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* Update rtps_builtin_endpoint_test7

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- Add participant Announcement check
* bug Fix in rtps_config_package
	- Fix Participant Announcement Generation
This commit is contained in:
Greek 2020-12-06 18:25:19 +01:00
parent 0f50e66942
commit 929fbe5c80
6 changed files with 144 additions and 88 deletions
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8
src/TODO.txt
View File

@ -85,6 +85,14 @@
Does this invalidate the Submessage? Does 8.3.4.1 apply (Invalidate rest of Message)? Does this invalidate the Submessage? Does 8.3.4.1 apply (Invalidate rest of Message)?
- 9.4.5.1.3 octetsToNextHeader - 9.4.5.1.3 octetsToNextHeader
Similarly to "9.4.2.11" state that this is always a multiple of four. Similarly to "9.4.2.11" state that this is always a multiple of four.
- 9.6.2.2.2 Table 9.14
States that the builtinEndpointQos has no Default value, but according to
8.4.13.3
If the ParticipantProxy::builtinEndpointQos is included in the SPDPdiscoveredParticipantData, then the
BuiltinParticipantMessageWriter shall treat the BuiltinParticipantMessageReader as indicated by the flags. If
the ParticipantProxy::builtinEndpointQos is not included then the BuiltinParticipantMessageWriter shall treat
the BuiltinParticipantMessageReader as if it is configured with RELIABLE_RELIABILITY_QOS.
which means that the default value is 0.
* DDS 1.4 ISSUES * DDS 1.4 ISSUES
- 2.2.3 Supported QoS - 2.2.3 Supported QoS

