greek64/rtps-fpga
2
1
Fork 0
Code Issues Pull Requests Releases Wiki Activity

* rtps_package compiles

Browse Source
This commit is contained in:
Greek 2020-10-24 22:51:50 +02:00
parent 74515d0ecc
commit 86a6d85be4
1 changed files with 104 additions and 101 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

205
src/rtps_package.vhd
View File

@ -39,16 +39,16 @@ package rtps_package is
-- Domain ID -- Domain ID
constant USER_DOMAIN_ID : natural := 1; constant USER_DOMAIN_ID : natural := 1;
-- Domain TAG -- Domain TAG
constant USER_DOMAIN_TAG : string := ""; constant USER_DOMAIN_TAG : string(1 to 256) := (others => NUL); --""
----------------------------------------------------------------------------------------------------- -----------------------------------------------------------------------------------------------------
-- *DO NOT MODIFY BEGIN* -- *DO NOT MODIFY BEGIN*
type ENDPOINT_WITH_KEY_TYPE is array (0 to MAX_ENDPOINTS-1) of boolean; type ENDPOINT_WITH_KEY_TYPE is array (0 to MAX_ENDPOINTS-1) of boolean;
type ENDPOINT_STRING_TYPE is array (0 to MAX_ENDPOINTS-1) of string(1 to 256); type ENDPOINT_STRING_TYPE is array (0 to MAX_ENDPOINTS-1) of string(1 to 256);
type STRING_SLV_WORD_TYPE is array (0 to (256*8)/32) of std_logic_vector(31 downto 0); type STRING_SLV_WORD_TYPE is array (0 to ((256*8)/32)-1) of std_logic_vector(31 downto 0);
type ENDPOINT_STRING_SLV_TYPE is array (0 to MAX_ENDPOINTS-1) of STRING_SLV_WORD_TYPE; type ENDPOINT_STRING_SLV_TYPE is array (0 to MAX_ENDPOINTS-1) of STRING_SLV_WORD_TYPE;
subtype QOS_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0); type QOS_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0);
subtype QOS_SLV_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0); type QOS_SLV_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0);
type DOUBLE_WORD_ARRAY is array (0 to 1) of unsigned(31 downto 0); type DOUBLE_WORD_ARRAY is array (0 to 1) of unsigned(31 downto 0);
type ENDPOINT_DURATION_TYPE is array (0 to MAX_ENDPOINTS-1) of DOUBLE_WORD_ARRAY; type ENDPOINT_DURATION_TYPE is array (0 to MAX_ENDPOINTS-1) of DOUBLE_WORD_ARRAY;
@ -80,8 +80,8 @@ package rtps_package is
constant KEEP_LAST_HISTORY_QOS : std_logic_vector(31 downto 0) := std_logic_vector(to_unsigned(0,32)); constant KEEP_LAST_HISTORY_QOS : std_logic_vector(31 downto 0) := std_logic_vector(to_unsigned(0,32));
constant KEEP_ALL_HISTORY_QOS : std_logic_vector(31 downto 0) := std_logic_vector(to_unsigned(1,32)); constant KEEP_ALL_HISTORY_QOS : std_logic_vector(31 downto 0) := std_logic_vector(to_unsigned(1,32));
-- TYPE CONSISTENCY KIND -- TYPE CONSISTENCY KIND
constant DISALLOW_TYPE_COERCION : std_logic_vector(15 downto 0) := std_logic_vector(to_unsigned(0,32)); constant DISALLOW_TYPE_COERCION : std_logic_vector(15 downto 0) := std_logic_vector(to_unsigned(0,16));
constant ALLOW_TYPE_COERCION : std_logic_vector(15 downto 0) := std_logic_vector(to_unsigned(1,32)); constant ALLOW_TYPE_COERCION : std_logic_vector(15 downto 0) := std_logic_vector(to_unsigned(1,16));
-- *DO NOT MODIFY END* -- *DO NOT MODIFY END*
----------------------------------------------------------------------------------------------------- -----------------------------------------------------------------------------------------------------
@ -121,15 +121,15 @@ package rtps_package is
constant ENDPOINT_ACKNACK_RESPONSE_DELAY : ENDPOINT_DURATION_TYPE := (0 => (to_unsigned(0,32),to_unsigned(858993459,32))); -- 200 ms 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 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_PERIOD : DOUBLE_WORD_ARRAY := (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_RESPONSE_DELAY : DOUBLE_WORD_ARRAY := (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_HEARTBEAT_SUPPRESSION_DELAY : DOUBLE_WORD_ARRAY := (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_RESPONSE_DELAY : DOUBLE_WORD_ARRAY := (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 PARTICIPANT_ACKNACK_SUPPRESSION_DELAY : DOUBLE_WORD_ARRAY := (to_unsigned(0,32),to_unsigned(0,32));
