greek64/rtps-fpga
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* Added OSVVM Library as Submodule

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* Merged stimulus generation procedures to one single procedure
* Integrated OSVVM into testbench
* Generated OSVVM Project Script File
* Various Bug Fixes to compile testbench
This commit is contained in:
Greek 2020-11-15 20:34:39 +01:00
parent a792cb7d8a
commit 9c95e58e32
12 changed files with 2050 additions and 2092 deletions
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2
.gitignore vendored
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@ -1,6 +1,6 @@
#Ignore List
/syn/**
/modelsim/**
/sim/**
/download/**

3
.gitmodules vendored Normal file
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@ -0,0 +1,3 @@
[submodule "src/OSVVM"]
path = src/OSVVM
url = https://github.com/OSVVM/OSVVM.git

44
sim/rtps_handler.do Normal file
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@ -0,0 +1,44 @@
onerror {resume}
quietly WaveActivateNextPane {} 0
add wave -noupdate -divider SYSTEM
add wave -noupdate /rtps_handler_test1/uut/clk
add wave -noupdate /rtps_handler_test1/uut/reset
add wave -noupdate -divider INPUT
add wave -noupdate /rtps_handler_test1/uut/empty
add wave -noupdate /rtps_handler_test1/uut/rd
add wave -noupdate -radix hexadecimal /rtps_handler_test1/uut/data_in
add wave -noupdate -divider OUTPUT
add wave -noupdate -radix hexadecimal /rtps_handler_test1/uut/data_out
add wave -noupdate /rtps_handler_test1/uut/builtin_full
add wave -noupdate /rtps_handler_test1/uut/builtin_wr
add wave -noupdate /rtps_handler_test1/uut/user_full
add wave -noupdate /rtps_handler_test1/uut/user_wr
add wave -noupdate /rtps_handler_test1/uut/last_word_out
add wave -noupdate -divider MISC
add wave -noupdate /rtps_handler_test1/stimulus.length
add wave -noupdate /rtps_handler_test1/cnt_stim
add wave -noupdate /rtps_handler_test1/packet_sent
add wave -noupdate /rtps_handler_test1/reference.length
add wave -noupdate /rtps_handler_test1/cnt_ref
add wave -noupdate /rtps_handler_test1/packet_checked
add wave -noupdate -divider RTPS_HANDLER
add wave -noupdate /rtps_handler_test1/uut/stage
add wave -noupdate /rtps_handler_test1/uut/stage_next
TreeUpdate [SetDefaultTree]
WaveRestoreCursors {{Cursor 1} {0 ps} 0}
quietly wave cursor active 1
configure wave -namecolwidth 150
configure wave -valuecolwidth 63
configure wave -justifyvalue left
configure wave -signalnamewidth 1
configure wave -snapdistance 10
configure wave -datasetprefix 0
configure wave -rowmargin 4
configure wave -childrowmargin 2
configure wave -gridoffset 0
configure wave -gridperiod 1
configure wave -griddelta 40
configure wave -timeline 0
configure wave -timelineunits ps
update
WaveRestoreZoom {0 ps} {1206528 ps}

1
src/OSVVM Submodule

@ -0,0 +1 @@
Subproject commit 6b810535967433ae4bec4094ea58fc09c1e49227

4
src/TODO.txt
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@ -51,6 +51,7 @@
* Should a "Keyed" Endpoint communicate with a "Non-Keyed"?
* Is the empty String a valid Topic and Type Name?
* We can determine if a Endpoint is a Reader or Writer via the Entity ID. Is it illegal to get a SEDP with incompatible source (Reader Entity ID from Publications Announcer?)
* Can we make an array of records of uncontrained strings? That we we could make an array of variable sized strings...
