* Code cleanup

* Varius fixes
* Code Comment

src/REF.txt

@@ -134,7 +134,7 @@ PARTICICPANT DATA
   +                       LEASE_DEADLINE                        +
 12|                                                             |
   +-------------------------------------------------------------+
-13|P|S|M|                  EXTRA_FLAGS                        |Q|
+13|                           UNUSED                    |P|S|M|Q|
   +-------------------------------------------------------------+
 14|                                                             |
   +                       ACKNACK_RES_TIME                      +
@@ -192,7 +192,7 @@ ENDPOINT MATCH FRAME
   +-------------------------------------------------------------+
 06|                        IPv4_ADDRESS                         |
   +-------------------------------------------------------------+
-07|         UDP_PORT            |          EXTRA_FLAGS        |Q|
+07|         UDP_PORT            |            UNUSED           |Q|
   +-------------------------------------------------------------+
 
 ENDPOINT UNMATCH FRAME

src/TODO.txt

@@ -100,5 +100,11 @@ DESIGN DECISIONS
 *   !REJECTED! (Use the unused extra flags in the stored participant data)
     Use the lowest bit of the Heartbeat/Acknack Deadline stored in the Participant Data to differentiate 
     between Delay and Suppression. This reduces the resolution from 0.23 ns to 0.47 ns
-    
 
+-- Input FIFO Guard
+-- Output FIFO Guard
+-- Memory Operation Guard
+-- Ignore in-line QoS
+-- Only relevant for Endpoint Discovery Protocol
+-- Check QoS Compatibility (Unmark match on incompatibility)
+-- COMPATIBLE (DDS v1.4): offered >= requested, with INSTANCE < TOPIC < GROUP

src/rtps_package.vhd

@@ -95,6 +95,7 @@ package rtps_package is
     constant ENDPOINT_TYPE_STRING       : ENDPOINT_STRING_TYPE := (0 => "Placeholder" & (12 to 256 => NUL));
     constant ENDPOINT_TYPE              : ENDPOINT_STRING_SLV_TYPE;  -- Deferred to Package Body
     constant ENDPOINT_DURABILITY        : QOS_TYPE := (0 => VOLATILE_DURABILITY_QOS);
+    -- TODO: Make sure GROUP is not selected
     constant ENDPOINT_PRESENTATION      : QOS_TYPE := (0 => INSTANCE_PRESENTATION_QOS);
     constant ENDPOINT_COHERENT_ACCESS   : std_logic_vector(0 to MAX_ENDPOINTS-1) := (others => '0');
     constant ENDPOINT_ORDERED_ACCESS    : std_logic_vector(0 to MAX_ENDPOINTS-1) := (others => '0');
@@ -114,11 +115,25 @@ package rtps_package is
     constant ENDPOINT_MAX_INSTANCES     : QOS_SLV_TYPE := (0 => std_logic_vector(to_unsigned(0,32))); --TODO: Assert
     constant ENDPOINT_MAX_SAMP_PER_INST : QOS_SLV_TYPE := (0 => std_logic_vector(to_unsigned(0,32))); --TODO: Assert
     
+    constant ENDPOINT_HEARTBEAT_PERIOD              : ENDPOINT_DURATION_TYPE := (0 => (to_unsigned(3,32),to_unsigned(0,32))); -- 3s
+    constant ENDPOINT_HEARTBEAT_RESPONSE_DELAY      : ENDPOINT_DURATION_TYPE := (0 => (to_unsigned(0,32),to_unsigned(2147483648,32))); -- 500 ms
+    constant ENDPOINT_HEARTBEAT_SUPPRESSION_DELAY   : ENDPOINT_DURATION_TYPE := (0 => (to_unsigned(0,32),to_unsigned(0,32)));
+    constant ENDPOINT_ACKNACK_RESPONSE_DELAY        : ENDPOINT_DURATION_TYPE := (0 => (to_unsigned(0,32),to_unsigned(858993459,32))); -- 200 ms
+    constant ENDPOINT_ACKNACK_SUPPRESSION_DELAY     : ENDPOINT_DURATION_TYPE := (0 => (to_unsigned(0,32),to_unsigned(0,32)));
+    
+    constant PARTICIPANT_HEARTBEAT_PERIOD               : DURATION_TYPE := (to_unsigned(3,32),to_unsigned(0,32)); -- 3s
+    constant PARTICIPANT_HEARTBEAT_RESPONSE_DELAY       : DURATION_TYPE := (to_unsigned(0,32),to_unsigned(2147483648,32)); -- 500 ms
+    constant PARTICIPANT_HEARTBEAT_SUPPRESSION_DELAY    : DURATION_TYPE := (to_unsigned(0,32),to_unsigned(0,32));
+    constant PARTICIPANT_ACKNACK_RESPONSE_DELAY         : DURATION_TYPE := (to_unsigned(0,32),to_unsigned(858993459,32)); -- 200 ms
+    constant PARTICIPANT_ACKNACK_SUPPRESSION_DELAY      : DURATION_TYPE := (to_unsigned(0,32),to_unsigned(0,32));
+    
+    constant DURATION_DELTA   : DURATION_TYPE := (to_unsigned(0,32),to_unsigned(429496730,32)); --100 ms
+    
     constant DEFAULT_PARTICIPANT_LEASE_DURATION : DOUBLE_WORD_ARRAY := (to_unsigned(100,32),to_unsigned(0,32);
     constant PARTICIPANT_LEASE_DURATION : DOUBLE_WORD_ARRAY := DEFAULT_PARTICIPANT_LEASE_DURATION;
     
