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* Fix ASCII Diagrams

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* Constant RTPS Message generation (Endpoint and Participant)
This commit is contained in:
John Ring 2020-10-12 07:25:56 +02:00
parent 104f3ebbe2
commit a2bc3c4aa6
4 changed files with 918 additions and 206 deletions
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278
src/TODO.txt
View File

@ -63,36 +63,36 @@ The elements of an array are in order (but the elements themselves may need to b
ENDPOINT FIFO PACKET FORMAT
===========================
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------+---------------+---------------+---------------+
| OPCODE | FLAGS | SRC_UDP_PORT |
+---------------+---------------+---------------+---------------+
| SRC_IPv4_ADDR |
+---------------------------------------------------------------+
| SRC_ENTITYID |
+---------------------------------------------------------------+
| |
+ +
| SRC_GUIDPREFIX |
+ +
| |
+---------------------------------------------------------------+
| DEST_ENTITYID [only for Builtin Destinations] |
+---------------------------------------------------------------+
| |
+ Sequence Number [only for DATA Submessage] +
| |
+---------------------------------------------------------------+
| |
~ PAYLOAD (SUBMESSAGE CONTENT) ~
| |
+---------------------------------------------------------------+
31............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+-------------+---------------+---------------+---------------+
| OPCODE | FLAGS | SRC_UDP_PORT |
+-------------+---------------+---------------+---------------+
| SRC_IPv4_ADDR |
+-------------------------------------------------------------+
| SRC_ENTITYID |
+-------------------------------------------------------------+
| |
+ +
| SRC_GUIDPREFIX |
+ +
| |
+-------------------------------------------------------------+
| DEST_ENTITYID [only for Builtin Destinations] |
+-------------------------------------------------------------+
| |
+ Sequence Number [only for DATA Submessage] +
| |
+-------------------------------------------------------------+
| |
~ PAYLOAD (SUBMESSAGE CONTENT) ~
| |
+-------------------------------------------------------------+
ENDPOINT_ID
===========
MSB...........LSB
0...MAX_ENDPOINTS
READERS...WRITERS
BUILT-IN ENDPOINTS
@ -107,124 +107,140 @@ HEARTBEAT messages (and even ignore GAP messages).
PARTICICPANT DATA
=================
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
01| |
+ +
02| GUIDPREFIX |
+ +
03| |
+---------------------------------------------------------------+
04| META_IPv4_ADDRESS |
+---------------------------------------------------------------+
05| DEFAULT_IPv4_ADDRESS |
+---------------------------------------------------------------+
06| META_UDP_PORT | DEFAULT_UDP_PORT |
+---------------------------------------------------------------+
07| UNUSED | EXTRA_FLAGS |Q|
+---------------------------------------------------------------+
08| LEASE_DURATION |
+ +
09| |
+---------------------------------------------------------------+
10| LEASE_DEADLINE |
+ +
11| |
+---------------------------------------------------------------+
12| |
+ SPDP_SEQ_NR +
13| |
+---------------------------------------------------------------+
14| |
+ PUBLICATION_SEQ_NR +
15| |
+---------------------------------------------------------------+
16| |
+ SUBSCRIPTION_SEQ_NR +
17| |
+---------------------------------------------------------------+
18| |
+ MESSAGE_SEQ_NR +
19| |
+---------------------------------------------------------------+
31............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+-------------------------------------------------------------+
01| |
+ +
02| GUIDPREFIX |
+ +
03| |
+-------------------------------------------------------------+
04| META_IPv4_ADDRESS |
+-------------------------------------------------------------+
05| DEFAULT_IPv4_ADDRESS |
+-------------------------------------------------------------+
06| META_UDP_PORT | DEFAULT_UDP_PORT |
+-------------------------------------------------------------+
07| UNUSED | EXTRA_FLAGS |Q|
+-------------------------------------------------------------+
08| LEASE_DURATION |
+ +
09| |
+-------------------------------------------------------------+
10| LEASE_DEADLINE |
+ +
11| |
+-------------------------------------------------------------+
12| |
+ SPDP_SEQ_NR +
13| |
+-------------------------------------------------------------+
14| |
+ PUBLICATION_SEQ_NR +
15| |
+-------------------------------------------------------------+
16| |
+ SUBSCRIPTION_SEQ_NR +
17| |
+-------------------------------------------------------------+
18| |
+ MESSAGE_SEQ_NR +
19| |
+-------------------------------------------------------------+
ENDPOINT DATA
=============
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
01| ENTITYID |
+---------------------------------------------------------------+
02| |
+ +
03| GUIDPREFIX |
+ +
04| |
+---------------------------------------------------------------+
05| |
~ ENDPOINT_BITMASK ~
**| |
+---------------------------------------------------------------+
31............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+-------------------------------------------------------------+
01| ENTITYID |
+-------------------------------------------------------------+
02| |
+ +
03| GUIDPREFIX |
+ +
04| |
+-------------------------------------------------------------+
05| |
~ ENDPOINT_BITMASK ~
**| |
+-------------------------------------------------------------+
ENDPOINT MATCH FRAME
====================
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
01| OPCODE |
+---------------------------------------------------------------+
02| |
+ +
03| GUIDPREFIX |
+ +
04| |
+---------------------------------------------------------------+
05| ENTITYID |
+---------------------------------------------------------------+
06| IPv4_ADDRESS |
+---------------------------------------------------------------+
07| UDP_PORT | EXTRA_FLAGS |Q|
+---------------------------------------------------------------+
31............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+-------------------------------------------------------------+
01| OPCODE |
+-------------------------------------------------------------+
02| |
+ +
03| GUIDPREFIX |
+ +
04| |
+-------------------------------------------------------------+
05| ENTITYID |
+-------------------------------------------------------------+
06| IPv4_ADDRESS |
+-------------------------------------------------------------+
07| UDP_PORT | EXTRA_FLAGS |Q|
+-------------------------------------------------------------+
ENDPOINT UNMATCH FRAME
======================
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
01| OPCODE |
+---------------------------------------------------------------+
02| |
+ +
03| GUIDPREFIX |
+ +
04| |
+---------------------------------------------------------------+
