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* Switch to single Domain ID

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This commit is contained in:
John Ring 2020-10-07 13:12:04 +02:00
parent 809810f207
commit bcdf8f0ed9
3 changed files with 29 additions and 134 deletions
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2
src/rtps_builtin_endpoint.vhd
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@ -5,8 +5,6 @@ use ieee.numeric_std.all;
use work.math_pkg.all; use work.math_pkg.all;
use work.rtps_package.all; use work.rtps_package.all;
-- XXX: The AUTO_PURGE could return through the FIND_ORPHAN_ENDPOINT branch, which returns to IDLE through the SKIP_PACKET stage. Could it be, that a entire packet is droped due to this, or is the "read_counter" and "packet_length" set to prevent that?
entity rtps_builtin_endpoint is entity rtps_builtin_endpoint is
generic ( generic (
DOMAIN_ID : integer := 0; DOMAIN_ID : integer := 0;

1
src/rtps_handler.vhd
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@ -9,6 +9,7 @@ use work.rtps_package.all;
-- TODO: Merge CHECK_SUB_END and SKIP_SUB stages -- TODO: Merge CHECK_SUB_END and SKIP_SUB stages
-- TODO: Remove payload length and implement "last_word" bit -- TODO: Remove payload length and implement "last_word" bit
-- TODO: Change all Endpoint Bit Vectors to "to" Ranges -- TODO: Change all Endpoint Bit Vectors to "to" Ranges
-- TODO: Move to single DOMAIN ID logic
-- Checksum has to be checked before -- Checksum has to be checked before
entity rtps_handler is entity rtps_handler is

158
src/rtps_package.vhd
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@ -32,21 +32,13 @@ package rtps_package is
constant PORT_CONFIG_D2 : integer := 1; constant PORT_CONFIG_D2 : integer := 1;
-- D3 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1) -- D3 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D3 : integer := 11; constant PORT_CONFIG_D3 : integer := 11;
-- Number of Domains
constant NUM_DOMAIN : integer := 1;
-- MAC Address of underlying network stack (Used to generate GUIDs) -- MAC Address of underlying network stack (Used to generate GUIDs)
constant MAC_ADDRESS : std_logic_vector(47 downto 0) := x"97917E0BA8CF"; constant MAC_ADDRESS : std_logic_vector(47 downto 0) := x"97917E0BA8CF";
----------------------------------------------------------------------------------------------------- -- Domain ID
-- *DO NOT MODIFY BEGIN* constant USER_DOMAIN_ID : integer := 1;
type USER_DOMAIN_ID_TYPE is array (0 to NUM_DOMAIN-1) of integer;
-- *DO NOT MODIFY END*
-----------------------------------------------------------------------------------------------------
-- Array of Domain IDs
constant USER_DOMAIN_ID : USER_DOMAIN_ID_TYPE := (0 => 1);
----------------------------------------------------------------------------------------------------- -----------------------------------------------------------------------------------------------------
-- *DO NOT MODIFY BEGIN* -- *DO NOT MODIFY BEGIN*
type ENDPOINT_DOMAIN_MAP_TYPE is array (0 to MAX_ENDPOINTS-1) of integer;
type ENDPOINT_WITH_KEY_TYPE is array (0 to MAX_ENDPOINTS-1) of boolean; 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_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_TOPIC_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(0 to (256*8)-1);
@ -89,9 +81,6 @@ package rtps_package is
----------------------------------------------------------------------------------------------------- -----------------------------------------------------------------------------------------------------
--***RTPS ENDPOINTS*** --***RTPS ENDPOINTS***
-- Array mapping the RTPS Endpoints to their respective Domain IDs
-- The index of this array denotes the Endpoint, and the element value the index of the Domain in the 'USER_DOMAIN_ID'.
constant ENDPOINT_DOMAIN_MAP : ENDPOINT_DOMAIN_MAP_TYPE := (0 => 0);
-- Array denoting if Endpoints use Keyed Topics -- Array denoting if Endpoints use Keyed Topics
constant ENDPOINT_WITH_KEY : ENDPOINT_WITH_KEY_TYPE := (0 => FALSE); constant ENDPOINT_WITH_KEY : ENDPOINT_WITH_KEY_TYPE := (0 => FALSE);
-- Array mapping Topic Strings to Endpoints -- Array mapping Topic Strings to Endpoints
@ -239,11 +228,7 @@ package rtps_package is
type DOMAIN_ID_TYPE is array (0 to NUM_DOMAIN-1) of std_logic_vector(DOMAIN_ID_WIDTH-1 downto 0); constant DOMAIN_ID : std_logic_vector(DOMAIN_ID_WIDTH-1 downto 0) := to_unsigned(USER_DOMAIN_ID, DOMAIN_ID'length);
constant DOMAIN_ID : DOMAIN_ID_TYPE; -- Deferred to Package Body
type DOMAIN_ENDPOINT_MAP_TYPE is array (0 to NUM_DOMAIN-1) of std_logic_vector(MAX_ENDPOINTS-1 downto 0);
constant DOMAIN_ENDPOINT_MAP : DOMAIN_ENDPOINT_MAP_TYPE; -- Deferred to Package Body
-- Since this implementation runs on the same network stack and the RTPS Endpoints (Readers & Writers) -- 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 -- can be differentiated based on their Entity ID, it makes no sense to have multiple IP Addresses
@ -251,17 +236,29 @@ package rtps_package is
-- We generate just a single participant for every Domain, and later match the Endpoints to their respective -- We generate just a single participant for every Domain, and later match the Endpoints to their respective
-- Domain (and thus also to their respective RTPS Participant). -- Domain (and thus also to their respective RTPS Participant).
