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Add Fibonacci Action Goal Service

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This commit is contained in:
John Ring 2022-02-05 13:32:25 +01:00
parent f9cb1a8d0e
commit c6c19299b5
14 changed files with 2469 additions and 42 deletions
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2
src/ros2/Tests/Level_1/L1_AddTwoInts_ros_srv_test1.vhd
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@ -9,7 +9,7 @@ use work.rtps_package.all;
use work.ros_package.all; use work.ros_package.all;
use work.rtps_test_package.all; use work.rtps_test_package.all;
-- This testbench tests the General Behavour of the AddTwoInts Service. -- This testbench tests the General Behavour of ROS Services.
-- More specifically following tests are done: -- More specifically following tests are done:
-- * Test Unssuported Opcode Operations -- * Test Unssuported Opcode Operations
-- * Test RETCODE_NO_DATA response from DDS Reader -- * Test RETCODE_NO_DATA response from DDS Reader

2
src/ros2/Tests/Level_1/L1_AddTwoInts_ros_srv_test2.vhd
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@ -9,7 +9,7 @@ use work.rtps_package.all;
use work.ros_package.all; use work.ros_package.all;
use work.rtps_test_package.all; use work.rtps_test_package.all;
-- This testbench tests the General Behavour of the AddTwoInts Service. -- This testbench tests the General Behavour of ROS Services.
-- More specifically following tests are done: -- More specifically following tests are done:
-- * Test Unssuported Opcode Operations -- * Test Unssuported Opcode Operations
-- * Test RETCODE_NO_DATA response from DDS Reader -- * Test RETCODE_NO_DATA response from DDS Reader

2
src/ros2/Tests/Level_1/L1_CancelGoal_ros_srv_test1.vhd
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@ -10,7 +10,7 @@ use work.ros_package.all;
use work.rtps_test_package.all; use work.rtps_test_package.all;
use work.CancelGoal_package.all; use work.CancelGoal_package.all;
-- This testbench tests the General Behavour of the AddTwoInts Service. -- This testbench tests the General Behavour of the ROS Services.
-- More specifically following tests are done: -- More specifically following tests are done:
-- * Test Unssuported Opcode Operations -- * Test Unssuported Opcode Operations
-- * Test RETCODE_NO_DATA response from DDS Reader -- * Test RETCODE_NO_DATA response from DDS Reader

2
src/ros2/Tests/Level_1/L1_CancelGoal_ros_srv_test2.vhd
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@ -10,7 +10,7 @@ use work.ros_package.all;
use work.rtps_test_package.all; use work.rtps_test_package.all;
use work.CancelGoal_package.all; use work.CancelGoal_package.all;
-- This testbench tests the General Behavour of the AddTwoInts Service. -- This testbench tests the General Behavour of ROS Services.
-- More specifically following tests are done: -- More specifically following tests are done:
-- * Test Unssuported Opcode Operations -- * Test Unssuported Opcode Operations
-- * Test RETCODE_NO_DATA response from DDS Reader -- * Test RETCODE_NO_DATA response from DDS Reader

2
src/ros2/Tests/Level_1/L1_Fibonacci_ros_action_feedback_test1.vhd
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@ -36,7 +36,7 @@ architecture testbench of L1_Fibonacci_ros_action_feedback_test1 is
signal message_info_sub : MESSAGE_INFO_TYPE := EMPTY_MESSAGE_INFO; signal message_info_sub : MESSAGE_INFO_TYPE := EMPTY_MESSAGE_INFO;
-- --
signal goal_id_sub, goal_id_pub : std_logic_vector(UUID_WIDTH-1 downto 0) := (others => '0'); signal goal_id_sub, goal_id_pub : std_logic_vector(UUID_WIDTH-1 downto 0) := (others => '0');
signal seq_len_sub, seq_len_pub, seq_addr_sub, seq_addr_pub : std_logic_vector(SEQ_ADDR_WIDTH-1 downto 0) := (others => '0'); signal seq_len_sub, seq_len_pub, seq_addr_sub, seq_addr_pub : std_logic_vector(F_SEQ_ADDR_WIDTH-1 downto 0) := (others => '0');
signal seq_ready_sub, seq_ready_pub, seq_ren_sub, seq_ren_pub, seq_wen_pub, seq_valid_sub, seq_valid_pub, seq_ack_sub, seq_ack_pub : std_logic := '0'; signal seq_ready_sub, seq_ready_pub, seq_ren_sub, seq_ren_pub, seq_wen_pub, seq_valid_sub, seq_valid_pub, seq_ack_sub, seq_ack_pub : std_logic := '0';
signal seq_sub, seq_r_pub, seq_w_pub : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0'); signal seq_sub, seq_r_pub, seq_w_pub : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0');
begin begin

2
src/ros2/Tests/Level_1/L1_Fibonacci_ros_action_feedback_test2.vhd
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@ -36,7 +36,7 @@ architecture testbench of L1_Fibonacci_ros_action_feedback_test2 is
signal message_info_sub : MESSAGE_INFO_TYPE := EMPTY_MESSAGE_INFO; signal message_info_sub : MESSAGE_INFO_TYPE := EMPTY_MESSAGE_INFO;
-- --
signal goal_id_sub, goal_id_pub : std_logic_vector(UUID_WIDTH-1 downto 0) := (others => '0'); signal goal_id_sub, goal_id_pub : std_logic_vector(UUID_WIDTH-1 downto 0) := (others => '0');
signal seq_len_sub, seq_len_pub, seq_addr_sub, seq_addr_pub : std_logic_vector(SEQ_ADDR_WIDTH-1 downto 0) := (others => '0'); signal seq_len_sub, seq_len_pub, seq_addr_sub, seq_addr_pub : std_logic_vector(F_SEQ_ADDR_WIDTH-1 downto 0) := (others => '0');
signal seq_ready_sub, seq_ready_pub, seq_ren_sub, seq_ren_pub, seq_wen_pub, seq_valid_sub, seq_valid_pub, seq_ack_sub, seq_ack_pub : std_logic := '0'; signal seq_ready_sub, seq_ready_pub, seq_ren_sub, seq_ren_pub, seq_wen_pub, seq_valid_sub, seq_valid_pub, seq_ack_sub, seq_ack_pub : std_logic := '0';
signal seq_sub, seq_r_pub, seq_w_pub : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0'); signal seq_sub, seq_r_pub, seq_w_pub : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0');
begin begin