constant DURATION_DELTA : DURATION_TYPE := (to_unsigned(0,32),to_unsigned(429496730,32)); --100 ms constant DURATION_DELTA : DOUBLE_WORD_ARRAY := (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 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; constant PARTICIPANT_LEASE_DURATION : DOUBLE_WORD_ARRAY := DEFAULT_PARTICIPANT_LEASE_DURATION;
-- NOTE: The buffer will not only store participants, but also endpoint data -- NOTE: The buffer will not only store participants, but also endpoint data
@ -254,7 +254,7 @@ package rtps_package is
constant DOMAIN_ID : std_logic_vector(DOMAIN_ID_WIDTH-1 downto 0) := to_unsigned(USER_DOMAIN_ID, DOMAIN_ID'length); constant DOMAIN_ID : std_logic_vector(DOMAIN_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(USER_DOMAIN_ID, DOMAIN_ID_WIDTH));
constant DOMAIN_TAG : STRING_SLV_WORD_TYPE; -- Deferred to package body constant DOMAIN_TAG : STRING_SLV_WORD_TYPE; -- Deferred to package body
-- Since this implementation runs on the same network stack and the RTPS Endpoints (Readers & Writers) -- Since this implementation runs on the same network stack and the RTPS Endpoints (Readers & Writers)
@ -347,7 +347,7 @@ package rtps_package is
constant ENDPOINT_BITMASK_SIZE : natural := round_div(MAX_ENDPOINTS, 32); constant ENDPOINT_BITMASK_SIZE : natural := round_div(MAX_ENDPOINTS, 32);
constant ENDPOINT_FRAME_SIZE : natural := 4 + ENDPOINT_BITMASK_SIZE; constant ENDPOINT_FRAME_SIZE : natural := 4 + ENDPOINT_BITMASK_SIZE;
-- Limit Buffer to 32 bit Addresses -- Limit Buffer to 32 bit Addresses
constant BUILTIN_BUFFER_SIZE : natural := min(MAX_ENDPOINTS*PARTICIPANT_FRAME_SIZE, 2**32); constant BUILTIN_BUFFER_SIZE : natural := work.math_pkg.min(MAX_ENDPOINTS*PARTICIPANT_FRAME_SIZE, natural'high);
--**************** --****************
constant ENDPOINT_MATCH_OPCODE_WIDTH: natural := 32; constant ENDPOINT_MATCH_OPCODE_WIDTH: natural := 32;
@ -359,9 +359,10 @@ package rtps_package is
type USER_ENDPOINT_OUTPUT is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0); type USER_ENDPOINT_OUTPUT is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0);
type ENDPOINT_BITMASK_ARRAY_TYPE is array (0 to ENDPOINT_BITMASK_SIZE-1) of std_logic_vector(31 downto 0); type ENDPOINT_BITMASK_ARRAY_TYPE is array (0 to ENDPOINT_BITMASK_SIZE-1) of std_logic_vector(31 downto 0);
type WORD_ARRAY_TYPE is array (range <>) of std_logic_vector(31 downto 0); type WORD_ARRAY_TYPE is array (natural range <>) of std_logic_vector(31 downto 0);
type OUTPUT_DATA_TYPE is record type OUTPUT_DATA_TYPE is record
data : WORD_ARRAY_TYPE; -- Limit DATA to MAX UDPv4 Payload Size - RTPS Header (65487 Bytes)
data : WORD_ARRAY_TYPE(0 to 16371);
length : natural; length : natural;
end record; end record;
@ -373,29 +374,29 @@ package rtps_package is
function convert_from_double_word (seq: DOUBLE_WORD_ARRAY) return unsigned; 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 convert_to_double_word (seq: unsigned(63 downto 0)) return DOUBLE_WORD_ARRAY;
function ">" (L,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: DOUBLE_WORD_ARRAY; R: natural) return boolean;
function ">" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean; function ">" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean;
function "<" (L,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: DOUBLE_WORD_ARRAY; R: natural) return boolean;
function "<" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean; function "<" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean;
function ">=" (L,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: DOUBLE_WORD_ARRAY; R: natural) return boolean;
function ">=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean; function ">=" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean;
function "<=" (L,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: DOUBLE_WORD_ARRAY; R: natural) return boolean;
function "<=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean; function "<=" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean;
function "=" (L,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: DOUBLE_WORD_ARRAY; R: natural) return boolean;
function "=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean; function "=" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean;
function "/=" (L,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: DOUBLE_WORD_ARRAY; R: natural) return boolean;
