
|
||||
add wave -noupdate -group RESULT -radix ROS_RETCODE /l0_ros_action_server_test2/uut/return_code_r
|
||||
add wave -noupdate -group RESULT -radix unsigned /l0_ros_action_server_test2/uut/result_index
|
||||
add wave -noupdate -group RESULT /l0_ros_action_server_test2/uut/result_sel
|
||||
add wave -noupdate -group RESULT /l0_ros_action_server_test2/uut/result_sel_ack
|
||||
add wave -noupdate -group RESULT -radix hexadecimal /l0_ros_action_server_test2/uut/goal_id_r
|
||||
add wave -noupdate -group RESULT -radix GOAL_STATUS /l0_ros_action_server_test2/uut/status_r
|
||||
add wave -noupdate -divider CANCEL
|
||||
add wave -noupdate -group CANCEL /l0_ros_action_server_test2/uut/data_available_c
|
||||
add wave -noupdate -group CANCEL /l0_ros_action_server_test2/uut/start_c
|
||||
add wave -noupdate -group CANCEL /l0_ros_action_server_test2/uut/ack_c
|
||||
add wave -noupdate -group CANCEL /l0_ros_action_server_test2/uut/opcode_c
|
||||
add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test2/uut/service_info_c
|
||||
add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test2/uut/request_id_c
|
||||
add wave -noupdate -group CANCEL /l0_ros_action_server_test2/uut/taken_c
|
||||
add wave -noupdate -group CANCEL /l0_ros_action_server_test2/uut/done_c
|
||||
add wave -noupdate -group CANCEL -radix CANCEL_RETCODE /l0_ros_action_server_test2/uut/return_code_c
|
||||
add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test2/uut/goal_info_goal_id_c
|
||||
add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test2/uut/goal_info_stamp_c
|
||||
add wave -noupdate -group CANCEL -radix GOAL_STATUS /l0_ros_action_server_test2/uut/cancel_return_code_c
|
||||
add wave -noupdate -group CANCEL -radix unsigned /l0_ros_action_server_test2/uut/goals_canceling_len_c
|
||||
add wave -noupdate -group CANCEL -radix unsigned /l0_ros_action_server_test2/uut/goals_canceling_addr_c
|
||||
add wave -noupdate -group CANCEL /l0_ros_action_server_test2/uut/goals_canceling_ready_c
|
||||
add wave -noupdate -group CANCEL /l0_ros_action_server_test2/uut/goals_canceling_wen_c
|
||||
add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test2/uut/goals_canceling_goal_id_w_c
|
||||
add wave -noupdate -group CANCEL -radix hexadecimal /l0_ros_action_server_test2/uut/goals_canceling_stamp_w_c
|
||||
add wave -noupdate -divider STATUS
|
||||
add wave -noupdate -group STATUS /l0_ros_action_server_test2/uut/start_s
|
||||
add wave -noupdate -group STATUS /l0_ros_action_server_test2/uut/opcode_s
|
||||
add wave -noupdate -group STATUS /l0_ros_action_server_test2/uut/ack_s
|
||||
add wave -noupdate -group STATUS /l0_ros_action_server_test2/uut/done_s
|
||||
add wave -noupdate -group STATUS -radix ROS_RETCODE /l0_ros_action_server_test2/uut/return_code_s
|
||||
add wave -noupdate -group STATUS /l0_ros_action_server_test2/uut/status_list_len_s
|
||||
add wave -noupdate -group STATUS /l0_ros_action_server_test2/uut/status_list_addr_s
|
||||
add wave -noupdate -group STATUS /l0_ros_action_server_test2/uut/status_list_ready_s
|
||||
add wave -noupdate -group STATUS /l0_ros_action_server_test2/uut/status_list_wen_s
|
||||
add wave -noupdate -group STATUS -radix hexadecimal /l0_ros_action_server_test2/uut/status_list_goal_info_goal_id_w_s
|
||||
add wave -noupdate -group STATUS -radix hexadecimal /l0_ros_action_server_test2/uut/status_list_goal_info_stamp_w_s
|
||||
add wave -noupdate -group STATUS -radix GOAL_STATUS /l0_ros_action_server_test2/uut/status_list_status_w_s
|
||||