05| ENTITYID |
+---------------------------------------------------------------+
31............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+-------------------------------------------------------------+
01| OPCODE |
+-------------------------------------------------------------+
02| |
+ +
03| GUIDPREFIX |
+ +
04| |
+-------------------------------------------------------------+
05| ENTITYID |
+-------------------------------------------------------------+
LOCAL ENDPOINT BUFFER
=====================
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
| |
+ +
| GUIDPREFIX |
+ +
| |
+---------------------------------------------------------------+
| ENTITYID |
+---------------------------------------------------------------+
| IPv4_ADDRESS |
+---------------------------------------------------------------+
| UDP_PORT | EXTRA_FLAGS |
+---------------------------------------------------------------+
| LIFESPAN |
+ +
| (READER_ONLY) |
+---------------------------------------------------------------+
31............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+-------------------------------------------------------------+
| |
+ +
| GUIDPREFIX |
+ +
| |
+-------------------------------------------------------------+
| ENTITYID |
+-------------------------------------------------------------+
| IPv4_ADDRESS |
+-------------------------------------------------------------+
| UDP_PORT | EXTRA_FLAGS |
+-------------------------------------------------------------+
| LIFESPAN |
+ +
| (READER_ONLY) |
+-------------------------------------------------------------+
OUTPUT DATA
===========
31............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
01| PACKET_LENGTH |
+-------------------------------------------------------------+
02| SRC_IPv4_ADDRESS |
+-------------------------------------------------------------+
03| DEST_IPv4_ADDRESS |
+-------------------------------------------------------------+
04| SRC_UDP_PORT | DEST_UDP_PORT |
+-------------------------------------------------------------+
05| |
~ RTPS_MESSAGE ~
| |
+-------------------------------------------------------------+
TOPIC KEYS

2
src/math_pkg.vhd
View File

@ -61,7 +61,7 @@ package body math_pkg is
begin
ret := divident / divisor;
if (divident mod divisor /= 0) then
ret := ret + divisor;
ret := ret + 1;
end if;
return ret;
end function;

248
src/rtps_builtin_endpoint.vhd
View File

@ -20,6 +20,9 @@ entity rtps_builtin_endpoint is
endpoint_output : out USER_ENDPOINT_OUTPUT;
endpoint_full : in std_logic_vector(0 to MAX_ENDPOINTS-1);
endpoint_wr : out std_logic_vector(0 to MAX_ENDPOINTS-1);
rtps_output : out std_logic_vector(31 downto 0);
rtps_wr : out std_logic;
rtps_full : in std_logic;
);
end entity;
@ -86,7 +89,7 @@ architecture arch of rtps_builtin_endpoint is
signal endpoint_unmatch, endpoint_unmatch_next : std_logic_vector(0 to MAX_ENDPOINTS-1) := (others => '0');
signal endpoint_mask_array, endpoint_mask_array_next : ENDPOINT_BITMASK_ARRAY_TYPE := (others => (others => '0'));
signal participant_match, participant_match_next : std_logic := '0';
signal is_requested, is_requested_next : std_logic := '0';
signal is_subscriber, is_subscriber_next : std_logic := '0';
signal lease_duration, lease_duration_next : DURATION_TYPE := (others => (others => '0'));
signal lease_deadline : DURATION_TYPE := (others => (others => '0'));
signal lifespan_duration, lifespan_duration_next : DURATION_TYPE := (others => (others => '0'));
@ -110,8 +113,11 @@ architecture arch of rtps_builtin_endpoint is
signal mem_cnt, mem_cnt_next : integer range 0 to 3 := 0;
-- NOTE: Participant Index limited to 32 bits
signal participant_index, participant_index_next : std_logic_vector(31 downto 0) := (others => '0');
signal seq_nr, seq_nr_next : std_logic_vector(SEQUENCE_NR_WIDTH-1 downto 0) := (others => '0');
signal mem_seq_nr, mem_seq_nr_next : std_logic_vector(SEQUENCE_NR_WIDTH-1 downto 0) := (others => '0');
signal seq_nr, seq_nr_next : unsigned(SEQUENCE_NR_WIDTH-1 downto 0) := (others => '0');
signal mem_seq_nr, mem_seq_nr_next : unsigned(SEQUENCE_NR_WIDTH-1 downto 0) := (others => '0');
signal next_seq_nr, next_seq_nr_next : unsigned(SEQUENCE_NR_WIDTH-1 downto 0) := (others => '0');
signal first_seq_nr, first_seq_nr_next : unsigned(SEQUENCE_NR_WIDTH-1 downto 0) := (others => '0');
signal last_seq_nr, last_seq_nr_next : unsigned(SEQUENCE_NR_WIDTH-1 downto 0) := (others => '0');
signal is_orphan_search, is_orphan_search_next : std_logic := '0';
signal orphan_entityid, orphan_entityid_next : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (others => '0');
signal output_sig : std_logic_vector(31 downto 0) := (others => '0');
@ -139,6 +145,7 @@ architecture arch of rtps_builtin_endpoint is
alias qos_flag_next : std_logic is flags_next(1);
alias data_flag : std_logic is flags(2);
alias key_flag : std_logic is flags(3);
alias final_flag : std_logic is flags(1);
alias payload_flag : std_logic is header_flags(4);
alias must_undersand : std_logic is parameter_id(14);
@ -267,7 +274,7 @@ begin
endpoint_match_next <= endpoint_match;
endpoint_unmatch_next <= endpoint_unmatch;
participant_match_next <= participant_match_next;
is_requested_next <= is_requested;
is_subscriber_next <= is_subscriber;
lease_duration_next <= lease_duration;
lifespan_duration_next <= lifespan_duration;
addr_latch_1_next <= addr_latch_1;
@ -284,6 +291,8 @@ begin
output_sig <= (others => '0');
wr_sig <= '0';
stale_check_next <= stale_check;
first_seq_nr_next <= first_seq_nr;
last_seq_nr_next <= last_seq_nr;
-- Last Word Latch Setter
if (last_word_in = '1') then
@ -389,6 +398,8 @@ begin
-- Packet Contains Participant Data
message_type_next <= PDP;
stage_next <= LATCH_SEQ_NR;
-- Initialise counter
cnt_next <= 1;
-- Reset Participant Match
participant_match_next <= '1';
end if;
@ -406,12 +417,16 @@ begin
case (opcode) is
when SID_HEARTBEAT =>
message_type_next <= EDP;
stage_next <= TODO; -- HEARTBEAT Processing
stage_next <= PROCESS_HEARTBEAT; -- HEARTBEAT Processing
-- Initialise counter
cnt_next <= 1;
when SID_DATA =>
message_type_next <= EDP;
stage_next <= LATCH_SEQ_NR; -- DATA Processing
-- Initialise counter
cnt_next <= 1;
-- QoS is publisher-offered
is_requested_next <= '0';
is_subscriber_next <= '0';
-- Reset Endpoint Mask (ALL READERS)
endpoint_mask_next <= (others => '0');
endpoint_mask_next(MAX_ENDPOINTS-1 downto MAX_ENDPOINTS-NUM_READERS) <= (others => '1');
@ -431,12 +446,16 @@ begin
case (opcode) is
when SID_HEARTBEAT =>
message_type_next <= EDP;
stage_next <= TODO; -- HEARTBEAT Processing
stage_next <= PROCESS_HEARTBEAT; -- HEARTBEAT Processing
-- Initialise counter
cnt_next <= 1;
when SID_DATA =>
message_type_next <= EDP;
stage_next <= LATCH_SEQ_NR; -- DATA Processing
-- Initialise counter
cnt_next <= 1;
-- QoS is subscriber-requested
is_requested_next <= '1';
is_subscriber_next <= '1';
-- Reset Endpoint Mask (ALL WRITERS)
endpoint_mask_next <= (others => '0');