type IPv4_PORT_TYPE is array (0 to NUM_DOMAIN-1) of std_logic_vector(UDP_PORT_WIDTH-1 downto 0); -- (see DDSI-RTPS 2.3 Section 9.6.1)
constant META_IPv4_MULTICAST_PORT: IPv4_PORT_TYPE; -- Deferred to Package Body -- PB + DG * domain_id + d0
constant META_IPv4_UNICAST_PORT : IPv4_PORT_TYPE; -- Deferred to Package Body constant META_IPv4_MULTICAST_PORT: std_logic_vector(UDP_PORT_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(PORT_CONFIG_PB + PORT_CONFIG_D0 + PORT_CONFIG_DG*USER_DOMAIN_ID, UDP_PORT_WIDTH));
constant USER_IPv4_MULTICAST_PORT: IPv4_PORT_TYPE; -- Deferred to Package Body -- (see DDSI-RTPS 2.3 Section 9.6.1)
constant USER_IPv4_UNICAST_PORT : IPv4_PORT_TYPE; -- Deferred to Package Body -- PB + DG * domainId + d1 + PG * participant_id
-- participant_id=0
constant META_IPv4_UNICAST_PORT : std_logic_vector(UDP_PORT_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(PORT_CONFIG_PB + PORT_CONFIG_D1 + PORT_CONFIG_DG*USER_DOMAIN_ID, UDP_PORT_WIDTH));
-- (see DDSI-RTPS 2.3 Section 9.6.1)
-- PB + DG * domainId + d2
constant USER_IPv4_MULTICAST_PORT: std_logic_vector(UDP_PORT_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(PORT_CONFIG_PB + PORT_CONFIG_D2 + PORT_CONFIG_DG*USER_DOMAIN_ID, UDP_PORT_WIDTH));
-- (see DDSI-RTPS 2.3 Section 9.6.1)
-- PB + DG * domainId + d3 + PG * participant_id
-- 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));
type GUIDPREFIX_TYPE is array (0 to NUM_DOMAIN-1) of std_logic_vector(GUIDPREFIX_WIDTH-1 downto 0); -- 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 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); type GUID_ARRAY_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 : std_logic_vector(0 to GUIDPREFIX_WIDTH-1) := (others => '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')); constant GUIDPREFIX_UNKNOWN_ARRAY : GUIDPREFIX_ARRAY_TYPE := (others => (others => '0'));
subtype ENTITY_KIND_H is std_logic_vector(1 downto 0); subtype ENTITY_KIND_H is std_logic_vector(1 downto 0);
@ -330,117 +327,16 @@ package rtps_package is
constant OPCODE_UNMATCH : std_logic_vector(ENDPOINT_MATCH_OPCODE_WIDTH-1 downto 0) := x"55000001"; constant OPCODE_UNMATCH : std_logic_vector(ENDPOINT_MATCH_OPCODE_WIDTH-1 downto 0) := x"55000001";
type USER_ENDPOINT_OUTPUT is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0); type USER_ENDPOINT_OUTPUT is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0);
type BUILTIN_ENDPOINT_TYPE is array (0 to NUM_DOMAIN-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); 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
end package; end package;
package body rtps_package is package body rtps_package is
function gen_domain_ids (user_id : USER_DOMAIN_ID_TYPE) return DOMAIN_ID_TYPE is
variable ret : DOMAIN_ID_TYPE;
begin
ret := (others => (others => '0'));
for i in 0 to user_id'length-1 loop
-- Check if User provided Domain ID fits
-- NOTE: Cannot assert due to vhdl integer overflow.