add wave -noupdate -divider USER
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/start
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/opcode
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/ack
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/done
|
||||
add wave -noupdate -expand -group USER -radix ROS_RETCODE /l0_ros_action_server_test2/uut/return_code
|
||||
add wave -noupdate -expand -group USER -radix hexadecimal /l0_ros_action_server_test2/uut/goal_handle_in
|
||||
add wave -noupdate -expand -group USER -radix hexadecimal /l0_ros_action_server_test2/uut/goal_handle_out
|
||||
add wave -noupdate -expand -group USER -radix GOAL_STATUS /l0_ros_action_server_test2/uut/goal_state_in
|
||||
add wave -noupdate -expand -group USER -radix GOAL_STATUS /l0_ros_action_server_test2/uut/goal_state_out
|
||||
add wave -noupdate -expand -group USER -radix hexadecimal /l0_ros_action_server_test2/uut/goal_id
|
||||
add wave -noupdate -expand -group USER -radix unsigned /l0_ros_action_server_test2/uut/goal_result_index
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/goal_stamp
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/new_goal_request
|
||||
add wave -noupdate -expand -group USER -radix hexadecimal /l0_ros_action_server_test2/uut/new_goal_handle
|
||||
add wave -noupdate -expand -group USER -radix unsigned /l0_ros_action_server_test2/uut/new_goal_result_index
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/new_goal_accepted
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/new_goal_response
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/cancel_request
|
||||
add wave -noupdate -expand -group USER -radix hexadecimal /l0_ros_action_server_test2/uut/cancel_request_handle
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/cancel_accepted
|
||||
add wave -noupdate -expand -group USER /l0_ros_action_server_test2/uut/cancel_response
|
||||
add wave -noupdate -divider FSM
|
||||
add wave -noupdate /l0_ros_action_server_test2/uut/stage
|
||||
add wave -noupdate /l0_ros_action_server_test2/uut/cnt
|
||||
add wave -noupdate /l0_ros_action_server_test2/uut/terminal_cnt
|
||||
add wave -noupdate -divider MEM
|
||||
add wave -noupdate /l0_ros_action_server_test2/uut/mem_start
|
||||
add wave -noupdate /l0_ros_action_server_test2/uut/mem_opcode
|
||||
add wave -noupdate /l0_ros_action_server_test2/uut/mem_done
|
||||
add wave -noupdate -childformat {{/l0_ros_action_server_test2/uut/mem_r.addr -radix unsigned} {/l0_ros_action_server_test2/uut/mem_r.goal_id -radix hexadecimal} {/l0_ros_action_server_test2/uut/mem_r.stamp -radix hexadecimal} {/l0_ros_action_server_test2/uut/mem_r.deadline -radix hexadecimal} {/l0_ros_action_server_test2/uut/mem_r.res_ind -radix unsigned} {/l0_ros_action_server_test2/uut/mem_r.state -radix GOAL_STATUS}} -subitemconfig {/l0_ros_action_server_test2/uut/mem_r.addr {-height 15 -radix unsigned} /l0_ros_action_server_test2/uut/mem_r.goal_id {-height 15 -radix hexadecimal} /l0_ros_action_server_test2/uut/mem_r.stamp {-height 15 -radix hexadecimal} /l0_ros_action_server_test2/uut/mem_r.deadline {-height 15 -radix hexadecimal} /l0_ros_action_server_test2/uut/mem_r.res_ind {-height 15 -radix unsigned} /l0_ros_action_server_test2/uut/mem_r.state {-height 15 -radix GOAL_STATUS}} /l0_ros_action_server_test2/uut/mem_r
|
||||
add wave -noupdate -radix unsigned /l0_ros_action_server_test2/uut/mem_addr_base
|
||||
add wave -noupdate /l0_ros_action_server_test2/uut/mem_stage
|
||||
add wave -noupdate /l0_ros_action_server_test2/uut/mem_cnt
