* Update rtps_builtin_endpoint_test7
- Add participant Announcement check * bug Fix in rtps_config_package - Fix Participant Announcement Generation
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@ -85,6 +85,14 @@
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Does this invalidate the Submessage? Does 8.3.4.1 apply (Invalidate rest of Message)?
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- 9.4.5.1.3 octetsToNextHeader
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Similarly to "9.4.2.11" state that this is always a multiple of four.
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- 9.6.2.2.2 Table 9.14
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States that the builtinEndpointQos has no Default value, but according to
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8.4.13.3
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If the ParticipantProxy::builtinEndpointQos is included in the SPDPdiscoveredParticipantData, then the
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BuiltinParticipantMessageWriter shall treat the BuiltinParticipantMessageReader as indicated by the flags. If
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the ParticipantProxy::builtinEndpointQos is not included then the BuiltinParticipantMessageWriter shall treat
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the BuiltinParticipantMessageReader as if it is configured with RELIABLE_RELIABILITY_QOS.
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which means that the default value is 0.
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* DDS 1.4 ISSUES
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- 2.2.3 Supported QoS
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@ -10,7 +10,7 @@ use work.user_config.all;
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use work.rtps_config_package.all;
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use work.rtps_test_package.all;
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-- This testbench tests the rtps output of the builtin endpoint.
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-- 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).
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-- 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.
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-- The testflow is as follows:
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-- * 0s
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@ -68,6 +68,8 @@ use work.rtps_test_package.all;
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-- * 3.000s
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-- - Local HEARTBEAT generation
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-- - Liveliness Assertion (Manual & Auto)
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entity rtps_builtin_endpoint_test7 is
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end entity;
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@ -115,7 +117,7 @@ architecture testbench of rtps_builtin_endpoint_test7 is
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variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
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begin
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-- NOTE: Ha to be made sure uut used same Locator
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OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(1));
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OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(3));
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-- OUTPUT HEADER
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gen_output_header(OUT_HEADER, output);
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@ -157,6 +159,38 @@ architecture testbench of rtps_builtin_endpoint_test7 is
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end loop;
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end procedure;
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procedure gen_announcement is
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variable sub : RTPS_SUBMESSAGE_TYPE := DEFAULT_RTPS_SUBMESSAGE;
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variable OUT_HEADER : OUTPUT_HEADER_TYPE := DEFAULT_OUTPUT_HEADER;
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variable rtps_header: RTPS_HEADER_TYPE := DEFAULT_RTPS_HEADER;
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variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
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begin
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-- NOTE: Ha to be made sure uut used same Locator
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OUT_HEADER := (dest => DEST_LOC.meta.locator(0), src => DEST_LOC.meta.locator(3));
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-- OUTPUT HEADER
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gen_output_header(OUT_HEADER, output);
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-- RTPS HEADER
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rtps_header := DEFAULT_RTPS_HEADER;
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rtps_header.guidPrefix := GUIDPREFIX;
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gen_rtps_header(rtps_header, output);
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-- PARTICIPANT DATA
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sub := DEFAULT_RTPS_SUBMESSAGE;
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sub.submessageID := SID_DATA;
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sub.writerId := ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER;
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sub.readerId := ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR;
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sub.writerSN := gen_sn(1);
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sub.flags(SUBMESSAGE_DATA_FLAG_POS) := '1';
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gen_participant_data(THIS_PARTICIPANT_DATA, sub.data);
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gen_sentinel(sub.data);
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gen_rtps_submessage(sub, output);
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fix_output_packet(output);
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for i in 0 to output.length-1 loop
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SB_out.Push(output.data(i));
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end loop;
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end procedure;
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procedure gen_heartbeat(participant : in PARTICIPANT_DATA_TYPE; count : in natural; man_sn : in SEQUENCENUMBER_TYPE; auto_sn : in SEQUENCENUMBER_TYPE) is
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variable sub : RTPS_SUBMESSAGE_TYPE := DEFAULT_RTPS_SUBMESSAGE;
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variable OUT_HEADER : OUTPUT_HEADER_TYPE := DEFAULT_OUTPUT_HEADER;
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@ -164,7 +198,7 @@ architecture testbench of rtps_builtin_endpoint_test7 is
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variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
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begin