53
src/Tests/Level_1/rtps_builtin_endpoint_test7.vhd
View File

@ -10,7 +10,7 @@ use work.user_config.all;
use work.rtps_config_package.all; use work.rtps_config_package.all;
use work.rtps_test_package.all; use work.rtps_test_package.all;
-- This testbench tests the rtps output of the builtin endpoint. -- This testbench tests the rtps output of the builtin endpoint (Local Liveliness Assertion, Local Heartbeat Generation, Local Participant Announcement, Remote HEARTBEAT Response, Remote ACKNACK Response).
-- This test is a Level 1 Test (Meaning the input/output is not connected directly to the uut) in order to have output in the msae format as the input of the system and allow us to compare using existing data generators. -- This test is a Level 1 Test (Meaning the input/output is not connected directly to the uut) in order to have output in the msae format as the input of the system and allow us to compare using existing data generators.
-- The testflow is as follows: -- The testflow is as follows:
-- * 0s -- * 0s
@ -68,6 +68,8 @@ use work.rtps_test_package.all;
-- * 3.000s -- * 3.000s
-- - Local HEARTBEAT generation -- - Local HEARTBEAT generation
-- - Liveliness Assertion (Manual & Auto) -- - Liveliness Assertion (Manual & Auto)
entity rtps_builtin_endpoint_test7 is entity rtps_builtin_endpoint_test7 is
end entity; end entity;
@ -115,7 +117,7 @@ architecture testbench of rtps_builtin_endpoint_test7 is
variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET; variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
begin begin
-- NOTE: Ha to be made sure uut used same Locator -- NOTE: Ha to be made sure uut used same Locator
OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(1)); OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(3));
-- OUTPUT HEADER -- OUTPUT HEADER
gen_output_header(OUT_HEADER, output); gen_output_header(OUT_HEADER, output);
@ -157,6 +159,38 @@ architecture testbench of rtps_builtin_endpoint_test7 is
end loop; end loop;
end procedure; end procedure;
procedure gen_announcement is
variable sub : RTPS_SUBMESSAGE_TYPE := DEFAULT_RTPS_SUBMESSAGE;
variable OUT_HEADER : OUTPUT_HEADER_TYPE := DEFAULT_OUTPUT_HEADER;
variable rtps_header: RTPS_HEADER_TYPE := DEFAULT_RTPS_HEADER;
variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
begin
-- NOTE: Ha to be made sure uut used same Locator
OUT_HEADER := (dest => DEST_LOC.meta.locator(0), src => DEST_LOC.meta.locator(3));
-- OUTPUT HEADER
gen_output_header(OUT_HEADER, output);
-- RTPS HEADER
rtps_header := DEFAULT_RTPS_HEADER;
rtps_header.guidPrefix := GUIDPREFIX;
gen_rtps_header(rtps_header, output);
-- PARTICIPANT DATA
sub := DEFAULT_RTPS_SUBMESSAGE;
sub.submessageID := SID_DATA;
sub.writerId := ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER;
sub.readerId := ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR;
sub.writerSN := gen_sn(1);
sub.flags(SUBMESSAGE_DATA_FLAG_POS) := '1';
gen_participant_data(THIS_PARTICIPANT_DATA, sub.data);
gen_sentinel(sub.data);
gen_rtps_submessage(sub, output);
fix_output_packet(output);
for i in 0 to output.length-1 loop
SB_out.Push(output.data(i));
end loop;
end procedure;
procedure gen_heartbeat(participant : in PARTICIPANT_DATA_TYPE; count : in natural; man_sn : in SEQUENCENUMBER_TYPE; auto_sn : in SEQUENCENUMBER_TYPE) is procedure gen_heartbeat(participant : in PARTICIPANT_DATA_TYPE; count : in natural; man_sn : in SEQUENCENUMBER_TYPE; auto_sn : in SEQUENCENUMBER_TYPE) is
variable sub : RTPS_SUBMESSAGE_TYPE := DEFAULT_RTPS_SUBMESSAGE; variable sub : RTPS_SUBMESSAGE_TYPE := DEFAULT_RTPS_SUBMESSAGE;
variable OUT_HEADER : OUTPUT_HEADER_TYPE := DEFAULT_OUTPUT_HEADER; variable OUT_HEADER : OUTPUT_HEADER_TYPE := DEFAULT_OUTPUT_HEADER;
@ -164,7 +198,7 @@ architecture testbench of rtps_builtin_endpoint_test7 is
variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET; variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
begin begin
-- NOTE: Has to be made sure uut used same Locator -- NOTE: Has to be made sure uut used same Locator
OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(1)); OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(3));
-- OUTPUT HEADER -- OUTPUT HEADER
gen_output_header(OUT_HEADER, output); gen_output_header(OUT_HEADER, output);
@ -238,7 +272,7 @@ architecture testbench of rtps_builtin_endpoint_test7 is
variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET; variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
begin begin
-- NOTE: Ha to be made sure uut used same Locator -- NOTE: Ha to be made sure uut used same Locator
OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(1)); OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(3));
-- *PUBLISHERS* -- *PUBLISHERS*
if (pub) then if (pub) then
@ -895,6 +929,15 @@ begin
wait on mem_op_done until rising_edge(mem_op_done) and stale_check = '1'; wait on mem_op_done until rising_edge(mem_op_done) and stale_check = '1';
wait on mem_op_done until rising_edge(mem_op_done) and stale_check = '1'; wait on mem_op_done until rising_edge(mem_op_done) and stale_check = '1';
Log("Current Time: 31s", INFO);
test_time <= gen_duration(31,0);
gen_announcement;
gen_heartbeat(p0, 6, gen_sn(6), gen_sn(8));
wait on mem_op_done until rising_edge(mem_op_done) and stale_check = '1';
wait on mem_op_done until rising_edge(mem_op_done) and stale_check = '1';
TranscriptOpen(RESULTS_FILE, APPEND_MODE); TranscriptOpen(RESULTS_FILE, APPEND_MODE);
SetTranscriptMirror; SetTranscriptMirror;
stim_done <= '1'; stim_done <= '1';
@ -917,6 +960,7 @@ begin
in_empty_prc : process in_empty_prc : process
begin begin
in_empty <= '0'; in_empty <= '0';
wait; -- TODO: Remove
wait until rd_sig = '1'; wait until rd_sig = '1';
wait until rising_edge(clk); wait until rising_edge(clk);
in_empty <= '1'; in_empty <= '1';
@ -926,6 +970,7 @@ begin
endpoint_full_prc : process endpoint_full_prc : process
begin begin
full <= '0'; full <= '0';
wait; -- TODO: Remove
wait until wr_sig = '1'; wait until wr_sig = '1';
wait until rising_edge(clk); wait until rising_edge(clk);
full <= '1'; full <= '1';