function "/=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean; function "/=" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean;
function "+" (L,R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY; function "+" (L,R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY;
function "+" (L: DOUBLE_WORD_ARRAY, R: natural) 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; function "+" (L: natural; R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY;
function "-" (L,R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY; function "-" (L,R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY;
function "-" (L: DOUBLE_WORD_ARRAY, R: natural) 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; function "-" (L: natural; R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY;
end package; end package;
@ -438,27 +439,29 @@ package body rtps_package is
tmp := (others => '0'); tmp := (others => '0');
ret := (others => (others => '0')); ret := (others => (others => '0'));
-- First two bytes have to be Vendor ID (see DDSI-RTPS 2.3 Section 9.3.1.5) -- First two bytes have to be Vendor ID (see DDSI-RTPS 2.3 Section 9.3.1.5)
tmp(GUIDPREFIX_WIDTH-1 downto GUIDPREFIX_WIDTH-VENDORID_WIDTH) <= VENDORID; tmp(GUIDPREFIX_WIDTH-1 downto GUIDPREFIX_WIDTH-VENDORID_WIDTH) := VENDORID;
-- Next we insert the MAC address for uniqueness -- Next we insert the MAC address for uniqueness
tmp(GUIDPREFIX_WIDTH-VENDORID_WIDTH-1 downto GUIDPREFIX_WIDTH-VENDORID_WIDTH-48) <= MAC_ADDRESS; tmp(GUIDPREFIX_WIDTH-VENDORID_WIDTH-1 downto GUIDPREFIX_WIDTH-VENDORID_WIDTH-48) := MAC_ADDRESS;
-- Next we insert the Domain ID -- Next we insert the Domain ID
tmp(DOMAIN_ID_WIDTH-1 downto 0) <= DOMAIN_ID; tmp(DOMAIN_ID_WIDTH-1 downto 0) := DOMAIN_ID;
-- Convert to return type -- Convert to return type
for i in 0 to ret'length-1 loop for i in 0 to ret'length-1 loop
ret(i) := tmp(GUIDPREFIX_WIDTH-(i*ret'length(1))-1 downto GUIDPREFIX_WIDTH-(i*ret'length(1))-ret'length(1)); ret(i) := tmp(GUIDPREFIX_WIDTH-(i*ret(i)'length)-1 downto GUIDPREFIX_WIDTH-(i*ret(i)'length)-ret(i)'length);
end loop; end loop;
return ret; return ret;
end function; end function;
constant GUIDPREFIX : GUIDPREFIX_TYPE := gen_guidprefix; constant GUIDPREFIX : GUIDPREFIX_TYPE := gen_guidprefix;
function convert_string (str : string) return STRING_SLV_WORD_TYPE is -- TODO: Use unconstraint string as input
function convert_string (str : string(1 to 256)) return STRING_SLV_WORD_TYPE is
variable ret : STRING_SLV_WORD_TYPE := (others => (others => '0')); variable ret : STRING_SLV_WORD_TYPE := (others => (others => '0'));
begin begin
ret := (others => others => '0')); ret := (others => (others => '0'));
for i in 0 to ret'length-1 loop for i in 0 to ret'length-1 loop
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)); ret(i) := std_logic_vector(to_unsigned(character'POS(str(1)), 8)) & std_logic_vector(to_unsigned(character'POS(str(2)), 8)) & std_logic_vector(to_unsigned(character'POS(str(3)), 8)) & std_logic_vector(to_unsigned(character'POS(str(4)), 8));
--ret(i) := 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)) & std_logic_vector(to_unsigned(character'POS(str((i*4)+4)), 8));
end loop; end loop;
return ret; return ret;
end function; end function;
@ -478,15 +481,15 @@ package body rtps_package is
constant DOMAIN_TAG : STRING_SLV_WORD_TYPE := convert_string(USER_DOMAIN_TAG); constant DOMAIN_TAG : STRING_SLV_WORD_TYPE := convert_string(USER_DOMAIN_TAG);
function string_len (str : STRING_SLV_WORD_TYPE) return natural is function string_len (str : STRING_SLV_WORD_TYPE) return natural is
ret : natural := 0; variable ret : natural := 0;
begin begin
ret := 0; ret := 0;
for i in 0 to str'length loop for i in 0 to str'length-1 loop
for j in 0 to str'length(1)-1 loop for j in 0 to (str(i)'length/8)-1 loop
-- Count Bytes -- Count Bytes
ret := ret + 1; ret := ret + 1;
-- Exit on first NULL byte (NULL Byte included in count) -- Exit on first NULL byte (NULL Byte included in count)
if (str(i)(str'length(1)-j*8-1 downto str'length(1)-j*8-8) = (8 downto 0 => '0')) then if (str(i)(str(i)'length-j*8-1 downto str(i)'length-j*8-8) = (7 downto 0 => '0')) then