* Fast-RTPS doen not follow DDSI-RTPS Specification
@ -118,4 +119,5 @@ PROTOCOL UNCOMPLIANCE
-> Cannot invalidate Rest of Message/Packet
-- Input FIFO Guard
-- Output FIFO Guard
-- Output FIFO Guard
-- Deferred to package Body

834
src/Tests/Level 0/rtps_handler-test1.vhd
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@ -1,834 +0,0 @@
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
entity rtps_handler-test1 is
end entity;
architecture testbench of rtps_handler-test1 is
-- *COMPONENT DECLARATION*
component rtps_handler is
port (
clk : in std_logic; -- Input Clock
reset : in std_logic; -- Synchronous Reset
empty : in std_logic; -- Input FIFO empty flag
rd : out std_logic; -- Input FIFO read signal
data_in : in std_logic_vector(WORD_WIDTH-1 downto 0); -- Input FIFO data signal
data_out : out std_logic_vector(WORD_WIDTH-1 downto 0); -- Output data signal
builtin_full : in std_logic; -- Output FIFO (Built-In Endpoint) full signal
builtin_wr : out std_logic; -- Output FIFO (Built-In Endpoint) write signal
user_full : in std_logic_vector(0 to NUM_ENDPOINTS-1); -- Output FIFO (User Endpoints) full signal
user_wr : out std_logic_vector(0 to NUM_ENDPOINTS-1); -- Output FIFO (User Endpoints) write signal
last_word_out : out std_logic -- Output FIFO Last Word signal
);
end component;
-- *FUNCTION DECLARATION*
-- *SIGNAL DECLARATION*
signal clk, reset, in_empty, rd_sig, builtin_full, builtin_wr, user_full, user_wr, last_word_out, packet_done : std_logic := '0';
signal data_in, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
signal stimulus, reference : TEST_PACKET_TYPE := (
data => (others => (others => '0')),
length => 0
);
begin
-- Unit Under Test
uut : rtps_handler
port map (
clk => clk,
reset => reset,
empty => in_empty,
rd => rd_sig,
data_in => data_in,
data_out => data_out,
builtin_full => builtin_full,
builtin_wr => builtin_wr
user_full => user_full,
user_wr => user_wr
last_word_out => last_word_out
);
stimulus_prc : process
variable ep : ENDPOINT_DATA_TYPE := DEFAULT_ENDPOINT_DATA;
constant rand_data : TEST_PACKET_TYPE := (length => 2, data => (0 => rand_slv(WORD_WIDTH), 1 => rand_slv(WORD_WIDTH)));
variable rtps_header : RTPS_HEADER_TYPE := DEFAULT_RTPS_HEADER;
variable acknack : RTPS_ACKNACK_SUBMESSAGE_TYPE := DEFAULT_RTPS_ACKNACK_SUBMESSAGE;
variable data : RTPS_DATA_SUBMESSAGE_TYPE := DEFAULT_RTPS_DATA_SUBMESSAGE;
variable gap : RTPS_GAP_SUBMESSAGE_TYPE := DEFAULT_RTPS_GAP_SUBMESSAGE;
variable heartbeat : RTPS_HEARTBEAT_SUBMESSAGE_TYPE := DEFAULT_RTPS_HEARTBEAT_SUBMESSAGE;
variable info_ts : RTPS_INFO_TIMESTAMP_SUBMESSAGE_TYPE := DEFAULT_RTPS_INFO_TIMESTAMP_SUBMESSAGE;
variable pad : RTPS_PAD_SUBMESSAGE_TYPE := DEFAULT_RTPS_PAD_SUBMESSAGE;
variable info_dest : RTPS_INFO_DESTINATION_SUBMESSAGE_TYPE := DEFAULT_RTPS_INFO_DESTINATION_SUBMESSAGE;
variable info_src : RTPS_INFO_SOURCE_SUBMESSAGE_TYPE := DEFAULT_RTPS_INFO_SOURCE_SUBMESSAGE;
variable info_reply : RTPS_INFO_REPLY_SUBMESSAGE_TYPE := DEFAULT_RTPS_INFO_REPLY_SUBMESSAGE;
variable info_reply4 : RTPS_INFO_REPLY_IP4_SUBMESSAGE_TYPE := DEFAULT_RTPS_INFO_REPLY_IP4_SUBMESSAGE;
variable udp_header_meta, udp_header_user : UDP_HEADER_TYPE := DEFAULT_UDP_HEADER;
begin
ep.entityId := rand_slv(ep.entityId'length);
acknack.readerId := ep.entityId;
data.writerId := ep.entityId;
gap.writerId := ep.entityId;
heartbeat.writerId := ep.entityId;
data.flags(SUBMESSAGE_DATA_FLAG_POS) := '1';
data.data := rand_data;
rtps_header.guidPrefix := ep.participant.guidPrefix;
udp_header_meta.dest := DEST_LOC.meta.locator(0);
udp_header_user.dest := DEST_LOC.user.locator(0);
udp_header_meta.src := ep.participant.defaultUnicastLocatorList.locator(0);
udp_header_user.src := ep.participant.defaultUnicastLocatorList.locator(0);
info_dest.guidPrefix := GUIDPREFIX;
info_ts.flags(SUBMESSAGE_INVALIDATE_FLAG_POS) := '0';
info_ts.timestamp := (unsigned(rand_slv(WORD_WIDTH)),unsigned(rand_slv(WORD_WIDTH)));
pad.submessageLength := int(28,16);
info_reply.unicastLocatorList.numLocators := int(2,32);
info_reply.unicastLocatorList.locator(0) := (
kind => LOCATOR_KIND_UDPv4,
port_(UDP_PORT_WIDTH-1 downto 0) => rand_slv(UDP_PORT_WIDTH),
addr(IPv4_ADDRESS_WIDTH-1 downto 0) => rand_slv(IPv4_ADDRESS_WIDTH)
);
info_reply.unicastLocatorList.locator(1) := (
kind => LOCATOR_KIND_UDPv4,
port_(UDP_PORT_WIDTH-1 downto 0) => (others => '0'), -- Invalid Port