2
src/rtps_builtin_endpoint.vhd
View File

@ -2478,7 +2478,7 @@ begin
-- OUTPUT HEADER -- OUTPUT HEADER
-- Src IPv4 Address -- Src IPv4 Address
when 0 => when 0 =>
data_out <= DEFAULT_IPv4_META_ADDRESS; data_out <= DEFAULT_IPv4_ADDRESS;
-- Dest IPv4 Address -- Dest IPv4 Address
when 1 => when 1 =>
-- Set Default Multicast Announce Address if Participant Announcement -- Set Default Multicast Announce Address if Participant Announcement

141
src/rtps_config_package.vhd
View File

@ -691,175 +691,174 @@ package body rtps_config_package is
function gen_participant_data return OUTPUT_DATA_TYPE is function gen_participant_data return OUTPUT_DATA_TYPE is
variable ret : OUTPUT_DATA_TYPE := (data => (others => (others => '0')), length => 0); variable ret : OUTPUT_DATA_TYPE := (data => (others => (others => '0')), length => 0);
variable ind : natural := 0;
variable len : natural := 0; variable len : natural := 0;
variable tmp : natural := 0; variable tmp : natural := 0;
begin begin
ret.data := (others => (others => '0')); ret.data := (others => (others => '0'));
ret.length := 0; ret.length := 0;
len := 0; len := 0;
ind := 0;
-- RTPS DATA SUBMESSAGE -- RTPS DATA SUBMESSAGE
-- RTPS Submessage Header -- RTPS Submessage Header
ret.data(ind) := SID_DATA & "00000100" & x"0000"; ret.data(len) := SID_DATA & "00000100" & x"0000";
-- DATA Header (extraFlags, octetsToInlineQoS) -- DATA Header (extraFlags, octetsToInlineQoS)
len := len + 1; len := len + 1;
ret.data(ind+len) := x"0000" & std_logic_vector(to_unsigned(16, 16)); ret.data(len) := x"0000" & std_logic_vector(to_unsigned(16, 16));
-- DATA Header (Reader Entity ID) -- DATA Header (Reader Entity ID)
len := len + 1; len := len + 1;
ret.data(ind+len) := ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR; ret.data(len) := ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR;
-- DATA Header (Writer Entity ID) -- DATA Header (Writer Entity ID)
len := len + 1; len := len + 1;
ret.data(ind+len) := ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER; ret.data(len) := ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER;
-- DATA Header (Sequence Number) -- DATA Header (Sequence Number)
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(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(ind+len)'length)); ret.data(len) := std_logic_vector(to_unsigned(1, ret.data(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(len) := PL_CDR_BE & x"0000";
-- Serialized Payload BEGIN -- Serialized Payload BEGIN
-- GUID -- GUID
len := len + 1; len := len + 1;
ret.data(ind+len):= PID_PARTICIPANT_GUID & std_logic_vector(to_unsigned(16, 16)); ret.data(len):= PID_PARTICIPANT_GUID & std_logic_vector(to_unsigned(16, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := GUIDPREFIX(0); ret.data(len) := GUIDPREFIX(0);
len := len + 1; len := len + 1;
ret.data(ind+len) := GUIDPREFIX(1); ret.data(len) := GUIDPREFIX(1);
len := len + 1; len := len + 1;
ret.data(ind+len) := GUIDPREFIX(2); ret.data(len) := GUIDPREFIX(2);
len := len + 1; len := len + 1;
ret.data(ind+len) := ENTITYID_PARTICIPANT; ret.data(len) := ENTITYID_PARTICIPANT;
-- DOMAIN ID -- DOMAIN ID
len := len + 1; len := len + 1;
ret.data(ind+len):= PID_DOMAIN_ID & std_logic_vector(to_unsigned(4, 16)); ret.data(len):= PID_DOMAIN_ID & std_logic_vector(to_unsigned(4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len):= DOMAIN_ID; ret.data(len):= DOMAIN_ID;
-- DOMAIN TAG -- DOMAIN TAG
if (DOMAIN_TAG /= DEFAULT_DOMAIN_TAG) then if (DOMAIN_TAG /= DEFAULT_DOMAIN_TAG) then
tmp := string_len(DOMAIN_TAG); tmp := string_len(DOMAIN_TAG);
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_DOMAIN_TAG & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16)); ret.data(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(len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to round_div(tmp,4)-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(len) := DOMAIN_TAG(j);
end loop; end loop;
end if; end if;
-- PROTOCOL VERSION -- PROTOCOL VERSION
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_PROTOCOL_VERSION & std_logic_vector(to_unsigned(4, 16)); ret.data(len) := PID_PROTOCOL_VERSION & std_logic_vector(to_unsigned(4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
ret.data(ind+len)(31 downto 16) := PROTOCOLVERSION_2_4; ret.data(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(len) := PID_VENDORID & std_logic_vector(to_unsigned(4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
ret.data(ind+len)(31 downto 16) := VENDORID; ret.data(len)(31 downto 16) := VENDORID;
-- TODO: Expects inline QoS of Participant -- TODO: Expects inline QoS of Participant
-- METATRAFFIC MULTICAST LOCATOR -- METATRAFFIC MULTICAST LOCATOR
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_METATRAFFIC_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16)); ret.data(len) := PID_METATRAFFIC_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4; ret.data(len) := LOCATOR_KIND_UDPv4;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
ret.data(ind+len)(15 downto 0) := META_IPv4_MULTICAST_PORT; ret.data(len)(15 downto 0) := META_IPv4_MULTICAST_PORT;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_ADDRESS; ret.data(len) := DEFAULT_IPv4_ADDRESS;