|
||||
add wave -noupdate -group GOAL_MEM -radix unsigned /l0_ros_action_server_test2/uut/goal_mem_ctrl_inst/addr
|
||||
add wave -noupdate -group GOAL_MEM /l0_ros_action_server_test2/uut/goal_mem_ctrl_inst/read
|
||||
add wave -noupdate -group GOAL_MEM /l0_ros_action_server_test2/uut/goal_mem_ctrl_inst/ready_in
|
||||
add wave -noupdate -group GOAL_MEM /l0_ros_action_server_test2/uut/goal_mem_ctrl_inst/valid_in
|
||||
add wave -noupdate -group GOAL_MEM -radix hexadecimal /l0_ros_action_server_test2/uut/goal_mem_ctrl_inst/data_in
|
||||
add wave -noupdate -group GOAL_MEM /l0_ros_action_server_test2/uut/goal_mem_ctrl_inst/ready_out
|
||||
add wave -noupdate -group GOAL_MEM /l0_ros_action_server_test2/uut/goal_mem_ctrl_inst/valid_out
|
||||
add wave -noupdate -group GOAL_MEM -radix hexadecimal /l0_ros_action_server_test2/uut/goal_mem_ctrl_inst/data_out
|
||||
add wave -noupdate -group RRQ_MEM -radix unsigned /l0_ros_action_server_test2/uut/rrq_mem_ctrl_inst/addr
|
||||
add wave -noupdate -group RRQ_MEM /l0_ros_action_server_test2/uut/rrq_mem_ctrl_inst/read
|
||||
add wave -noupdate -group RRQ_MEM /l0_ros_action_server_test2/uut/rrq_mem_ctrl_inst/ready_in
|
||||
add wave -noupdate -group RRQ_MEM /l0_ros_action_server_test2/uut/rrq_mem_ctrl_inst/valid_in
|
||||
add wave -noupdate -group RRQ_MEM -radix hexadecimal /l0_ros_action_server_test2/uut/rrq_mem_ctrl_inst/data_in
|
||||
add wave -noupdate -group RRQ_MEM /l0_ros_action_server_test2/uut/rrq_mem_ctrl_inst/ready_out
|
||||
add wave -noupdate -group RRQ_MEM /l0_ros_action_server_test2/uut/rrq_mem_ctrl_inst/valid_out
|
||||
add wave -noupdate -group RRQ_MEM -radix hexadecimal /l0_ros_action_server_test2/uut/rrq_mem_ctrl_inst/data_out
|
||||
add wave -noupdate -childformat {{/l0_ros_action_server_test2/uut/mem_data.addr -radix unsigned} {/l0_ros_action_server_test2/uut/mem_data.goal_id -radix hexadecimal} {/l0_ros_action_server_test2/uut/mem_data.stamp -radix hexadecimal} {/l0_ros_action_server_test2/uut/mem_data.deadline -radix hexadecimal} {/l0_ros_action_server_test2/uut/mem_data.res_ind -radix unsigned} {/l0_ros_action_server_test2/uut/mem_data.state -radix GOAL_STATUS}} -subitemconfig {/l0_ros_action_server_test2/uut/mem_data.addr {-height 15 -radix unsigned} /l0_ros_action_server_test2/uut/mem_data.goal_id {-height 15 -radix hexadecimal} /l0_ros_action_server_test2/uut/mem_data.stamp {-height 15 -radix hexadecimal} /l0_ros_action_server_test2/uut/mem_data.deadline {-height 15 -radix hexadecimal} /l0_ros_action_server_test2/uut/mem_data.res_ind {-height 15 -radix unsigned} /l0_ros_action_server_test2/uut/mem_data.state {-height 15 -radix GOAL_STATUS}} /l0_ros_action_server_test2/uut/mem_data
|
||||
add wave -noupdate -radix unsigned /l0_ros_action_server_test2/uut/mem_occupied_head
|
||||
add wave -noupdate -radix unsigned /l0_ros_action_server_test2/uut/mem_occupied_tail
|
||||
add wave -noupdate -radix unsigned /l0_ros_action_server_test2/uut/mem_empty_head
|
||||
add wave -noupdate -radix unsigned /l0_ros_action_server_test2/uut/mem_empty_tail
|
||||
add wave -noupdate -divider MISC
|
||||
TreeUpdate [SetDefaultTree]
|
||||
WaveRestoreCursors {{Cursor 1} {139775000 ps} 0}
|
||||
quietly wave cursor active 1
|
||||
configure wave -namecolwidth 218
|
||||
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 {139284504 ps} {140265496 ps}
|
||||
61
src/REF.txt
61
src/REF.txt
@ -686,6 +686,67 @@ OUTPUT DATA
|
||||
**| |
|
||||
+---------------------------------------------------------------+
|
||||
|
||||