437
src/ros2/Tests/Level_1/L1_Fibonacci_ros_action_goal_srv_test1.vhd Normal file
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@ -0,0 +1,437 @@
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
library osvvm; -- Utility Library
context osvvm.OsvvmContext;
use work.rtps_package.all;
use work.ros_package.all;
use work.rtps_test_package.all;
-- This testbench tests the General Behavour of ROS Services.
-- More specifically following tests are done:
-- * Test Unssuported Opcode Operations
-- * Test RETCODE_NO_DATA response from DDS Reader
-- * Test RETCODE_ERROR response from DDS Reader
-- * Test RETCODE_ERROR response from DDS Writer
-- * Test Sample with No Valid response from DDS Reader
-- * Test Big Endian Encoding/Decoding of AddTwoInts Service Messages
entity L1_Fibonacci_ros_action_goal_srv_test1 is
end entity;
architecture testbench of L1_Fibonacci_ros_action_goal_srv_test1 is
signal clk, reset : std_logic := '0';
signal valid_rq, valid_rr, ready_rq, ready_rr, last_word_rq, last_word_rr : std_logic := '0';
signal data_rq, data_rr : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
signal start_c, start_s, ack_c, ack_s, taken_c, taken_s, done_c, done_s : std_logic := '0';
signal opcode_c, opcode_s : ROS_SERVICE_OPCODE_TYPE := NOP;
signal return_code_c, return_code_s : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := (others => '0');
signal service_info_c, service_info_s : SERVICE_INFO_TYPE := EMPTY_SERVICE_INFO;
signal sequence_id_c : std_logic_vector(ROS_SEQUENCE_ID_WIDTH-1 downto 0) := (others => '0');
signal request_id_s : REQUEST_ID_TYPE := EMPTY_REQUEST_ID;
signal start_sr, start_cr, si_valid_data_cr, si_valid_data_sr : std_logic := '0';
signal return_code_cr, return_code_cw, return_code_sr, return_code_sw : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := (others => '0');
signal ready_sw, ready_cw, last_word_out_cw, last_word_out_sw, selector : std_logic := '0';
--
signal goal_id_c, goal_id_s : std_logic_vector(UUID_WIDTH-1 downto 0) := (others => '0');
signal order_c, order_s : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0');
signal accepted_c, accepted_s : std_logic := '0';
signal stamp_c, stamp_s : std_logic_vector(ROS_TIME_WIDTH-1 downto 0) := (others => '0');
begin
uut_c : entity work.Fibonacci_ros_action_goal_srv_client(arch)
port map (
clk => clk,
reset => reset,
start_r => start_cr,--
ack_r => '1',--
opcode_r => open,
instance_state_r => open,
view_state_r => open,
sample_state_r => open,
instance_handle_r => open,
max_samples_r => open,
get_data_r => open,--
done_r => '1',--
return_code_r => return_code_cr,--
valid_in_r => valid_rr,--
ready_in_r => ready_rr,--
data_in_r => data_rr,--
last_word_in_r => last_word_rr,--
si_sample_state_r => ANY_SAMPLE_STATE,
si_view_state_r => ANY_VIEW_STATE,
si_instance_state_r => ANY_INSTANCE_STATE,
si_source_timestamp_r => TIME_INVALID,
si_instance_handle_r => HANDLE_NIL,
si_publication_handle_r => HANDLE_NIL,
si_disposed_generation_count_r => (others => '0'),
si_no_writers_generation_count_r => (others => '0'),
si_sample_rank_r => (others => '0'),
si_generation_rank_r => (others => '0'),
si_absolute_generation_rank_r => (others => '0'),
si_valid_data_r => si_valid_data_cr,--
si_valid_r => '1',--
si_ack_r => open,--
eoc_r => '1',--
status_r => (others => '0'),
start_w => open,--
ack_w => '1',--
opcode_w => open,
instance_handle_out_w => open,
source_ts_w => open,
max_wait_w => open,
done_w => '1',--
return_code_w => return_code_cw,
instance_handle_in_w => HANDLE_NIL,
valid_out_w => valid_rq,--
ready_out_w => ready_cw,--ready_rq,--
data_out_w => data_rq,--
last_word_out_w => last_word_out_cw,--last_word_rq,--
valid_in_w => '0',
ready_in_w => open,
data_in_w => (others => '0'),
last_word_in_w => '0',
status_w => (others => '0'),
start_user => start_c,--
ack_user => ack_c,--
opcode_user => opcode_c,--
service_info_user => service_info_c,--
sequence_id_user => sequence_id_c,--
taken_user => taken_c,--
data_available_user => open,--
goal_id => goal_id_c,
order => order_c,
accepted => accepted_c,
stamp => stamp_c,
done_user => done_c,--
return_code_user => return_code_c --
);
uut_s : entity work.Fibonacci_ros_action_goal_srv_server(arch)
port map (
clk => clk,
reset => reset,
start_r => start_sr,--
ack_r => '1',--
opcode_r => open,
instance_state_r => open,
view_state_r => open,
sample_state_r => open,
instance_handle_r => open,
max_samples_r => open,
get_data_r => open,--
done_r => '1',--
return_code_r => return_code_sr,--
valid_in_r => valid_rq,--
ready_in_r => ready_rq,--
data_in_r => data_rq,--
last_word_in_r => last_word_rq,--
si_sample_state_r => ANY_SAMPLE_STATE,
si_view_state_r => ANY_VIEW_STATE,
si_instance_state_r => ANY_INSTANCE_STATE,
si_source_timestamp_r => TIME_INVALID,
si_instance_handle_r => HANDLE_NIL,
si_publication_handle_r => HANDLE_NIL,
si_disposed_generation_count_r => (others => '0'),
si_no_writers_generation_count_r => (others => '0'),
si_sample_rank_r => (others => '0'),
si_generation_rank_r => (others => '0'),
si_absolute_generation_rank_r => (others => '0'),
si_valid_data_r => si_valid_data_sr,--
si_valid_r => '1',--
si_ack_r => open,--
eoc_r => '1',--
status_r => (others => '0'),
start_w => open,--
ack_w => '1',--
opcode_w => open,
instance_handle_out_w => open,
source_ts_w => open,
max_wait_w => open,
done_w => '1',--
return_code_w => return_code_sw,--
instance_handle_in_w => HANDLE_NIL,
valid_out_w => valid_rr,--
ready_out_w => ready_sw,--ready_rr,--
data_out_w => data_rr,--
last_word_out_w => last_word_out_sw,--last_word_rr,--
valid_in_w => '0',
ready_in_w => open,
data_in_w => (others => '0'),
last_word_in_w => '0',
status_w => (others => '0'),
start_user => start_s,--
ack_user => ack_s,--
opcode_user => opcode_s,--
service_info_user => service_info_s,--
request_id_user => request_id_s,--
taken_user => taken_s,--
data_available_user => open,--
goal_id => goal_id_s,
order => order_s,
accepted => accepted_s,
stamp => stamp_s,
done_user => done_s,--
return_code_user => return_code_s --
);
process (all)
begin
if (selector = '1') then
ready_cw <= '1';
ready_sw <= '1';
last_word_rq <= '0';
last_word_rr <= '0';
else
ready_cw <= ready_rq;
ready_sw <= ready_rr;
last_word_rq <= last_word_out_cw;
last_word_rr <= last_word_out_sw;
end if;
end process;
stimulus_prc : process
variable RV : RandomPType;
variable GOAL_ID, ORDER, ACCEPTED, STAMP : AlertLogIDType;
procedure wait_on_sig(signal sig : std_logic) is
begin
if (sig /= '1') then
wait on sig until sig = '1';
end if;
end procedure;
begin
SetAlertLogName("L1_Fibonacci_ros_action_goal_srv_test1 - (Big Endian) - General");
SetAlertEnable(FAILURE, TRUE);
SetAlertEnable(ERROR, TRUE);
SetAlertEnable(WARNING, TRUE);
SetLogEnable(DEBUG, FALSE);
SetLogEnable(PASSED, FALSE);
SetLogEnable(INFO, TRUE);
RV.InitSeed(RV'instance_name);
GOAL_ID := GetAlertLogID("GOAL_ID", ALERTLOG_BASE_ID);
ORDER := GetAlertLogID("ORDER", ALERTLOG_BASE_ID);
ACCEPTED := GetAlertLogID("ACCEPTED", ALERTLOG_BASE_ID);
STAMP := GetAlertLogID("STAMP", ALERTLOG_BASE_ID);
Log("Initial Reset", INFO);
selector <= '1';
return_code_cr <= RETCODE_OK;
return_code_cw <= RETCODE_OK;
return_code_sr <= RETCODE_OK;
return_code_sw <= RETCODE_OK;
si_valid_data_cr <= '0';
si_valid_data_sr <= '0';
start_c <= '0';
start_s <= '0';
reset <= '1';
wait until rising_edge(clk);
wait until rising_edge(clk);
reset <= '0';
Log("CLIENT: Test Unsupported Opcode", INFO);
start_c <= '1';
opcode_c <= TAKE_REQUEST;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
wait_on_sig(done_c);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_c /= ROS_RET_UNSUPPORTED, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Unsupported Opcode", INFO);
start_s <= '1';
opcode_s <= TAKE_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_UNSUPPORTED, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test No Data", INFO);
return_code_cr <= RETCODE_NO_DATA;
start_c <= '1';
opcode_c <= TAKE_RESPONSE;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
wait_on_sig(done_c);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_c /= ROS_RET_OK, "Unexpected Client Response", FAILURE);
AlertIf(taken_c /= '0', "Client taken is unexpectedly set", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test No Data", INFO);
return_code_sr <= RETCODE_NO_DATA;
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_OK, "Unexpected Server Response", FAILURE);
AlertIf(taken_s /= '0', "Server taken is unexpectedly set", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test Reader Error", INFO);
return_code_cr <= RETCODE_ERROR;
start_c <= '1';
opcode_c <= TAKE_RESPONSE;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
wait_on_sig(done_c);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_c /= ROS_RET_ERROR, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Reader Error", INFO);
return_code_sr <= RETCODE_ERROR;
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_ERROR, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test Writer Error", INFO);
return_code_cw <= RETCODE_ERROR;
start_c <= '1';
opcode_c <= SEND_REQUEST;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
wait_on_sig(done_c);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_c /= ROS_RET_ERROR, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Writer Error", INFO);
return_code_sw <= RETCODE_ERROR;
start_s <= '1';
opcode_s <= SEND_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_ERROR, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
return_code_cr <= RETCODE_OK;
return_code_cw <= RETCODE_OK;
return_code_sr <= RETCODE_OK;
return_code_sw <= RETCODE_OK;
selector <= '0';
Log("Setting Request", INFO);
-- Static
goal_id_c <= RV.RandSlv(goal_id_c'length);
order_c <= RV.RandSlv(order_c'length);
wait for 0 ns;
Log("CLIENT: Send Request", INFO);
start_c <= '1';
opcode_c <= SEND_REQUEST;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
Log("SERVER: Take Request", INFO);
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
-- TEST NO VALID DATA
wait_on_sig(start_sr);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_sig(start_sr);
si_valid_data_sr <= '1';
Log("Wait for Request on Server", INFO);
wait_on_sig(done_s);
wait until rising_edge(clk);
AlertIf(return_code_s /= ROS_RET_OK, "Server did Return ERROR", FAILURE);
AlertIf(taken_s /= '1', "Server did not take Request", FAILURE);
Log("Compare Request", INFO);
AffirmIfEqual(GOAL_ID, goal_id_s, goal_id_c);
AffirmIfEqual(ORDER, order_s, order_c);
Log("Setting Response", INFO);
-- Static
accepted_s <= RV.RandSlv(1)(1);
stamp_s <= RV.RandSlv(stamp_s'length);
wait for 0 ns;
Log("SERVER: Send Response", INFO);
start_s <= '1';
opcode_s <= SEND_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
Log("CLIENT: Take Response", INFO);
start_c <= '1';
opcode_c <= TAKE_RESPONSE;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
-- TEST NO VALID DATA
wait_on_sig(start_cr);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_sig(start_cr);
si_valid_data_cr <= '1';
Log("Wait for Response on Client", INFO);
wait_on_sig(done_c);
wait until rising_edge(clk);
AlertIf(return_code_c /= ROS_RET_OK, "Client did Return ERROR", FAILURE);
AlertIf(taken_c /= '1', "Client did not take Response", FAILURE);
Log("Compare Response", INFO);
AffirmIfEqual(ACCEPTED, accepted_c, accepted_s);
AffirmIfEqual(STAMP, stamp_c, stamp_s);
TranscriptOpen(RESULTS_FILE, APPEND_MODE);
SetTranscriptMirror;
ReportAlerts;
TranscriptClose;
std.env.stop;
wait;
end process;
clock_prc : process
begin
clk <= '0';
wait for TEST_CLOCK_PERIOD/2;
clk <= '1';
wait for TEST_CLOCK_PERIOD/2;
end process;
watchdog : process
begin
wait for 1 ms;
Alert("Test timeout", FAILURE);
std.env.stop;
end process;
end architecture;