-- METATRAFFIC UNICAST LOCATOR -- METATRAFFIC UNICAST LOCATOR
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_METATRAFFIC_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16)); ret.data(len) := PID_METATRAFFIC_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4; ret.data(len) := LOCATOR_KIND_UDPv4;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
ret.data(ind+len)(15 downto 0) := META_IPv4_UNICAST_PORT; ret.data(len)(15 downto 0) := META_IPv4_UNICAST_PORT;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_ADDRESS; ret.data(len) := DEFAULT_IPv4_ADDRESS;
-- DEFAULT MULTICAST LOCATOR -- DEFAULT MULTICAST LOCATOR
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_DEFAULT_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16)); ret.data(len) := PID_DEFAULT_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4; ret.data(len) := LOCATOR_KIND_UDPv4;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
ret.data(ind+len)(15 downto 0) := USER_IPv4_MULTICAST_PORT; ret.data(len)(15 downto 0) := USER_IPv4_MULTICAST_PORT;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_ADDRESS; ret.data(len) := DEFAULT_IPv4_ADDRESS;
-- DEFAULT UNICAST LOCATOR -- DEFAULT UNICAST LOCATOR
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_DEFAULT_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16)); ret.data(len) := PID_DEFAULT_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4; ret.data(len) := LOCATOR_KIND_UDPv4;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
ret.data(ind+len)(15 downto 0) := USER_IPv4_UNICAST_PORT; ret.data(len)(15 downto 0) := USER_IPv4_UNICAST_PORT;
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
len := len + 1; len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_ADDRESS; ret.data(len) := DEFAULT_IPv4_ADDRESS;
-- LEASE DURATION -- LEASE DURATION
if (PARTICIPANT_LEASE_DURATION /= DEFAULT_PARTICIPANT_LEASE_DURATION) then if (PARTICIPANT_LEASE_DURATION /= DEFAULT_PARTICIPANT_LEASE_DURATION) then
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_PARTICIPANT_LEASE_DURATION & std_logic_vector(to_unsigned(8, 16)); ret.data(len) := PID_PARTICIPANT_LEASE_DURATION & std_logic_vector(to_unsigned(8, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := std_logic_vector(PARTICIPANT_LEASE_DURATION(0)); ret.data(len) := std_logic_vector(PARTICIPANT_LEASE_DURATION(0));
len := len + 1; len := len + 1;
ret.data(ind+len) := std_logic_vector(PARTICIPANT_LEASE_DURATION(1)); ret.data(len) := std_logic_vector(PARTICIPANT_LEASE_DURATION(1));
end if; end if;
-- AVAILABLE ENDPOINTS -- AVAILABLE ENDPOINTS
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_BUILTIN_ENDPOINT_SET & std_logic_vector(to_unsigned(4, 16)); ret.data(len) := PID_BUILTIN_ENDPOINT_SET & std_logic_vector(to_unsigned(4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := (DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER => '1', DISC_BUILTIN_ENDPOINT_PARTICIPANT_DETECTOR => '1', BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_WRITER => '1', BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_READER => '1', others => '0'); ret.data(len) := (DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER => '1', DISC_BUILTIN_ENDPOINT_PARTICIPANT_DETECTOR => '1', BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_WRITER => '1', BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_READER => '1', others => '0');
if (NUM_READERS > 0) then if (NUM_READERS > 0) then
ret.data(ind+len)(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_DETECTOR) := '1'; ret.data(len)(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_DETECTOR) := '1';
ret.data(ind+len)(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_ANNOUNCER):= '1'; ret.data(len)(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_ANNOUNCER):= '1';
end if; end if;
if (NUM_WRITERS > 0) then if (NUM_WRITERS > 0) then
ret.data(ind+len)(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_ANNOUNCER) := '1'; ret.data(len)(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_ANNOUNCER) := '1';
ret.data(ind+len)(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_DETECTOR) := '1'; ret.data(len)(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_DETECTOR) := '1';
end if; end if;
-- MANUAL LIVELINESS COUNT -- MANUAL LIVELINESS COUNT
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT & std_logic_vector(to_unsigned(4, 16)); ret.data(len) := PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT & std_logic_vector(to_unsigned(4, 16));
len := len + 1; len := len + 1;
ret.data(ind+len) := (others => '0'); ret.data(len) := (others => '0');
-- SENTINEL -- SENTINEL
len := len + 1; len := len + 1;
ret.data(ind+len) := PID_SENTINEL & std_logic_vector(to_unsigned(0, 16)); ret.data(len) := PID_SENTINEL & std_logic_vector(to_unsigned(0, 16));
-- Fix Submessage Length
ret.data(0)(15 downto 0) := std_logic_vector(to_unsigned(len*4, 16));
-- Store Length -- Store Length
ret.length := ind + len + 1; ret.length := len + 1;
return ret; return ret;
end function; end function;

