* Added DDS/RTPS Documentation

* Added initial constant package

.gitattributes

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+doc/*.pdf filter=lfs diff=lfs merge=lfs -text

src/rtps_package.vhd

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+library ieee;
+use ieee.std_logic_1164.all;
+use ieee.numeric_std.all;
+
+package rtps_package is
+
+
+subtype BYTE is std_logic_vector(7 downto 0);
+
+type GUIDPREFIX_TYPE is array (11 downto 0) of BYTE;
+constant GUIDPREFIX_UNKNOWN : GUIDPREFIX_TYPE := (others => (others => '0'));
+
+type ENTITYID_TYPE is array (3 downto 0) of BYTE;
+constant ENTITYID_UNKNOWN : ENTITYID_TYPE := (others => (others => '0'));
+--alias ENTITYKIND : BYTE is ENTITYID(0);
+--alias ENTITYKIND_UPPER : std_logic_vector(1 downto 0) is ENTITYKIND(7 downto 6);
+--FOLLOWING MAP TO ENTITYKIND_UPPER
+constant USER_DEFINED_ENTITY_KIND   : std_logic_vector(1 downto 0) := "00";
+constant BUILT_IN_ENTITY_KIND       : std_logic_vector(1 downto 0) := "11";
+constant VENDOR_SPECIFIC_ENTITY_KIND: std_logic_vector(1 downto 0) := "01";
+--alias ENTITYKIND_LOWER : std_logic_vector(1 downto 0) is ENTITYKIND(5 downto 0);
+--FOLLOWING MAP TO ENTITYKIND_LOWER
+constant WRITER_WITH_KEY    : std_logic_vector(5 downto 0) := "000010";
+constant WRITER_NO_KEY      : std_logic_vector(5 downto 0) := "000011";
+constant READER_NO_KEY      : std_logic_vector(5 downto 0) := "000100";
+constant READER_WITH_KEY    : std_logic_vector(5 downto 0) := "000111";
+constant WRITER_GROUP       : std_logic_vector(5 downto 0) := "001000";
+constant READER_GROUP       : std_logic_vector(5 downto 0) := "001001";
+--
+constant ENTITYID_PARTICIPANT                           : ENTITYID_TYPE := (x"00", x"00", x"01", x"c1");
+constant ENTITYID_SEDP_BUILTIN_TOPICS_ANNOUNCER         : ENTITYID_TYPE := (x"00", x"00", x"02", x"c2");
+constant ENTITYID_SEDP_BUILTIN_TOPICS_DETECTOR          : ENTITYID_TYPE := (x"00", x"00", x"02", x"c7");
+constant ENTITYID_SEDP_BUILTIN_PUBLICATIONS_ANNOUNCER   : ENTITYID_TYPE := (x"00", x"00", x"03", x"c2");
+constant ENTITYID_SEDP_BUILTIN_PUBLICATIONS_DETECTOR    : ENTITYID_TYPE := (x"00", x"00", x"03", x"c7");
+constant ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_ANNOUNCER  : ENTITYID_TYPE := (x"00", x"00", x"04", x"c2");
+constant ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_DETECTOR   : ENTITYID_TYPE := (x"00", x"00", x"04", x"c7");
+constant ENTITYID_SPDP_BUILTIN_PARTICIPANT_ANNOUNCER    : ENTITYID_TYPE := (x"00", x"01", x"00", x"c2");
+constant ENTITYID_SPDP_BUILTIN_PARTICIPANT_DETECTOR     : ENTITYID_TYPE := (x"00", x"01", x"00", x"c7");
+constant ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER: ENTITYID_TYPE := (x"00", x"02", x"00", x"c2");
+constant ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER: ENTITYID_TYPE := (x"00", x"02", x"00", x"c7");
+
+type VENDORID_TYPE is array (1 downto 0) of BYTE;
+--GUIDPREFIX(1 downto 0) <= VENDORID;
+constant VENDORID_UNKNOWN   : VENDORID_TYPE := (others => (others => '0'));
+
+type PROTOCOLVERSION_TYPE is array (1 downto 0) of BYTE;
+constant PROTOCOLVERSION_2_4 : PROTOCOLVERSION_TYPE := (x"02", x"04");
+
+--General BITMAP SET Constants
+constant NUMBITS_WIDTH          : integer := 32;
+constant BITMAP_WIDTH           : integer := 32;
+
+constant SEQUENCENUMBER_WIDTH   : integer := 64;
+type SEQUENCENUMBERSET_HEADER_TYPE is record {
+    bitmapBase  : std_logic_vector(SEQUENCENUMBER_WIDTH-1 downto 0);
+    numBits     : std_logic_vector(NUMBITS_WIDTH-1 downto 0);
+};
+
+subtype FRAGMENTNUMBER_WIDTH : integer := 32;;
+type FRAGMENTNUMBERSET_HEADER_TYPE is record{
+    bitmapBase  : std_logic_vector(FRAGMENTNUMBER_WIDTH-1 downto 0);