endpoint_mask_next(NUM_WRITERS-1 downto 0) <= (others => '1');
@ -453,10 +472,14 @@ begin
case (opcode) is
when SID_HEARTBEAT =>
message_type_next <= MESSAGE;
stage_next <= TODO; -- HEARTBEAT Processing
stage_next <= PROCESS_HEARTBEAT; -- HEARTBEAT Processing
-- Initialise counter
cnt_next <= 1;
when SID_DATA =>
message_type_next <= MESSAGE;
stage_next <= LATCH_SEQ_NR; -- DATA Processing
-- Initialise counter
cnt_next <= 1;
end case;
when others =>
null;
@ -474,6 +497,8 @@ begin
-- Packet Contains Participant Data
message_type_next <= PDP;
stage_next <= LATCH_SEQ_NR;
-- Initialise counter
cnt_next <= 1;
-- Reset Participant Match
participant_match_next <= '1';
@ -492,12 +517,16 @@ begin
case (opcode) is
when SID_HEARTBEAT =>
message_type_next <= EDP;
stage_next <= TODO; -- HEARTBEAT Processing
stage_next <= PROCESS_HEARTBEAT; -- HEARTBEAT Processing
-- Initialise counter
cnt_next <= 1;
when SID_DATA =>
message_type_next <= EDP;
stage_next <= LATCH_SEQ_NR; -- DATA Processing
-- Initialise counter
cnt_next <= 1;
-- QoS is publisher-offered
is_requested_next <= '0';
is_subscriber_next <= '0';
-- Reset Endpoint Mask (ALL READERS)
endpoint_mask_next <= (others => '0');
endpoint_mask_next(MAX_ENDPOINTS-1 downto MAX_ENDPOINTS-NUM_READERS) <= (others => '1');
@ -517,12 +546,16 @@ begin
case (opcode) is
when SID_HEARTBEAT =>
message_type_next <= EDP;
stage_next <= TODO; -- HEARTBEAT Processing
stage_next <= PROCESS_HEARTBEAT; -- HEARTBEAT Processing
-- Initialise counter
cnt_next <= 1;
when SID_DATA =>
message_type_next <= EDP;
stage_next <= LATCH_SEQ_NR; -- DATA Processing
-- Initialise counter
cnt_next <= 1;
-- QoS is subscriber-requested
is_requested_next <= '1';
is_subscriber_next <= '1';
-- Reset Endpoint Mask (ALL WRITERS)
endpoint_mask_next <= (others => '0');
endpoint_mask_next(NUM_WRITERS-1 downto 0) <= (others => '1');
@ -539,10 +572,14 @@ begin
case (opcode) is
when SID_HEARTBEAT =>
message_type_next <= MESSAGE;
stage_next <= TODO; -- HEARTBEAT Processing
stage_next <= PROCESS_HEARTBEAT; -- HEARTBEAT Processing
-- Initialise counter
cnt_next <= 1;
when SID_DATA =>
message_type_next <= MESSAGE;
stage_next <= LATCH_SEQ_NR; -- DATA Processing
-- Initialise counter
cnt_next <= 1;
end case;
when others =>
null;
@ -550,12 +587,14 @@ begin
when LATCH_SEQ_NR =>
if (empty = '0') then
rd_sig <= '1';
--Increment Counter
cnt_next <= cnt + 1;
-- Latch Sequence Number
case (cnt) is
when 1 =>
seq_nr_next(63 downto 32) <= data_in;
seq_nr_next(63 downto 32) <= unsigned(data_in);
when 2 =>
seq_nr_next(31 downto 0) <= data_in;
seq_nr_next(31 downto 0) <= unsigned(data_in);
stage_next <= PROCESS_DATA;
when others =>
null;
@ -828,6 +867,7 @@ begin
compare_length_next <= (others => '0');
end if;
when COMPARE_STRING =>
-- TODO: FIX (Type Name not handled)
if (empty = '0') then
rd_sig <= '1';
-- Increment compare position counter
@ -857,12 +897,12 @@ begin
-- Check QoS Compatibility
for i in 0 to ENDPOINT_TOPIC'length-1 loop
-- data-in is Requested
if (is_requested = '1') then
-- data-in is Subscriber-Requested
if (is_subscriber = '1') then
if (data_in_swapped > ENDPOINT_DURABILITY(i)) then
endpoint_mask_next(i) <= '0';
end if;
-- data-in is Offered
-- data-in is Publisher-Offered
else
if (data_in_swapped < ENDPOINT_DURABILITY(i)) then
endpoint_mask_next(i) <= '0';
@ -878,12 +918,12 @@ begin
-- Check QoS Compatibility
for i in 0 to ENDPOINT_TOPIC'length-1 loop
-- data-in is Requested
if (is_requested = '1') then
-- data-in is Subscriber-Requested
if (is_subscriber = '1') then
if (data_in_swapped < ENDPOINT_DEADLINE(i)(1)) then
endpoint_mask_next(i) <= '0';
end if;
-- data-in is Offered
-- data-in is Publisher-Offered
else
if (data_in_swapped > ENDPOINT_DEADLINE(i)(1)) then
endpoint_mask_next(i) <= '0';
@ -899,12 +939,12 @@ begin
-- Check QoS Compatibility
for i in 0 to ENDPOINT_TOPIC'length-1 loop
-- data-in is Requested
if (is_requested = '1') then
-- data-in is Subscriber-Requested
if (is_subscriber = '1') then
if (data_in_swapped < ENDPOINT_DEADLINE(i)(0)) then
endpoint_mask_next(i) <= '0';
end if;
-- data-in is Offered
-- data-in is Publisher-Offered
else
if (data_in_swapped > ENDPOINT_DEADLINE(i)(0)) then
endpoint_mask_next(i) <= '0';
@ -920,12 +960,12 @@ begin
-- Check QoS Compatibility
for i in 0 to ENDPOINT_TOPIC'length-1 loop
-- data-in is Requested
if (is_requested = '1') then
-- data-in is Subscriber-Requested
if (is_subscriber = '1') then
if (data_in_swapped > ENDPOINT_LIVELINESS(i)) then
endpoint_mask_next(i) <= '0';
end if;
-- data-in is Offered
-- data-in is Publisher-Offered
else
if (data_in_swapped < ENDPOINT_LIVELINESS(i)) then
endpoint_mask_next(i) <= '0';
@ -942,12 +982,12 @@ begin
rd_sig <= '1';
-- Check QoS Compatibility
for i in 0 to ENDPOINT_TOPIC'length-1 loop
-- data-in is Requested
if (is_requested = '1') then
-- data-in is Subscriber-Requested
if (is_subscriber = '1') then
if (data_in_swapped > ENDPOINT_LEASE_DURATION(i)(cnt)) then
endpoint_mask_next(i) <= '0';
end if;
-- data-in is Offered
-- data-in is Publisher-Offered
else
if (data_in_swapped < ENDPOINT_LIVELINESS(i)(cnt)) then
endpoint_mask_next(i) <= '0';
@ -984,12 +1024,12 @@ begin
-- Check QoS Compatibility
for i in 0 to ENDPOINT_TOPIC'length-1 loop
-- data-in is Requested
if (is_requested = '1') then
-- data-in is Subscriber-Requested
if (is_subscriber = '1') then
if (data_in_swapped > ENDPOINT_RELIABILITY(i)) then
endpoint_mask_next(i) <= '0';
end if;
-- data-in is Offered
-- data-in is Publisher-Offered
else
if (data_in_swapped < ENDPOINT_RELIABILITY(i)) then
endpoint_mask_next(i) <= '0';
@ -1022,12 +1062,12 @@ begin
-- Check QoS Compatibility
for i in 0 to ENDPOINT_TOPIC'length-1 loop
-- data-in is Requested
if (is_requested = '1') then
-- data-in is Subscriber-Requested
if (is_subscriber = '1') then
if (data_in_swapped > ENDPOINT_DESTINATION_ORDER(i)) then
endpoint_mask_next(i) <= '0';
end if;
-- data-in is Offered
-- data-in is Publisher-Offered
else
if (data_in_swapped < ENDPOINT_DESTINATION_ORDER(i)) then
endpoint_mask_next(i) <= '0';
@ -1053,12 +1093,12 @@ begin
-- Check QoS Compatibility
for i in 0 to ENDPOINT_TOPIC'length-1 loop
-- data-in is Requested
if (is_requested = '1') then
-- data-in is Subscriber-Requested
if (is_subscriber = '1') then
if (data_in_swapped > ENDPOINT_PRESENTATION(i)) then
endpoint_mask_next(i) <= '0';
end if;
-- data-in is Offered
-- data-in is Publisher-Offered
else
if (data_in_swapped < ENDPOINT_PRESENTATION(i)) then
endpoint_mask_next(i) <= '0';
@ -1074,8 +1114,8 @@ begin
-- Check QoS Compatibility
for i in 0 to ENDPOINT_TOPIC'length-1 loop
-- data-in is Requested
if (is_requested = '1') then
-- data-in is Subscriber-Requested
if (is_subscriber = '1') then
if (data_in(23) = '1' and ENDPOINT_COHERENT_ACCESS(i) = '0') then
endpoint_mask_next(i) <= '0';
end if;
@ -1252,8 +1292,11 @@ begin
-- Ignore all other messages, since there is no corresponding participant in the buffer.
