* Added testbench package
* First rtps_handler Testbench NOTE: Not tested/compiled.
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src/Tests/Level 0/rtps_handler-test1.vhd
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834
src/Tests/Level 0/rtps_handler-test1.vhd
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library ieee;
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use ieee.std_logic_1164.all;
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use ieee.numeric_std.all;
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entity rtps_handler-test1 is
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end entity;
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architecture testbench of rtps_handler-test1 is
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-- *COMPONENT DECLARATION*
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component rtps_handler is
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port (
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clk : in std_logic; -- Input Clock
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reset : in std_logic; -- Synchronous Reset
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empty : in std_logic; -- Input FIFO empty flag
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rd : out std_logic; -- Input FIFO read signal
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data_in : in std_logic_vector(WORD_WIDTH-1 downto 0); -- Input FIFO data signal
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data_out : out std_logic_vector(WORD_WIDTH-1 downto 0); -- Output data signal
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builtin_full : in std_logic; -- Output FIFO (Built-In Endpoint) full signal
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builtin_wr : out std_logic; -- Output FIFO (Built-In Endpoint) write signal
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user_full : in std_logic_vector(0 to NUM_ENDPOINTS-1); -- Output FIFO (User Endpoints) full signal
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user_wr : out std_logic_vector(0 to NUM_ENDPOINTS-1); -- Output FIFO (User Endpoints) write signal
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last_word_out : out std_logic -- Output FIFO Last Word signal
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);
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end component;
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-- *FUNCTION DECLARATION*
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-- *SIGNAL DECLARATION*
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signal clk, reset, in_empty, rd_sig, builtin_full, builtin_wr, user_full, user_wr, last_word_out, packet_done : std_logic := '0';
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signal data_in, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
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signal stimulus, reference : TEST_PACKET_TYPE := (
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data => (others => (others => '0')),
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length => 0
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);
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begin
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-- Unit Under Test
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uut : rtps_handler
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port map (
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clk => clk,
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reset => reset,
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empty => in_empty,
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rd => rd_sig,
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data_in => data_in,
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data_out => data_out,
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builtin_full => builtin_full,
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builtin_wr => builtin_wr
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user_full => user_full,
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user_wr => user_wr
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last_word_out => last_word_out
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);
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stimulus_prc : process
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variable ep : ENDPOINT_DATA_TYPE := DEFAULT_ENDPOINT_DATA;
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constant rand_data : TEST_PACKET_TYPE := (length => 2, data => (0 => rand_slv(WORD_WIDTH), 1 => rand_slv(WORD_WIDTH)));
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variable rtps_header : RTPS_HEADER_TYPE := DEFAULT_RTPS_HEADER;
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variable acknack : RTPS_ACKNACK_SUBMESSAGE_TYPE := DEFAULT_RTPS_ACKNACK_SUBMESSAGE;
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variable data : RTPS_DATA_SUBMESSAGE_TYPE := DEFAULT_RTPS_DATA_SUBMESSAGE;
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variable gap : RTPS_GAP_SUBMESSAGE_TYPE := DEFAULT_RTPS_GAP_SUBMESSAGE;
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variable heartbeat : RTPS_HEARTBEAT_SUBMESSAGE_TYPE := DEFAULT_RTPS_HEARTBEAT_SUBMESSAGE;
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variable info_ts : RTPS_INFO_TIMESTAMP_SUBMESSAGE_TYPE := DEFAULT_RTPS_INFO_TIMESTAMP_SUBMESSAGE;
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variable pad : RTPS_PAD_SUBMESSAGE_TYPE := DEFAULT_RTPS_PAD_SUBMESSAGE;
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variable info_dest : RTPS_INFO_DESTINATION_SUBMESSAGE_TYPE := DEFAULT_RTPS_INFO_DESTINATION_SUBMESSAGE;
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variable info_src : RTPS_INFO_SOURCE_SUBMESSAGE_TYPE := DEFAULT_RTPS_INFO_SOURCE_SUBMESSAGE;
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variable info_reply : RTPS_INFO_REPLY_SUBMESSAGE_TYPE := DEFAULT_RTPS_INFO_REPLY_SUBMESSAGE;
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variable info_reply4 : RTPS_INFO_REPLY_IP4_SUBMESSAGE_TYPE := DEFAULT_RTPS_INFO_REPLY_IP4_SUBMESSAGE;
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variable udp_header_meta, udp_header_user : UDP_HEADER_TYPE := DEFAULT_UDP_HEADER;
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begin
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ep.entityId := rand_slv(ep.entityId'length);
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acknack.readerId := ep.entityId;
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data.writerId := ep.entityId;
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gap.writerId := ep.entityId;
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heartbeat.writerId := ep.entityId;