443
src/ros2/Tests/Level_1/L1_Fibonacci_ros_action_goal_srv_test2.vhd Normal file
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@ -0,0 +1,443 @@
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
library osvvm; -- Utility Library
context osvvm.OsvvmContext;
use work.rtps_package.all;
use work.ros_package.all;
use work.rtps_test_package.all;
-- This testbench tests the General Behavour of ROS Services.
-- More specifically following tests are done:
-- * Test Unssuported Opcode Operations
-- * Test RETCODE_NO_DATA response from DDS Reader
-- * Test RETCODE_ERROR response from DDS Reader
-- * Test RETCODE_ERROR response from DDS Writer
-- * Test Sample with No Valid response from DDS Reader
-- * Test Little Endian Encoding/Decoding of AddTwoInts Service Messages
entity L1_Fibonacci_ros_action_goal_srv_test2 is
end entity;
architecture testbench of L1_Fibonacci_ros_action_goal_srv_test2 is
signal clk, reset : std_logic := '0';
signal valid_rq, valid_rr, ready_rq, ready_rr, last_word_rq, last_word_rr : std_logic := '0';
signal data_rq, data_rr : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
signal start_c, start_s, ack_c, ack_s, taken_c, taken_s, done_c, done_s : std_logic := '0';
signal opcode_c, opcode_s : ROS_SERVICE_OPCODE_TYPE := NOP;
signal return_code_c, return_code_s : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := (others => '0');
signal service_info_c, service_info_s : SERVICE_INFO_TYPE := EMPTY_SERVICE_INFO;
signal sequence_id_c : std_logic_vector(ROS_SEQUENCE_ID_WIDTH-1 downto 0) := (others => '0');
signal request_id_s : REQUEST_ID_TYPE := EMPTY_REQUEST_ID;
signal start_sr, start_cr, si_valid_data_cr, si_valid_data_sr : std_logic := '0';
signal return_code_cr, return_code_cw, return_code_sr, return_code_sw : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := (others => '0');
signal ready_sw, ready_cw, last_word_out_cw, last_word_out_sw, selector : std_logic := '0';
--
signal goal_id_c, goal_id_s : std_logic_vector(UUID_WIDTH-1 downto 0) := (others => '0');
signal order_c, order_s : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0');
signal accepted_c, accepted_s : std_logic := '0';
signal stamp_c, stamp_s : std_logic_vector(ROS_TIME_WIDTH-1 downto 0) := (others => '0');
begin
uut_c : entity work.Fibonacci_ros_action_goal_srv_client(arch)
generic map (
LITTLE_ENDIAN => '1'
)
port map (
clk => clk,
reset => reset,
start_r => start_cr,--
ack_r => '1',--
opcode_r => open,
instance_state_r => open,
view_state_r => open,
sample_state_r => open,
instance_handle_r => open,
max_samples_r => open,
get_data_r => open,--
done_r => '1',--
return_code_r => return_code_cr,--
valid_in_r => valid_rr,--
ready_in_r => ready_rr,--
data_in_r => data_rr,--
last_word_in_r => last_word_rr,--
si_sample_state_r => ANY_SAMPLE_STATE,
si_view_state_r => ANY_VIEW_STATE,
si_instance_state_r => ANY_INSTANCE_STATE,
si_source_timestamp_r => TIME_INVALID,
si_instance_handle_r => HANDLE_NIL,
si_publication_handle_r => HANDLE_NIL,
si_disposed_generation_count_r => (others => '0'),
si_no_writers_generation_count_r => (others => '0'),
si_sample_rank_r => (others => '0'),
si_generation_rank_r => (others => '0'),
si_absolute_generation_rank_r => (others => '0'),
si_valid_data_r => si_valid_data_cr,--
si_valid_r => '1',--
si_ack_r => open,--
eoc_r => '1',--
status_r => (others => '0'),
start_w => open,--
ack_w => '1',--
opcode_w => open,
instance_handle_out_w => open,
source_ts_w => open,
max_wait_w => open,
done_w => '1',--
return_code_w => return_code_cw,
instance_handle_in_w => HANDLE_NIL,
valid_out_w => valid_rq,--
ready_out_w => ready_cw,--ready_rq,--
data_out_w => data_rq,--
last_word_out_w => last_word_out_cw,--last_word_rq,--
valid_in_w => '0',
ready_in_w => open,
data_in_w => (others => '0'),
last_word_in_w => '0',
status_w => (others => '0'),
start_user => start_c,--
ack_user => ack_c,--
opcode_user => opcode_c,--
service_info_user => service_info_c,--
sequence_id_user => sequence_id_c,--
taken_user => taken_c,--
data_available_user => open,--
goal_id => goal_id_c,
order => order_c,
accepted => accepted_c,
stamp => stamp_c,
done_user => done_c,--
return_code_user => return_code_c --
);
uut_s : entity work.Fibonacci_ros_action_goal_srv_server(arch)
generic map (
LITTLE_ENDIAN => '1'
)
port map (
clk => clk,
reset => reset,
start_r => start_sr,--
ack_r => '1',--
opcode_r => open,
instance_state_r => open,
view_state_r => open,
sample_state_r => open,
instance_handle_r => open,
max_samples_r => open,
get_data_r => open,--
done_r => '1',--
return_code_r => return_code_sr,--
valid_in_r => valid_rq,--
ready_in_r => ready_rq,--
data_in_r => data_rq,--
last_word_in_r => last_word_rq,--
si_sample_state_r => ANY_SAMPLE_STATE,
si_view_state_r => ANY_VIEW_STATE,
si_instance_state_r => ANY_INSTANCE_STATE,
si_source_timestamp_r => TIME_INVALID,
si_instance_handle_r => HANDLE_NIL,
si_publication_handle_r => HANDLE_NIL,
si_disposed_generation_count_r => (others => '0'),
si_no_writers_generation_count_r => (others => '0'),
si_sample_rank_r => (others => '0'),
si_generation_rank_r => (others => '0'),
si_absolute_generation_rank_r => (others => '0'),
si_valid_data_r => si_valid_data_sr,--
si_valid_r => '1',--
si_ack_r => open,--
eoc_r => '1',--
status_r => (others => '0'),
start_w => open,--
ack_w => '1',--
opcode_w => open,
instance_handle_out_w => open,
source_ts_w => open,
max_wait_w => open,
done_w => '1',--
return_code_w => return_code_sw,--
instance_handle_in_w => HANDLE_NIL,
valid_out_w => valid_rr,--
ready_out_w => ready_sw,--ready_rr,--
data_out_w => data_rr,--
last_word_out_w => last_word_out_sw,--last_word_rr,--
valid_in_w => '0',
ready_in_w => open,
data_in_w => (others => '0'),
last_word_in_w => '0',
status_w => (others => '0'),
start_user => start_s,--
ack_user => ack_s,--
opcode_user => opcode_s,--
service_info_user => service_info_s,--
request_id_user => request_id_s,--
taken_user => taken_s,--
data_available_user => open,--
goal_id => goal_id_s,
order => order_s,
accepted => accepted_s,
stamp => stamp_s,
done_user => done_s,--
return_code_user => return_code_s --
);
process (all)
begin
if (selector = '1') then
ready_cw <= '1';
ready_sw <= '1';
last_word_rq <= '0';
last_word_rr <= '0';
else
ready_cw <= ready_rq;
ready_sw <= ready_rr;
last_word_rq <= last_word_out_cw;
last_word_rr <= last_word_out_sw;
end if;
end process;
stimulus_prc : process
variable RV : RandomPType;
variable GOAL_ID, ORDER, ACCEPTED, STAMP : AlertLogIDType;
procedure wait_on_sig(signal sig : std_logic) is
begin
if (sig /= '1') then
wait on sig until sig = '1';
end if;
end procedure;
begin
SetAlertLogName("L1_Fibonacci_ros_action_goal_srv_test2 - (Little Endian) - General");
SetAlertEnable(FAILURE, TRUE);
SetAlertEnable(ERROR, TRUE);
SetAlertEnable(WARNING, TRUE);
SetLogEnable(DEBUG, FALSE);
SetLogEnable(PASSED, FALSE);
SetLogEnable(INFO, TRUE);
RV.InitSeed(RV'instance_name);
GOAL_ID := GetAlertLogID("GOAL_ID", ALERTLOG_BASE_ID);
ORDER := GetAlertLogID("ORDER", ALERTLOG_BASE_ID);
ACCEPTED := GetAlertLogID("ACCEPTED", ALERTLOG_BASE_ID);
STAMP := GetAlertLogID("STAMP", ALERTLOG_BASE_ID);
Log("Initial Reset", INFO);
selector <= '1';
return_code_cr <= RETCODE_OK;
return_code_cw <= RETCODE_OK;
return_code_sr <= RETCODE_OK;
return_code_sw <= RETCODE_OK;
si_valid_data_cr <= '0';
si_valid_data_sr <= '0';
start_c <= '0';
start_s <= '0';
reset <= '1';
wait until rising_edge(clk);
wait until rising_edge(clk);
reset <= '0';
Log("CLIENT: Test Unsupported Opcode", INFO);
start_c <= '1';
opcode_c <= TAKE_REQUEST;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
wait_on_sig(done_c);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_c /= ROS_RET_UNSUPPORTED, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Unsupported Opcode", INFO);
start_s <= '1';
opcode_s <= TAKE_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_UNSUPPORTED, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test No Data", INFO);
return_code_cr <= RETCODE_NO_DATA;
start_c <= '1';
opcode_c <= TAKE_RESPONSE;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
wait_on_sig(done_c);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_c /= ROS_RET_OK, "Unexpected Client Response", FAILURE);
AlertIf(taken_c /= '0', "Client taken is unexpectedly set", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test No Data", INFO);
return_code_sr <= RETCODE_NO_DATA;
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_OK, "Unexpected Server Response", FAILURE);
AlertIf(taken_s /= '0', "Server taken is unexpectedly set", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test Reader Error", INFO);
return_code_cr <= RETCODE_ERROR;
start_c <= '1';
opcode_c <= TAKE_RESPONSE;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
wait_on_sig(done_c);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_c /= ROS_RET_ERROR, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Reader Error", INFO);
return_code_sr <= RETCODE_ERROR;
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_ERROR, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
Log("CLIENT: Test Writer Error", INFO);
return_code_cw <= RETCODE_ERROR;
start_c <= '1';
opcode_c <= SEND_REQUEST;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
wait_on_sig(done_c);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_c /= ROS_RET_ERROR, "Unexpected Client Response", FAILURE);
wait until rising_edge(clk);
Log("SERVER: Test Writer Error", INFO);
return_code_sw <= RETCODE_ERROR;
start_s <= '1';
opcode_s <= SEND_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
wait_on_sig(done_s);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code_s /= ROS_RET_ERROR, "Unexpected Server Response", FAILURE);
wait until rising_edge(clk);
return_code_cr <= RETCODE_OK;
return_code_cw <= RETCODE_OK;
return_code_sr <= RETCODE_OK;
return_code_sw <= RETCODE_OK;
selector <= '0';
Log("Setting Request", INFO);
-- Static
goal_id_c <= RV.RandSlv(goal_id_c'length);
order_c <= RV.RandSlv(order_c'length);
wait for 0 ns;
Log("CLIENT: Send Request", INFO);
start_c <= '1';
opcode_c <= SEND_REQUEST;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
Log("SERVER: Take Request", INFO);
start_s <= '1';
opcode_s <= TAKE_REQUEST;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
-- TEST NO VALID DATA
wait_on_sig(start_sr);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_sig(start_sr);
si_valid_data_sr <= '1';
Log("Wait for Request on Server", INFO);
wait_on_sig(done_s);
wait until rising_edge(clk);
AlertIf(return_code_s /= ROS_RET_OK, "Server did Return ERROR", FAILURE);
AlertIf(taken_s /= '1', "Server did not take Request", FAILURE);
Log("Compare Request", INFO);
AffirmIfEqual(GOAL_ID, goal_id_s, goal_id_c);
AffirmIfEqual(ORDER, order_s, order_c);
Log("Setting Response", INFO);
-- Static
accepted_s <= RV.RandSlv(1)(1);
stamp_s <= RV.RandSlv(stamp_s'length);
wait for 0 ns;
Log("SERVER: Send Response", INFO);
start_s <= '1';
opcode_s <= SEND_RESPONSE;
wait_on_sig(ack_s);
wait until rising_edge(clk);
start_s <= '0';
Log("CLIENT: Take Response", INFO);
start_c <= '1';
opcode_c <= TAKE_RESPONSE;
wait_on_sig(ack_c);
wait until rising_edge(clk);
start_c <= '0';
-- TEST NO VALID DATA
wait_on_sig(start_cr);
wait until rising_edge(clk);
wait until rising_edge(clk);
wait_on_sig(start_cr);
si_valid_data_cr <= '1';
Log("Wait for Response on Client", INFO);
wait_on_sig(done_c);
wait until rising_edge(clk);
AlertIf(return_code_c /= ROS_RET_OK, "Client did Return ERROR", FAILURE);
AlertIf(taken_c /= '1', "Client did not take Response", FAILURE);
Log("Compare Response", INFO);
AffirmIfEqual(ACCEPTED, accepted_c, accepted_s);
AffirmIfEqual(STAMP, stamp_c, stamp_s);
TranscriptOpen(RESULTS_FILE, APPEND_MODE);
SetTranscriptMirror;
ReportAlerts;
TranscriptClose;
std.env.stop;
wait;
end process;
clock_prc : process
begin
clk <= '0';
wait for TEST_CLOCK_PERIOD/2;
clk <= '1';
wait for TEST_CLOCK_PERIOD/2;
end process;
watchdog : process
begin
wait for 1 ms;
Alert("Test timeout", FAILURE);
std.env.stop;
end process;
end architecture;