exit; exit;
end if; end if;
end loop; end loop;
@ -495,8 +498,7 @@ package body rtps_package is
end function; end function;
function gen_reader_endpoint_data return OUTPUT_DATA_TYPE is function gen_reader_endpoint_data return OUTPUT_DATA_TYPE is
-- Limit DATA to MAX UDPv4 Payload Size - RTPS Header (65487 Bytes) variable ret : OUTPUT_DATA_TYPE := (data => (others => (others => '0')), length => 0);
variable ret : OUTPUT_DATA_TYPE(data(0 to 16371)) := (data => (others => (others => '0')), length => 0);
variable ind : natural := 0; variable ind : natural := 0;
variable len : natural := 0; variable len : natural := 0;
variable tmp : natural := 0; variable tmp : natural := 0;
@ -509,7 +511,6 @@ package body rtps_package is
end if; end if;
len := 0; len := 0;
ind := 0; ind := 0;
ind2 := 0;
-- RTPS Submessages -- RTPS Submessages
-- One DATA Submessage for each Reader -- One DATA Submessage for each Reader
@ -530,7 +531,7 @@ package body rtps_package is
ret.data(ind+len) := (others => '0'); ret.data(ind+len) := (others => '0');
-- DATA Header (Sequence Number) -- DATA Header (Sequence Number)
len := len + 1; len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(i+1, ret.data'length(1))); ret.data(ind+len) := std_logic_vector(to_unsigned(i+1, ret.data(0)'length));
-- Serialized Payload Header -- Serialized Payload Header
len := len + 1; len := len + 1;
ret.data(ind+len) := PL_CDR_BE & x"0000"; ret.data(ind+len) := PL_CDR_BE & x"0000";
@ -557,7 +558,7 @@ package body rtps_package is
ret.data(ind+len) := PID_TOPIC_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16)); ret.data(ind+len) := PID_TOPIC_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32)); ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to tmp-1 loop for j in 0 to round_div(tmp,4)-1 loop
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_TOPIC(i)(j); ret.data(ind+len) := ENDPOINT_TOPIC(i)(j);
end loop; end loop;
@ -567,7 +568,7 @@ package body rtps_package is
ret.data(ind+len) := PID_TYPE_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16)); ret.data(ind+len) := PID_TYPE_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32)); ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to tmp-1 loop for j in 0 to round_div(tmp,4)-1 loop
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_TYPE(i)(j); ret.data(ind+len) := ENDPOINT_TYPE(i)(j);
end loop; end loop;
@ -583,9 +584,9 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_DEADLINE & std_logic_vector(to_unsigned(8, 16)); ret.data(ind+len) := PID_DEADLINE & std_logic_vector(to_unsigned(8, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_DEADLINE(i)(0); ret.data(ind+len) := std_logic_vector(ENDPOINT_DEADLINE(i)(0));
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_DEADLINE(i)(1); ret.data(ind+len) := std_logic_vector(ENDPOINT_DEADLINE(i)(1));
end if; end if;
-- LIVELINESS -- LIVELINESS
if (ENDPOINT_LIVELINESS(i) /= AUTOMATIC_LIVELINESS_QOS or ENDPOINT_LEASE_DURATION(i) /= DURATION_INFINITE) then if (ENDPOINT_LIVELINESS(i) /= AUTOMATIC_LIVELINESS_QOS or ENDPOINT_LEASE_DURATION(i) /= DURATION_INFINITE) then
@ -594,9 +595,9 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_LIVELINESS(i); ret.data(ind+len) := ENDPOINT_LIVELINESS(i);
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_LEASE_DURATION(i)(0); ret.data(ind+len) := std_logic_vector(ENDPOINT_LEASE_DURATION(i)(0));
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_LEASE_DURATION(i)(1); ret.data(ind+len) := std_logic_vector(ENDPOINT_LEASE_DURATION(i)(1));
end if; end if;
-- RELIABILITY -- RELIABILITY
-- TODO: Check also max_blocking_time for change (Currently ignored) -- TODO: Check also max_blocking_time for change (Currently ignored)
@ -606,9 +607,9 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_RELIABILITY(i); ret.data(ind+len) := ENDPOINT_RELIABILITY(i);
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_MAX_BLOCKING_TIME(i)(0); ret.data(ind+len) := std_logic_vector(ENDPOINT_MAX_BLOCKING_TIME(i)(0));
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_MAX_BLOCKING_TIME(i)(1); ret.data(ind+len) := std_logic_vector(ENDPOINT_MAX_BLOCKING_TIME(i)(1));
end if; end if;
-- DESTINATION ORDER -- DESTINATION ORDER