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data.flags(SUBMESSAGE_DATA_FLAG_POS) := '1';
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data.data := rand_data;
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rtps_header.guidPrefix := ep.participant.guidPrefix;
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udp_header_meta.dest := DEST_LOC.meta.locator(0);
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udp_header_user.dest := DEST_LOC.user.locator(0);
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udp_header_meta.src := ep.participant.defaultUnicastLocatorList.locator(0);
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udp_header_user.src := ep.participant.defaultUnicastLocatorList.locator(0);
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info_dest.guidPrefix := GUIDPREFIX;
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info_ts.flags(SUBMESSAGE_INVALIDATE_FLAG_POS) := '0';
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info_ts.timestamp := (unsigned(rand_slv(WORD_WIDTH)),unsigned(rand_slv(WORD_WIDTH)));
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pad.submessageLength := int(28,16);
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info_reply.unicastLocatorList.numLocators := int(2,32);
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info_reply.unicastLocatorList.locator(0) := (
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kind => LOCATOR_KIND_UDPv4,
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port_(UDP_PORT_WIDTH-1 downto 0) => rand_slv(UDP_PORT_WIDTH),
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addr(IPv4_ADDRESS_WIDTH-1 downto 0) => rand_slv(IPv4_ADDRESS_WIDTH)
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);
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info_reply.unicastLocatorList.locator(1) := (
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kind => LOCATOR_KIND_UDPv4,
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port_(UDP_PORT_WIDTH-1 downto 0) => (others => '0'), -- Invalid Port
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addr(IPv4_ADDRESS_WIDTH-1 downto 0) => rand_slv(IPv4_ADDRESS_WIDTH)
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);
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info_reply.multicastLocatorList.numLocators := int(2,32);
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info_reply.multicastLocatorList.locator(0) := (
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kind => LOCATOR_KIND_UDPv4,
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port_(UDP_PORT_WIDTH-1 downto 0) => rand_slv(UDP_PORT_WIDTH),
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addr(IPv4_ADDRESS_WIDTH-1 downto 0) => rand_slv(IPv4_ADDRESS_WIDTH)
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);
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info_reply.multicastLocatorList.locator(1) := (
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kind => LOCATOR_KIND_UDPv4,
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port_(UDP_PORT_WIDTH-1 downto 0) => rand_slv(UDP_PORT_WIDTH),
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addr(IPv4_ADDRESS_WIDTH-1 downto 0) => (others => '0') -- Invalid Addr
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);
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info_reply4.unicastLocator := (
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kind => LOCATOR_KIND_UDPv4,
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port_(UDP_PORT_WIDTH-1 downto 0) => rand_slv(UDP_PORT_WIDTH),
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addr(IPv4_ADDRESS_WIDTH-1 downto 0) => rand_slv(IPv4_ADDRESS_WIDTH)
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);
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info_reply4.multicastLocator := (
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kind => LOCATOR_KIND_UDPv4,
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port_(UDP_PORT_WIDTH-1 downto 0) => rand_slv(UDP_PORT_WIDTH),
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addr(IPv4_ADDRESS_WIDTH-1 downto 0) => rand_slv(IPv4_ADDRESS_WIDTH)
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);
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report "Initiating Test" severity note;
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reset <= '1';
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wait until rising_edge(clk);
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-- *RTPS HEADER*
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report "Sending invalid RTPS Header [Packet Size to small]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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stimulus.length := length-1;
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending invalid RTPS Header [Protocol Missmatch]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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rtps_header.protocol := rand_slv(PROTOCOL_WIDTH);
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gen_rtps_header(rtps_header, stimulus);
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rtps_header.protocol := DEFAULT_RTPS_HEADER.protocol;
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gen_data(data, stimulus);
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending invalid RTPS Header [Protocol Major Version Missmatch]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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rtps_header.version := PROTOCOLVERSION_1_0;
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gen_rtps_header(rtps_header, stimulus);
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rtps_header.version := DEFAULT_RTPS_HEADER.version;
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gen_data(data, stimulus);
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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-- *DATA SUBMESSAGE*
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report "Sending valid DATA [Empty Submessage]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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data.flags(SUBMESSAGE_DATA_FLAG_POS) := '0';
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data.data.length := 0;
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gen_data(data, stimulus);
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data.flags(SUBMESSAGE_DATA_FLAG_POS) := '1';
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data.data := rand_data;
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending valid DATA [Meta Traffic, Both Endianness]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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gen_data(data, stimulus);
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gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