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-- NOTE: Has to be made sure uut used same Locator
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OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(1));
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OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(3));
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-- OUTPUT HEADER
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gen_output_header(OUT_HEADER, output);
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@ -238,7 +272,7 @@ architecture testbench of rtps_builtin_endpoint_test7 is
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variable output : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
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begin
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-- NOTE: Ha to be made sure uut used same Locator
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OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(1));
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OUT_HEADER := (dest => get_loc(participant, TRUE), src => DEST_LOC.meta.locator(3));
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-- *PUBLISHERS*
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if (pub) then
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@ -895,6 +929,15 @@ begin
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wait on mem_op_done until rising_edge(mem_op_done) and stale_check = '1';
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wait on mem_op_done until rising_edge(mem_op_done) and stale_check = '1';
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Log("Current Time: 31s", INFO);
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test_time <= gen_duration(31,0);
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gen_announcement;
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gen_heartbeat(p0, 6, gen_sn(6), gen_sn(8));
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wait on mem_op_done until rising_edge(mem_op_done) and stale_check = '1';
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wait on mem_op_done until rising_edge(mem_op_done) and stale_check = '1';
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TranscriptOpen(RESULTS_FILE, APPEND_MODE);
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SetTranscriptMirror;
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stim_done <= '1';
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@ -917,6 +960,7 @@ begin
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in_empty_prc : process
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begin
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in_empty <= '0';
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wait; -- TODO: Remove
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wait until rd_sig = '1';
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wait until rising_edge(clk);
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in_empty <= '1';
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@ -926,6 +970,7 @@ begin
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endpoint_full_prc : process
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begin
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full <= '0';
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wait; -- TODO: Remove
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wait until wr_sig = '1';
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wait until rising_edge(clk);
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full <= '1';
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@ -2478,7 +2478,7 @@ begin
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-- OUTPUT HEADER
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-- Src IPv4 Address
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when 0 =>
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data_out <= DEFAULT_IPv4_META_ADDRESS;
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data_out <= DEFAULT_IPv4_ADDRESS;
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-- Dest IPv4 Address
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when 1 =>
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-- Set Default Multicast Announce Address if Participant Announcement
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@ -691,175 +691,174 @@ package body rtps_config_package is
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function gen_participant_data return OUTPUT_DATA_TYPE is
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variable ret : OUTPUT_DATA_TYPE := (data => (others => (others => '0')), length => 0);
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variable ind : natural := 0;
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variable len : natural := 0;
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variable tmp : natural := 0;
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begin
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ret.data := (others => (others => '0'));
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ret.length := 0;
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len := 0;
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ind := 0;
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-- RTPS DATA SUBMESSAGE
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-- RTPS Submessage Header
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ret.data(ind) := SID_DATA & "00000100" & x"0000";
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ret.data(len) := SID_DATA & "00000100" & x"0000";
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-- DATA Header (extraFlags, octetsToInlineQoS)
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len := len + 1;
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ret.data(ind+len) := x"0000" & std_logic_vector(to_unsigned(16, 16));
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ret.data(len) := x"0000" & std_logic_vector(to_unsigned(16, 16));
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-- DATA Header (Reader Entity ID)
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len := len + 1;
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ret.data(ind+len) := ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR;
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ret.data(len) := ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR;
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-- DATA Header (Writer Entity ID)
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len := len + 1;
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ret.data(ind+len) := ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER;
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ret.data(len) := ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER;
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-- DATA Header (Sequence Number)
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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-- DATA Header (Sequence Number)
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len := len + 1;
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ret.data(ind+len) := std_logic_vector(to_unsigned(1, ret.data(ind+len)'length));
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ret.data(len) := std_logic_vector(to_unsigned(1, ret.data(len)'length));
