Change Type-Dependant Code Interface, and Code refactoring

The instantiation of the KEY related entities is moved outside the DDS
Endpoints (Currently only changed in DDS Writer). Define new KEY_HOLDER
entity that is responsible for all Key related type-specific code.
Fix syntax of DDS Writer, and misc code refactoring.

src/TODO.txt

@@ -267,6 +267,21 @@ DESIGN DECISIONS
     requested until reception). This means that during the ACKNACK response delay, we can just parse
     the new request bitmap and overwrite the last old one.
 
+*   Since all code related to encoding/decoding the DATA stream is dependent on the IDL type 
+    specification, we have to encapsule that code separately and link them as necessary. Two such
+    dynamic Entities are defined: KEY_HOLDER, and <TYPENAME>_WRAPPER.
+    The KEY_HOLDER Entity contains a Byte-Wide internal memory (In size equal to the maximum key size),
+    that can be filled with both PLAIN_CDR/PL_CDR DATA Streams, and PLAIN_CDR/PL_CDR Serialized Key 
+    Streams. The Entity allows outputting the memory contents (Key) either in a KEY_HASH format (needs
+    to instantiate a MD5 calculator), or in Serialized Key Format. The Entity uses the start/opcode/ack
+    interface for operations (similar to the RTPS/DDS Interface).
+    The <TYPENAME>_WRAPPER entity has all type-components linked to ports and latched in registers. In
+    output mode the entity is able to fill the registers with a PLAIN_CDR/PL_CDR Data Stream, and in
+    input mode the registers are filled directly from the input ports and the Entity is able to produce
+    a PLAIN_CDR/PL_CDR Data Stream from the registers.
+    Due to the type-specific nature of the entities, those are not instantiated inside the DDS Endpoints, 
+    but will be instantiated in a wrapper and linked through port mapping with the DDS Enspoints. 
+
 PROTOCOL UNCOMPLIANCE
 =====================
 * Partition QoS

src/Tests/Level_0/L0_rtps_writer_test1_vbkdp.vhd

@@ -101,7 +101,7 @@ begin
             full_rtps               => '0',
             last_word_out_rtps      => open,
             data_out_rtps           => open,
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => '0',
             start_hc                => start_hc,
             opcode_hc               => open,

src/Tests/Level_0/L0_rtps_writer_test1_vrkdp.vhd

@@ -101,7 +101,7 @@ begin
             full_rtps               => '0',
             last_word_out_rtps      => open,
             data_out_rtps           => open,
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => '0',
             start_hc                => start_hc,
             opcode_hc               => open,

src/Tests/Level_0/L0_rtps_writer_test2_vrkdp.vhd

@@ -85,7 +85,7 @@ begin
             full_rtps               => '0',
             last_word_out_rtps      => open,
             data_out_rtps           => open,
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => '0',
             start_hc                => start_hc,
             opcode_hc               => open,

src/Tests/Level_1/L1_rtps_writer_test1_tbkdp.vhd

@@ -108,7 +108,7 @@ begin
             full_rtps               => fifo_full,
             last_word_out_rtps      => fifo_in(WORD_WIDTH),
             data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,
             opcode_hc               => opcode_hc,

src/Tests/Level_1/L1_rtps_writer_test1_trkdn.vhd

@@ -108,7 +108,7 @@ begin
             full_rtps               => fifo_full,
             last_word_out_rtps      => fifo_in(WORD_WIDTH),
             data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,
             opcode_hc               => opcode_hc,

src/Tests/Level_1/L1_rtps_writer_test1_trkdp.vhd

@@ -108,7 +108,7 @@ begin
             full_rtps               => fifo_full,
             last_word_out_rtps      => fifo_in(WORD_WIDTH),
             data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,
             opcode_hc               => opcode_hc,

src/Tests/Level_1/L1_rtps_writer_test1_vbkdp.vhd

@@ -108,7 +108,7 @@ begin
             full_rtps               => fifo_full,
             last_word_out_rtps      => fifo_in(WORD_WIDTH),
             data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,
             opcode_hc               => opcode_hc,

src/Tests/Level_1/L1_rtps_writer_test1_vrkdn.vhd

@@ -108,7 +108,7 @@ begin
             full_rtps               => fifo_full,
             last_word_out_rtps      => fifo_in(WORD_WIDTH),
             data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,
             opcode_hc               => opcode_hc,

src/Tests/Level_1/L1_rtps_writer_test1_vrkdp.vhd

@@ -108,7 +108,7 @@ begin
             full_rtps               => fifo_full,
             last_word_out_rtps      => fifo_in(WORD_WIDTH),
             data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,
             opcode_hc               => opcode_hc,

src/Tests/Level_1/L1_rtps_writer_test1_vrksp.vhd

@@ -108,7 +108,7 @@ begin
             full_rtps               => fifo_full,
             last_word_out_rtps      => fifo_in(WORD_WIDTH),
             data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,
             opcode_hc               => opcode_hc,