if (ENDPOINT_DESTINATION_ORDER(i) /= BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS) then if (ENDPOINT_DESTINATION_ORDER(i) /= BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS) then
@ -643,8 +644,7 @@ package body rtps_package is
constant READER_ENDPOINT_DATA : OUTPUT_DATA_TYPE := gen_reader_endpoint_data; constant READER_ENDPOINT_DATA : OUTPUT_DATA_TYPE := gen_reader_endpoint_data;
function gen_writer_endpoint_data return OUTPUT_DATA_TYPE is function gen_writer_endpoint_data return OUTPUT_DATA_TYPE is
-- Limit DATA to MAX UDPv4 Payload Size - RTPS Header (65487 Bytes) variable ret : OUTPUT_DATA_TYPE := (data => (others => (others => '0')), length => 0);
variable ret : OUTPUT_DATA_TYPE(data(0 to 16371)) := (data => (others => (others => '0')), length => 0);
variable ind : natural := 0; variable ind : natural := 0;
variable len : natural := 0; variable len : natural := 0;
variable tmp : natural := 0; variable tmp : natural := 0;
@ -657,7 +657,6 @@ package body rtps_package is
end if; end if;
len := 0; len := 0;
ind := 0; ind := 0;
ind2 := 0;
-- RTPS Submessages -- RTPS Submessages
-- One DATA Submessage for each Writer Endpoint -- One DATA Submessage for each Writer Endpoint
@ -700,7 +699,7 @@ package body rtps_package is
ret.data(ind+len) := PID_TOPIC_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16)); ret.data(ind+len) := PID_TOPIC_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32)); ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to tmp-1 loop for j in 0 to round_div(tmp,4)-1 loop
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_TOPIC(i)(j); ret.data(ind+len) := ENDPOINT_TOPIC(i)(j);
end loop; end loop;
@ -710,7 +709,7 @@ package body rtps_package is
ret.data(ind+len) := PID_TYPE_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16)); ret.data(ind+len) := PID_TYPE_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32)); ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to tmp-1 loop for j in 0 to round_div(tmp,4)-1 loop
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_TYPE(i)(j); ret.data(ind+len) := ENDPOINT_TYPE(i)(j);
end loop; end loop;
@ -726,9 +725,9 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_DEADLINE & std_logic_vector(to_unsigned(8, 16)); ret.data(ind+len) := PID_DEADLINE & std_logic_vector(to_unsigned(8, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_DEADLINE(i)(0); ret.data(ind+len) := std_logic_vector(ENDPOINT_DEADLINE(i)(0));
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_DEADLINE(i)(1); ret.data(ind+len) := std_logic_vector(ENDPOINT_DEADLINE(i)(1));
end if; end if;
-- LIVELINESS -- LIVELINESS
if (ENDPOINT_LIVELINESS(i) /= AUTOMATIC_LIVELINESS_QOS or ENDPOINT_LEASE_DURATION(i) /= DURATION_INFINITE) then if (ENDPOINT_LIVELINESS(i) /= AUTOMATIC_LIVELINESS_QOS or ENDPOINT_LEASE_DURATION(i) /= DURATION_INFINITE) then
@ -737,9 +736,9 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_LIVELINESS(i); ret.data(ind+len) := ENDPOINT_LIVELINESS(i);
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_LEASE_DURATION(i)(0); ret.data(ind+len) := std_logic_vector(ENDPOINT_LEASE_DURATION(i)(0));
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_LEASE_DURATION(i)(1); ret.data(ind+len) := std_logic_vector(ENDPOINT_LEASE_DURATION(i)(1));
end if; end if;
-- RELIABILITY -- RELIABILITY
-- TODO: Check also max_blocking_time for change (Currently ignored) -- TODO: Check also max_blocking_time for change (Currently ignored)
@ -749,18 +748,18 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_RELIABILITY(i); ret.data(ind+len) := ENDPOINT_RELIABILITY(i);
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_MAX_BLOCKING_TIME(i)(0); ret.data(ind+len) := std_logic_vector(ENDPOINT_MAX_BLOCKING_TIME(i)(0));
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_MAX_BLOCKING_TIME(i)(1); ret.data(ind+len) := std_logic_vector(ENDPOINT_MAX_BLOCKING_TIME(i)(1));
end if; end if;
-- LIFESPAN -- LIFESPAN
if (ENDPOINT_LIFESPAN(i) /= DURATION_INFINITE) then if (ENDPOINT_LIFESPAN(i) /= DURATION_INFINITE) then
