From bd1f803906b9989be999e9d83023a9f876f2f8be Mon Sep 17 00:00:00 2001 From: Greek64 Date: Tue, 8 Mar 2022 13:16:06 +0100 Subject: [PATCH] Modify rtps_discovery_module to send a PARTICIPANT Announcement immediately on startup --- src/Tests/Level_1/L1_rtps_discovery_module_test1.vhd | 2 ++ src/rtps_discovery_module.vhd | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/Tests/Level_1/L1_rtps_discovery_module_test1.vhd b/src/Tests/Level_1/L1_rtps_discovery_module_test1.vhd index ce9af92..4f01298 100644 --- a/src/Tests/Level_1/L1_rtps_discovery_module_test1.vhd +++ b/src/Tests/Level_1/L1_rtps_discovery_module_test1.vhd @@ -14,6 +14,7 @@ use work.rtps_test_package.all; -- This test is a Level 1 Test (Meaning the input/output is not connected directly to the uut) in order to have output in the same format as the input of the system and allow us to compare using existing data generators. -- The testflow is as follows: -- * 0s +-- - Local participant Announcement -- - Match a remote participant -- - Send HEARTBEAT 0 (Publisher, Empty, Final Flag) [Test Final Flag pasing] -- * 0.105s @@ -534,6 +535,7 @@ begin wait until rising_edge(clk); wait until rising_edge(clk); reset <= '0'; + gen_announcement; Log("Match Remote Participant", INFO); diff --git a/src/rtps_discovery_module.vhd b/src/rtps_discovery_module.vhd index 7ee1743..00ebb97 100644 --- a/src/rtps_discovery_module.vhd +++ b/src/rtps_discovery_module.vhd @@ -6149,7 +6149,7 @@ begin lease_duration <= DURATION_ZERO; lifespan_duration <= DURATION_ZERO; check_time <= TIME_INVALID; - announcement_time <= time + PARTICIPANT_ANNOUNCEMENT_PERIOD; + announcement_time <= time; heartbeat_time <= time + HEARTBEAT_PERIOD; participant_data <= ZERO_PARTICIPANT_DATA; participant_latch_data <= ZERO_PARTICIPANT_LATCH_DATA;