src/Tests/Level_1/L1_rtps_writer_test1_vrndp.vhd

@@ -108,7 +108,7 @@ begin
             full_rtps               => fifo_full,
             last_word_out_rtps      => fifo_in(WORD_WIDTH),
             data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
-            assert_liveliness   => '0',
+            liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,
             opcode_hc               => opcode_hc,

src/Tests/Level_1/L1_rtps_writer_test2_vrkdn.vhd

@@ -34,7 +34,7 @@ architecture testbench of L1_rtps_writer_test2_vrkdn is
     signal clk, empty_user, empty_meta, rd_meta, last_word_in_meta, last_word_in_hc, last_word_out_rtps : std_logic := '0';
     signal reset : std_logic := '1';
     signal data_in_meta, data_out, data_in_hc : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
-    signal wr_sig, full, data_available, assert_liveliness : std_logic := '0';
+    signal wr_sig, full, data_available, liveliness_assertion : std_logic := '0';
     signal ready_in_hc, valid_in_hc, ack_hc, done_hc, get_data_hc, start_hc : std_logic := '0';
     signal seq_nr_hc : SEQUENCENUMBER_TYPE := SEQUENCENUMBER_UNKNOWN;
     signal stim_stage_meta : SEND_STAGE_TYPE := IDLE;
@@ -107,7 +107,7 @@ begin
             full_rtps               => fifo_full,
             last_word_out_rtps      => fifo_in(WORD_WIDTH),
             data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
-            assert_liveliness   => assert_liveliness,
+            liveliness_assertion    => liveliness_assertion,
             data_available          => data_available,
             start_hc                => start_hc,
             opcode_hc               => opcode_hc,
@@ -248,7 +248,7 @@ begin
             end if;
         end procedure;
         
-        procedure push_hb(endpoint : in ENDPOINT_DATA_TYPE; first : in SEQUENCENUMBER_TYPE; last : in SEQUENCENUMBER_TYPE; assert_liveliness : in boolean) is
+        procedure push_hb(endpoint : in ENDPOINT_DATA_TYPE; first : in SEQUENCENUMBER_TYPE; last : in SEQUENCENUMBER_TYPE; liveliness_assertion : in boolean) is
         begin
             reference   := EMPTY_TEST_PACKET;
             -- OUTPUT HEADER
@@ -266,7 +266,7 @@ begin
             sub.readerId        := ENTITYID_UNKNOWN;
             sub.firstSN         := first;
             sub.lastSN          := last;
-            sub.flags(SUBMESSAGE_LIVELINESS_FLAG_POS) := '1' when (assert_liveliness) else '0';
+            sub.flags(SUBMESSAGE_LIVELINESS_FLAG_POS) := '1' when (liveliness_assertion) else '0';
             sub.count           := std_logic_vector(to_unsigned(count, CDR_LONG_WIDTH));
             gen_rtps_submessage(sub, reference);
             fix_output_packet(reference);
@@ -335,7 +335,7 @@ begin
         new_cc              <= '0';
         stim_done           <= '0';
         start_meta          <= '0';
-        assert_liveliness   <= '0';
+        liveliness_assertion   <= '0';
         reset               <= '1';
         wait until rising_edge(clk);
         wait until rising_edge(clk);
@@ -399,10 +399,10 @@ begin
         test_cc(2).payload          <= gen_payload;
         test_cc_fill                <= 3;
         new_cc              <= '1';
-        assert_liveliness   <= '1';
+        liveliness_assertion   <= '1';
         wait until rising_edge(clk);
         new_cc              <= '0';
-        assert_liveliness   <= '0';
+        liveliness_assertion   <= '0';
         wait until rising_edge(clk);
         
         Log("Send HEARTBEAT to Endpoint 0,1 [Liveliness Flag]", INFO);
@@ -511,9 +511,9 @@ begin
         wait_on_idle;
         
         Log("Assert Liveliness", INFO);
-        assert_liveliness   <= '1';
+        liveliness_assertion   <= '1';
         wait until rising_edge(clk);
-        assert_liveliness   <= '0';
+        liveliness_assertion   <= '0';
         wait until rising_edge(clk);
         
         Log("Send HEARTBEAT to Endpoint 0,1,2,3,4", INFO);

src/key_hash_generator.vhd

@@ -120,18 +120,7 @@ begin
                 if (key_gen_valid_out) then
                     cnt_next    <= cnt + 1;
                     
-                    case (cnt) is
-                        when 0 =>
-                            key_hash_next(0)    <= key_gen_data_out;
-                        when 1 =>
-                            key_hash_next(1)    <= key_gen_data_out;
-                        when 2 =>
-                            key_hash_next(2)    <= key_gen_data_out;
-                        when 3 =>
-                            key_hash_next(3)    <= key_gen_data_out;
-                        when others =>
-                            null;
-                    end case;
+                    key_hash_next(cnt)  <= key_gen_data_out;
                     
                     if (key_gen_last_word_out = '1') then
                         stage_next  <= FINISHED_KEY_HASH;
@@ -143,21 +132,13 @@ begin
                 if (ready_out = '1') then
                     cnt_next    <= cnt + 1;
                     