--assert (user_id(i) < (2**DOMAIN_ID_WIDTH-1 - PORT_CONFIG_PB) / PORT_CONFIG_DG) report "Domain ID range exceeded" severity failure;
ret(i) := std_logic_vector(to_unsigned(user_id(i), ret(i)'length));
end loop;
return ret;
end function;
constant DOMAIN_ID : DOMAIN_ID_TYPE := gen_domain_ids(USER_DOMAIN_ID);
function gen_domain_endpoint_map (end_id : ENDPOINT_DOMAIN_MAP_TYPE) return DOMAIN_ENDPOINT_MAP_TYPE is
variable ret : DOMAIN_ENDPOINT_MAP_TYPE;
begin
ret := (others => (others => '0'));
for i in 0 to NUM_DOMAIN-1 loop
for j in 0 to MAX_ENDPOINTS-1 loop
if (i = end_id(j)) then
ret(i)(j) := '1';
end if;
end loop;
end loop;
return ret;
end function;
constant DOMAIN_ENDPOINT_MAP : DOMAIN_ENDPOINT_MAP_TYPE := gen_domain_endpoint_map(ENDPOINT_DOMAIN_MAP);
function gen_meta_multicast_ports (domain_id : DOMAIN_ID_TYPE) return IPv4_PORT_TYPE is
variable ret : IPv4_PORT_TYPE;
begin
ret := (others => (others => '0'));
for i in 0 to domain_id'length-1 loop
-- (see DDSI-RTPS 2.3 Section 9.6.1)
-- PB + DG * domain_id + d0
ret(i) := std_logic_vector(to_unsigned(PORT_CONFIG_PB + PORT_CONFIG_D0 + PORT_CONFIG_DG*to_integer(unsigned(domain_id(i))), ret(i)'length));
end loop;
return ret;
end function;
function gen_meta_unicast_ports (domain_id : DOMAIN_ID_TYPE) return IPv4_PORT_TYPE is
variable ret : IPv4_PORT_TYPE;
begin
ret := (others => (others => '0'));
for i in 0 to domain_id'length-1 loop
-- (see DDSI-RTPS 2.3 Section 9.6.1)
-- PB + DG * domainId + d1 + PG * participant_id
-- participant_id=0
ret(i) := std_logic_vector(to_unsigned(PORT_CONFIG_PB + PORT_CONFIG_D1 + PORT_CONFIG_DG*to_integer(unsigned(domain_id(i))), ret(i)'length));
end loop;
return ret;
end function;
function gen_user_multicast_ports (domain_id : DOMAIN_ID_TYPE) return IPv4_PORT_TYPE is
variable ret : IPv4_PORT_TYPE;
begin
ret := (others => (others => '0'));
for i in 0 to domain_id'length-1 loop
-- (see DDSI-RTPS 2.3 Section 9.6.1)
-- PB + DG * domainId + d2
ret(i) := std_logic_vector(to_unsigned(PORT_CONFIG_PB + PORT_CONFIG_D2 + PORT_CONFIG_DG*to_integer(unsigned(domain_id(i))), ret(i)'length));
end loop;
return ret;
end function;
function gen_user_unicast_ports (domain_id : DOMAIN_ID_TYPE) return IPv4_PORT_TYPE is
variable ret : IPv4_PORT_TYPE;
begin
ret := (others => (others => '0'));
for i in 0 to domain_id'length-1 loop
-- (see DDSI-RTPS 2.3 Section 9.6.1)
-- PB + DG * domainId + d3 + PG * participant_id
-- participant_id=0
ret(i) := std_logic_vector(to_unsigned(PORT_CONFIG_PB + PORT_CONFIG_D3 + PORT_CONFIG_DG*to_integer(unsigned(domain_id(i))), ret(i)'length));
end loop;
return ret;
end function;
constant META_IPv4_MULTICAST_PORT: IPv4_PORT_TYPE := gen_meta_multicast_ports(DOMAIN_ID);
constant META_IPv4_UNICAST_PORT : IPv4_PORT_TYPE := gen_meta_unicast_ports(DOMAIN_ID);
constant USER_IPv4_MULTICAST_PORT: IPv4_PORT_TYPE := gen_user_multicast_ports(DOMAIN_ID);
constant USER_IPv4_UNICAST_PORT : IPv4_PORT_TYPE := gen_user_unicast_ports(DOMAIN_ID);
function gen_guid_prefix (domain_id : DOMAIN_ID_TYPE) return GUIDPREFIX_TYPE is
variable ret : GUIDPREFIX_TYPE;
begin
ret := (others => (others => '0'));
for i in 0 to ret'length-1 loop
-- First to bytes have to be Vendor ID (see DDSI-RTPS 2.3 Section 9.3.1.5)
ret(i)(ret(i)'length-1 downto ret(i)'length-VENDORID_WIDTH) := VENDORID;
-- Next we insert the MAC address for uniqueness
ret(i)(ret(i)'length-VENDORID_WIDTH-1 downto ret(i)'length-VENDORID_WIDTH-48) := MAC_ADDRESS;
-- Next we insert the Domain ID
-- NOTE: If the widths of signals change in the future, this will overwrite part of the MAC Address.
ret(i)(DOMAIN_ID_WIDTH-1 downto 0) := domain_id(i);
end loop;
return ret;
end function;
constant GUIDPREFIX : GUIDPREFIX_TYPE := gen_guid_prefix(DOMAIN_ID);
function gen_entyid return ENTITYID_TYPE is function gen_entyid return ENTITYID_TYPE is
variable ret : ENTITYID_TYPE; variable ret : ENTITYID_TYPE;
begin begin