ACTION SERVER
|
||||
=============
|
||||
|
||||
GOAL
|
||||
----
|
||||
31............24..............16..............8...............0
|
||||
| | | | |
|
||||
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
|
||||
+-----------------------------------------------+---------------+
|
||||
00| UNUSED | GOAL_STATE |
|
||||
+-----------------------------------------------+---------------+
|
||||
01| |
|
||||
+ +
|
||||
02| |
|
||||
+ GOAL_ID +
|
||||
03| |
|
||||
+ +
|
||||
04| |
|
||||
+---------------------------------------------------------------+
|
||||
05| |
|
||||
+ STAMP +
|
||||
06| |
|
||||
+---------------------------------------------------------------+
|
||||
07| |
|
||||
+ DEADLINE + [only if TIMEOUT_DURATION /= DURATION_INFINITE]
|
||||
08| |
|
||||
+---------------------------------------------------------------+
|
||||
09| RESULT_INDEX |
|
||||
+---------------------------------------------------------------+
|
||||
10| NEXT_ADDRESS |
|
||||
+---------------------------------------------------------------+
|
||||
11| PREV_ADDRESS |
|
||||
+---------------------------------------------------------------+
|
||||
|
||||
|
||||
|
||||
RESULT_REQUEST
|
||||
--------------
|
||||
31............24..............16..............8...............0
|
||||
| | | | |
|
||||
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
|
||||
+---------------------------------------------------------------+
|
||||
00| GOAL_HANDLE |
|
||||
+---------------------------------------------------------------+
|
||||
01| |
|
||||
+ +
|
||||
02| |
|
||||
+ +
|
||||
03| |
|
||||
+ REQUEST_ID +
|
||||
04| |
|
||||
+ +
|
||||
05| |
|
||||
+ +
|
||||
06| |
|
||||
+---------------------------------------------------------------+
|
||||
07| NEXT_ADDRESS |
|
||||
+---------------------------------------------------------------+
|
||||
08| PREV_ADDRESS |
|
||||
+---------------------------------------------------------------+
|
||||
|
||||
|
||||
TOPIC KEYS
|
||||
==========
|
||||
|
||||
10
src/TODO.txt
10
src/TODO.txt
@ -428,6 +428,16 @@ DESIGN DECISIONS
|
||||
does enforce those limits implicitly, since it encodes the memory/registers that are physically limited
|
||||
to those specified upper bounds during static generation.
|
||||
|
||||
* RTPS/DDS use a time representation of 64-bit seconds in 32Q32 fixed point format. The ROS libraries
|
||||
use a 64-bit unsigned nanosecond representation, and ROS sends time (defined in
|
||||
rcl_interfaces/builtin_interfaces) in 32-bit second and 32-bit nanosecond respresentation.
|
||||
An internal representation of a 64-bit nanosecond counter seems like the most sensible, but conversions
|
||||
between are quite resource and latency heavy.
|
||||
Since the ros action server directly interfaces ros services with the builtin_interfaces definition,
|
||||
it was decided that the entire server works on this representation to avoid costly converions. This in
|
||||
effect mitigates the converion problem to the instantiating entity, but a single conversion point could
|
||||
be defined that can be used throughout the system.
|
||||
|
||||
BRAINSTORMING
|
||||
-------------
|
||||
|
||||
|
||||
@ -19,3 +19,8 @@ The code generation follows the normal code generation for encoding and decoding
|
||||
MAX_<SERVICENAME>_RQ_SIZE and MAX_<SERVICENAME>_RR_SIZE, respectively.
|
||||
The maximum includes the service overhead bytes that are contained in the DDS Payloads. The constant
|
||||
SERVICE_OVERHEAD_BYTES from ros_package gives this overhead bytes.