addr(IPv4_ADDRESS_WIDTH-1 downto 0) => rand_slv(IPv4_ADDRESS_WIDTH)
);
info_reply.multicastLocatorList.numLocators := int(2,32);
info_reply.multicastLocatorList.locator(0) := (
kind => LOCATOR_KIND_UDPv4,
port_(UDP_PORT_WIDTH-1 downto 0) => rand_slv(UDP_PORT_WIDTH),
addr(IPv4_ADDRESS_WIDTH-1 downto 0) => rand_slv(IPv4_ADDRESS_WIDTH)
);
info_reply.multicastLocatorList.locator(1) := (
kind => LOCATOR_KIND_UDPv4,
port_(UDP_PORT_WIDTH-1 downto 0) => rand_slv(UDP_PORT_WIDTH),
addr(IPv4_ADDRESS_WIDTH-1 downto 0) => (others => '0') -- Invalid Addr
);
info_reply4.unicastLocator := (
kind => LOCATOR_KIND_UDPv4,
port_(UDP_PORT_WIDTH-1 downto 0) => rand_slv(UDP_PORT_WIDTH),
addr(IPv4_ADDRESS_WIDTH-1 downto 0) => rand_slv(IPv4_ADDRESS_WIDTH)
);
info_reply4.multicastLocator := (
kind => LOCATOR_KIND_UDPv4,
port_(UDP_PORT_WIDTH-1 downto 0) => rand_slv(UDP_PORT_WIDTH),
addr(IPv4_ADDRESS_WIDTH-1 downto 0) => rand_slv(IPv4_ADDRESS_WIDTH)
);
report "Initiating Test" severity note;
reset <= '1';
wait until rising_edge(clk);
-- *RTPS HEADER*
report "Sending invalid RTPS Header [Packet Size to small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
stimulus.length := length-1;
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid RTPS Header [Protocol Missmatch]" severity note;
gen_udp_header(udp_header_meta, stimulus);
rtps_header.protocol := rand_slv(PROTOCOL_WIDTH);
gen_rtps_header(rtps_header, stimulus);
rtps_header.protocol := DEFAULT_RTPS_HEADER.protocol;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid RTPS Header [Protocol Major Version Missmatch]" severity note;
gen_udp_header(udp_header_meta, stimulus);
rtps_header.version := PROTOCOLVERSION_1_0;
gen_rtps_header(rtps_header, stimulus);
rtps_header.version := DEFAULT_RTPS_HEADER.version;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *DATA SUBMESSAGE*
report "Sending valid DATA [Empty Submessage]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
data.flags(SUBMESSAGE_DATA_FLAG_POS) := '0';
data.data.length := 0;
gen_data(data, stimulus);
data.flags(SUBMESSAGE_DATA_FLAG_POS) := '1';
data.data := rand_data;
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending valid DATA [Meta Traffic, Both Endianness]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
data.littleEndian := '1';
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
data.littleEndian := '0';
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending valid DATA [User Traffic]" severity note;
gen_udp_header(udp_header_user, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_data(data, stimulus);
gen_data_out(data, udp_header_user.src, FALSE, TIME_INVALID, rtps_header.guidPrefix, reference);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending valid DATA [Extra Header Bytes]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
data.octetsToInlineQos := int(23,16);
gen_data(data, stimulus);
data.octetsToInlineQos := DEFAULT_RTPS_DATA_SUBMESSAGE.octetsToInlineQos;
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid DATA [DATA and KEY Flag set]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
data.flags(SUBMESSAGE_KEY_FLAG_POS) := '1';
gen_data(data, stimulus);
data.flags(SUBMESSAGE_KEY_FLAG_POS) := '0';
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid DATA [Packet Size too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_data(data, stimulus);
stimulus.length := length-1;
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid DATA [Submessage Length too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
data.submessageLength := int(16,16);
gen_data(data, stimulus);
data.submessageLength := DEFAULT_RTPS_DATA_SUBMESSAGE.submessageLength;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid DATA [Invalid writerSN]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
data.sequenceNumber := (others => (others => '0'));
gen_data(data, stimulus);
data.sequenceNumber := DEFAULT_RTPS_DATA_SUBMESSAGE.sequenceNumber;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *ACKNACK SUBMESSAGE*
report "Sending valid ACKNACK [Meta Traffic, Both Endianness]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_acknack(acknack, stimulus);
gen_acknack_out(acknack, udp_header_meta.src, TRUE, rtps_header.guidPrefix, reference);
acknack.littleEndian := '1';
gen_acknack(acknack, stimulus);