stage_next <= SKIP_PACKET;
end if;
-- Match in Buffer, New Sequence Number
elsif (mem_seq_nr > seq_nr)
-- Match in Buffer, Next Sequence Number
-- NOTE: We only process the Sequences in order. This may lead to more traffic being exchanged
-- (since if a Data message with a higher sequence number than the next expected will be ignored),
-- but keeps the logic simple.
elsif (next_seq_nr = seq_nr)
-- Participant
if (message_type = PDP) then
-- Participant Unmatch
@ -1457,6 +1500,105 @@ begin
guid_next(2) <= mem_guidprefix(2);
stage_next <= FIND_ORPHAN_ENDPOINT;
end if;
when PROCESS_HEARTBEAT =>
if (empty = '0') then
rd_sig <= '1';
--Increment Counter
cnt_next <= cnt + 1;
-- Latch Sequence Number
case (cnt) is
when 1 =>
first_seq_nr_next(63 downto 32) <= data_in;
when 2 =>
first_seq_nr_next(31 downto 0) <= data_in;
when 3 =>
last_seq_nr_next(63 downto 32) <= data_in;
when 4 =>
last_seq_nr_next(31 downto 0) <= data_in;
stage_next <= COMPARE_SEQUENCE_NUMBERS;
end case;
end if;
when COMPARE_SEQUENCE_NUMBERS =>
-- Wait for Sequence Number to be fetched from buffer
if (mem_done = '1') then
-- If current sequence number obsolete (removed from source history cache),
-- reset sequence number to expect the first available and request it
if (first_seq_nr > next_seq_nr) then
-- Store expected sequence number -1, since we process only stored sequence number +1
seq_nr_next <= first_seq_nr - to_unsigned(1, seq_nr'length);
mem_opcode <= UPDATE_PARTICIPANT;
start_mem_op <= '1';
-- Use "last_seq_nr" as temporal store for the ACKNACK sequence
last_seq_nr_next <= first_seq_nr;
stage_next <= SEND_ACKNACK;
cnt_next <= 1;
-- If new sequence number is available or Writer expects ACKNACK, send it
elsif (last_seq_nr > mem_seq_nr or final_flag = '0') then
-- Use "last_seq_nr" as temporal store for the ACKNACK sequence
last_seq_nr_next <= next_seq_nr;
stage_next <= SEND_ACKNACK;
cnt_next <= 1;
-- Ignore
else
-- Done
stage_next <= SKIP_PACKET;
end if;
end if;
when SEND_ACKNACK =>
if (rtps_full = '0') then
wr_sig <= '1';
--Increment Counter
cnt_next <= cnt + 1;
case (cnt) is
-- OUTPUT HEADER
-- Packet Length
when 1 =>
output_sig <= TODO;
-- Src IPv4 Address
when 2 =>
output_sig <= DEFAULT_IPv4_MULTICAST_ADDRESS;
-- Dest IPv4 Address
when 3 =>
output_sig <= src_addr;
-- Src and Dest UDPv4 Ports
when 4 =>
output_sig <= META_IPv4_UNICAST_PORT & src_port;
-- RTPS MESSAGE HEADER
when 5 =>
output_sig <= PROTOCOL_RTPS;
when 6 =>
output_sig <= PROTOCOLVERSION_2_4 & VENDORID;
when 7 =>
output_sig <= GUIDPREFIX(0);
when 8 =>
output_sig <= GUIDPREFIX(1);
when 9 =>
output_sig <= GUIDPREFIX(2);
-- ACKNACK RTPS SUBMESSAGE
-- RTPS Submessage Header
when 10 =>
output_sig <= SID_ACKNACK & "00000010" & TODO;
-- Reader Entity ID
when 11 =>
output_sig <= src_entityid;
-- Writer Entity ID
when 12 =>
output_sig <= dest_entityid;
-- Sequence Number Set (Bitmap Base 1/2)
when 13 =>
output_sig <= last_seq_nr(63 downto 32);
-- Sequence Number Set (Bitmap Base 2/2)
when 14 =>
output_sig <= last_seq_nr(31 downto 0);
-- Sequence Number Set (NumBits)
output_sig <= (others => '0');
-- Count
when 15 =>
output_sig <= TODO
when 16 =>
end case;
end if;
--#############################
when SKIP_PARAMETER =>
-- End of Parameter
@ -1581,7 +1723,7 @@ begin
mem_addr_next <= addr_res + to_unsigned(11, mem_addr'length);
when EDP =>
-- Publisher
if (is_requested = '0') then
if (is_subscriber = '0') then
mem_addr_next <= addr_res + to_unsigned(13, mem_addr'length);
-- Subscriber
else
@ -1681,7 +1823,7 @@ begin
mem_addr_next <= mem_addr_base + to_unsigned(11, mem_addr'length);
when EDP =>
-- Publisher
if (is_requested = '0') then
if (is_subscriber = '0') then
mem_addr_next <= mem_addr_base + to_unsigned(13, mem_addr'length);
-- Subscriber
else
@ -1705,9 +1847,11 @@ begin
-- Memory Preload
null;
when 1 =>
mem_seq_nr_next(63 downto 32) <= mem_read_data;
mem_seq_nr_next(63 downto 32) <= unsigned(mem_read_data);
when 2 =>
mem_seq_nr_next(31 downto 0) <= mem_read_data;
mem_seq_nr_next(31 downto 0) <= unsigned(mem_read_data);
when 3 =>
next_seq_nr_next <= mem_seq_nr + to_unsigned(1,mem_seq_nr'length);
mem_stage_next <= IDLE;
end case;
when SEARCH_ENDPOINT =>
@ -1954,10 +2098,10 @@ begin
mem_write_data <= lease_deadline(1);
when 12 =>
-- SPDP Sequence Number 1/2
mem_write_data <= seq_nr(0);
mem_write_data <= std_logic_vector(seq_nr(63 downto 32));
when 13 =>
-- SPDP Sequence Number 2/2
mem_write_data <= seq_nr(1);
mem_write_data <= std_logic_vector(seq_nr(31 downto 0));
when 14 =>
-- Publication Sequence Number 1/2
mem_write_data <= (others => '0');
@ -2123,9 +2267,9 @@ begin
mem_addr_next <= mem_addr + to_unsigned(1, mem_addr'length);
case (mem_cnt) is
when 0 =>
mem_write_data <= seq_nr(63 downto 32);
mem_write_data <= std_logic_vector(seq_nr(63 downto 32));
when 1 =>
mem_write_data <= seq_nr(31 downto 0);
mem_write_data <= std_logic_vector(seq_nr(31 downto 0));
mem_stage_next <= IDLE;
end case;
when others =>

596
src/rtps_package.vhd
View File

@ -36,12 +36,15 @@ package rtps_package is
constant MAC_ADDRESS : std_logic_vector(47 downto 0) := x"97917E0BA8CF";
-- Domain ID
constant USER_DOMAIN_ID : integer := 1;
-- Domain TAG
constant USER_DOMAIN_TAG : string := "";
-----------------------------------------------------------------------------------------------------
-- *DO NOT MODIFY BEGIN*
type ENDPOINT_WITH_KEY_TYPE is array (0 to MAX_ENDPOINTS-1) of boolean;
type ENDPOINT_TOPIC_STRING_TYPE is array (0 to MAX_ENDPOINTS-1) of string(1 to 256);
type ENDPOINT_TOPIC_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(0 to (256*8)-1);
type ENDPOINT_STRING_TYPE is array (0 to MAX_ENDPOINTS-1) of string(1 to 256);
type STRING_SLV_WORD_TYPE is array (0 to (256*8)/32) of std_logic_vector(31 downto 0);
type ENDPOINT_STRING_SLV_TYPE is array (0 to MAX_ENDPOINTS-1) of STRING_SLV_WORD_TYPE;
subtype QOS_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0);