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-- Serialized Payload Header
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len := len + 1;
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ret.data(ind+len) := PL_CDR_BE & x"0000";
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ret.data(len) := PL_CDR_BE & x"0000";
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-- Serialized Payload BEGIN
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-- GUID
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len := len + 1;
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ret.data(ind+len):= PID_PARTICIPANT_GUID & std_logic_vector(to_unsigned(16, 16));
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ret.data(len):= PID_PARTICIPANT_GUID & std_logic_vector(to_unsigned(16, 16));
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len := len + 1;
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ret.data(ind+len) := GUIDPREFIX(0);
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ret.data(len) := GUIDPREFIX(0);
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len := len + 1;
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ret.data(ind+len) := GUIDPREFIX(1);
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ret.data(len) := GUIDPREFIX(1);
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len := len + 1;
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ret.data(ind+len) := GUIDPREFIX(2);
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ret.data(len) := GUIDPREFIX(2);
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len := len + 1;
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ret.data(ind+len) := ENTITYID_PARTICIPANT;
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ret.data(len) := ENTITYID_PARTICIPANT;
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-- DOMAIN ID
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len := len + 1;
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ret.data(ind+len):= PID_DOMAIN_ID & std_logic_vector(to_unsigned(4, 16));
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ret.data(len):= PID_DOMAIN_ID & std_logic_vector(to_unsigned(4, 16));
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len := len + 1;
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ret.data(ind+len):= DOMAIN_ID;
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ret.data(len):= DOMAIN_ID;
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-- DOMAIN TAG
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if (DOMAIN_TAG /= DEFAULT_DOMAIN_TAG) then
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tmp := string_len(DOMAIN_TAG);
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len := len + 1;
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ret.data(ind+len) := PID_DOMAIN_TAG & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
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ret.data(len) := PID_DOMAIN_TAG & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
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len := len + 1;
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ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
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ret.data(len) := std_logic_vector(to_unsigned(tmp, 32));
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for j in 0 to round_div(tmp,4)-1 loop
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len := len + 1;
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ret.data(ind+len) := DOMAIN_TAG(j);
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ret.data(len) := DOMAIN_TAG(j);
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end loop;
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end if;
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-- PROTOCOL VERSION
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len := len + 1;
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ret.data(ind+len) := PID_PROTOCOL_VERSION & std_logic_vector(to_unsigned(4, 16));
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ret.data(len) := PID_PROTOCOL_VERSION & std_logic_vector(to_unsigned(4, 16));
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(ind+len)(31 downto 16) := PROTOCOLVERSION_2_4;
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ret.data(len) := (others => '0');
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ret.data(len)(31 downto 16) := PROTOCOLVERSION_2_4;
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-- VENDORID
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len := len + 1;
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ret.data(ind+len) := PID_VENDORID & std_logic_vector(to_unsigned(4, 16));
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ret.data(len) := PID_VENDORID & std_logic_vector(to_unsigned(4, 16));
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(ind+len)(31 downto 16) := VENDORID;
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ret.data(len) := (others => '0');
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ret.data(len)(31 downto 16) := VENDORID;
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-- TODO: Expects inline QoS of Participant
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-- METATRAFFIC MULTICAST LOCATOR
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len := len + 1;
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ret.data(ind+len) := PID_METATRAFFIC_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
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ret.data(len) := PID_METATRAFFIC_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
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len := len + 1;
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ret.data(ind+len) := LOCATOR_KIND_UDPv4;
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ret.data(len) := LOCATOR_KIND_UDPv4;
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(ind+len)(15 downto 0) := META_IPv4_MULTICAST_PORT;
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ret.data(len) := (others => '0');
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ret.data(len)(15 downto 0) := META_IPv4_MULTICAST_PORT;
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := DEFAULT_IPv4_ADDRESS;
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ret.data(len) := DEFAULT_IPv4_ADDRESS;
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-- METATRAFFIC UNICAST LOCATOR
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len := len + 1;
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ret.data(ind+len) := PID_METATRAFFIC_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
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ret.data(len) := PID_METATRAFFIC_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
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len := len + 1;
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ret.data(ind+len) := LOCATOR_KIND_UDPv4;
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ret.data(len) := LOCATOR_KIND_UDPv4;
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(ind+len)(15 downto 0) := META_IPv4_UNICAST_PORT;
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ret.data(len) := (others => '0');
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ret.data(len)(15 downto 0) := META_IPv4_UNICAST_PORT;
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := DEFAULT_IPv4_ADDRESS;