22
src/ros2/Tests/ros_testbench.pro
View File

@ -93,11 +93,6 @@ analyze ../example_interfaces/AddTwoInts_ros_srv_server.vhd
analyze Level_1/L1_AddTwoInts_ros_srv_test1.vhd analyze Level_1/L1_AddTwoInts_ros_srv_test1.vhd
analyze Level_1/L1_AddTwoInts_ros_srv_test2.vhd analyze Level_1/L1_AddTwoInts_ros_srv_test2.vhd
analyze Level_2/L2_AddTwoInts_ros_srv_test1.vhd analyze Level_2/L2_AddTwoInts_ros_srv_test1.vhd
analyze ../example_interfaces/Fibonacci_package.vhd
analyze ../example_interfaces/Fibonacci_ros_action_feedback_pub.vhd
analyze ../example_interfaces/Fibonacci_ros_action_feedback_sub.vhd
analyze Level_1/L1_Fibonacci_ros_action_feedback_test1.vhd
analyze Level_1/L1_Fibonacci_ros_action_feedback_test2.vhd
analyze ../rcl_interfaces/action_msgs/GoalInfo_package.vhd analyze ../rcl_interfaces/action_msgs/GoalInfo_package.vhd
analyze ../rcl_interfaces/action_msgs/GoalStatus_package.vhd analyze ../rcl_interfaces/action_msgs/GoalStatus_package.vhd
analyze ../rcl_interfaces/action_msgs/GoalStatusArray_package.vhd analyze ../rcl_interfaces/action_msgs/GoalStatusArray_package.vhd
@ -110,14 +105,25 @@ analyze ../rcl_interfaces/action_msgs/CancelGoal_ros_srv_server.vhd
analyze ../rcl_interfaces/action_msgs/CancelGoal_ros_srv_client.vhd analyze ../rcl_interfaces/action_msgs/CancelGoal_ros_srv_client.vhd
analyze Level_1/L1_CancelGoal_ros_srv_test1.vhd analyze Level_1/L1_CancelGoal_ros_srv_test1.vhd
analyze Level_1/L1_CancelGoal_ros_srv_test2.vhd analyze Level_1/L1_CancelGoal_ros_srv_test2.vhd
analyze ../example_interfaces/Fibonacci_package.vhd
analyze ../example_interfaces/Fibonacci_ros_action_feedback_pub.vhd
analyze ../example_interfaces/Fibonacci_ros_action_feedback_sub.vhd
analyze Level_1/L1_Fibonacci_ros_action_feedback_test1.vhd
analyze Level_1/L1_Fibonacci_ros_action_feedback_test2.vhd
analyze ../example_interfaces/Fibonacci_ros_action_goal_srv_server.vhd
analyze ../example_interfaces/Fibonacci_ros_action_goal_srv_client.vhd
analyze Level_1/L1_Fibonacci_ros_action_goal_srv_test1.vhd
analyze Level_1/L1_Fibonacci_ros_action_goal_srv_test2.vhd
simulate L1_AddTwoInts_ros_srv_test1 simulate L1_AddTwoInts_ros_srv_test1
simulate L1_AddTwoInts_ros_srv_test2 simulate L1_AddTwoInts_ros_srv_test2
simulate L2_AddTwoInts_ros_srv_test1 simulate L2_AddTwoInts_ros_srv_test1
simulate L1_Fibonacci_ros_action_feedback_test1
simulate L1_Fibonacci_ros_action_feedback_test2
simulate L1_GoalStatusArray_ros_test1 simulate L1_GoalStatusArray_ros_test1
simulate L1_GoalStatusArray_ros_test2 simulate L1_GoalStatusArray_ros_test2
simulate L1_CancelGoal_ros_srv_test1 simulate L1_CancelGoal_ros_srv_test1
simulate L1_CancelGoal_ros_srv_test2 simulate L1_CancelGoal_ros_srv_test2
simulate L1_Fibonacci_ros_action_feedback_test1
simulate L1_Fibonacci_ros_action_feedback_test2
simulate L1_Fibonacci_ros_action_goal_srv_test1
simulate L1_Fibonacci_ros_action_goal_srv_test2

44
src/ros2/example_interfaces/Fibonacci_package.vhd
View File

@ -4,16 +4,46 @@ use ieee.numeric_std.all;
use work.math_pkg.all; use work.math_pkg.all;
use work.ros_package.all; use work.ros_package.all;
use work.GoalInfo_package;
package Fibonacci_package is package Fibonacci_package is
constant GOAL_ID_MAX_DEPTH : natural := 16; -- GOAL
constant GOAL_ID_ADDR_WIDTH : natural := log2c(GOAL_ID_MAX_DEPTH); constant G_RQ_GOAL_ID_MAX_DEPTH : natural := GoalInfo_package.GOAL_ID_MAX_DEPTH;
constant SEQ_MAX_DEPTH : natural := 100; constant G_RQ_GOAL_ID_ADDR_WIDTH : natural := GoalInfo_package.GOAL_ID_ADDR_WIDTH;
constant SEQ_ADDR_WIDTH : natural := log2c(SEQ_MAX_DEPTH);
constant MAX_GOAL_ID_SIZE : natural := GOAL_ID_MAX_DEPTH; constant G_RQ_MAX_GOAL_ID_SIZE : natural := GoalInfo_package.MAX_GOAL_ID_SIZE;
constant MAX_SEQ_SIZE : natural := SEQ_MAX_DEPTH * 4; constant G_RQ_MAX_ORDER_SIZE : natural := 4;
constant MAX_FIBONACCI_SIZE : natural := MAX_GOAL_ID_SIZE + MAX_SEQ_SIZE; constant G_RQ_FIBONACCI_SIZE : natural := G_RQ_MAX_GOAL_ID_SIZE + G_RQ_MAX_ORDER_SIZE;
constant G_RR_MAX_ACCEPTED : natural := 1;
constant G_RR_MAX_STAMP_SEC_SIZE : natural := GoalInfo_package.MAX_STAMP_SEC_SIZE;
constant G_RR_MAX_STAMP_NANOSEC_SIZE : natural := GoalInfo_package.MAX_STAMP_NANOSEC_SIZE;
constant G_RR_MAX_STAMP_SIZE : natural := GoalInfo_package.MAX_STAMP_SIZE;
constant G_RR_MAX_FIBONACCI_SIZE : natural := G_RR_MAX_ACCEPTED + G_RR_MAX_STAMP_SIZE;
-- RESULT
constant R_RQ_GOAL_ID_MAX_DEPTH : natural := GoalInfo_package.GOAL_ID_MAX_DEPTH;
constant R_RQ_GOAL_ID_ADDR_WIDTH : natural := GoalInfo_package.GOAL_ID_ADDR_WIDTH;
constant R_RQ_MAX_GOAL_ID_SIZE : natural := GoalInfo_package.MAX_GOAL_ID_SIZE;
constant R_RQ_MAX_FIBONACCI_SIZE : natural := R_RQ_MAX_GOAL_ID_SIZE;
constant R_RR_SEQ_MAX_DEPTH : natural := 100;
constant R_RR_SEQ_ADDR_WIDTH : natural := log2c(R_RR_SEQ_MAX_DEPTH);
constant R_RR_MAX_STATUS_SIZE : natural := 1;
constant R_RR_MAX_SEQ_SIZE : natural := R_RR_SEQ_MAX_DEPTH * 4;
constant R_RR_MAX_FIBONACCI_SIZE : natural := R_RR_MAX_STATUS_SIZE + R_RR_MAX_SEQ_SIZE;
-- FEEDBACK
constant F_GOAL_ID_MAX_DEPTH : natural := GoalInfo_package.GOAL_ID_MAX_DEPTH;
constant F_GOAL_ID_ADDR_WIDTH : natural := GoalInfo_package.GOAL_ID_ADDR_WIDTH;
constant F_SEQ_MAX_DEPTH : natural := 100;
constant F_SEQ_ADDR_WIDTH : natural := log2c(F_SEQ_MAX_DEPTH);
constant F_MAX_GOAL_ID_SIZE : natural := GoalInfo_package.MAX_GOAL_ID_SIZE;
constant F_MAX_SEQ_SIZE : natural := F_SEQ_MAX_DEPTH * 4;
constant F_MAX_FIBONACCI_SIZE : natural := F_MAX_GOAL_ID_SIZE + F_MAX_SEQ_SIZE;
end package; end package;

18
src/ros2/example_interfaces/Fibonacci_ros_action_feedback_pub.vhd
View File

@ -46,8 +46,8 @@ entity Fibonacci_ros_action_feedback_pub is
-- ###GENERATED START### -- ###GENERATED START###
goal_id : in std_logic_vector(UUID_WIDTH-1 downto 0); goal_id : in std_logic_vector(UUID_WIDTH-1 downto 0);
seq_len : in std_logic_vector(SEQ_ADDR_WIDTH-1 downto 0); seq_len : in std_logic_vector(F_SEQ_ADDR_WIDTH-1 downto 0);
seq_addr : in std_logic_vector(SEQ_ADDR_WIDTH-1 downto 0); seq_addr : in std_logic_vector(F_SEQ_ADDR_WIDTH-1 downto 0);
seq_ready : out std_logic; seq_ready : out std_logic;
seq_ren : in std_logic; seq_ren : in std_logic;
seq_wen : in std_logic; seq_wen : in std_logic;
@ -83,10 +83,10 @@ architecture arch of Fibonacci_ros_action_feedback_pub is
signal return_code_latch, return_code_latch_next : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0); signal return_code_latch, return_code_latch_next : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0);
signal encode_stage, encode_stage_next : ENCODE_STAGE_TYPE; signal encode_stage, encode_stage_next : ENCODE_STAGE_TYPE;
-- ###GENERATED START### -- ###GENERATED START###
signal uuid_cnt, uuid_cnt_next : natural range 0 to GOAL_ID_MAX_DEPTH-1; signal uuid_cnt, uuid_cnt_next : natural range 0 to F_GOAL_ID_MAX_DEPTH-1;
signal seq_cnt, seq_cnt_next : natural range 0 to SEQ_MAX_DEPTH-1; signal seq_cnt, seq_cnt_next : natural range 0 to F_SEQ_MAX_DEPTH-1;
-- seq_mem SIGNALS -- seq_mem SIGNALS
signal seq_mem_addr : std_logic_vector(SEQ_ADDR_WIDTH-1 downto 0); signal seq_mem_addr : std_logic_vector(F_SEQ_ADDR_WIDTH-1 downto 0);
signal seq_mem_read, seq_mem_ready_in, seq_mem_ready_out, seq_mem_valid_in, seq_mem_valid_out : std_logic; signal seq_mem_read, seq_mem_ready_in, seq_mem_ready_out, seq_mem_valid_in, seq_mem_valid_out : std_logic;
signal seq_mem_data_in, seq_mem_data_out : std_logic_vector(CDR_LONG_WIDTH-1 downto 0); signal seq_mem_data_in, seq_mem_data_out : std_logic_vector(CDR_LONG_WIDTH-1 downto 0);
-- ###GENERATED END### -- ###GENERATED END###
@ -97,9 +97,9 @@ begin
-- ###GENERATED START### -- ###GENERATED START###
seq_mem : entity work.mem_ctrl(arch) seq_mem : entity work.mem_ctrl(arch)
generic map ( generic map (
ADDR_WIDTH => SEQ_ADDR_WIDTH, ADDR_WIDTH => F_SEQ_ADDR_WIDTH,
DATA_WIDTH => CDR_LONG_WIDTH, DATA_WIDTH => CDR_LONG_WIDTH,
MEMORY_DEPTH => SEQ_MAX_DEPTH, MEMORY_DEPTH => F_SEQ_MAX_DEPTH,
MAX_BURST_LENGTH => 1 MAX_BURST_LENGTH => 1
) )
port map ( port map (
@ -262,7 +262,7 @@ begin
data_out_latch_next <= write_sub_vector(data_out_latch_next, get_sub_vector(goal_id,uuid_cnt,CDR_INT8_WIDTH,TRUE), to_integer(align_offset(1 downto 0)), TRUE); data_out_latch_next <= write_sub_vector(data_out_latch_next, get_sub_vector(goal_id,uuid_cnt,CDR_INT8_WIDTH,TRUE), to_integer(align_offset(1 downto 0)), TRUE);
align_offset_next <= align_offset + 1; align_offset_next <= align_offset + 1;
if (uuid_cnt = GOAL_ID_MAX_DEPTH-1) then if (uuid_cnt = F_GOAL_ID_MAX_DEPTH-1) then
encode_stage_next <= WRITE_SEQ_LENGTH; encode_stage_next <= WRITE_SEQ_LENGTH;
cnt_next <= 0; cnt_next <= 0;
uuid_cnt_next <= 0; -- Post-Reset uuid_cnt_next <= 0; -- Post-Reset
@ -305,7 +305,7 @@ begin
case (cnt) is case (cnt) is
-- GET -- GET
when 0 => when 0 =>
seq_mem_addr <= std_logic_vector(to_unsigned(seq_cnt,SEQ_ADDR_WIDTH)); seq_mem_addr <= std_logic_vector(to_unsigned(seq_cnt,F_SEQ_ADDR_WIDTH));
seq_mem_valid_in <= '1'; seq_mem_valid_in <= '1';
seq_mem_read <= '1'; seq_mem_read <= '1';
-- Memory Operation Guard -- Memory Operation Guard