     -- NOTE: The buffer will not only store participants, but also endpoint data
-    -- Used to determine the size of the built-inendpoint buffer
+    -- Used to determine the size of the builtin endpoint buffer
     constant MAX_REMOTE_PARTICIPANTS    : natural := 50;
     
     --*****DDSI-RTPS 2.3*****
@@ -358,11 +373,23 @@ package rtps_package is
     function convert_from_double_word (seq: DOUBLE_WORD_ARRAY) return unsigned;
     function convert_to_double_word (seq: unsigned(63 downto 0)) return DOUBLE_WORD_ARRAY;
     function ">" (L,R: DOUBLE_WORD_ARRAY) return boolean;
+    function ">" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean;
+    function ">" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean;
     function "<" (L,R: DOUBLE_WORD_ARRAY) return boolean;
+    function "<" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean;
+    function "<" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean;
     function ">=" (L,R: DOUBLE_WORD_ARRAY) return boolean;
+    function ">=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean;
+    function ">=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean;
     function "<=" (L,R: DOUBLE_WORD_ARRAY) return boolean;
+    function "<=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean;
+    function "<=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean;
     function "=" (L,R: DOUBLE_WORD_ARRAY) return boolean;
+    function "=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean;
+    function "=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean;
     function "/=" (L,R: DOUBLE_WORD_ARRAY) return boolean;
+    function "/=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean;
+    function "/=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean;
     function "+" (L,R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY;
     function "+" (L: DOUBLE_WORD_ARRAY, R: natural) return DOUBLE_WORD_ARRAY;
     function "+" (L: natural, R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY;
@@ -431,7 +458,7 @@ package body rtps_package is
     begin
         ret := (others => others => '0'));
         for i in 0 to ret'length-1 loop
-            ret(i) := std_logic_vector(to_unsigned(character'POS(str(i)), 8)) & std_logic_vector(to_unsigned(character'POS(str(i+1)), 8)) & std_logic_vector(to_unsigned(character'POS(str(i+2)), 8)) & std_logic_vector(to_unsigned(character'POS(str(i+3)), 8));
+            ret(i) := std_logic_vector(to_unsigned(character'POS(str(i*4)), 8)) & std_logic_vector(to_unsigned(character'POS(str((i*4)+1)), 8)) & std_logic_vector(to_unsigned(character'POS(str((i*4)+2)), 8)) & std_logic_vector(to_unsigned(character'POS(str((i*4)+3)), 8));
         end loop;
         return ret;
     end function;
@@ -960,31 +987,91 @@ package body rtps_package is
         return convert_from_double_word(L) > convert_from_double_word(R);
     end function;
     
+    function ">" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is
+    begin
+        return convert_from_double_word(L) > R;
+    end function;
+    
+    function ">" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is
+    begin
+        return L > convert_from_double_word(R);
+    end function;
+    
     function "<" (L,R: DOUBLE_WORD_ARRAY) return boolean is
     begin
         return convert_from_double_word(L) < convert_from_double_word(R);
     end function;
     
+    function "<" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is
+    begin
+        return convert_from_double_word(L) < R;
+    end function;
+    
+    function "<" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is
+    begin
+        return L < convert_from_double_word(R);
+    end function;
+    
     function ">=" (L,R: DOUBLE_WORD_ARRAY) return boolean is
     begin
         return convert_from_double_word(L) >= convert_from_double_word(R);
     end function;
     
+    function ">=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is
+    begin
+        return convert_from_double_word(L) >= R;
+    end function;
+    
+    function ">=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is
+    begin
+        return L >= convert_from_double_word(R);
+    end function;
+    
     function "<=" (L,R: DOUBLE_WORD_ARRAY) return boolean is
     begin
         return convert_from_double_word(L) <= convert_from_double_word(R);
     end function;
     
+    function "<=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is
+    begin
+        return convert_from_double_word(L) <= R;
+    end function;
+    
+    function "<=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is
+    begin
+        return L <= convert_from_double_word(R);
+    end function;
+    
     function "=" (L,R: DOUBLE_WORD_ARRAY) return boolean;
     begin
         return convert_from_double_word(L) = convert_from_double_word(R);
     end function;
     
+    function "=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is
+    begin
+        return convert_from_double_word(L) = R;
+    end function;
+    
+    function "=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is
+    begin
+        return L = convert_from_double_word(R);
+    end function;
+    
     function "/=" (L,R: DOUBLE_WORD_ARRAY) return boolean is
     begin
         return convert_from_double_word(L) /= convert_from_double_word(R);
     end function;
     
+    function "/=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is
+    begin
+        return convert_from_double_word(L) /= R;
+    end function;
+    
+    function "/=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is
+    begin
+        return L /= convert_from_double_word(R);
+    end function;
+    
     function "+" (L,R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY is
     begin
         return convert_to_double_word(convert_from_double_word(L) + convert_from_double_word(R));