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data.littleEndian := '1';
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gen_data(data, stimulus);
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gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
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data.littleEndian := '0';
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending valid DATA [User Traffic]" severity note;
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gen_udp_header(udp_header_user, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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gen_data(data, stimulus);
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gen_data_out(data, udp_header_user.src, FALSE, TIME_INVALID, rtps_header.guidPrefix, reference);
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending valid DATA [Extra Header Bytes]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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data.octetsToInlineQos := int(23,16);
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gen_data(data, stimulus);
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data.octetsToInlineQos := DEFAULT_RTPS_DATA_SUBMESSAGE.octetsToInlineQos;
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gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending invalid DATA [DATA and KEY Flag set]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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data.flags(SUBMESSAGE_KEY_FLAG_POS) := '1';
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gen_data(data, stimulus);
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data.flags(SUBMESSAGE_KEY_FLAG_POS) := '0';
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gen_data_out(data, udp_header_meta.src, TRUE, TIME_INVALID, rtps_header.guidPrefix, reference);
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending invalid DATA [Packet Size too small]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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gen_data(data, stimulus);
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stimulus.length := length-1;
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending invalid DATA [Submessage Length too small]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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data.submessageLength := int(16,16);
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gen_data(data, stimulus);
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data.submessageLength := DEFAULT_RTPS_DATA_SUBMESSAGE.submessageLength;
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gen_data(data, stimulus);
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending invalid DATA [Invalid writerSN]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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data.sequenceNumber := (others => (others => '0'));
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gen_data(data, stimulus);
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data.sequenceNumber := DEFAULT_RTPS_DATA_SUBMESSAGE.sequenceNumber;
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gen_data(data, stimulus);
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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-- *ACKNACK SUBMESSAGE*
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report "Sending valid ACKNACK [Meta Traffic, Both Endianness]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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gen_acknack(acknack, stimulus);
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gen_acknack_out(acknack, udp_header_meta.src, TRUE, rtps_header.guidPrefix, reference);
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acknack.littleEndian := '1';
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gen_acknack(acknack, stimulus);
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gen_acknack_out(acknack, udp_header_meta.src, TRUE, rtps_header.guidPrefix, reference);
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acknack.littleEndian := '0';
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending valid ACKNACK [User Traffic]" severity note;
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gen_udp_header(udp_header_user, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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gen_acknack(acknack, stimulus);
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gen_acknack_out(acknack, udp_header_user.src, FALSE, rtps_header.guidPrefix, reference);
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending invalid ACKNACK [Packet Size too small]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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gen_acknack(acknack, stimulus);
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stimulus.length := length-1;
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending invalid ACKNACK [Submessage Length too small]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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acknack.submessageLength := int(20,16);
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gen_acknack(acknack, stimulus);
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acknack.submessageLength := DEFAULT_RTPS_ACKNACK_SUBMESSAGE.submessageLength;
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gen_data(data, stimulus);
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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report "Sending invalid ACKNACK [ReaderSNState invalid (Base invalid)]" severity note;
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gen_udp_header(udp_header_meta, stimulus);
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gen_rtps_header(rtps_header, stimulus);
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acknack.readerSNState.base := (others => (others => '0'));
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gen_acknack(acknack, stimulus);
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acknack.readerSNState := DEFAULT_RTPS_ACKNACK_SUBMESSAGE.readerSNState;
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gen_data(data, stimulus);
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fix_udp_packet(stimulus);
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wait until (packet_done = '1');
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stimulus.length := 0;
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reference.length := 0;
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||||||
|
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;
|
||||||
1771
src/rtps_test_package.vhd
Normal file
1771
src/rtps_test_package.vhd
Normal file
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue
Block a user