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_LIFESPAN & std_logic_vector(to_unsigned(8, 16)); ret.data(ind+len) := PID_LIFESPAN & std_logic_vector(to_unsigned(8, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_LIFESPAN(i)(0); ret.data(ind+len) := std_logic_vector(ENDPOINT_LIFESPAN(i)(0));
len := len + 1; len := len + 1;
ret.data(ind+len) := ENDPOINT_LIFESPAN(i)(1); ret.data(ind+len) := std_logic_vector(ENDPOINT_LIFESPAN(i)(1));
end if; end if;
-- DESTINATION ORDER -- DESTINATION ORDER
if (ENDPOINT_DESTINATION_ORDER(i) /= BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS) then if (ENDPOINT_DESTINATION_ORDER(i) /= BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS) then
@ -792,11 +791,10 @@ package body rtps_package is
return ret; return ret;
end function; end function;
constant ENDPOINT_DATA : OUTPUT_DATA_TYPE := gen_writer_endpoint_data; constant WRITER_ENDPOINT_DATA : OUTPUT_DATA_TYPE := gen_writer_endpoint_data;
function gen_participant_data return OUTPUT_DATA_TYPE is function gen_participant_data return OUTPUT_DATA_TYPE is
-- Limit DATA to MAX UDPv4 Payload Size - RTPS Header (65487 Bytes) variable ret : OUTPUT_DATA_TYPE := (data => (others => (others => '0')), length => 0);
variable ret : OUTPUT_DATA_TYPE(data(0 to 16371)) := (data => (others => (others => '0')), length => 0);
variable ind : natural := 0; variable ind : natural := 0;
variable len : natural := 0; variable len : natural := 0;
variable tmp : natural := 0; variable tmp : natural := 0;
@ -805,7 +803,6 @@ package body rtps_package is
ret.length := 0; ret.length := 0;
len := 0; len := 0;
ind := 0; ind := 0;
ind2 := 0;
-- RTPS DATA SUBMESSAGE -- RTPS DATA SUBMESSAGE
-- RTPS Submessage Header -- RTPS Submessage Header
@ -824,7 +821,7 @@ package body rtps_package is
ret.data(ind+len) := (others => '0'); ret.data(ind+len) := (others => '0');
-- DATA Header (Sequence Number) -- DATA Header (Sequence Number)
len := len + 1; len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(1, ret.data'length(1))); ret.data(ind+len) := std_logic_vector(to_unsigned(1, ret.data(ind+len)'length));
-- Serialized Payload Header -- Serialized Payload Header
len := len + 1; len := len + 1;
ret.data(ind+len) := PL_CDR_BE & x"0000"; ret.data(ind+len) := PL_CDR_BE & x"0000";
@ -852,7 +849,7 @@ package body rtps_package is
ret.data(ind+len) := PID_DOMAIN_TAG & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16)); ret.data(ind+len) := PID_DOMAIN_TAG & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32)); ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to tmp-1 loop for j in 0 to round_div(tmp,4)-1 loop
len := len + 1; len := len + 1;
ret.data(ind+len) := DOMAIN_TAG(j); ret.data(ind+len) := DOMAIN_TAG(j);
end loop; end loop;
@ -861,12 +858,14 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_PROTOCOL_VERSION & std_logic_vector(to_unsigned(4, 16)); ret.data(ind+len) := PID_PROTOCOL_VERSION & std_logic_vector(to_unsigned(4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := (31 downto 16 => PROTOCOLVERSION_2_4, others => '0'); ret.data(ind+len) := (others => '0');
ret.data(ind+len)(31 downto 16) := PROTOCOLVERSION_2_4;
-- VENDORID -- VENDORID
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_VENDORID & std_logic_vector(to_unsigned(4, 16)); ret.data(ind+len) := PID_VENDORID & std_logic_vector(to_unsigned(4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := (31 downto 16 => VENDORID, others => '0'); ret.data(ind+len) := (others => '0');
ret.data(ind+len)(31 downto 16) := VENDORID;
-- TODO: Expects inline QoS of Participant -- TODO: Expects inline QoS of Participant
-- METATRAFFIC UNICAST LOCATOR -- METATRAFFIC UNICAST LOCATOR
len := len + 1; len := len + 1;
@ -874,7 +873,8 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4; ret.data(ind+len) := LOCATOR_KIND_UDPv4;
len := len + 1; len := len + 1;
ret.data(ind+len) := (16 downto 0 => META_IPv4_UNICAST_PORT, others => '0'); ret.data(ind+len) := (others => '0');
ret.data(ind+len)(15 downto 0) := META_IPv4_UNICAST_PORT;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(ind+len) := (others => '0');
len := len + 1; len := len + 1;
@ -889,7 +889,8 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4; ret.data(ind+len) := LOCATOR_KIND_UDPv4;
len := len + 1; len := len + 1;