+    numBits     : std_logic_vector(NUMBITS_WIDTH-1 downto 0);  
+};
+
+--Fixed Point Q32.32
+constant TIMESTAMP_WIDTH : integer := 64;
+
+constant LOCATOR_KIND : integer := 32;
+constant LOCATOR_PORT : integer := 32;
+constant LOCATOR_ADDR : integer := 128;
+type LOCATOR_TYPE is record{
+    kind    : std_logic_vector(LOCATOR_KIND-1 downto 0);
+    port    : std_logic_vector(LOCATOR_PORT-1 downto 0);
+    addr    : std_logic_vector(LOCATOR_ADDR-1 downto 0);
+};
+constant NUMLOCATOR_WIDTH : integer := 32;
+
+constant LOCATORUDPv4_PORT : integer := 32;
+constant LOCATORUDPv4_ADDR : integer := 32;
+type LOCATORUDPv4_TYPE is record{
+    addr    : std_logic_vector(LOCATORUDPv4_ADDR-1 downto 0);
+    port    : std_logic_vector(LOCATORUDPv4_PORT-1 downto 0);
+};
+
+
+constant PARAMETERID_WIDTH      : integer := 16;
+constant PARAMETERLENGTH_WIDTH  : integer := 16;
+type PARAMETER_HEADER_TYPE is record{
+    pid     : std_logic_vector(PARAMETERID_WIDTH-1 downto 0);
+    length  : std_logic_vector(PARAMETERLENGTH_WIDTH-1 downto 0);
+};
+
+constant PID_PAD        : std_logic_vector(PARAMETERID_WIDTH-1 downto 0) := (others => '0');
+constant PID_SENTINEL   : std_logic_vector(PARAMETERID_WIDTH-1 downto 0) := std_logic_vector(unsigned(1,PARAMETERID_WIDTH));
+
+constant COUNT_WIDTH : integer := 32;
+
+--TODO: GroupDigest?
+
+constant PROTOCOLLD_WIDTH : integer := 32;
+type RTPS_HEADER_TYPE is record{
+    protocol    : std_logic_vector(PROTOCOLLD_WIDTH-1 downto 0);
+    version     : PROTOCOLVERSION_TYPE;
+    vendorid    : VENDORID_TYPE;
+    guidprefix  : GUIDPREFIX_TYPE;
+};
+constant PROTOCOLLD_RTPS : std_logic_vector(PROTOCOLLD_WIDTH-1 downto 0) := x"52545053";
+
+constant SUBMESSAGE_ID_WIDTH        : integer := 8;
+constant SUBMESSAGE_FLAGS_WIDTH     : integer := 8;
+constant SUBMESSAGE_LENGTH_WIDTH    : integer := 16;
+type RTPS_SUBMESSAGE_HEADER_TYPE is record{
+    id          : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0);
+    flags       : std_logic_vector(SUBMESSAGE_FLAGS_WIDTH-1 downto 0);
+    length      : std_logic_vector(SUBMESSAGE_LENGTH_WIDTH-1 downto 0);
+};
+
+constant SID_PAD            : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"01";
+constant SID_ACKNACK        : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"06";
+constant SID_HEARTBEAT      : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"07";
+constant SID_GAP            : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"08";
+constant SID_INFO_TS        : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"09";
+constant SID_INFO_SRC       : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"0c";
+constant SID_INFO_REPLY_IP4 : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"0d";
+constant SID_INFO_DST       : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"0e";
+constant SID_INFO_REPLY     : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"0f";
+constant SID_NACK_FRAG      : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"12";
+constant SID_HEARTBEAT_FRAG : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"13";
+constant SID_DATA           : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"15";
+constant SID_DATA_FRAG      : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"16";
+--TODO: Enum it?
+
+constant ENDIANNESS_FLAG_POS    : integer := 0;
+--ACKNACK
+constant FINAL_FLAG_POS         : integer := 1;
+--DATA
+constant INLINEQOS_FLAG_POS         : integer := 1;
+constant DATA_FLAG_POS              : integer := 2;
+constant KEY_FLAG_POS               : integer := 3;
+constant NONSTANDARDPAYLOAD_FLAG_POS: integer := 4;
+
+
+
+end package;
+
+package body rtps_package is
+end package body;