gen_acknack_out(acknack, udp_header_meta.src, TRUE, rtps_header.guidPrefix, reference);
acknack.littleEndian := '0';
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending valid ACKNACK [User Traffic]" severity note;
gen_udp_header(udp_header_user, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_acknack(acknack, stimulus);
gen_acknack_out(acknack, udp_header_user.src, FALSE, rtps_header.guidPrefix, reference);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid ACKNACK [Packet Size too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_acknack(acknack, stimulus);
stimulus.length := length-1;
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid ACKNACK [Submessage Length too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
acknack.submessageLength := int(20,16);
gen_acknack(acknack, stimulus);
acknack.submessageLength := DEFAULT_RTPS_ACKNACK_SUBMESSAGE.submessageLength;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid ACKNACK [ReaderSNState invalid (Base invalid)]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
acknack.readerSNState.base := (others => (others => '0'));
gen_acknack(acknack, stimulus);
acknack.readerSNState := DEFAULT_RTPS_ACKNACK_SUBMESSAGE.readerSNState;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid ACKNACK [ReaderSNState invalid (NumBits invalid)]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
acknack.readerSNState.numBits := int(257, 32);
gen_acknack(acknack, stimulus);
acknack.readerSNState := DEFAULT_RTPS_ACKNACK_SUBMESSAGE.readerSNState;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *GAP SUBMESSAGE*
report "Sending valid GAP [Meta Traffic, Both Endianness]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_gap(gap, stimulus);
gen_gap_out(gap, udp_header_meta.src, TRUE, rtps_header.guidPrefix, reference);
gap.littleEndian := '1';
gen_gap(gap, stimulus);
gen_gap_out(gap, udp_header_meta.src, TRUE, rtps_header.guidPrefix, reference);
gap.littleEndian := '0';
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending valid GAP [User Traffic]" severity note;
gen_udp_header(udp_header_user, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_gap(gap, stimulus);
gen_gap_out(gap, udp_header_user.src, FALSE, rtps_header.guidPrefix, reference);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid GAP [Packet Size too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_gap(gap, stimulus);
stimulus.length := length-1;
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid GAP [Submessage Length too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gap.submessageLength := int(24,16);
gen_gap(gap, stimulus);
gap.submessageLength := DEFAULT_RTPS_GAP_SUBMESSAGE.submessageLength;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid GAP [GapStart invalid]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gap.gapStart := (others => (others => '0'));
gen_gap(gap, stimulus);
gap.gapStart := DEFAULT_RTPS_GAP_SUBMESSAGE.gapStart;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid GAP [GapList invalid (Base invalid)]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gap.gapList.base := (others => (others => '0'));
gen_gap(gap, stimulus);
gap.gapList := DEFAULT_RTPS_GAP_SUBMESSAGE.gapList;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid GAP [GapList invalid (NumBits invalid)]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gap.gapList.numBits := int(257,32);
gen_gap(gap, stimulus);
gap.gapList := DEFAULT_RTPS_GAP_SUBMESSAGE.gapList;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *HEARTBEAT SUBMESSAGE*
report "Sending valid HEARTBEAT [Meta Traffic, Both Endianness]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_heartbeat(heartbeat, stimulus);
gen_heartbeat_out(heartbeat, udp_header_meta.src, TRUE, rtps_header.guidPrefix, reference);
heartbeat.littleEndian := '1';
gen_heartbeat(heartbeat, stimulus);
gen_heartbeat_out(heartbeat, udp_header_meta.src, TRUE, rtps_header.guidPrefix, reference);
heartbeat.littleEndian := '0';
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending valid HEARTBEAT [User Traffic]" severity note;
gen_udp_header(udp_header_user, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_heartbeat(heartbeat, stimulus);
gen_heartbeat_out(heartbeat, udp_header_user.src, FALSE, rtps_header.guidPrefix, reference);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid HEARTBEAT [Packet Size too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