24
src/ros2/example_interfaces/Fibonacci_ros_action_feedback_sub.vhd
View File

@ -62,8 +62,8 @@ entity Fibonacci_ros_action_feedback_sub is
-- ###GENERATED START### -- ###GENERATED START###
goal_id : out std_logic_vector(UUID_WIDTH-1 downto 0); goal_id : out std_logic_vector(UUID_WIDTH-1 downto 0);
seq_len : out std_logic_vector(SEQ_ADDR_WIDTH-1 downto 0); seq_len : out std_logic_vector(F_SEQ_ADDR_WIDTH-1 downto 0);
seq_addr : in std_logic_vector(SEQ_ADDR_WIDTH-1 downto 0); seq_addr : in std_logic_vector(F_SEQ_ADDR_WIDTH-1 downto 0);
seq_ready : out std_logic; seq_ready : out std_logic;
seq_ren : in std_logic; seq_ren : in std_logic;
seq_valid : out std_logic; seq_valid : out std_logic;
@ -104,12 +104,12 @@ architecture arch of Fibonacci_ros_action_feedback_sub is
signal decode_stage, decode_stage_next : DECODE_STAGE_TYPE; signal decode_stage, decode_stage_next : DECODE_STAGE_TYPE;
signal return_stage, return_stage_next : DECODE_STAGE_TYPE; signal return_stage, return_stage_next : DECODE_STAGE_TYPE;
-- ###GENERATED START### -- ###GENERATED START###
signal uuid_cnt, uuid_cnt_next : natural range 0 to GOAL_ID_MAX_DEPTH-1; signal uuid_cnt, uuid_cnt_next : natural range 0 to F_GOAL_ID_MAX_DEPTH-1;
signal seq_cnt, seq_cnt_next : natural range 0 to SEQ_MAX_DEPTH-1; signal seq_cnt, seq_cnt_next : natural range 0 to F_SEQ_MAX_DEPTH-1;
signal seq_len_latch, seq_len_latch_next : unsigned(SEQ_ADDR_WIDTH-1 downto 0); signal seq_len_latch, seq_len_latch_next : unsigned(F_SEQ_ADDR_WIDTH-1 downto 0);
signal goal_id_latch, goal_id_latch_next : std_logic_vector(UUID_WIDTH-1 downto 0); signal goal_id_latch, goal_id_latch_next : std_logic_vector(UUID_WIDTH-1 downto 0);
-- seq_mem SIGNALS -- seq_mem SIGNALS
signal seq_mem_addr : std_logic_vector(SEQ_ADDR_WIDTH-1 downto 0); signal seq_mem_addr : std_logic_vector(F_SEQ_ADDR_WIDTH-1 downto 0);
signal seq_mem_read, seq_mem_ready_in, seq_mem_ready_out, seq_mem_valid_in, seq_mem_valid_out : std_logic; signal seq_mem_read, seq_mem_ready_in, seq_mem_ready_out, seq_mem_valid_in, seq_mem_valid_out : std_logic;
signal seq_mem_data_in, seq_mem_data_out : std_logic_vector(CDR_LONG_WIDTH-1 downto 0); signal seq_mem_data_in, seq_mem_data_out : std_logic_vector(CDR_LONG_WIDTH-1 downto 0);
-- ###GENERATED END### -- ###GENERATED END###
@ -124,9 +124,9 @@ begin
-- ###GENERATED START### -- ###GENERATED START###
seq_mem : entity work.mem_ctrl(arch) seq_mem : entity work.mem_ctrl(arch)
generic map ( generic map (
ADDR_WIDTH => SEQ_ADDR_WIDTH, ADDR_WIDTH => F_SEQ_ADDR_WIDTH,
DATA_WIDTH => CDR_LONG_WIDTH, DATA_WIDTH => CDR_LONG_WIDTH,
MEMORY_DEPTH => SEQ_MAX_DEPTH, MEMORY_DEPTH => F_SEQ_MAX_DEPTH,
MAX_BURST_LENGTH => 1 MAX_BURST_LENGTH => 1
) )
port map ( port map (
@ -357,7 +357,7 @@ begin
stage_next <= FETCH; stage_next <= FETCH;
end if; end if;
if (uuid_cnt = GOAL_ID_MAX_DEPTH-1) then if (uuid_cnt = F_GOAL_ID_MAX_DEPTH-1) then
decode_stage_next <= GET_SEQ_LENGTH; decode_stage_next <= GET_SEQ_LENGTH;
uuid_cnt_next <= 0; -- Post-reset uuid_cnt_next <= 0; -- Post-reset
else else
@ -379,8 +379,8 @@ begin
-- DONE -- DONE
stage_next <= SKIP_PAYLOAD; stage_next <= SKIP_PAYLOAD;
else else
if (tmp_length > SEQ_MAX_DEPTH) then if (tmp_length > F_SEQ_MAX_DEPTH) then
seq_len_latch_next <= to_unsigned(SEQ_MAX_DEPTH, seq_len_latch_next'length); seq_len_latch_next <= to_unsigned(F_SEQ_MAX_DEPTH, seq_len_latch_next'length);
else else
seq_len_latch_next <= resize(tmp_length, seq_len_latch_next'length); seq_len_latch_next <= resize(tmp_length, seq_len_latch_next'length);
end if; end if;
@ -394,7 +394,7 @@ begin
target_align_next <= ALIGN_4; target_align_next <= ALIGN_4;
stage_next <= ALIGN_STREAM; stage_next <= ALIGN_STREAM;
else else
seq_mem_addr <= std_logic_vector(to_unsigned(seq_cnt,SEQ_ADDR_WIDTH)); seq_mem_addr <= std_logic_vector(to_unsigned(seq_cnt,F_SEQ_ADDR_WIDTH));
seq_mem_data_in <= endian_swap(endian_flag, data_in_latch); seq_mem_data_in <= endian_swap(endian_flag, data_in_latch);
seq_mem_valid_in <= '1'; seq_mem_valid_in <= '1';
-- Memory Operation Guard -- Memory Operation Guard

760
src/ros2/example_interfaces/Fibonacci_ros_action_goal_srv_client.vhd Normal file
View File