subtype QOS_SLV_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0);
type DURATION_TYPE is array (0 to 1) of unsigned(31 downto 0);
@ -85,8 +88,10 @@ package rtps_package is
constant ENDPOINT_WITH_KEY : ENDPOINT_WITH_KEY_TYPE := (0 => FALSE);
-- Array mapping Topic Strings to Endpoints
-- NOTE: All strings have to be padded to 256 characters
constant ENDPOINT_TOPIC_STRING : ENDPOINT_TOPIC_STRING_TYPE := (0 => "Placeholder" & (12 to 256 => NUL));
constant ENDPOINT_TOPIC : ENDPOINT_TOPIC_TYPE; -- Deferred to Package Body
constant ENDPOINT_TOPIC_STRING : ENDPOINT_STRING_TYPE := (0 => "Placeholder" & (12 to 256 => NUL));
constant ENDPOINT_TOPIC : ENDPOINT_STRING_SLV_TYPE; -- Deferred to Package Body
constant ENDPOINT_TYPE_STRING : ENDPOINT_STRING_TYPE := (0 => "Placeholder" & (12 to 256 => NUL));
constant ENDPOINT_TYPE : ENDPOINT_STRING_SLV_TYPE; -- Deferred to Package Body
constant ENDPOINT_DURABILITY : QOS_TYPE := (0 => VOLATILE_DURABILITY_QOS);
constant ENDPOINT_PRESENTATION : QOS_TYPE := (0 => INSTANCE_PRESENTATION_QOS);
constant ENDPOINT_COHERENT_ACCESS : std_logic_vector(0 to MAX_ENDPOINTS-1) := (others => '0');
@ -97,7 +102,7 @@ package rtps_package is
-- Only relevant for Readers
constant ENDPOINT_TIME_BASED_FILTER : ENDPOINT_DURATION_TYPE := (0 => (to_unsigned(0,32),to_unsigned(0,32))); --TODO: Assert
constant ENDPOINT_RELIABILITY : QOS_TYPE := (0 => RELIABLE_RELIABILITY_QOS);
constant ENDPOINT_MAX_BLOCKING_TIME : ENDPOINT_DURATION_TYPE := (0 => (to_unsigned(0,32),to_unsigned(1,32)));
constant ENDPOINT_MAX_BLOCKING_TIME : ENDPOINT_DURATION_TYPE := (0 => (to_unsigned(0,32),to_unsigned(429496730,32))); --ca 100ms
-- Only relevant for Writers
constant ENDPOINT_LIFESPAN : ENDPOINT_DURATION_TYPE := (0 => DURATION_INFINITE);
constant ENDPOINT_DESTINATION_ORDER : QOS_TYPE := (0 => BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS);
@ -107,6 +112,9 @@ package rtps_package is
constant ENDPOINT_MAX_INSTANCES : QOS_SLV_TYPE := (0 => std_logic_vector(to_unsigned(0,32))); --TODO: Assert
constant ENDPOINT_MAX_SAMP_PER_INST : QOS_SLV_TYPE := (0 => std_logic_vector(to_unsigned(0,32))); --TODO: Assert
constant DEFAULT_PARTICIPANT_LEASE_DURATION : DURATION_TYPE := (to_unsigned(100,32),to_unsigned(0,32);
constant PARTICIPANT_LEASE_DURATION : DURATION_TYPE := DEFAULT_PARTICIPANT_LEASE_DURATION;
-- NOTE: The buffer will not only store participants, but also endpoint data
-- Used to determine the size of the built-inendpoint buffer
constant MAX_REMOTE_PARTICIPANTS : integer := 50;
@ -229,6 +237,7 @@ package rtps_package is
constant DOMAIN_ID : std_logic_vector(DOMAIN_ID_WIDTH-1 downto 0) := to_unsigned(USER_DOMAIN_ID, DOMAIN_ID'length);
constant DOMAIN_TAG : STRING_SLV_WORD_TYPE; -- Deferred to packgae body
-- Since this implementation runs on the same network stack and the RTPS Endpoints (Readers & Writers)
-- can be differentiated based on their Entity ID, it makes no sense to have multiple IP Addresses
@ -251,15 +260,11 @@ package rtps_package is
-- participant_id=0
constant USER_IPv4_UNICAST_PORT : std_logic_vector(UDP_PORT_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(PORT_CONFIG_PB + PORT_CONFIG_D3 + PORT_CONFIG_DG*USER_DOMAIN_ID, UDP_PORT_WIDTH));
-- First two bytes have to be Vendor ID (see DDSI-RTPS 2.3 Section 9.3.1.5)
-- Next we insert the MAC address for uniqueness
-- Next we insert the Domain ID
type GUIDPREFIX_ARRAY_TYPE is array (0 to GUIDPREFIX_WIDTH/32-1) of std_logic_vector(31 downto 0);
type GUID_ARRAY_TYPE is array (0 to (GUIDPREFIX_WIDTH+ENTITYID_WIDTH)/32-1) of std_logic_vector(31 downto 0);
constant GUIDPREFIX : std_logic_vector(GUIDPREFIX_WIDTH-1 downto 0) := (GUIDPREFIX_WIDTH-1 downto GUIDPREFIX_WIDTH-VENDORID_WIDTH => VENDORID, GUIDPREFIX_WIDTH-VENDORID_WIDTH-1 downto GUIDPREFIX_WIDTH-VENDORID_WIDTH-48 => MAC_ADDRESS, DOMAIN_ID_WIDTH-1 downto 0 => DOMAIN_ID);
constant GUIDPREFIX_UNKNOWN : std_logic_vector(GUIDPREFIX_WIDTH-1 downto 0) := (others => '0');
constant GUIDPREFIX_UNKNOWN_ARRAY : GUIDPREFIX_ARRAY_TYPE := (others => (others => '0'));
type GUIDPREFIX_TYPE is array (0 to GUIDPREFIX_WIDTH/32-1) of std_logic_vector(31 downto 0);
type GUID_TYPE is array (0 to (GUIDPREFIX_WIDTH+ENTITYID_WIDTH)/32-1) of std_logic_vector(31 downto 0);
constant GUIDPREFIX : GUIDPREFIX_TYPE; -- Deferred to Package Body
constant GUIDPREFIX_UNKNOWN : GUIDPREFIX_TYPE := (others => (others => '0'));
subtype ENTITY_KIND_H is std_logic_vector(1 downto 0);
subtype ENTITY_KIND_L is std_logic_vector(5 downto 0);
@ -329,9 +334,15 @@ package rtps_package is
type USER_ENDPOINT_OUTPUT is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0);
type ENDPOINT_BITMASK_ARRAY_TYPE is array (0 to ENDPOINT_BITMASK_SIZE-1) of std_logic_vector(31 downto 0);
-- TODO
type BUILTIN_ENDPOINT_DATA_TYPE is array (range <>) of std_logic_vector(31 downto 0);
constant BUILTIN_ENDPOINT_DATA : BUILTIN_ENDPOINT_DATA_TYPE; --Deferred to package body
type WORD_ARRAY_TYPE is array (range <>) of std_logic_vector(31 downto 0);
type OUTPUT_DATA_TYPE is record
data : WORD_ARRAY_TYPE;
length : integer;
end record;
constant READER_ENDPOINT_DATA : OUTPUT_DATA_TYPE; --Deferred to package body
constant WRITER_ENDPOINT_DATA : OUTPUT_DATA_TYPE; --Deferred to package body
constant PARTICIPANT_DATA : OUTPUT_DATA_TYPE; --Deferred to package body
end package;
@ -366,18 +377,559 @@ package body rtps_package is
constant ENTITYID : ENTITYID_TYPE := gen_entyid;
function convert_string (string_array : ENDPOINT_TOPIC_STRING_TYPE) return ENDPOINT_TOPIC_TYPE is
variable ret : ENDPOINT_TOPIC_TYPE
function gen_guidprefix return GUIDPREFIX_TYPE is
variable tmp : std_logic_vector(GUIDPREFIX_WIDTH-1 downto 0) := (others => '0');
variable ret : GUIDPREFIX_TYPE := (others => (others => '0'));
begin
tmp := (others => '0');
ret := (others => (others => '0'));