|
||||
|
||||
|
||||
ACTION
|
||||
######
|
||||
|
||||
|
||||
1313
src/ros2/Tests/Level_0/L0_ros_action_server_test1.vhd
Normal file
1313
src/ros2/Tests/Level_0/L0_ros_action_server_test1.vhd
Normal file
File diff suppressed because it is too large
Load Diff
1311
src/ros2/Tests/Level_0/L0_ros_action_server_test2.vhd
Normal file
1311
src/ros2/Tests/Level_0/L0_ros_action_server_test2.vhd
Normal file
File diff suppressed because it is too large
Load Diff
50
src/ros2/Tests/Level_0/ros_action_server_tests.txt
Normal file
50
src/ros2/Tests/Level_0/ros_action_server_tests.txt
Normal file
@ -0,0 +1,50 @@
|
||||
-- TEST: NEW GOAL [MEMORY EMPTY]
|
||||
-- TEST: NEW GOAL [ACCEPT]
|
||||
-- TEST: NEW GOAL [REJECT]
|
||||
-- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT=INFINITE, NO TERMINAL STATE GOAL EXISTS]
|
||||
-- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT=INFINITE, TERMINAL STATE GOAL EXISTS]
|
||||
-- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT/=INFINITE]
|
||||
|
||||
-- TEST: GET_GOAL
|
||||
-- TEST: GET_GOAL [INVALID HANDLE]
|
||||
-- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY]
|
||||
-- TEST: GET_LAST_GOAL [MEMORY EMPTY]
|
||||
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS]
|
||||
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS]
|
||||
-- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE]
|
||||
-- TEST: UPDATE_GOAL_STATE [VALID STATE]
|
||||
-- TEST: UPDATE_GOAL_STATE [INVALID STATE]
|
||||
-- TEST: UPDATE_GOAL_STATE [INVALID HANDLE]
|
||||
-- TEST: PUBLISH_FEEDBACK
|
||||
|
||||
-- TEST: NEW RESULT REQUEST [MEMORY EMPTY]
|
||||
-- TEST: NEW RESULT REQUEST [GOAL DOES NOT EXIST]
|
||||
-- TEST: NEW RESULT REQUEST [GOAL TERMINAL]
|
||||
-- TEST: NEW RESULT REQUEST [GOAL NOT TERMINAL]
|
||||
-- TEST: NEW RESULT REQUEST [FULL RESULT MEMORY]
|
||||
-- TEST: STORED RESULT REQUEST [GOAL STATE UPDATES]
|
||||
-- TEST: STORED RESULT REQUEST [GOAL STATE CHANGES TO TERMINAL]
|
||||
-- TEST: STORED RESULT REQUEST [MULTIPLE REQUESTS, SAME GOAL, GOAL STATE CHANGES TO TERMINAL]
|
||||
|
||||
-- TEST: EXPIRE GOALS [SINGLE EXPIRED GOAL]
|
||||
-- TEST: EXPIRE GOALS [MULTIPLE EXPIRED GOALS]
|
||||
-- TEST: EXPIRE GOALS [ALL GOALS EXPIRED]
|
||||
|
||||
-- TEST: GOAL MEMORY [EMPTY->FULL->EMPTY->FULL]
|
||||
-- TEST: RESULT REQUEST MEMORY [EMPTY->FULL->EMPTY->FULL]
|
||||
|
||||
-- TEST: CANCEL REQUEST [MEMORY EMPTY]
|
||||
-- TEST: CANCEL REQUEST [GOAL ID SET, GOAL EXISTS]
|
||||
-- TEST: CANCEL REQUEST [GOAL ID SET, GOAL EXISTS, GOAL TERMINAL]
|
||||
-- TEST: CANCEL REQUEST [GOAL ID SET, GOAL DOES NOT EXISTS]
|
||||
-- TEST: CANCEL REQUEST [TIME SET, NO RELEVANT GOALS]
|
||||
-- TEST: CANCEL REQUEST [TIME SET, RELEVANT GOALS EXIST]
|
||||
-- TEST: CANCEL REQUEST [NO GOAL ID SET, NO TIME SET, GOALS EXIST]
|
||||
-- TEST: CANCEL REQUEST [NO GOAL ID SET, NO TIME SET, NO GOALS EXIST]
|
||||
-- TEST: CANCEL REQUEST [GOAL ID SET, TIME SET, GOAL ID IS NOT IN TIME RANGE]
|
||||
-- TEST: CANCEL REQUEST [GOAL ID SET, TIME SET, GOAL ID IS IN TIME RANGE]
|
||||
|
||||
-- TEST: STATUS UPDATE [NEW GOAL]
|
||||
-- TEST: STATUS UPDATE [GOAL UPDATE]
|