gen_heartbeat(heartbeat, stimulus);
stimulus.length := length-1;
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid HEARTBEAT [Submessage Length too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
heartbeat.submessageLength := int(24,16);
gen_heartbeat(heartbeat, stimulus);
heartbeat.submessageLength := (others => '1');
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid HEARTBEAT [FirstSN invalid]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
heartbeat.firstSN := (others => (others => '0'));
gen_heartbeat(heartbeat, stimulus);
heartbeat.firstSN := DEFAULT_RTPS_HEARTBEAT_SUBMESSAGE.firstSN;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid HEARTBEAT [LastSN invalid]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
heartbeat.lastSN := (others => (others => '1'));
gen_heartbeat(heartbeat, stimulus);
heartbeat.lastSN := DEFAULT_RTPS_HEARTBEAT_SUBMESSAGE.lastSN;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *INFO_SOURCE SUBMESSAGE*
report "Testing INFO_SOURCE interpretation" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
-- Send INFO_SOURCE (Change Source GUID Prefix)
info_src.guidPrefix(0) := rand_slv(WORD_WIDTH);
gen_info_src(info_src, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send INFO_SOURCE (Change GUID Prefix, Little Endian)
info_src.littleEndian := '1';
info_src.guidPrefix := ep.participant.guidPrefix;
gen_info_src(info_src, stimulus);
info_src.littleEndian := '0';
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, ep.participant.guidPrefix, reference);
-- Send INFO_SOURCE [Protocol Major Version Missmatch]
info_src.version := PROTOCOLVERSION_1_0;
gen_info_src(info_src, stimulus);
info_src.version := PROTOCOLVERSION_2_4;
-- Send valid DATA
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid INFO_SOURCE [Submessage Length too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
info_src.submessageLength := int(16,16);
gen_info_src(info_src, stimulus);
info_src.submessageLength := DEFAULT_RTPS_INFO_SOURCE_SUBMESSAGE.submessageLength;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *INFO_DESTINATION SUBMESSAGE*
report "Testing INFO_DESTINATION interpretation" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
-- Send INFO_DESTINATION [Correct GUID Prefix]
gen_info_dest(info_dest, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send INFO_DESTINATION [Correct GUID Prefix, Little Endian]
info_dest.littleEndian := '1';
gen_info_dest(info_dest, stimulus);
info_dest.littleEndian := '0';
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send INFO_DESTINATION [Incorrect GUID Prefix]
info_dest.guidPrefix := rtps_header.guidPrefix;
gen_info_src(info_dest, stimulus);
info_dest.guidPrefix := GUIDPREFIX;
-- Send valid DATA
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid INFO_DESTINATION [Submessage Length too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
info_dest.submessageLength := int(8,16);
gen_info_dest(info_dest, stimulus);
info_dest.submessageLength := DEFAULT_RTPS_INFO_DESTINATION_SUBMESSAGE.submessageLength;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *INFO_REPLY SUBMESSAGE*
report "Testing INFO_REPLY interpretation" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
-- Send INFO_REPLY [Empty Locator Lists]
info_reply.unicastLocatorList.numLocators := int(0,32);
gen_info_reply(info_reply, stimulus);
info_reply.unicastLocatorList.numLocators := int(2,32);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send INFO_REPLY [1 valid Unicast, 1 invalid Unicast]
gen_info_reply(info_reply, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, info_reply.unicastLocatorList.locator(0), TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send INFO_REPLY [0 Unicast, 1 invalid Multicast, 1 valid Multicast, Little Endian]
info_reply.unicastLocatorList.numLocators := int(0,32);
info_reply.flags(SUBMESSAGE_MULTICAST_FLAG_POS) := '1';
gen_info_reply(info_reply, stimulus);
info_reply.flags(SUBMESSAGE_MULTICAST_FLAG_POS) := '0';
info_reply.unicastLocatorList.numLocators := int(2,32);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, info_reply.multicastLocatorList.locator(0), TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid INFO_REPLY [Submessage Length too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