@ -0,0 +1,760 @@
-- altera vhdl_input_version vhdl_2008
-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html)
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.rtps_package.all;
use work.rtps_config_package.all;
use work.ros_package.all;
use work.Fibonacci_package.all;
entity Fibonacci_ros_action_goal_srv_client is
generic (
LITTLE_ENDIAN : std_logic := '0'
);
port (
-- SYSTEM
clk : in std_logic;
reset : in std_logic;
-- FROM DDS READER
start_r : out std_logic;
ack_r : in std_logic;
opcode_r : out DDS_READER_OPCODE_TYPE;
instance_state_r : out std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
view_state_r : out std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
sample_state_r : out std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
instance_handle_r : out INSTANCE_HANDLE_TYPE;
max_samples_r : out std_logic_vector(MAX_SAMPLES_WIDTH-1 downto 0);
get_data_r : out std_logic;
done_r : in std_logic;
return_code_r : in std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
valid_in_r : in std_logic;
ready_in_r : out std_logic;
data_in_r : in std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_r : in std_logic;
-- Sample Info
si_sample_state_r : in std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
si_view_state_r : in std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
si_instance_state_r : in std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
si_source_timestamp_r : in TIME_TYPE;
si_instance_handle_r : in INSTANCE_HANDLE_TYPE;
si_publication_handle_r : in INSTANCE_HANDLE_TYPE;
si_disposed_generation_count_r : in std_logic_vector(DISPOSED_GENERATION_COUNT_WIDTH-1 downto 0);
si_no_writers_generation_count_r : in std_logic_vector(NO_WRITERS_GENERATION_COUNT_WIDTH-1 downto 0);
si_sample_rank_r : in std_logic_vector(SAMPLE_RANK_WIDTH-1 downto 0);
si_generation_rank_r : in std_logic_vector(GENERATION_RANK_WIDTH-1 downto 0);
si_absolute_generation_rank_r : in std_logic_vector(ABSOLUTE_GENERATION_COUNT_WIDTH-1 downto 0);
si_valid_data_r : in std_logic;
si_valid_r : in std_logic;
si_ack_r : out std_logic;
eoc_r : in std_logic;
status_r : in std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
-- FROM DDS WRITER
start_w : out std_logic;
ack_w : in std_logic;
opcode_w : out DDS_WRITER_OPCODE_TYPE;
instance_handle_out_w : out INSTANCE_HANDLE_TYPE;
source_ts_w : out TIME_TYPE;
max_wait_w : out DURATION_TYPE;
done_w : in std_logic;
return_code_w : in std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
instance_handle_in_w : in INSTANCE_HANDLE_TYPE;
valid_out_w : out std_logic;
ready_out_w : in std_logic;
data_out_w : out std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_out_w : out std_logic;
valid_in_w : in std_logic;
ready_in_w : out std_logic;
data_in_w : in std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_w : in std_logic;
status_w : in std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
-- TO USER
start_user : in std_logic;
ack_user : out std_logic;
opcode_user : in ROS_SERVICE_OPCODE_TYPE;
service_info_user : out SERVICE_INFO_TYPE;
sequence_id_user : out std_logic_vector(ROS_SEQUENCE_ID_WIDTH-1 downto 0);
data_available_user : out std_logic;
taken_user : out std_logic;
-- REQUEST
goal_id : in std_logic_vector(UUID_WIDTH-1 downto 0);
-- ###GENERATED START###
order : in std_logic_vector(CDR_LONG_WIDTH-1 downto 0);
-- ###GENERATED END###
-- RESPONSE
accepted : out std_logic;
stamp : out std_logic_vector(ROS_TIME_WIDTH-1 downto 0);
done_user : out std_logic;
return_code_user : out std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0)
);
end entity;
architecture arch of Fibonacci_ros_action_goal_srv_client is
--*****TYPE DECLARATION*****
-- FSM states. Explained below in detail
type STAGE_TYPE is (IDLE,RETURN_ROS,INITIATE_READ,WAIT_FOR_READER,WAIT_FOR_WRITER,WAIT_FOR_DATA,GET_PAYLOAD_HEADER,FETCH,ALIGN_IN_STREAM,SKIP_PAYLOAD,DECODE_PAYLOAD,INITIATE_WRITE,WRITE_PAYLOAD_HEADER,PUSH,ALIGN_OUT_STREAM,ENCODE_PAYLOAD);
-- ###GENERATED START###
type ENCODE_STAGE_TYPE is (WRITE_RID_WGUID,WRITE_RID_SN,WRITE_RQ_GOAL_ID,WRITE_RQ_ORDER);
type DECODE_STAGE_TYPE is (GET_RID_WGUID,GET_RID_SN,GET_OPTIONAL_HEADER,GET_RR_ACCEPTED,GET_RR_STAMP);
-- ###GENERATED END###
-- *MAIN PROCESS*
signal stage, stage_next : STAGE_TYPE;
signal cnt, cnt_next : natural range 0 to 5;
signal endian_flag, endian_flag_next : std_logic;
signal last_word_in_latch, last_word_in_latch_next : std_logic;
signal decode_error_latch, decode_error_latch_next : std_logic;
signal dw_latch, dw_latch_next : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
signal align_offset, align_offset_next : unsigned(MAX_ALIGN_OFFSET_WIDTH-1 downto 0);
signal align_op, align_op_next : std_logic;
signal target_align, target_align_next : ALIGN_TYPE;
signal data_in_latch, data_in_latch_next : std_logic_vector(WORD_WIDTH-1 downto 0);
signal optional, optional_next : std_logic;
signal data_out_latch, data_out_latch_next : std_logic_vector(WORD_WIDTH-1 downto 0);
signal abort_mem : std_logic;
signal ready_in_r_sig : std_logic;
signal taken_sig, taken_sig_next : std_logic;
signal service_info_sig, service_info_sig_next : SERVICE_INFO_TYPE;
signal sequence_id_sig, sequence_id_sig_next : unsigned(ROS_SEQUENCE_ID_WIDTH-1 downto 0);
signal finalize_payload, finalize_payload_next : std_logic;
signal encode_stage, encode_stage_next : ENCODE_STAGE_TYPE;
signal decode_stage, decode_stage_next : DECODE_STAGE_TYPE;
signal return_stage, return_stage_next : DECODE_STAGE_TYPE;
signal return_code_latch, return_code_latch_next : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0);
signal data_available_sig, data_available_sig_next : std_logic;
signal uuid_cnt, uuid_cnt_next : natural range 0 to G_RQ_GOAL_ID_MAX_DEPTH-1;
signal accepted_latch, accepted_latch_next : std_logic;
signal stamp_latch, stamp_latch_next : std_logic_vector(ROS_TIME_WIDTH-1 downto 0);
-- ###GENERATED START###
-- ###GENERATED END###
--*****ALIAS DECLARATION*****
alias representation_id : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) is data_in_r(WORD_WIDTH-1 downto WORD_WIDTH-PAYLOAD_REPRESENTATION_ID_WIDTH);
alias representation_options : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) is data_in_r(PAYLOAD_REPRESENTATION_OPTIONS_WIDTH-1 downto 0);
alias parameter_id : std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0) is data_in_latch(WORD_WIDTH-1 downto WORD_WIDTH-PARAMETER_ID_WIDTH);
alias parameter_length : std_logic_vector(PARAMETER_LENGTH_WIDTH-1 downto 0) is data_in_latch(PARAMETER_LENGTH_WIDTH-1 downto 0);
begin
-- ###GENERATED START###
-- MEMORY INSTANTIATIONS
-- ###GENERATED END###
instance_state_r <= ANY_INSTANCE_STATE;
view_state_r <= ANY_VIEW_STATE;
sample_state_r <= ANY_SAMPLE_STATE;
instance_handle_r <= HANDLE_NIL;
max_samples_r <= (others => '0');
instance_handle_out_w <= HANDLE_NIL;
source_ts_w <= TIME_INVALID;
max_wait_w <= DURATION_ZERO;
ready_in_w <= '0'; -- DDS Writer Input is unused
taken_user <= taken_sig;
ready_in_r <= ready_in_r_sig;
service_info_user <= service_info_sig;
sequence_id_user <= std_logic_vector(sequence_id_sig);
data_available_user <= data_available_sig;
-- ###GENERATED START###
accepted <= accepted_latch;
stamp <= stamp_latch;
-- ###GENERATED END###
main_prc : process (all)
variable tmp_length : unsigned(WORD_WIDTH-1 downto 0);
begin
-- DEFAULT
stage_next <= stage;
encode_stage_next <= encode_stage;
decode_stage_next <= decode_stage;
return_stage_next <= return_stage;
cnt_next <= cnt;
endian_flag_next <= endian_flag;
last_word_in_latch_next <= last_word_in_latch;
decode_error_latch_next <= decode_error_latch;
align_offset_next <= align_offset;
target_align_next <= target_align;
data_out_latch_next <= data_out_latch;
finalize_payload_next <= finalize_payload;
optional_next <= optional;
taken_sig_next <= taken_sig;
data_in_latch_next <= data_in_latch;
align_op_next <= align_op;
return_code_latch_next <= return_code_latch;
service_info_sig_next <= service_info_sig;
dw_latch_next <= dw_latch;
sequence_id_sig_next <= sequence_id_sig;
data_available_sig_next <= data_available_sig;
ready_in_r_sig <= '0';
abort_mem <= '0';
ack_user <= '0';
si_ack_r <= '0';
get_data_r <= '0';
start_r <= '0';
opcode_r <= NOP;
start_w <= '0';
opcode_w <= NOP;
valid_out_w <= '0';
last_word_out_w <= '0';
done_user <= '0';
return_code_user <= ROS_RET_OK;
data_out_w <= (others => '0');
uuid_cnt_next <= uuid_cnt;
-- ###GENERATED START###
accepted_latch_next <= accepted_latch;
stamp_latch_next <= stamp_latch;
-- ###GENERATED END###
-- Last Word Latch Setter
if (last_word_in_r = '1') then
last_word_in_latch_next <= '1';
end if;
-- Data Available Setter
if (check_mask(status_r, DATA_AVAILABLE_STATUS)) then
data_available_sig_next <= '1';
end if;
case (stage) is
when IDLE =>
if (start_user = '1') then
ack_user <= '1';
case (opcode_user) is
when SEND_REQUEST =>
stage_next <= INITIATE_WRITE;
-- Increment Sequence ID
sequence_id_sig_next <= sequence_id_sig + 1;
when TAKE_RESPONSE =>
stage_next <= INITIATE_READ;
when others =>
return_code_latch_next <= ROS_RET_UNSUPPORTED;
stage_next <= RETURN_ROS;
end case;
-- RESET
taken_sig_next <= '0';
abort_mem <= '1';
else
-- ###GENERATED START###
-- MEMORY SIGNAL CONNECTIONS
-- ###GENERATED END###
end if;
when RETURN_ROS =>
done_user <= '1';
return_code_user <= return_code_latch;
-- DONE
stage_next <= IDLE;
when INITIATE_READ =>
start_r <= '1';
opcode_r <= TAKE_NEXT_SAMPLE;
if (ack_r = '1') then
stage_next <= WAIT_FOR_READER;
end if;
when WAIT_FOR_READER =>
if (done_r = '1') then
case (return_code_r) is
when RETCODE_OK =>
stage_next <= WAIT_FOR_DATA;
when RETCODE_NO_DATA =>
assert (taken_sig = '0') severity FAILURE;
-- Data Available Resetter
data_available_sig_next <= '0';
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_ROS;
when others =>
return_code_latch_next <= ROS_RET_ERROR;
stage_next <= RETURN_ROS;
end case;
end if;
when WAIT_FOR_DATA =>
if (si_valid_r = '1') then
si_ack_r <= '1';
-- Meta Sample
if (si_valid_data_r = '0') then
-- Ignore and read Next Sample
stage_next <= INITIATE_READ;
else
get_data_r <= '1';
stage_next <= GET_PAYLOAD_HEADER;
service_info_sig_next.received_timestamp <= TIME_INVALID;
service_info_sig_next.source_timestamp <= si_source_timestamp_r;
end if;
end if;
when GET_PAYLOAD_HEADER =>
-- TODO: Latch Offset from Options Field?
ready_in_r_sig <= '1';
-- Input Guard
if (valid_in_r = '1') then
case (representation_id) is