-- First two bytes have to be Vendor ID (see DDSI-RTPS 2.3 Section 9.3.1.5)
tmp(GUIDPREFIX_WIDTH-1 downto GUIDPREFIX_WIDTH-VENDORID_WIDTH) <= VENDORID;
-- Next we insert the MAC address for uniqueness
tmp(GUIDPREFIX_WIDTH-VENDORID_WIDTH-1 downto GUIDPREFIX_WIDTH-VENDORID_WIDTH-48) <= MAC_ADDRESS;
-- Next we insert the Domain ID
tmp(DOMAIN_ID_WIDTH-1 downto 0) <= DOMAIN_ID;
-- Convert to return type
for i in 0 to ret'length-1 loop
for j in 1 to ret'length(1) loop
ret(i)((256-j)*8 to ((257-j)*8)-1) := std_logic_vector(to_unsigned(character'POS(string_array(i)(j)), 8));
ret(i) := tmp(GUIDPREFIX_WIDTH-(i*ret'length(1))-1 downto GUIDPREFIX_WIDTH-(i*ret'length(1))-ret'length(1));
end loop;
return ret;
end function;
constant GUIDPREFIX : GUIDPREFIX_TYPE := gen_guidprefix;
function convert_string (str : string) return STRING_SLV_WORD_TYPE is
variable ret : STRING_SLV_WORD_TYPE := (others => (others => '0'));
begin
ret := (others => others => '0'));
for i in 0 to ret'length-1 loop
ret(i) := std_logic_vector(to_unsigned(character'POS(str(i)), 8)) & std_logic_vector(to_unsigned(character'POS(str(i+1)), 8)) & std_logic_vector(to_unsigned(character'POS(str(i+2)), 8)) & std_logic_vector(to_unsigned(character'POS(str(i+3)), 8));
end loop;
return ret;
end function;
function convert_endpoint_string (string_array : ENDPOINT_STRING_TYPE) return ENDPOINT_STRING_SLV_TYPE is
variable ret : ENDPOINT_STRING_SLV_TYPE := (others => (others => (others => '0')));
begin
ret := (others => (others => (others => '0')));
for i in 0 to ret'length-1 loop
ret(i) := convert_string(string_array(i));
end loop;
return ret;
end function;
constant ENDPOINT_TOPIC : ENDPOINT_STRING_SLV_TYPE := convert_endpoint_string(ENDPOINT_TOPIC_STRING);
constant ENDPOINT_TYPE : ENDPOINT_STRING_SLV_TYPE := convert_endpoint_string(ENDPOINT_TYPE_STRING);
constant DOMAIN_TAG : STRING_SLV_WORD_TYPE := convert_string(USER_DOMAIN_TAG);
function string_len (str : STRING_SLV_WORD_TYPE) return integer is
ret : integer := 0;
begin
ret := 0;
for i in 0 to str'length loop
for j in 0 to str'length(1)-1 loop
-- Count Bytes
ret := ret + 1;
-- Exit on first NULL byte (NULL Byte included in count)
if (str(i)(str'length(1)-j*8-1 downto str'length(1)-j*8-8) = (8 downto 0 => '0')) then
exit;
end if;
end loop;
end loop;
return ret;
end function;
constant ENDPOINT_TOPIC : ENDPOINT_TOPIC_TYPE := convert_string(ENDPOINT_TOPIC_STRING);
function gen_reader_endpoint_data return OUTPUT_DATA_TYPE is
-- Limit DATA to MAX UDPv4 Payload Size (65,507 Bytes)
variable ret : OUTPUT_DATA_TYPE(data(0 to 16376)) := (data => (others => (others => '0')), length => 0);
variable ind : integer := 0;
variable len : integer := 0;
variable tmp : integer := 0;
begin
ret.data := (others => (others => '0'));
ret.length := 0;
len := 0;
ind := 0;
ind2 := 0;
-- RTPS HEADER
ret.data(0) := PROTOCOL_RTPS;
ret.data(1) := PROTOCOLVERSION_2_4 & VENDORID;
ret.data(2) := GUIDPREFIX(0);
ret.data(3) := GUIDPREFIX(1);
ret.data(4) := GUIDPREFIX(2);
ind := 5;
-- RTPS Submessages
-- One DATA Submessage for each Reader
for i in 0 to NUM_READERS-1 loop
-- RTPS Submessage Header
ret.data(ind) := SID_DATA & "00000100" & x"0000";
-- DATA Header (extraFlags, octetsToInlineQoS)
len := len + 1;
ret.data(ind+len) := x"0000" & std_logic_vector(to_unsigned(16, 16));
-- DATA Header (Reader Entity ID)
len := len + 1;
ret.data(ind+len) := ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_DETECTOR;
-- DATA Header (Writer Entity ID)
len := len + 1;
ret.data(ind+len) := ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_ANNOUNCER;
-- DATA Header (Sequence Number)
len := len + 1;
ret.data(ind+len) := (others => '0');
-- DATA Header (Sequence Number)
len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(i+1, ret.data'length(1)));
-- Serialized Payload Header
len := len + 1;
ret.data(ind+len) := PL_CDR_BE & x"0000";
-- Serialized Payload BEGIN
-- GUID
len := len + 1;
ret.data(ind+len):= PID_ENDPOINT_GUID & std_logic_vector(to_unsigned(16, 16));
len := len + 1;
ret.data(ind+len) := GUIDPREFIX(0);
len := len + 1;
ret.data(ind+len) := GUIDPREFIX(1);
len := len + 1;
ret.data(ind+len) := GUIDPREFIX(2);
len := len + 1;
ret.data(ind+len) := ENTITYID(i);
-- EXPECTS INLINE QOS (Only relevant for Reader endpoints)
if (i < NUM_READERS) then
len := len + 1;
ret.data(ind+len) := PID_EXPECTS_INLINE_QOS & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len) := (24 => '1', others => '0');
end if;
-- TOPIC NAME
tmp := string_len(ENDPOINT_TOPIC(i));
len := len + 1;
ret.data(ind+len) := PID_TOPIC_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to tmp-1 loop
len := len + 1;
ret.data(ind+len) := ENDPOINT_TOPIC(i)(j);
end loop;
-- TYPE NAME
tmp := string_len(ENDPOINT_TYPE(i));
len := len + 1;
ret.data(ind+len) := PID_TYPE_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to tmp-1 loop
len := len + 1;
ret.data(ind+len) := ENDPOINT_TYPE(i)(j);
end loop;
-- DURABILITY
if (ENDPOINT_DURABILITY(i) /= VOLATILE_DURABILITY_QOS) then
len := len + 1;
ret.data(ind+len) := PID_DURABILITY & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_DURABILITY(i);
end if;
-- DEADLINE
if (ENDPOINT_DEADLINE(i) /= DURATION_INFINITE) then
len := len + 1;
ret.data(ind+len) := PID_DEADLINE & std_logic_vector(to_unsigned(8, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_DEADLINE(i)(0);
len := len + 1;
ret.data(ind+len) := ENDPOINT_DEADLINE(i)(1);
end if;
-- LIVELINESS
if (ENDPOINT_LIVELINESS(i) /= AUTOMATIC_LIVELINESS_QOS or ENDPOINT_LEASE_DURATION(i) /= DURATION_INFINITE) then
len := len + 1;
ret.data(ind+len) := PID_LIVELINESS & std_logic_vector(to_unsigned(12, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_LIVELINESS(i);
len := len + 1;
ret.data(ind+len) := ENDPOINT_LEASE_DURATION(i)(0);
len := len + 1;
ret.data(ind+len) := ENDPOINT_LEASE_DURATION(i)(1);
end if;
-- RELIABILITY
-- TODO: Check also max_blocking_time for change (Currently ignored)