2
src/rtps_package.vhd
View File

@ -299,6 +299,8 @@ package rtps_package is
constant DEFAULT_EXPECTS_INLINE_QOS : std_logic := '0'; constant DEFAULT_EXPECTS_INLINE_QOS : std_logic := '0';
constant DEFAULT_BUILTIN_ENDPOINT_QOS : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0');
-- *BUILTIN ENDPOINT SET POSITIONS* -- *BUILTIN ENDPOINT SET POSITIONS*
constant DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER : natural := 0; constant DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER : natural := 0;
constant DISC_BUILTIN_ENDPOINT_PARTICIPANT_DETECTOR : natural := 1; constant DISC_BUILTIN_ENDPOINT_PARTICIPANT_DETECTOR : natural := 1;

2
src/rtps_test_package.vhd
View File

@ -1229,6 +1229,7 @@ package body rtps_test_package is
output.length := output.length + offset; output.length := output.length + offset;
end if; end if;
-- BUILTIN ENDPOINT QOS -- BUILTIN ENDPOINT QOS
if (ref.builtinEndpointQoS /= DEFAULT_BUILTIN_ENDPOINT_QOS or pid = PID_BUILTIN_ENDPOINT_QOS) then
if (pid = PID_BUILTIN_ENDPOINT_QOS) then if (pid = PID_BUILTIN_ENDPOINT_QOS) then
assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE; assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;
output.data(output.length) := PID_BUILTIN_ENDPOINT_QOS & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH)); output.data(output.length) := PID_BUILTIN_ENDPOINT_QOS & endian_swap(ref.littleEndian, int(4+(offset*4),PARAMETER_LENGTH_WIDTH));
@ -1241,6 +1242,7 @@ package body rtps_test_package is
if (pid = PID_BUILTIN_ENDPOINT_QOS) then if (pid = PID_BUILTIN_ENDPOINT_QOS) then
output.length := output.length + offset; output.length := output.length + offset;
end if; end if;
end if;
-- MANUAL LIVELINESS COUNT -- MANUAL LIVELINESS COUNT
if (pid = PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT) then if (pid = PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT) then
assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE; assert (4+(offset*4) >= 0) report "Parameter Length < 0" severity FAILURE;