when CDR_BE =>
endian_flag_next <= '0';
stage_next <= FETCH;
-- Alignment Reset
align_offset_next <= (others => '0');
decode_stage_next <= GET_RID_WGUID;
cnt_next <= 0;
-- Initial Fetch
when CDR_LE =>
endian_flag_next <= '1';
stage_next <= FETCH;
-- Alignment Reset
align_offset_next <= (others => '0');
decode_stage_next <= GET_RID_WGUID;
cnt_next <= 0;
when others =>
-- Unknown Payload Encoding
stage_next <= SKIP_PAYLOAD;
decode_error_latch_next <= '1';
end case;
end if;
when FETCH =>
ready_in_r_sig <= '1';
-- Input Guard
if (valid_in_r = '1') then
data_in_latch_next <= data_in_r;
-- Alignment Operation in progress
if (align_op = '1') then
stage_next <= ALIGN_IN_STREAM;
-- Reset
align_op_next <= '0';
else
stage_next <= DECODE_PAYLOAD;
end if;
end if;
when ALIGN_IN_STREAM =>
-- Target Stream Alignment reached
if (check_align(align_offset, target_align)) then
-- DONE
stage_next <= DECODE_PAYLOAD;
else
align_offset_next <= align_offset + 1;
-- Need to fetch new Input Word
if (align_offset(1 downto 0) = "11") then
align_op_next <= '1';
stage_next <= FETCH;
end if;
end if;
when DECODE_PAYLOAD =>
case (decode_stage) is
-- NOTE: The Cyclone DDS implementation uses a custom request header that is pre-pended to the actual service request/response.
-- It is defined as follows:
-- struct cdds_request_header_t{
-- uint64_t guid;
-- int64_t seq;
-- };
-- 'seq' is set by a counter that is incremented on each "send_request".
-- 'guid' is set to the publication handle of the request writer of the service client.
-- Note that the publication handle is useless for the server, since it is only meanigful localy (i.e. only the client can do something with it)
-- Nevertheless the same 'guid' has to be returned to the client.
when GET_RID_WGUID =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
service_info_sig_next.request_id.writer_guid(0) <= get_sub_vector(endian_swap(endian_flag, dw_latch),0,WORD_WIDTH,TRUE);
service_info_sig_next.request_id.writer_guid(1) <= get_sub_vector(endian_swap(endian_flag, dw_latch),1,WORD_WIDTH,TRUE);
stage_next <= FETCH;
align_offset_next <= align_offset + 8;
decode_stage_next <= GET_RID_SN;
cnt_next <= 0;
when others =>
null;
end case;
end if;
when GET_RID_SN =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
service_info_sig_next.request_id.sequence_number <= to_double_word(unsigned(endian_swap(endian_flag, dw_latch)));
stage_next <= FETCH;
align_offset_next <= align_offset + 8;
decode_stage_next <= GET_RR_ACCEPTED;
when others =>
null;
end case;
end if;
when GET_RR_ACCEPTED =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_1)) then
target_align_next <= ALIGN_1;
stage_next <= ALIGN_IN_STREAM;
else
accepted_latch_next <= get_sub_vector(data_in_latch, to_integer(align_offset(1 downto 0)), CDR_BOOLEAN_WIDTH, TRUE)(0);
align_offset_next <= align_offset + 1;
decode_stage_next <= GET_RR_STAMP;
cnt_next <= 0;
-- Need to fetch next Word
if(align_offset(1 downto 0) = "11") then
stage_next <= FETCH;
end if;
end if;
when GET_RR_STAMP =>
-- We intepret the TIME as a double word for efficiency
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next <= write_sub_vector(dw_latch_next, endian_swap(endian_flag, data_in_latch), 0, TRUE);
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next <= write_sub_vector(dw_latch_next, endian_swap(endian_flag, data_in_latch), 1, TRUE);
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
stamp_latch_next <= dw_latch;
stage_next <= FETCH;
align_offset_next <= align_offset + 8;
-- DONE
stage_next <= SKIP_PAYLOAD;
when others =>
null;
end case;
end if;
when GET_OPTIONAL_HEADER =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Optional Member Header
when 0 =>
-- Extended Parameter Header
if (endian_swap(endian_flag,parameter_id) = PID_EXTENDED) then
cnt_next <= cnt + 1;
stage_next <= FETCH;
else
stage_next <= FETCH;
decode_stage_next <= return_stage;
cnt_next <= 0;
-- Alignment Reset
align_offset_next <= (others => '0');
-- Optional omitted
if(endian_swap(endian_flag,parameter_length) = (parameter_length'reverse_range => '0')) then
optional_next <= '0';
else
optional_next <= '1';
end if;
end if;
-- eMemberHeader
when 1 =>
-- Ignore Parameter ID
cnt_next <= cnt + 1;
stage_next <= FETCH;
-- Llength
when 2 =>
stage_next <= FETCH;
decode_stage_next <= return_stage;
cnt_next <= 0;
-- Alignment Reset
align_offset_next <= (others => '0');
-- Optional omitted
if(endian_swap(endian_flag, data_in_r) = (data_in_r'reverse_range => '0')) then
optional_next <= '0';
else
optional_next <= '1';
end if;
when others =>
null;
end case;
end if;
when others =>
null;
end case;
when SKIP_PAYLOAD =>
if (last_word_in_latch = '0') then
-- Skip Read
ready_in_r_sig <= '1';
else
-- Reset
last_word_in_latch_next <= '0';
-- If no Decode Error, mark output as valid
if (decode_error_latch = '0') then
taken_sig_next <= '1';
return_code_latch_next <= ROS_RET_OK;
else
taken_sig_next <= '0';
return_code_latch_next <= ROS_RET_ERROR;
end if;
stage_next <= RETURN_ROS;
end if;
when INITIATE_WRITE =>
start_w <= '1';
opcode_w <= WRITE;
if (ack_w = '1') then
stage_next <= WRITE_PAYLOAD_HEADER;
end if;
when WRITE_PAYLOAD_HEADER =>
valid_out_w <= '1';
if (LITTLE_ENDIAN = '0') then
data_out_w <= CDR_BE & x"0000";
else
data_out_w <= CDR_LE & x"0000";
end if;
-- Output Guard
if (ready_out_w = '1') then
stage_next <= ENCODE_PAYLOAD;
-- Reset
align_offset_next <= (others => '0');
data_out_latch_next <= (others => '0');
encode_stage_next <= WRITE_RID_WGUID;
cnt_next <= 0;
end if;
when PUSH =>
-- Mark Last Word
if (finalize_payload = '1') then
last_word_out_w <= '1';
end if;
valid_out_w <= '1';
data_out_w <= data_out_latch;
-- Output Guard
if (ready_out_w = '1') then
-- NOTE: Ensures all padding is zero.
data_out_latch_next <= (others => '0');
-- Alignment Operation in process
if (align_op = '1') then
stage_next <= ALIGN_OUT_STREAM;
-- Reset
align_op_next <= '0';
-- DONE
elsif (finalize_payload = '1') then
finalize_payload_next <= '0';
stage_next <= WAIT_FOR_WRITER;
else
stage_next <= ENCODE_PAYLOAD;
end if;
end if;
when ALIGN_OUT_STREAM =>
-- Target Stream Alignment reached
if (check_align(align_offset, target_align)) then
-- DONE
stage_next <= ENCODE_PAYLOAD;
else
align_offset_next <= align_offset + 1;
-- Need to push Word
if (align_offset(1 downto 0) = "11") then
align_op_next <= '1';
stage_next <= PUSH;
end if;
end if;
when ENCODE_PAYLOAD =>
case (encode_stage) is
when WRITE_RID_WGUID =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= (others => '0');
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= (others => '0');
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
encode_stage_next <= WRITE_RID_SN;
cnt_next <= 0;
when others =>
end case;
end if;
when WRITE_RID_SN =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, std_logic_vector(sequence_id_sig)), 0, WORD_WIDTH, TRUE);
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, std_logic_vector(sequence_id_sig)), 1, WORD_WIDTH, TRUE);
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
encode_stage_next <= WRITE_RQ_GOAL_ID;
when others =>
end case;
end if;
when WRITE_RQ_GOAL_ID =>
-- Special Encoding for effieciency (Prevent having to define memory for UUID)
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_1)) then
target_align_next <= ALIGN_1;
stage_next <= ALIGN_OUT_STREAM;
else
data_out_latch_next <= write_sub_vector(data_out_latch_next, get_sub_vector(goal_id,uuid_cnt,CDR_INT8_WIDTH,TRUE), to_integer(align_offset(1 downto 0)), TRUE);
align_offset_next <= align_offset + 1;
if (uuid_cnt = G_RQ_GOAL_ID_MAX_DEPTH-1) then
-- ###GENERATED START###
encode_stage_next <= WRITE_RQ_ORDER;
-- ###GENERATED END###
uuid_cnt_next <= 0; -- Post-Reset
else
uuid_cnt_next <= uuid_cnt + 1;
end if;
-- Need to fetch next Word
if(align_offset(1 downto 0) = "11") then
stage_next <= PUSH;
end if;
end if;
-- ###GENERATED START###
when WRITE_RQ_ORDER =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_OUT_STREAM;
else
data_out_latch_next <= endian_swap(LITTLE_ENDIAN,order);
align_offset_next <= align_offset + 4;
stage_next <= PUSH;
-- DONE
stage_next <= PUSH;
finalize_payload_next <= '1';
end if;
-- ###GENERATED END###
when others =>
null;
end case;
when WAIT_FOR_WRITER =>
if (done_w = '1') then
case (return_code_w) is
when RETCODE_OK =>
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_ROS;
when others =>
return_code_latch_next <= ROS_RET_ERROR;
stage_next <= RETURN_ROS;
end case;
end if;
when others =>
null;
end case;
-- OVERREAD GUARD
-- Attempted read on empty input
if (last_word_in_latch = '1' and last_word_in_r = '0' and ready_in_r_sig = '1') then
stage_next <= SKIP_PAYLOAD;
decode_error_latch_next <= '1';
end if;
end process;
sync_prc : process(clk)
begin
if rising_edge(clk) then
if (reset = '1') then
stage <= IDLE;
encode_stage <= WRITE_RID_WGUID;
decode_stage <= GET_RID_WGUID;
return_stage <= GET_RID_WGUID;
target_align <= ALIGN_1;
cnt <= 0;
endian_flag <= '0';
last_word_in_latch <= '0';
decode_error_latch <= '0';
optional <= '0';
taken_sig <= '0';
align_op <= '0';
finalize_payload <= '0';
data_available_sig <= '0';
align_offset <= (others => '0');
data_in_latch <= (others => '0');
data_out_latch <= (others => '0');
dw_latch <= (others => '0');
sequence_id_sig <= (others => '0');
return_code_latch <= ROS_RET_OK;
service_info_sig <= EMPTY_SERVICE_INFO;
uuid_cnt <= 0;
-- ###GENERATED START###
accepted_latch <= '0';
stamp_latch <= (others => '0');
-- ###GENERATED END###
else
stage <= stage_next;
encode_stage <= encode_stage_next;
decode_stage <= decode_stage_next;
return_stage <= return_stage_next;
target_align <= target_align_next;
cnt <= cnt_next;
endian_flag <= endian_flag_next;
last_word_in_latch <= last_word_in_latch_next;
decode_error_latch <= decode_error_latch_next;
optional <= optional_next;
taken_sig <= taken_sig_next;
align_op <= align_op_next;
finalize_payload <= finalize_payload_next;
data_available_sig <= data_available_sig_next;
align_offset <= align_offset_next;
data_in_latch <= data_in_latch_next;
data_out_latch <= data_out_latch_next;
dw_latch <= dw_latch_next;
sequence_id_sig <= sequence_id_sig_next;
return_code_latch <= return_code_latch_next;
service_info_sig <= service_info_sig_next;
uuid_cnt <= uuid_cnt_next;
-- ###GENERATED START###
accepted_latch <= accepted_latch_next;
stamp_latch <= stamp_latch_next;
-- ###GENERATED END###
end if;
end if;
end process;
end architecture;