ret.data(ind+len) := (16 downto 0 => META_IPv4_MULTICAST_PORT, others => '0'); ret.data(ind+len) := (others => '0');
ret.data(ind+len)(15 downto 0) := META_IPv4_MULTICAST_PORT;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(ind+len) := (others => '0');
len := len + 1; len := len + 1;
@ -904,7 +905,8 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4; ret.data(ind+len) := LOCATOR_KIND_UDPv4;
len := len + 1; len := len + 1;
ret.data(ind+len) := (16 downto 0 => USER_IPv4_UNICAST_PORT, others => '0'); ret.data(ind+len) := (others => '0');
ret.data(ind+len)(15 downto 0) := USER_IPv4_UNICAST_PORT;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(ind+len) := (others => '0');
len := len + 1; len := len + 1;
@ -919,7 +921,8 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4; ret.data(ind+len) := LOCATOR_KIND_UDPv4;
len := len + 1; len := len + 1;
ret.data(ind+len) := (16 downto 0 => USER_IPv4_MULTICAST_PORT, others => '0'); ret.data(ind+len) := (others => '0');
ret.data(ind+len)(15 downto 0) := USER_IPv4_MULTICAST_PORT;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(ind+len) := (others => '0');
len := len + 1; len := len + 1;
@ -933,9 +936,9 @@ package body rtps_package is
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_PARTICIPANT_LEASE_DURATION & std_logic_vector(to_unsigned(8, 16)); ret.data(ind+len) := PID_PARTICIPANT_LEASE_DURATION & std_logic_vector(to_unsigned(8, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := PARTICIPANT_LEASE_DURATION(0); ret.data(ind+len) := std_logic_vector(PARTICIPANT_LEASE_DURATION(0));
len := len + 1; len := len + 1;
ret.data(ind+len) := PARTICIPANT_LEASE_DURATION(1); ret.data(ind+len) := std_logic_vector(PARTICIPANT_LEASE_DURATION(1));
end if; end if;
-- AVAILABLE ENDPOINTS -- AVAILABLE ENDPOINTS
len := len + 1; len := len + 1;
@ -978,7 +981,7 @@ package body rtps_package is
variable ret : DOUBLE_WORD_ARRAY := (others => (others => '0')); variable ret : DOUBLE_WORD_ARRAY := (others => (others => '0'));
begin begin
ret(0) := seq(63 downto 32); ret(0) := seq(63 downto 32);
ret1) := seq(31 downto 0); ret(1) := seq(31 downto 0);
return ret; return ret;
end function; end function;
@ -987,12 +990,12 @@ package body rtps_package is
return convert_from_double_word(L) > convert_from_double_word(R); return convert_from_double_word(L) > convert_from_double_word(R);
end function; end function;
function ">" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is function ">" (L: DOUBLE_WORD_ARRAY; R: natural) return boolean is
begin begin
return convert_from_double_word(L) > R; return convert_from_double_word(L) > R;
end function; end function;
function ">" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is function ">" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean is
begin begin
return L > convert_from_double_word(R); return L > convert_from_double_word(R);
end function; end function;
@ -1002,12 +1005,12 @@ package body rtps_package is
return convert_from_double_word(L) < convert_from_double_word(R); return convert_from_double_word(L) < convert_from_double_word(R);
end function; end function;
function "<" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is function "<" (L: DOUBLE_WORD_ARRAY; R: natural) return boolean is
begin begin
return convert_from_double_word(L) < R; return convert_from_double_word(L) < R;
end function; end function;
function "<" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is function "<" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean is
begin begin
return L < convert_from_double_word(R); return L < convert_from_double_word(R);
end function; end function;
@ -1017,12 +1020,12 @@ package body rtps_package is
return convert_from_double_word(L) >= convert_from_double_word(R); return convert_from_double_word(L) >= convert_from_double_word(R);
end function; end function;
function ">=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is function ">=" (L: DOUBLE_WORD_ARRAY; R: natural) return boolean is
begin begin
return convert_from_double_word(L) >= R; return convert_from_double_word(L) >= R;
end function; end function;
function ">=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is function ">=" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean is
begin begin