||||
-- TEST: STATUS UPDATE [GOAL REMOVED]
|
||||
-- TEST: STATUS UPDATE [GOAL CANCELED]
|
||||
@ -118,6 +118,9 @@ analyze ../example_interfaces/Fibonacci_ros_action_result_srv_server.vhd
|
||||
analyze ../example_interfaces/Fibonacci_ros_action_result_srv_client.vhd
|
||||
analyze Level_1/L1_Fibonacci_ros_action_result_srv_test1.vhd
|
||||
analyze Level_1/L1_Fibonacci_ros_action_result_srv_test2.vhd
|
||||
analyze ../ros_action_server.vhd
|
||||
analyze Level_0/L0_ros_action_server_test1.vhd
|
||||
analyze Level_0/L0_ros_action_server_test2.vhd
|
||||
|
||||
|
||||
simulate L1_AddTwoInts_ros_srv_test1
|
||||
@ -133,3 +136,5 @@ simulate L1_Fibonacci_ros_action_goal_srv_test1
|
||||
simulate L1_Fibonacci_ros_action_goal_srv_test2
|
||||
simulate L1_Fibonacci_ros_action_result_srv_test1
|
||||
simulate L1_Fibonacci_ros_action_result_srv_test2
|
||||
simulate L0_ros_action_server_test1
|
||||
simulate L0_ros_action_server_test2
|
||||
3327
src/ros2/ros_action_server.vhd
Normal file
3327
src/ros2/ros_action_server.vhd
Normal file
File diff suppressed because it is too large
Load Diff
3413
src/ros2/ros_action_server.vhd.MULTIPROCESS_BAK
Normal file
3413
src/ros2/ros_action_server.vhd.MULTIPROCESS_BAK
Normal file
File diff suppressed because it is too large
Load Diff
@ -25,13 +25,23 @@ package ros_package is
|
||||
nanosec : std_logic_vector(CDR_LONG_WIDTH-1 downto 0);
|
||||
end record;
|
||||
|
||||
constant ROS_TIME_ZERO : ROS_TIME_TYPE := (sec => (others => '0'), nanosec => (others => '0'));
|
||||
constant ROS_TIME_INFINITE : ROS_TIME_TYPE := (sec => (others => '1'), nanosec => (others => '1'));
|
||||
constant ROS_TIME_INVALID : ROS_TIME_TYPE := (sec => (others => '1'), nanosec => x"fffffffe");
|
||||
|
||||
subtype ROS_DURATION_TYPE is ROS_TIME_TYPE;
|
||||
|
||||
constant ROS_DURATION_ZERO : ROS_DURATION_TYPE := (sec => (others => '0'), nanosec => (others => '0'));
|
||||
constant ROS_DURATION_INFINITE : ROS_DURATION_TYPE := (sec => (others => '1'), nanosec => (others => '1'));
|
||||
|
||||
constant ROS_TIME_WIDTH : natural := 64;
|
||||
|
||||
function to_unsigned(input : ROS_TIME_TYPE) return unsigned;
|
||||
function to_ROS_TIME(input : std_logic_vector) return ROS_TIME_TYPE;
|
||||
|
||||
-- Helper Function
|
||||
function gen_duration(s,ns : integer) return ROS_DURATION_TYPE;
|
||||
function gen_duration(t : time) return ROS_DURATION_TYPE;
|
||||
|
||||
type ROS_QOS_PROFILE_TYPE is record
|
||||
HISTORY_QOS : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0);
|
||||
@ -263,7 +273,7 @@ package ros_package is
|
||||
|
||||
type ROS_TOPIC_OPCODE_TYPE is (NOP, PUBLISH, TAKE);
|
||||
type ROS_SERVICE_OPCODE_TYPE is (NOP, SEND_REQUEST, TAKE_REQUEST, SEND_RESPONSE, TAKE_RESPONSE);
|
||||
type ROS_ACTION_OPCODE_TYPE is (NOP, SEND_GOAL_REQUEST, TAKE_GOAL_REQUEST, SEND_GOAL_RESPONSE, TAKE_GOAL_RESPONSE, SEND_RESULT_REQUEST, TAKE_RESULT_REQUEST, SEND_RESULT_RESPONSE, TAKE_RESULT_RESPONSE, SEND_CANCEL_REQUEST, TAKE_CANCEL_REQUEST, SEND_CANCEL_RESPONSE, TAKE_CANCEL_RESPONSE, PUBLISH_FEEDBACK, ACCEPT_GOAL, UPDATE_GOAL, EXPIRE_GOAL);
|
||||