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ret.data(len) := DEFAULT_IPv4_ADDRESS;
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-- DEFAULT MULTICAST LOCATOR
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len := len + 1;
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ret.data(ind+len) := PID_DEFAULT_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
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ret.data(len) := PID_DEFAULT_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
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len := len + 1;
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ret.data(ind+len) := LOCATOR_KIND_UDPv4;
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ret.data(len) := LOCATOR_KIND_UDPv4;
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(ind+len)(15 downto 0) := USER_IPv4_MULTICAST_PORT;
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ret.data(len) := (others => '0');
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ret.data(len)(15 downto 0) := USER_IPv4_MULTICAST_PORT;
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := DEFAULT_IPv4_ADDRESS;
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ret.data(len) := DEFAULT_IPv4_ADDRESS;
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-- DEFAULT UNICAST LOCATOR
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len := len + 1;
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ret.data(ind+len) := PID_DEFAULT_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
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ret.data(len) := PID_DEFAULT_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
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len := len + 1;
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ret.data(ind+len) := LOCATOR_KIND_UDPv4;
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ret.data(len) := LOCATOR_KIND_UDPv4;
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(ind+len)(15 downto 0) := USER_IPv4_UNICAST_PORT;
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ret.data(len) := (others => '0');
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ret.data(len)(15 downto 0) := USER_IPv4_UNICAST_PORT;
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := (others => '0');
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ret.data(len) := (others => '0');
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len := len + 1;
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ret.data(ind+len) := DEFAULT_IPv4_ADDRESS;
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ret.data(len) := DEFAULT_IPv4_ADDRESS;
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-- LEASE DURATION
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if (PARTICIPANT_LEASE_DURATION /= DEFAULT_PARTICIPANT_LEASE_DURATION) then
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len := len + 1;
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ret.data(ind+len) := PID_PARTICIPANT_LEASE_DURATION & std_logic_vector(to_unsigned(8, 16));
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ret.data(len) := PID_PARTICIPANT_LEASE_DURATION & std_logic_vector(to_unsigned(8, 16));
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len := len + 1;
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ret.data(ind+len) := std_logic_vector(PARTICIPANT_LEASE_DURATION(0));
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ret.data(len) := std_logic_vector(PARTICIPANT_LEASE_DURATION(0));
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len := len + 1;
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ret.data(ind+len) := std_logic_vector(PARTICIPANT_LEASE_DURATION(1));
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ret.data(len) := std_logic_vector(PARTICIPANT_LEASE_DURATION(1));
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end if;
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-- AVAILABLE ENDPOINTS
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len := len + 1;
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ret.data(ind+len) := PID_BUILTIN_ENDPOINT_SET & std_logic_vector(to_unsigned(4, 16));
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ret.data(len) := PID_BUILTIN_ENDPOINT_SET & std_logic_vector(to_unsigned(4, 16));
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len := len + 1;
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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
|
||||
ret.data(ind+len)(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_DETECTOR) := '1';
|
||||
ret.data(ind+len)(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_ANNOUNCER):= '1';
|
||||
ret.data(len)(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_DETECTOR) := '1';
|
||||
ret.data(len)(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_ANNOUNCER):= '1';
|
||||
end if;
|
||||
if (NUM_WRITERS > 0) then
|
||||
ret.data(ind+len)(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_ANNOUNCER) := '1';
|
||||
ret.data(ind+len)(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_DETECTOR) := '1';
|
||||
ret.data(len)(DISC_BUILTIN_ENDPOINT_PUBLICATIONS_ANNOUNCER) := '1';
|
||||
ret.data(len)(DISC_BUILTIN_ENDPOINT_SUBSCRIPTIONS_DETECTOR) := '1';
|
||||
end if;
|
||||
-- MANUAL LIVELINESS COUNT
|
||||
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;
|
||||
ret.data(ind+len) := (others => '0');
|
||||
ret.data(len) := (others => '0');
|
||||
-- SENTINEL
|
||||
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
|
||||
ret.length := ind + len + 1;
|
||||
ret.length := len + 1;
|
||||
return ret;
|
||||
end function;
|
||||
|
||||
|
||||
@ -299,6 +299,8 @@ package rtps_package is
|
||||
|
||||
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*
|
||||
constant DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER : natural := 0;
|
||||
constant DISC_BUILTIN_ENDPOINT_PARTICIPANT_DETECTOR : natural := 1;
|
||||
|
||||
@ -1229,17 +1229,19 @@ package body rtps_test_package is
|
||||
output.length := output.length + offset;
|
||||
end if;
|
||||
-- BUILTIN ENDPOINT QOS
|
||||
if (pid = PID_BUILTIN_ENDPOINT_QOS) then
|
||||
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));
|
||||
else
|
||||
output.data(output.length) := PID_BUILTIN_ENDPOINT_QOS & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
|
||||
end if;
|
||||
output.length := output.length + 1;
|
||||
output.data(output.length) := endian_swap(ref.littleEndian, ref.builtinEndpointQoS);
|
||||
output.length := output.length + 1;
|
||||
if (pid = PID_BUILTIN_ENDPOINT_QOS) then
|
||||
output.length := output.length + offset;
|
||||
if (ref.builtinEndpointQoS /= DEFAULT_BUILTIN_ENDPOINT_QOS or pid = PID_BUILTIN_ENDPOINT_QOS) then
|
||||
if (pid = PID_BUILTIN_ENDPOINT_QOS) then
|
||||
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));
|
||||
else
|
||||
output.data(output.length) := PID_BUILTIN_ENDPOINT_QOS & endian_swap(ref.littleEndian, int(4,PARAMETER_LENGTH_WIDTH));
|
||||
end if;
|
||||
output.length := output.length + 1;
|
||||
output.data(output.length) := endian_swap(ref.littleEndian, ref.builtinEndpointQoS);
|
||||
output.length := output.length + 1;
|
||||
if (pid = PID_BUILTIN_ENDPOINT_QOS) then
|
||||
output.length := output.length + offset;
|
||||
end if;
|
||||
end if;
|
||||
-- MANUAL LIVELINESS COUNT
|
||||
if (pid = PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT) then
|
||||
|
||||
Loading…
Reference in New Issue
Block a user