if (ENDPOINT_RELIABILITY(i) /= RELIABLE_RELIABILITY_QOS) then
len := len + 1;
ret.data(ind+len) := PID_RELIABILITY & std_logic_vector(to_unsigned(12, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_RELIABILITY(i);
len := len + 1;
ret.data(ind+len) := ENDPOINT_MAX_BLOCKING_TIME(i)(0);
len := len + 1;
ret.data(ind+len) := ENDPOINT_MAX_BLOCKING_TIME(i)(1);
end if;
-- DESTINATION ORDER
if (ENDPOINT_DESTINATION_ORDER(i) /= BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS) then
len := len + 1;
ret.data(ind+len) := PID_DESTINATION_ORDER & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_DESTINATION_ORDER(i);
end if;
-- PRESENTATION
if (ENDPOINT_PRESENTATION(i) /= INSTANCE_PRESENTATION_QOS) then
len := len + 1;
ret.data(ind+len) := PID_PRESENTATION & std_logic_vector(to_unsigned(8, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_PRESENTATION(i);
len := len + 1;
ret.data(ind+len) := (24 => ENDPOINT_COHERENT_ACCESS(i), 16 => ENDPOINT_ORDERED_ACCESS(i), others => '0');
end if;
-- SENTINEL
len := len + 1;
ret.data(ind+len) := PID_SENTINEL & std_logic_vector(to_unsigned(0, 16));
-- Fix Submessage Length
ret.data(ind)(15 downto 0) := std_logic_vector(to_unsigned(len*4, 16));
-- Reset Pointers
ind := ind + len + 1;
len := 0;
end loop;
-- Store Total Length
ret.length := ind;
return ret;
end function;
constant READER_ENDPOINT_DATA : OUTPUT_DATA_TYPE := gen_reader_endpoint_data;
function gen_writer_endpoint_data return OUTPUT_DATA_TYPE is
-- Limit DATA to MAX UDPv4 Payload Size (65,507 Bytes)
variable ret : OUTPUT_DATA_TYPE(data(0 to 16376)) := (data => (others => (others => '0')), length => 0);
variable ind : integer := 0;
variable len : integer := 0;
variable tmp : integer := 0;
begin
ret.data := (others => (others => '0'));
ret.length := 0;
len := 0;
ind := 0;
ind2 := 0;
-- RTPS HEADER
ret.data(0) := PROTOCOL_RTPS;
ret.data(1) := PROTOCOLVERSION_2_4 & VENDORID;
ret.data(2) := GUIDPREFIX(0);
ret.data(3) := GUIDPREFIX(1);
ret.data(4) := GUIDPREFIX(2);
ind := 5;
-- RTPS Submessages
-- One DATA Submessage for each Endpoint
for i in NUM_READERS to MAX_ENDPOINTS-1 loop
-- RTPS Submessage Header
ret.data(ind) := SID_DATA & "00000100" & x"0000";
-- DATA Header (extraFlags, octetsToInlineQoS)
len := len + 1;
ret.data(ind+len) := x"0000" & std_logic_vector(to_unsigned(16, 16));
-- DATA Header (Reader Entity ID)
len := len + 1;
ret.data(ind+len) := ENTITYID_SEDP_BUILTIN_PUBLICATIONS_DETECTOR;
-- DATA Header (Writer Entity ID)
len := len + 1;
ret.data(ind+len) := ENTITYID_SEDP_BUILTIN_PUBLICATIONS_ANNOUNCER;
-- DATA Header (Sequence Number)
len := len + 1;
ret.data(ind+len) := (others => '0');
-- DATA Header (Sequence Number)
len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(i-NUM_READERS+1, ret.data'length(1)));
-- Serialized Payload Header
len := len + 1;
ret.data(ind+len) := PL_CDR_BE & x"0000";
-- Serialized Payload BEGIN
-- GUID
len := len + 1;
ret.data(ind+len):= PID_ENDPOINT_GUID & std_logic_vector(to_unsigned(16, 16));
len := len + 1;
ret.data(ind+len) := GUIDPREFIX(0);
len := len + 1;
ret.data(ind+len) := GUIDPREFIX(1);
len := len + 1;
ret.data(ind+len) := GUIDPREFIX(2);
len := len + 1;
ret.data(ind+len) := ENTITYID(i);
-- EXPECTS INLINE QOS (Only relevant for Reader endpoints)
if (i < NUM_READERS) then
len := len + 1;
ret.data(ind+len) := PID_EXPECTS_INLINE_QOS & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len) := (24 => '1', others => '0');
end if;
-- TOPIC NAME
tmp := string_len(ENDPOINT_TOPIC(i));
len := len + 1;
ret.data(ind+len) := PID_TOPIC_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to tmp-1 loop
len := len + 1;
ret.data(ind+len) := ENDPOINT_TOPIC(i)(j);
end loop;
-- TYPE NAME
tmp := string_len(ENDPOINT_TYPE(i));
len := len + 1;
ret.data(ind+len) := PID_TYPE_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to tmp-1 loop
len := len + 1;
ret.data(ind+len) := ENDPOINT_TYPE(i)(j);
end loop;
-- DURABILITY
if (ENDPOINT_DURABILITY(i) /= VOLATILE_DURABILITY_QOS) then
len := len + 1;
ret.data(ind+len) := PID_DURABILITY & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_DURABILITY(i);
end if;
-- DEADLINE
if (ENDPOINT_DEADLINE(i) /= DURATION_INFINITE) then
len := len + 1;
ret.data(ind+len) := PID_DEADLINE & std_logic_vector(to_unsigned(8, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_DEADLINE(i)(0);
len := len + 1;
ret.data(ind+len) := ENDPOINT_DEADLINE(i)(1);
end if;
-- LIVELINESS
if (ENDPOINT_LIVELINESS(i) /= AUTOMATIC_LIVELINESS_QOS or ENDPOINT_LEASE_DURATION(i) /= DURATION_INFINITE) then
len := len + 1;
ret.data(ind+len) := PID_LIVELINESS & std_logic_vector(to_unsigned(12, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_LIVELINESS(i);
len := len + 1;
ret.data(ind+len) := ENDPOINT_LEASE_DURATION(i)(0);
len := len + 1;
ret.data(ind+len) := ENDPOINT_LEASE_DURATION(i)(1);
end if;
-- RELIABILITY
-- TODO: Check also max_blocking_time for change (Currently ignored)
if (ENDPOINT_RELIABILITY(i) /= RELIABLE_RELIABILITY_QOS) then
len := len + 1;
ret.data(ind+len) := PID_RELIABILITY & std_logic_vector(to_unsigned(12, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_RELIABILITY(i);
len := len + 1;
ret.data(ind+len) := ENDPOINT_MAX_BLOCKING_TIME(i)(0);
len := len + 1;
ret.data(ind+len) := ENDPOINT_MAX_BLOCKING_TIME(i)(1);
end if;
-- LIFESPAN
if (ENDPOINT_LIFESPAN(i) /= DURATION_INFINITE) then
len := len + 1;
ret.data(ind+len) := PID_LIFESPAN & std_logic_vector(to_unsigned(8, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_LIFESPAN(i)(0);
len := len + 1;
ret.data(ind+len) := ENDPOINT_LIFESPAN(i)(1);
end if;
-- DESTINATION ORDER
if (ENDPOINT_DESTINATION_ORDER(i) /= BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS) then
len := len + 1;
ret.data(ind+len) := PID_DESTINATION_ORDER & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_DESTINATION_ORDER(i);
end if;
-- PRESENTATION