type ROS_ACTION_OPCODE_TYPE is (NOP, GET_GOAL, GET_LAST_GOAL, GET_PREVIOUS_GOAL, UPDATE_GOAL_STATE, PUBLISH_FEEDBACK);
|
||||
|
||||
constant ROS_SEQUENCE_ID_WIDTH : natural := 64;
|
||||
|
||||
@ -271,6 +281,9 @@ package ros_package is
|
||||
|
||||
constant SERVICE_OVERHEAD_BYTES : natural := 16;
|
||||
|
||||
constant GOAL_HANDLE_WIDTH : natural := WORD_WIDTH;
|
||||
constant GOAL_HANDLE_UNKNOWN : std_logic_vector(GOAL_HANDLE_WIDTH-1 downto 0) := (others => '1');
|
||||
|
||||
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;
|
||||
@ -323,10 +336,41 @@ package ros_package is
|
||||
|
||||
type SERVICE_INTERFACE_ARRAY_TYPE is array (natural range <>) of SERVICE_INTERFACE_TYPE;
|
||||
|
||||
function ">" (L,R: ROS_TIME_TYPE) return boolean;
|
||||
function "<" (L,R: ROS_TIME_TYPE) return boolean;
|
||||
function ">=" (L,R: ROS_TIME_TYPE) return boolean;
|
||||
function "<=" (L,R: ROS_TIME_TYPE) return boolean;
|
||||
function "=" (L,R: ROS_TIME_TYPE) return boolean;
|
||||
function "/=" (L,R: ROS_TIME_TYPE) return boolean;
|
||||
|
||||
end package;
|
||||
|
||||
package body ros_package is
|
||||
|
||||
function gen_duration(s,ns : integer) return ROS_DURATION_TYPE is
|
||||
variable ret : ROS_DURATION_TYPE := ROS_TIME_ZERO;
|
||||
constant sec : natural := 10**9;
|
||||
begin
|
||||
assert (ns < sec) report "ns argument has to be less than a second" severity failure;
|
||||
|
||||
ret.sec := std_logic_vector(to_unsigned(s,ret.sec'length));
|
||||
ret.nanosec := std_logic_vector(to_unsigned(ns,ret.nanosec'length));
|
||||
|
||||
return ret;
|
||||
end function;
|
||||
|
||||
function gen_duration(t : time) return ROS_DURATION_TYPE is
|
||||
variable seconds : natural;
|
||||
variable nanoseconds : natural;
|
||||
begin
|
||||
-- Extract Seconds
|
||||
seconds := t / sec;
|
||||
-- Extract Nanoseconds
|
||||
nanoseconds := (t - (seconds * sec)) / ns;
|
||||
|
||||
return gen_duration(seconds, nanoseconds);
|
||||
end function;
|
||||
|
||||
function to_gid(guid : GUID_TYPE) return GID_TYPE is
|
||||
variable ret : GID_TYPE;
|
||||
begin
|
||||
@ -599,4 +643,34 @@ package body ros_package is
|
||||
return ret;
|
||||
end function;
|
||||
|
||||
function ">" (L,R: ROS_TIME_TYPE) return boolean is
|
||||
begin
|
||||
return to_unsigned(L) > to_unsigned(R);
|
||||
end function;
|
||||
|
||||
function "<" (L,R: ROS_TIME_TYPE) return boolean is
|
||||
begin
|
||||
return to_unsigned(L) < to_unsigned(R);
|
||||
end function;
|
||||
|
||||
function ">=" (L,R: ROS_TIME_TYPE) return boolean is
|
||||
begin
|
||||
return to_unsigned(L) >= to_unsigned(R);
|
||||
end function;
|
||||
|
||||
function "<=" (L,R: ROS_TIME_TYPE) return boolean is
|
||||
begin
|
||||
return to_unsigned(L) <= to_unsigned(R);
|
||||
end function;
|
||||
|
||||
function "=" (L,R: ROS_TIME_TYPE) return boolean is
|
||||
begin
|
||||
return to_unsigned(L) = to_unsigned(R);
|
||||
end function;
|
||||
|
||||
function "/=" (L,R: ROS_TIME_TYPE) return boolean is
|
||||
begin
|
||||
return to_unsigned(L) /= to_unsigned(R);
|
||||
end function;
|
||||
|
||||
end package body;
|
||||
|
||||
@ -574,6 +574,7 @@ package rtps_package is
|
||||
end record;
|