info_reply.submessageLength := int(48,16);
gen_info_reply(info_reply, stimulus);
info_reply.submessageLength := DEFAULT_RTPS_INFO_REPLY_SUBMESSAGE.submessageLength;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *INFO_REPLY_IP4 SUBMESSAGE*
report "Testing INFO_REPLY_IP4 interpretation" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
-- Send INFO_REPLY_IP4 [Valid Unicast]
gen_info_reply(info_reply, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, info_reply4.unicastLocator, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send INFO_REPLY_IP4 [Invalid Unicast, Valid Multicast, Little Endian]
info_reply4.littleEndian := '1';
info_reply4.flags(SUBMESSAGE_MULTICAST_FLAG_POS) := '1';
info_reply4.unicastLocator.addr := (others => '0');
gen_info_reply(info_reply, stimulus);
info_reply4.littleEndian := '0';
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, info_reply4.multicastLocator, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send INFO_REPLY_IP4 [Invalid Unicast, Invalid Multicast]
gen_data_out(data, info_reply4.multicastLocator, TRUE, TIME_INVALID, info_dest.guidPrefix, reference); -- Generate Reference while locator still valid
info_reply4.multicastLocator.port_ := (others => '0');
gen_info_reply(info_reply, stimulus);
info_reply4.unicastLocator.addr := rand_slv(IPv4_ADDRESS_WIDTH);
info_reply4.multicastLocator.port_ := rand_slv(UDP_PORT_WIDTH);
info_reply4.flags(SUBMESSAGE_MULTICAST_FLAG_POS) := '0';
-- Send valid DATA
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid INFO_REPLY_IP4 [Submessage Length too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
info_reply4.submessageLength := int(4,16);
gen_info_reply_ip4(info_reply4, stimulus);
info_reply4.submessageLength := DEFAULT_RTPS_INFO_REPLY_IP4_SUBMESSAGE.submessageLength;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *INFO TS*
report "Testing INFO_TIMESTAMP interpretation" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send INFO_TIMESTAMP [Change Timestamp]
gen_info_ts(info_ts, stimulus);
-- Send valid Data
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, info_ts.timestamp, info_dest.guidPrefix, reference);
-- Send INFO_TIMESTAMP [Change Timestamp, Little Endian]
info_ts.timestamp(0) := unsigned(rand_slv(WORD_WIDTH));
info_ts.littleEndian := '1';
gen_info_ts(info_ts, stimulus);
info_ts.littleEndian := '0';
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, info_ts.timestamp, info_dest.guidPrefix, reference);
-- Send INFO_TIMESTAMP [Invalidate Timestamp]
info_ts.timestamp(0) := unsigned(rand_slv(WORD_WIDTH));
info_ts.flags(SUBMESSAGE_INVALIDATE_FLAG_POS) := '1';
gen_info_ts(info_ts, stimulus);
info_ts.flags(SUBMESSAGE_INVALIDATE_FLAG_POS) := '0';
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
report "Sending invalid INFO_TMESTAMP [Submessage Length too small]" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
info_ts.submessageLength := int(4,16);
gen_info_ts(info_ts, stimulus);
info_ts.submessageLength := DEFAULT_RTPS_INFO_REPLY_IP4_SUBMESSAGE.submessageLength;
gen_data(data, stimulus);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *PAD*
report "Testing PAD interpretation" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send PAD
gen_pad(pad, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
-- *UNKNOWN*
report "Testing unknown Submessage handling" severity note;
gen_udp_header(udp_header_meta, stimulus);
gen_rtps_header(rtps_header, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send valid DATA_FRAG Submessage (DATA_FRAG ignored)
gen_data_frag(DEFAULT_RTPS_DATA_FRAG_SUBMESSAGE, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send valid HEARTBEAT_FRAG Submessage (HEARTBEAT_FRAG ignored)
gen_heartbeat_frag(DEFAULT_RTPS_HEARTBEAT_FRAG_SUBMESSAGE, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send valid NACK_FRAG Submesage (NACK_FRAG ignored)
gen_nack_frag(DEFAULT_RTPS_NACK_FRAG_SUBMESSAGE, stimulus);
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
-- Send UNKNOWN Submessage (ignored)
pad.submessageID := (others => '1');
gen_pad(pad, stimulus);
pad.submessageID := DEFAULT_RTPS_PAD_SUBMESSAGE.submessageID;
-- Send valid DATA
gen_data(data, stimulus);
gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, info_dest.guidPrefix, reference);
fix_udp_packet(stimulus);
wait until (packet_done = '1');