return L >= convert_from_double_word(R); return L >= convert_from_double_word(R);
end function; end function;
@ -1032,27 +1035,27 @@ package body rtps_package is
return convert_from_double_word(L) <= convert_from_double_word(R); return convert_from_double_word(L) <= convert_from_double_word(R);
end function; end function;
function "<=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is function "<=" (L: DOUBLE_WORD_ARRAY; R: natural) return boolean is
begin begin
return convert_from_double_word(L) <= R; return convert_from_double_word(L) <= R;
end function; end function;
function "<=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is function "<=" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean is
begin begin
return L <= convert_from_double_word(R); return L <= convert_from_double_word(R);
end function; end function;
function "=" (L,R: DOUBLE_WORD_ARRAY) return boolean; function "=" (L,R: DOUBLE_WORD_ARRAY) return boolean is
begin begin
return convert_from_double_word(L) = convert_from_double_word(R); return convert_from_double_word(L) = convert_from_double_word(R);
end function; end function;
function "=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is function "=" (L: DOUBLE_WORD_ARRAY; R: natural) return boolean is
begin begin
return convert_from_double_word(L) = R; return convert_from_double_word(L) = R;
end function; end function;
function "=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is function "=" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean is
begin begin
return L = convert_from_double_word(R); return L = convert_from_double_word(R);
end function; end function;
@ -1062,12 +1065,12 @@ package body rtps_package is
return convert_from_double_word(L) /= convert_from_double_word(R); return convert_from_double_word(L) /= convert_from_double_word(R);
end function; end function;
function "/=" (L: DOUBLE_WORD_ARRAY, R: natural) return boolean is function "/=" (L: DOUBLE_WORD_ARRAY; R: natural) return boolean is
begin begin
return convert_from_double_word(L) /= R; return convert_from_double_word(L) /= R;
end function; end function;
function "/=" (L: natural, R: DOUBLE_WORD_ARRAY) return boolean is function "/=" (L: natural; R: DOUBLE_WORD_ARRAY) return boolean is
begin begin
return L /= convert_from_double_word(R); return L /= convert_from_double_word(R);
end function; end function;
@ -1077,12 +1080,12 @@ package body rtps_package is
return convert_to_double_word(convert_from_double_word(L) + convert_from_double_word(R)); return convert_to_double_word(convert_from_double_word(L) + convert_from_double_word(R));
end function; end function;
function "+" (L: DOUBLE_WORD_ARRAY, R: natural) return DOUBLE_WORD_ARRAY is function "+" (L: DOUBLE_WORD_ARRAY; R: natural) return DOUBLE_WORD_ARRAY is
begin begin
return convert_to_double_word(convert_from_double_word(L) + R); return convert_to_double_word(convert_from_double_word(L) + R);
end function; end function;
function "+" (L: natural, R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY is function "+" (L: natural; R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY is
begin begin
return convert_to_double_word(L + convert_from_double_word(R)); return convert_to_double_word(L + convert_from_double_word(R));
end function; end function;
@ -1092,12 +1095,12 @@ package body rtps_package is
return convert_to_double_word(convert_from_double_word(L) - convert_from_double_word(R)); return convert_to_double_word(convert_from_double_word(L) - convert_from_double_word(R));
end function; end function;
function "-" (L: DOUBLE_WORD_ARRAY, R: natural) return DOUBLE_WORD_ARRAY is function "-" (L: DOUBLE_WORD_ARRAY; R: natural) return DOUBLE_WORD_ARRAY is
begin begin
return convert_to_double_word(convert_from_double_word(L) - R); return convert_to_double_word(convert_from_double_word(L) - R);
end function; end function;
function "-" (L: natural, R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY is function "-" (L: natural; R: DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY is
begin begin
return convert_to_double_word(L - convert_from_double_word(R)); return convert_to_double_word(L - convert_from_double_word(R));
end function; end function;