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BUG FIX: rtps_builtin_endpoint does double endian swap (pre-swaped by rtps_handler)

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This commit is contained in:
Greek 2021-12-11 17:42:24 +01:00
parent 48468d1131
commit 719766f5ed
1 changed files with 23 additions and 16 deletions
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39
src/rtps_builtin_endpoint.vhd
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@ -1225,12 +1225,12 @@ begin
-- Latch Sequence Number
case (cnt) is
when 0 =>
seq_nr_next(0) <= unsigned(data_in_swapped);
seq_nr_next(0) <= unsigned(data_in);
cnt_next <= cnt + 1;
when 1 =>
seq_nr_next(1) <= unsigned(data_in_swapped);
seq_nr_next(1) <= unsigned(data_in);
-- Store Next Sequence Number
tmp_dw := (0 => seq_nr(0), 1 => unsigned(data_in_swapped));
tmp_dw := (0 => seq_nr(0), 1 => unsigned(data_in));
next_seq_nr_next <= tmp_dw + 1;
stage_next <= PROCESS_DATA;
@ -1424,6 +1424,8 @@ begin
end case;
end if;
when PROCESS_GAP =>
-- NOTE: Data is already endain swapped by rtps_handler
-- Input FIFO Guard
if (empty = '0') then
rd_guard := '1';
@ -1431,24 +1433,24 @@ begin
case (cnt) is
-- GapStart Sequence Number 1/2
when 0 =>
gap_start_next(0) <= unsigned(data_in_swapped);
gap_start_next(0) <= unsigned(data_in);
cnt_next <= cnt + 1;
-- GapStart Sequence Number 2/2
when 1 =>
gap_start_next(1) <= unsigned(data_in_swapped);
gap_start_next(1) <= unsigned(data_in);
cnt_next <= cnt + 1;
-- GapList.Base 1/2
when 2 =>
gap_list_base_next(0) <= unsigned(data_in_swapped);
gap_list_base_next(0) <= unsigned(data_in);
cnt_next <= cnt + 1;
-- GapList.Base 2/2
when 3 =>
gap_list_base_next(1) <= unsigned(data_in_swapped);
gap_list_base_next(1) <= unsigned(data_in);
cnt_next <= cnt + 1;
-- GapList.NumBits
when 4 =>
gap_list_end_next <= gap_list_base + to_integer(unsigned(data_in_swapped));
bitmap_cnt_next <= unsigned(round_slv(data_in_swapped(log2c(MAX_BITMAP_WIDTH)-1 downto 0),bitmap_cnt'length));
gap_list_end_next <= gap_list_base + to_integer(unsigned(data_in));
bitmap_cnt_next <= unsigned(round_slv(data_in(log2c(MAX_BITMAP_WIDTH)-1 downto 0),bitmap_cnt'length));
cnt2_next <= 0;
cnt_next <= cnt + 1;
-- GapList.Bitmap
@ -1457,7 +1459,7 @@ begin
if (cnt2 < bitmap_cnt) then
cnt2_next <= cnt2 + 1;
bitmap_latch_next(cnt2) <= data_in_swapped;
bitmap_latch_next(cnt2) <= data_in;
else
stage_next <= PROCESS_GAP_SEQUENCE_NUMBERS;
end if;
@ -1518,6 +1520,8 @@ begin
end if;
end if;
when PROCESS_HEARTBEAT =>
-- NOTE: Data is already endain swapped by rtps_handler
-- Input FIFO Guard
if (empty = '0') then
rd_guard := '1';
@ -1525,16 +1529,16 @@ begin
-- Latch Sequence Numbers
case (cnt) is
when 0 =>
first_seq_nr_next(0) <= unsigned(data_in_swapped);
first_seq_nr_next(0) <= unsigned(data_in);
cnt_next <= cnt + 1;
when 1 =>
first_seq_nr_next(1) <= unsigned(data_in_swapped);
first_seq_nr_next(1) <= unsigned(data_in);
cnt_next <= cnt + 1;
when 2 =>
last_seq_nr_next(0) <= unsigned(data_in_swapped);
last_seq_nr_next(0) <= unsigned(data_in);
cnt_next <= cnt + 1;
when 3 =>
last_seq_nr_next(1) <= unsigned(data_in_swapped);
last_seq_nr_next(1) <= unsigned(data_in);
stage_next <= PROCESS_HEARTBEAT_SEQUENCE_NUMBERS;
when others =>
null;
@ -1621,6 +1625,9 @@ begin
stage_next <= SKIP_PACKET;
end if;
when PROCESS_ACKNACK =>
-- NOTE: Data is already endain swapped by rtps_handler
-- Input FIFO Guard
if (empty = '0') then
rd_guard := '1';
@ -1628,10 +1635,10 @@ begin
-- NOTE: Because we always sent the entire history cache, we only need to look at the SequenceNumberSetBase to determine if we need to sent data or not
case (cnt) is
when 0 =>
first_seq_nr_next(0) <= unsigned(data_in_swapped);
first_seq_nr_next(0) <= unsigned(data_in);
cnt_next <= cnt + 1;
when 1 =>
first_seq_nr_next(1) <= unsigned(data_in_swapped);
first_seq_nr_next(1) <= unsigned(data_in);
stage_next <= PROCESS_ACKNACK_SEQUENCE_NUMBERS;
when others =>