stimulus.length := 0;
reference.length := 0;
end process;
clock_prc : process
begin
clk <= '0';
wait for 25 ns;
clk <= '1';
wait for 25 ns;
end process;
fifo_ctl_prc : process
begin
in_empty <= '0';
builtin_full <= '0';
user_full <= '0';
wait until rising_edge(clk);
in_empty <= '1';
builtin_full <= '0';
user_full <= '0';
wait until rising_edge(clk);
in_empty <= '0';
builtin_full <= '1';
user_full <= '0';
wait until rising_edge(clk);
in_empty <= '0';
builtin_full <= '0';
user_full <= '1';
wait until rising_edge(clk);
end process;
assert (not (in_empty = '1' and rd_sig = '1')) report "Input FIFO read signal high while empty signal high" severity failure;
assert (not (builtin_full = '1' and builtin_wr = '1')) report "Builtin FIFO write signal high while full signal high" severity failure;
assert (not (user_full = '1' and user_wr = '1')) report "Builtin FIFO write signal high while full signal high" severity failure;
input_prc : process(all)
signal cnt : natural := 0;
begin
if rising_edge(clk) then
if (reset = '1') then
data_in <= (others => '0');
cnt <= 0;
packet_done <= '0';
else
if (cnt = stimulus.length) then
cnt <= 0;
packet_done <= '1';
elsif (rd_sig = '1') then
data_in <= stimulus.data(cnt);
cnt <= cnt + 1;
packet_done <= '0';
end if;
end if;
end if;
end process;
output_prc : process(all)
signal cnt : natural := 0;
begin
if rising_edge(clk) then
if (reset = '1') then
cnt <= 0;
else
assert (cnt <= reference.length) report "Received too many words in output" severity failure;
if ((builtin_wr = '1' or user_wr = '1') and rd_sig = '0') then
assert (data_out = reference.data(cnt)) report "Received unexpected output. Received: " & str(data_out) & ", Expected: " & str(reference.data(cnt)) severity failure;
cnt <= cnt + 1;
end if;
end if;
end if;
end process;
end architecture;

1265
src/Tests/Level_0/rtps_handler_test1.vhd Normal file
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14
src/Tests/testbench.pro Normal file
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@ -0,0 +1,14 @@
# Compile OSVVM Library
include ../OSVVM/osvvm.pro
# Compile
library Level0-rtps_handler
analyze ../math_pkg.vhd
analyze ../rtps_package.vhd
analyze ../user_config.vhd
analyze ../rtps_config_package.vhd
analyze ../rtps_test_package.vhd
analyze ../rtps_handler.vhd
analyze Level_0/rtps_handler_test1.vhd
simulate rtps_handler_test1

7
src/rtps_config_package.vhd
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@ -257,11 +257,11 @@ package body rtps_config_package is
begin
ret := 0;
for i in 0 to str'length-1 loop
for j in 0 to (str(i)'length/8)-1 loop
for j in 0 to (WORD_WIDTH/BYTE_WIDTH)-1 loop
-- Count Bytes
ret := ret + 1;
-- Exit on first NULL byte (NULL Byte included in count)
if (str(i)(str(i)'length-j*8-1 downto str(i)'length-j*8-8) = (7 downto 0 => '0')) then
if (str(i)(WORD_WIDTH-(j*BYTE_WIDTH)-1 downto WORD_WIDTH-(j*BYTE_WIDTH)-BYTE_WIDTH) = (BYTE_WIDTH-1 downto 0 => '0')) then
exit;
end if;
end loop;
@ -613,8 +613,7 @@ package body rtps_config_package is
len := len + 1;
ret.data(ind+len):= DOMAIN_ID;
-- DOMAIN TAG
-- TODO: Check if Guard works
if (USER_DOMAIN_TAG /= "") then
if (DOMAIN_TAG /= EMPTY_STRING) then
tmp := string_len(DOMAIN_TAG);
len := len + 1;
ret.data(ind+len) := PID_DOMAIN_TAG & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));

6
src/rtps_handler.vhd
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@ -182,7 +182,7 @@ begin
data_in_aligned <= input(39 downto 8);
when "10" =>
data_in_aligned <= input(47 downto 16);
when "11" =>
when others => --"11"
data_in_aligned <= input(55 downto 24);
end case;
end process;
@ -1008,7 +1008,7 @@ begin
when PUSH_PAYLOAD_HEADER =>
-- NOTE: This is a synchronised push on potentially multiple output FIFOs. If one FIFO gets full, the process stalls for all FIFOs.
-- Output FIFO Guard
if (builtin_endpoint = '1' and builtin_full = '0') or (builtin_endpoint = '0' and ((user_endpoint and user_full) = (user_endpoint'reverse_range => '0'))) then
if (builtin_endpoint = '1' and builtin_full = '0') or (builtin_endpoint = '0' and ((user_endpoint and user_full) = (user_endpoint'range => '0'))) then
cnt_next <= cnt + 1;
case (cnt) is
@ -1076,7 +1076,7 @@ begin
when PUSH_PAYLOAD =>
-- NOTE: This is a synchronised push on potentially multiple output FIFOs. If one FIFO gets full, the process stalls for all FIFOs.