if (ENDPOINT_PRESENTATION(i) /= INSTANCE_PRESENTATION_QOS) then
len := len + 1;
ret.data(ind+len) := PID_PRESENTATION & std_logic_vector(to_unsigned(8, 16));
len := len + 1;
ret.data(ind+len) := ENDPOINT_PRESENTATION(i);
len := len + 1;
ret.data(ind+len) := (24 => ENDPOINT_COHERENT_ACCESS(i), 16 => ENDPOINT_ORDERED_ACCESS(i), others => '0');
end if;
-- SENTINEL
len := len + 1;
ret.data(ind+len) := PID_SENTINEL & std_logic_vector(to_unsigned(0, 16));
-- Fix Submessage Length
ret.data(ind)(15 downto 0) := std_logic_vector(to_unsigned(len*4, 16));
-- Reset Pointers
ind := ind + len + 1;
len := 0;
end loop;
-- Store Total Length
ret.length := ind;
return ret;
end function;
constant ENDPOINT_DATA : OUTPUT_DATA_TYPE := gen_writer_endpoint_data;
function gen_participant_data return OUTPUT_DATA_TYPE is
-- Limit DATA to MAX UDPv4 Payload Size (65,507 Bytes)
variable ret : OUTPUT_DATA_TYPE(data(0 to 16376)) := (data => (others => (others => '0')), length => 0);
variable ind : integer := 0;
variable len : integer := 0;
variable tmp : integer := 0;
begin
ret.data := (others => (others => '0'));
ret.length := 0;
len := 0;
ind := 0;
ind2 := 0;
-- RTPS HEADER
ret.data(0) := PROTOCOL_RTPS;
ret.data(1) := PROTOCOLVERSION_2_4 & VENDORID;
ret.data(2) := GUIDPREFIX(0);
ret.data(3) := GUIDPREFIX(1);
ret.data(4) := GUIDPREFIX(2);
ind := 5;
-- RTPS DATA SUBMESSAGE
-- RTPS Submessage Header
ret.data(ind) := SID_DATA & "00000100" & x"0000";
-- DATA Header (extraFlags, octetsToInlineQoS)
len := len + 1;
ret.data(ind+len) := x"0000" & std_logic_vector(to_unsigned(16, 16));
-- DATA Header (Reader Entity ID)
len := len + 1;
ret.data(ind+len) := ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR;
-- DATA Header (Writer Entity ID)
len := len + 1;
ret.data(ind+len) := ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER;
-- DATA Header (Sequence Number)
len := len + 1;
ret.data(ind+len) := (others => '0');
-- DATA Header (Sequence Number)
len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(1, ret.data'length(1)));
-- Serialized Payload Header
len := len + 1;
ret.data(ind+len) := PL_CDR_BE & x"0000";
-- Serialized Payload BEGIN
-- GUID
len := len + 1;
ret.data(ind+len):= PID_PARTICIPANT_GUID & std_logic_vector(to_unsigned(16, 16));
len := len + 1;
ret.data(ind+len) := GUIDPREFIX(0);
len := len + 1;
ret.data(ind+len) := GUIDPREFIX(1);
len := len + 1;
ret.data(ind+len) := GUIDPREFIX(2);
len := len + 1;
ret.data(ind+len) := ENTITYID_PARTICIPANT;
-- DOMAIN ID
len := len + 1;
ret.data(ind+len):= PID_DOMAIN_ID & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len):= DOMAIN_ID;
-- DOMAIN TAG
if (USER_DOMAIN_TAG /= "") 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));
len := len + 1;
ret.data(ind+len) := std_logic_vector(to_unsigned(tmp, 32));
for j in 0 to tmp-1 loop
len := len + 1;
ret.data(ind+len) := DOMAIN_TAG(j);
end loop;
end if;
-- PROTOCOL VERSION
len := len + 1;
ret.data(ind+len) := PID_PROTOCOL_VERSION & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len) := (31 downto 16 => PROTOCOLVERSION_2_4, others => '0');
-- VENDORID
len := len + 1;
ret.data(ind+len) := PID_VENDORID & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len) := (31 downto 16 => VENDORID, others => '0');
-- TODO: Expects inline QoS of Participant
-- METATRAFFIC UNICAST LOCATOR
len := len + 1;
ret.data(ind+len) := PID_METATRAFFIC_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4;
len := len + 1;
ret.data(ind+len) := (16 downto 0 => META_IPv4_UNICAST_PORT, others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_MULTICAST_ADDRESS;
-- METATRAFFIC MULTICAST LOCATOR
len := len + 1;
ret.data(ind+len) := PID_METATRAFFIC_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4;
len := len + 1;
ret.data(ind+len) := (16 downto 0 => META_IPv4_MULTICAST_PORT, others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_MULTICAST_ADDRESS;
-- DEFAULT UNICAST LOCATOR
len := len + 1;
ret.data(ind+len) := PID_DEFAULT_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4;
len := len + 1;
ret.data(ind+len) := (16 downto 0 => USER_IPv4_UNICAST_PORT, others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_MULTICAST_ADDRESS;
-- DEFAULT MULTICAST LOCATOR
len := len + 1;
ret.data(ind+len) := PID_METATRAFFIC_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
len := len + 1;
ret.data(ind+len) := LOCATOR_KIND_UDPv4;
len := len + 1;
ret.data(ind+len) := (16 downto 0 => META_IPv4_MULTICAST_PORT, others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_MULTICAST_ADDRESS;
-- LEASE DURATION
if (PARTICIPANT_LEASE_DURATION /= DEFAULT_PARTICIPANT_LEASE_DURATION) then
len := len + 1;
ret.data(ind+len) := PID_PARTICIPANT_LEASE_DURATION & std_logic_vector(to_unsigned(8, 16));
len := len + 1;
ret.data(ind+len) := PARTICIPANT_LEASE_DURATION(0);
len := len + 1;
ret.data(ind+len) := PARTICIPANT_LEASE_DURATION(1);
end if;
-- AVAILABLE ENDPOINTS
len := len + 1;
ret.data(ind+len) := PID_BUILTIN_ENDPOINT_SET & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len) := (DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER => '1', DISC_BUILTIN_ENDPOINT_PARTICIPANT_DETECTOR => '1', BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_WRITER => '1', BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_READER => '1', others => '0');
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';
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';
end if;
-- MANUAL LIVELINESS COUNT
len := len + 1;
ret.data(ind+len) := PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT & std_logic_vector(to_unsigned(4, 16));
len := len + 1;
ret.data(ind+len) := (others => '0');
-- SENTINEL
len := len + 1;
ret.data(ind+len) := PID_SENTINEL & std_logic_vector(to_unsigned(0, 16));
-- Store Length
ret.length := ind + len + 1;
return ret;
end function;
constant PARTICIPANT_DATA : OUTPUT_DATA_TYPE := gen_participant_data;
end package body;