||||
|
||||
function to_guid(A : GUIDPREFIX_TYPE; B : std_logic_vector(ENTITYID_WIDTH-1 downto 0)) return GUID_TYPE;
|
||||
function to_guid(A : std_logic_vector) return GUID_TYPE;
|
||||
function to_key_hash(A : GUID_TYPE) return KEY_HASH_TYPE;
|
||||
function to_key_hash(A : std_logic_vector) return KEY_HASH_TYPE;
|
||||
|
||||
@ -634,7 +635,7 @@ package body rtps_package is
|
||||
constant sec : natural := 10**9;
|
||||
constant half_sec : natural := sec/2;
|
||||
begin
|
||||
assert (ns < 10**9) report "ns argument has to be less than a second" severity failure;
|
||||
assert (ns < sec) report "ns argument has to be less than a second" severity failure;
|
||||
ret(0) := to_unsigned(s, WORD_WIDTH);
|
||||
|
||||
-- If Fraction Bit is >= 500 ms it cannot be represented as a natural (because naturals/integers are signed).
|
||||
@ -652,7 +653,6 @@ package body rtps_package is
|
||||
function gen_duration(t : time) return DURATION_TYPE is
|
||||
variable seconds : natural;
|
||||
variable nanoseconds : natural;
|
||||
variable tmp : time;
|
||||
begin
|
||||
-- Extract Seconds
|
||||
seconds := t / sec;
|
||||
@ -1044,16 +1044,19 @@ package body rtps_package is
|
||||
|
||||
function get_sub_vector (input : std_logic_vector; index : natural; width : natural; invert : boolean) return std_logic_vector is
|
||||
variable ret : std_logic_vector(width-1 downto 0) := (others => '0');
|
||||
variable input2 : std_logic_vector(input'length-1 downto 0) := (others => '0');
|
||||
begin
|
||||
assert(input'length mod width = 0) report "Input Length has to be multiple of width" severity FAILURE;
|
||||
assert(input'length / width > index) report "Index out of bounds" severity FAILURE;
|
||||
|
||||
input2 := input; -- Force input to "downto" range
|
||||
|
||||
if (invert = TRUE) then
|
||||
-- XXX: Synthesis Hack
|
||||
--ret := input(input'length-(index*width)-1 downto input'length-((index+1)*width));
|
||||
for i in 0 to (input'length/width)-1 loop
|
||||
if (index = i) then
|
||||
ret := input(input'length-(i*width)-1 downto input'length-((i+1)*width));
|
||||
ret := input2(input'length-(i*width)-1 downto input'length-((i+1)*width));
|
||||
end if;
|
||||
end loop;
|
||||
else
|
||||
@ -1061,7 +1064,7 @@ package body rtps_package is
|
||||
--ret := input(((index+1)*width)-1 downto index*width);
|
||||
for i in 0 to (input'length/width)-1 loop
|
||||
if (index = i) then
|
||||
ret := input(((i+1)*width)-1 downto i*width);
|
||||
ret := input2(((i+1)*width)-1 downto i*width);
|
||||
end if;
|
||||
end loop;
|
||||
end if;
|
||||
@ -1097,4 +1100,15 @@ package body rtps_package is
|
||||
|
||||
return ret;
|
||||
end function;
|
||||
|
||||
function to_guid(A : std_logic_vector) return GUID_TYPE is
|
||||
variable ret : GUID_TYPE;
|
||||
begin
|
||||
assert (A'length = GUID_WIDTH) report "SLV Length missmatch" severity FAILURE;
|
||||
ret := GUID_UNKNOWN;
|
||||
for i in 0 to ret'length-1 loop
|
||||
ret(i) := get_sub_vector(A, i, ret(i)'length, TRUE);
|
||||
end loop;
|
||||
return ret;
|
||||
end function;
|
||||
end package body;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user