-- Output FIFO Guard
if (builtin_endpoint = '1' and builtin_full = '0') or (builtin_endpoint = '0' and ((user_endpoint and user_full) = (user_endpoint'reverse_range => '0'))) then
if (builtin_endpoint = '1' and builtin_full = '0') or (builtin_endpoint = '0' and ((user_endpoint and user_full) = (user_endpoint'range => '0'))) then
cnt_next <= cnt + 1;
case (opcode) is

44
src/rtps_package.vhd
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@ -2,6 +2,7 @@ library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use ieee.math_real.CEIL;
use ieee.math_real.TRUNC;
package rtps_package is
@ -49,7 +50,6 @@ package rtps_package is
-- *TYPES DEFINITION*
-- Generic Types
type STRING_WORD_ARRAY_TYPE is array (0 to ((256*BYTE_WIDTH)/WORD_WIDTH)-1) of std_logic_vector(WORD_WIDTH-1 downto 0); -- Strings are constrained to 256 Characters
type DOUBLE_WORD_ARRAY is array (0 to 1) of unsigned(WORD_WIDTH-1 downto 0);
-- RTPS
-- TODO: Define unconstrained WORD_ARRAY and define constrained subtypes
@ -260,7 +260,7 @@ package rtps_package is
constant RELIABLE_RELIABILITY_QOS : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(2,CDR_ENUMERATION_WIDTH));
constant DEFAULT_RELIABILTY_QOS : std_logic_vector(CDR_ENUMERATION_WIDTH-1 downto 0) := RELIABLE_RELIABILITY_QOS;
-- MAX BLOCKING TIME (RELIABILITY)
constant DEFAULT_MAX_BLOCKING_TIME : DURATION_TYPE := gen_duration(0,100 * (10**6)); -- 100 ms
constant DEFAULT_MAX_BLOCKING_TIME : DURATION_TYPE; --Deferred to Package Body (100 ms)
-- TRANSPORT_PRIORITY
constant DEFAULT_TRANSPORT_PRIORITY_QOS : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0');
-- LIFESPAN
@ -295,7 +295,7 @@ package rtps_package is
constant DEFAULT_DURABILITY_SERVICE_MAX_INSTANCES : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := std_logic_vector(to_signed(-1,CDR_LONG_WIDTH)); -- LENGTH_UNLIMITED
constant DEFAULT_DURABILITY_SERVICE_MAX_SAMPLES_PER_INSTANCE: std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := std_logic_vector(to_signed(-1,CDR_LONG_WIDTH)); -- LENGTH_UNLIMITED
constant DEFAULT_PARTICIPANT_LEASE_DURATION : DURATION_TYPE := gen_duration(100, 0); -- 100 s
constant DEFAULT_PARTICIPANT_LEASE_DURATION : DURATION_TYPE; -- Deferred to package Body (100 s)
-- *BUILTIN ENDPOINT SET POSITIONS*
constant DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER : natural := 0;
@ -358,6 +358,32 @@ end package;
package body rtps_package is
function gen_duration(s,ns : integer) return DURATION_TYPE is
variable ret : DURATION_TYPE := (others => (others => '0'));
-- "unit" is the value of "ret(1)" equal to 1 nanosecond
-- (1 / 2^-32) * 10^-9
constant unit : real := 4.294967296;
constant sec : natural := 10**9;
constant half_sec : natural := sec/2;
begin
assert (ns < 10**9) report "ns argument has to be less than a second" severity failure;
ret(0) := to_unsigned(s, 32);
-- If Fraction Bit is >= 500 ms it cannot be represented as a natural (because naturals/integers are signed).
-- So we handle that manualy
if (ns >= half_sec) then
ret(1)(31) := '1';
ret(1) := to_unsigned(natural(CEIL(real(ns/2)*unit)),32);
else
ret(1) := to_unsigned(natural(CEIL(real(ns)*unit)),32);
end if;
return ret;
end function;
constant DEFAULT_MAX_BLOCKING_TIME : DURATION_TYPE := gen_duration(0,100 * (10**6)); -- 100 ms
constant DEFAULT_PARTICIPANT_LEASE_DURATION : DURATION_TYPE := gen_duration(100, 0); -- 100 s
function convert_from_double_word (input: DOUBLE_WORD_ARRAY) return unsigned is
variable ret : unsigned(63 downto 0) := (others => '0');
begin
@ -516,16 +542,4 @@ package body rtps_package is
return ret;
end function;
function gen_duration(s,ns : integer) return DURATION_TYPE is
variable ret : DURATION_TYPE := (others => (others => '0'));
-- "unit" is the value of "ret(1)" equal to 1 nanosecond
-- (1 / 2^-32) * 10^-9
constant unit : real := 4.294967296;
begin
assert (ns < 10**9) report "ns argument has to be less than a second" severity failure;
ret(0) := to_unsigned(s, 32);
ret(1) := to_unsigned(natural(CEIL(real(ns)*unit)),32);
return ret;
end function;
end package body;

1918
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