-                    case (cnt) is
-                        when 0 =>
-                            data_out        <= key_hash(0);
-                        when 1 =>
-                            data_out        <= key_hash(1);
-                        when 2 =>
-                            data_out        <= key_hash(2);
-                        when 3 =>
-                            data_out        <= key_hash(3);
-                            last_word_out   <= '1';
+                    data_out    <= key_hash(cnt);
                     
+                    if (cnt = key_hash'length-1) then
+                        last_word_out   <= '1';
+                        -- DONE
                         stage_next      <= IDLE;
-                        when others =>
-                            null;
-                    end case;
+                    end if;
                 end if;
             when others =>
                 null;

src/key_holder.vhd

@@ -0,0 +1,24 @@
+library ieee;
+use ieee.std_logic_1164.all;
+use ieee.numeric_std.all;
+
+entity key_holder is
+    port (
+        clk             : in std_logic;
+        reset           : in std_logic;
+        
+        start           : in std_logic;
+        opcode          : in KEY_HOLDER_TYPE;
+        ack             : in std_logic;
+        
+        data_in         : in std_logic_vector(WORD_WIDTH-1 downto 0);
+        valid_in        : in std_logic;
+        ready_in        : out std_logic;
+        last_word_in    : in std_logic;
+        
+        data_out        : out std_logic_vector(WORD_WIDTH-1 downto 0);
+        valid_out       : out std_logic;
+        ready_out       : in std_logic;  
+        last_word_out   : out std_logic
+    );
+end entity;

src/rtps_config_package.vhd

@@ -42,8 +42,10 @@ package rtps_config_package is
     constant OPCODE_LIVELINESS_UPDATE   : std_logic_vector(ENDPOINT_MATCH_OPCODE_WIDTH-1 downto 0) := x"55000003";
     
     type HISTORY_CACHE_OPCODE_TYPE is (NOP, ADD_CACHE_CHANGE, GET_CACHE_CHANGE, ACK_CACHE_CHANGE, NACK_CACHE_CHANGE, REMOVE_CACHE_CHANGE, REMOVE_WRITER, GET_MIN_SN, GET_MAX_SN);
+    type KEY_HOLDER_TYPE is (NOP, PUSH_DATA, PUSH_SERIALIZED_KEY, READ_KEY_HASH, READ_SERIALIZED_KEY);
     type KEY_GENERATOR_OPCODE_TYPE is (NOP, WRITE_PAYLOAD, READ_KEY, READ_SIZE);
     type HISTORY_CACHE_RESPONSE_TYPE is (OK, REJECTED, INVALID, ERROR);
+    type DDS_WRITER_OPCODE_TYPE is (NOP, REGISTER_INSTANCE, WRITE, DISPOSE, UNREGISTER_INSTANCE, LOOKUP_INSTANCE, WAIT_FOR_ACKNOWLEDGEMENTS, GET_OFFERED_DEADLINE_MISSED_STATUS, ASSERT_LIVELINESS, GET_LIVELINESS_LOST_STATUS);
     
     -- Sample Status Info Flags
     constant SSI_DISPOSED_FLAG      : natural := STATUS_INFO_DISPOSED_FLAG;

src/rtps_reader.vhd

@@ -1742,6 +1742,14 @@ begin
                             mem_pos_next        <= 0;
                             mem_stage_next      <= FIND_EMPTY_SLOT;
                             mem_cnt_next        <= 0;
+                            -- Set Endpoint Data
+                            mem_endpoint_data_next                  <= ZERO_ENDPOINT_DATA;
+                            mem_endpoint_data_next.guid             <= guid_next;
+                            mem_endpoint_data_next.addr             <= addr_next;
+                            mem_endpoint_data_next.portn            <= portn_next;
+                            mem_endpoint_data_next.next_seq_nr      <= SEQUENCENUMBER_UNKNOWN when (DURABILITY_QOS = VOLATILE_DURABILITY_QOS) else FIRST_SEQUENCENUMBER;
+                            mem_endpoint_data_next.lease_deadline   <= lease_deadline;
+                            mem_endpoint_data_next.res_time         <= TIME_INVALID;
                         when UPDATE_ENDPOINT =>
                             mem_stage_next  <= UPDATE_ENDPOINT;
                             if (RELIABILTY_QOS = RELIABLE_RELIABILITY_QOS and check_mask(mem_field_flags,EMF_IPV4_ADDR_FLAG)) then

src/rtps_writer.vhd

@@ -48,7 +48,7 @@ entity rtps_writer is
         last_word_out_rtps      : out std_logic;
         data_out_rtps           : out std_logic_vector(WORD_WIDTH-1 downto 0);
         -- FROM HC
-        assert_liveliness   : in std_logic;
+        liveliness_assertion    : in std_logic;
         data_available          : in std_logic;
         start_hc                : out std_logic;
         opcode_hc               : out HISTORY_CACHE_OPCODE_TYPE;
@@ -467,7 +467,7 @@ begin
         data_out_rtps               <= (others => '0');
         
         -- Assert Liveliness Latch Setter
-        if (assert_liveliness = '1') then
+        if (liveliness_assertion = '1') then
             assert_liveliness_latch_next    <= '1';
         end if;