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-- altera vhdl_input_version vhdl_2008
-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html)
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.rtps_package.all;
use work.rtps_config_package.all;
use work.ros_package.all;
use work.Fibonacci_package.all;
entity Fibonacci_ros_action_goal_srv_server is
generic (
LITTLE_ENDIAN : std_logic := '0'
);
port (
-- SYSTEM
clk : in std_logic;
reset : in std_logic;
-- FROM DDS READER
start_r : out std_logic;
ack_r : in std_logic;
opcode_r : out DDS_READER_OPCODE_TYPE;
instance_state_r : out std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
view_state_r : out std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
sample_state_r : out std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
instance_handle_r : out INSTANCE_HANDLE_TYPE;
max_samples_r : out std_logic_vector(MAX_SAMPLES_WIDTH-1 downto 0);
get_data_r : out std_logic;
done_r : in std_logic;
return_code_r : in std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
valid_in_r : in std_logic;
ready_in_r : out std_logic;
data_in_r : in std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_r : in std_logic;
-- Sample Info
si_sample_state_r : in std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
si_view_state_r : in std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
si_instance_state_r : in std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
si_source_timestamp_r : in TIME_TYPE;
si_instance_handle_r : in INSTANCE_HANDLE_TYPE;
si_publication_handle_r : in INSTANCE_HANDLE_TYPE;
si_disposed_generation_count_r : in std_logic_vector(DISPOSED_GENERATION_COUNT_WIDTH-1 downto 0);
si_no_writers_generation_count_r : in std_logic_vector(NO_WRITERS_GENERATION_COUNT_WIDTH-1 downto 0);
si_sample_rank_r : in std_logic_vector(SAMPLE_RANK_WIDTH-1 downto 0);
si_generation_rank_r : in std_logic_vector(GENERATION_RANK_WIDTH-1 downto 0);
si_absolute_generation_rank_r : in std_logic_vector(ABSOLUTE_GENERATION_COUNT_WIDTH-1 downto 0);
si_valid_data_r : in std_logic;
si_valid_r : in std_logic;
si_ack_r : out std_logic;
eoc_r : in std_logic;
status_r : in std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
-- FROM DDS WRITER
start_w : out std_logic;
ack_w : in std_logic;
opcode_w : out DDS_WRITER_OPCODE_TYPE;
instance_handle_out_w : out INSTANCE_HANDLE_TYPE;
source_ts_w : out TIME_TYPE;
max_wait_w : out DURATION_TYPE;
done_w : in std_logic;
return_code_w : in std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
instance_handle_in_w : in INSTANCE_HANDLE_TYPE;
valid_out_w : out std_logic;
ready_out_w : in std_logic;
data_out_w : out std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_out_w : out std_logic;
valid_in_w : in std_logic;
ready_in_w : out std_logic;
data_in_w : in std_logic_vector(WORD_WIDTH-1 downto 0);
last_word_in_w : in std_logic;
status_w : in std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
-- TO USER
start_user : in std_logic;
ack_user : out std_logic;
opcode_user : in ROS_SERVICE_OPCODE_TYPE;
service_info_user : out SERVICE_INFO_TYPE;
request_id_user : in REQUEST_ID_TYPE;
data_available_user : out std_logic;
taken_user : out std_logic;
-- REQUEST
goal_id : out std_logic_vector(UUID_WIDTH-1 downto 0);
-- ###GENERATED START###
order : out std_logic_vector(CDR_LONG_WIDTH-1 downto 0);
-- ###GENERATED END###
-- RESPONSE
accepted : in std_logic;
stamp : in std_logic_vector(ROS_TIME_WIDTH-1 downto 0);
done_user : out std_logic;
return_code_user : out std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0)
);
end entity;
architecture arch of Fibonacci_ros_action_goal_srv_server is
--*****TYPE DECLARATION*****
-- FSM states. Explained below in detail
type STAGE_TYPE is (IDLE,RETURN_ROS,INITIATE_READ,WAIT_FOR_READER,WAIT_FOR_WRITER,WAIT_FOR_DATA,GET_PAYLOAD_HEADER,FETCH,ALIGN_IN_STREAM,SKIP_PAYLOAD,DECODE_PAYLOAD,INITIATE_WRITE,WRITE_PAYLOAD_HEADER,PUSH,ALIGN_OUT_STREAM,ENCODE_PAYLOAD);
-- ###GENERATED START###
type ENCODE_STAGE_TYPE is (WRITE_RID_WGUID,WRITE_RID_SN,WRITE_RR_ACCEPTED,WRITE_RR_STAMP);
type DECODE_STAGE_TYPE is (GET_RID_WGUID,GET_RID_SN,GET_OPTIONAL_HEADER,GET_RQ_GOAL_ID,GET_RQ_ORDER);
-- ###GENERATED END###
-- *MAIN PROCESS*
signal stage, stage_next : STAGE_TYPE;
signal cnt, cnt_next : natural range 0 to 5;
signal endian_flag, endian_flag_next : std_logic;
signal last_word_in_latch, last_word_in_latch_next : std_logic;
signal decode_error_latch, decode_error_latch_next : std_logic;
signal dw_latch, dw_latch_next : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
signal align_offset, align_offset_next : unsigned(MAX_ALIGN_OFFSET_WIDTH-1 downto 0);
signal align_op, align_op_next : std_logic;
signal target_align, target_align_next : ALIGN_TYPE;
signal data_in_latch, data_in_latch_next : std_logic_vector(WORD_WIDTH-1 downto 0);
signal optional, optional_next : std_logic;
signal data_out_latch, data_out_latch_next : std_logic_vector(WORD_WIDTH-1 downto 0);
signal abort_mem : std_logic;
signal ready_in_r_sig : std_logic;
signal taken_sig, taken_sig_next : std_logic;
signal service_info_sig, service_info_sig_next : SERVICE_INFO_TYPE;
signal finalize_payload, finalize_payload_next : std_logic;
signal encode_stage, encode_stage_next : ENCODE_STAGE_TYPE;
signal decode_stage, decode_stage_next : DECODE_STAGE_TYPE;
signal return_stage, return_stage_next : DECODE_STAGE_TYPE;
signal return_code_latch, return_code_latch_next : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0);
signal data_available_sig, data_available_sig_next : std_logic;
signal uuid_cnt, uuid_cnt_next : natural range 0 to G_RQ_GOAL_ID_MAX_DEPTH-1;
signal goal_id_latch, goal_id_latch_next : std_logic_vector(UUID_WIDTH-1 downto 0);
-- ###GENERATED START###
signal order_latch, order_latch_next : std_logic_vector(CDR_LONG_WIDTH-1 downto 0);
-- ###GENERATED END###
--*****ALIAS DECLARATION*****
alias representation_id : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) is data_in_r(WORD_WIDTH-1 downto WORD_WIDTH-PAYLOAD_REPRESENTATION_ID_WIDTH);
alias representation_options : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) is data_in_r(PAYLOAD_REPRESENTATION_OPTIONS_WIDTH-1 downto 0);
alias parameter_id : std_logic_vector(PARAMETER_ID_WIDTH-1 downto 0) is data_in_latch(WORD_WIDTH-1 downto WORD_WIDTH-PARAMETER_ID_WIDTH);
alias parameter_length : std_logic_vector(PARAMETER_LENGTH_WIDTH-1 downto 0) is data_in_latch(PARAMETER_LENGTH_WIDTH-1 downto 0);
begin
-- ###GENERATED START###
-- MEMORY INSTANTIATIONS
-- ###GENERATED END###
instance_state_r <= ANY_INSTANCE_STATE;
view_state_r <= ANY_VIEW_STATE;
sample_state_r <= ANY_SAMPLE_STATE;
instance_handle_r <= HANDLE_NIL;
max_samples_r <= (others => '0');
instance_handle_out_w <= HANDLE_NIL;
source_ts_w <= TIME_INVALID;
max_wait_w <= DURATION_ZERO;
ready_in_w <= '0'; -- DDS Writer Input is unused
taken_user <= taken_sig;
ready_in_r <= ready_in_r_sig;
service_info_user <= service_info_sig;
data_available_user <= data_available_sig;
goal_id <= goal_id_latch;
-- ###GENERATED START###
order <= order_latch;
-- ###GENERATED END###
main_prc : process (all)
variable tmp_length : unsigned(WORD_WIDTH-1 downto 0);
begin
-- DEFAULT
stage_next <= stage;
encode_stage_next <= encode_stage;
decode_stage_next <= decode_stage;
return_stage_next <= return_stage;
cnt_next <= cnt;
endian_flag_next <= endian_flag;
last_word_in_latch_next <= last_word_in_latch;
decode_error_latch_next <= decode_error_latch;
align_offset_next <= align_offset;
target_align_next <= target_align;
data_out_latch_next <= data_out_latch;
finalize_payload_next <= finalize_payload;
optional_next <= optional;
taken_sig_next <= taken_sig;
data_in_latch_next <= data_in_latch;
align_op_next <= align_op;
return_code_latch_next <= return_code_latch;
service_info_sig_next <= service_info_sig;
dw_latch_next <= dw_latch;
data_available_sig_next <= data_available_sig;
ready_in_r_sig <= '0';
abort_mem <= '0';
ack_user <= '0';
si_ack_r <= '0';
get_data_r <= '0';
start_r <= '0';
opcode_r <= NOP;
start_w <= '0';
opcode_w <= NOP;
valid_out_w <= '0';
last_word_out_w <= '0';
done_user <= '0';
return_code_user <= ROS_RET_OK;
data_out_w <= (others => '0');
uuid_cnt_next <= uuid_cnt;
goal_id_latch_next <= goal_id_latch;
-- ###GENERATED START###
order_latch_next <= order_latch;
-- ###GENERATED END###
-- Last Word Latch Setter
if (last_word_in_r = '1') then
last_word_in_latch_next <= '1';
end if;
-- Data Available Setter
if (check_mask(status_r, DATA_AVAILABLE_STATUS)) then
data_available_sig_next <= '1';
end if;
case (stage) is
when IDLE =>
if (start_user = '1') then
ack_user <= '1';
case (opcode_user) is
when TAKE_REQUEST =>
stage_next <= INITIATE_READ;
when SEND_RESPONSE =>
stage_next <= INITIATE_WRITE;
when others =>
return_code_latch_next <= ROS_RET_UNSUPPORTED;
stage_next <= RETURN_ROS;
end case;
-- RESET
taken_sig_next <= '0';
abort_mem <= '1';
else
-- ###GENERATED START###
-- MEMORY SIGNAL CONNECTIONS
-- ###GENERATED END###
end if;
when RETURN_ROS =>
done_user <= '1';
return_code_user <= return_code_latch;
-- DONE
stage_next <= IDLE;
when INITIATE_READ =>
start_r <= '1';
opcode_r <= TAKE_NEXT_SAMPLE;
if (ack_r = '1') then
stage_next <= WAIT_FOR_READER;
end if;
when WAIT_FOR_READER =>
if (done_r = '1') then
case (return_code_r) is
when RETCODE_OK =>
stage_next <= WAIT_FOR_DATA;
when RETCODE_NO_DATA =>
assert (taken_sig = '0') severity FAILURE;
-- Data Available Resetter
data_available_sig_next <= '0';
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_ROS;
when others =>
return_code_latch_next <= ROS_RET_ERROR;
stage_next <= RETURN_ROS;
end case;
end if;
when WAIT_FOR_DATA =>
if (si_valid_r = '1') then
si_ack_r <= '1';
-- Meta Sample
if (si_valid_data_r = '0') then
-- Ignore and read Next Sample
stage_next <= INITIATE_READ;
else
get_data_r <= '1';
stage_next <= GET_PAYLOAD_HEADER;
service_info_sig_next.received_timestamp <= TIME_INVALID;
service_info_sig_next.source_timestamp <= si_source_timestamp_r;
end if;
end if;
when GET_PAYLOAD_HEADER =>
-- TODO: Latch Offset from Options Field?
ready_in_r_sig <= '1';
-- Input Guard
if (valid_in_r = '1') then
case (representation_id) is
when CDR_BE =>
endian_flag_next <= '0';
stage_next <= FETCH;
-- Alignment Reset
align_offset_next <= (others => '0');
decode_stage_next <= GET_RID_WGUID;
cnt_next <= 0;
-- Initial Fetch
when CDR_LE =>
endian_flag_next <= '1';
stage_next <= FETCH;
-- Alignment Reset
align_offset_next <= (others => '0');
decode_stage_next <= GET_RID_WGUID;
cnt_next <= 0;
when others =>
-- Unknown Payload Encoding
stage_next <= SKIP_PAYLOAD;
decode_error_latch_next <= '1';
end case;
end if;
when FETCH =>
ready_in_r_sig <= '1';
-- Input Guard
if (valid_in_r = '1') then
data_in_latch_next <= data_in_r;
-- Alignment Operation in progress
if (align_op = '1') then
stage_next <= ALIGN_IN_STREAM;
-- Reset
align_op_next <= '0';
else
stage_next <= DECODE_PAYLOAD;
end if;
end if;
when ALIGN_IN_STREAM =>
-- Target Stream Alignment reached
if (check_align(align_offset, target_align)) then
-- DONE
stage_next <= DECODE_PAYLOAD;
else
align_offset_next <= align_offset + 1;
-- Need to fetch new Input Word
if (align_offset(1 downto 0) = "11") then
align_op_next <= '1';
stage_next <= FETCH;
end if;
end if;
when DECODE_PAYLOAD =>
case (decode_stage) is
-- NOTE: The Cyclone DDS implementation uses a custom request header that is pre-pended to the actual service request/response.
-- It is defined as follows:
-- struct cdds_request_header_t{
-- uint64_t guid;
-- int64_t seq;
-- };
-- 'seq' is set by a counter that is incremented on each "send_request".
-- 'guid' is set to the publication handle of the request writer of the service client.
-- Note that the publication handle is useless for the server, since it is only meanigful localy (i.e. only the client can do something with it)
-- Nevertheless the same 'guid' has to be returned to the client.
when GET_RID_WGUID =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
service_info_sig_next.request_id.writer_guid(0) <= get_sub_vector(endian_swap(endian_flag, dw_latch),0,WORD_WIDTH,TRUE);
service_info_sig_next.request_id.writer_guid(1) <= get_sub_vector(endian_swap(endian_flag, dw_latch),1,WORD_WIDTH,TRUE);
stage_next <= FETCH;
align_offset_next <= align_offset + 8;
decode_stage_next <= GET_RID_SN;
cnt_next <= 0;
when others =>
null;
end case;
end if;
when GET_RID_SN =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Double Word 1/2
when 0 =>
dw_latch_next(CDR_LONG_LONG_WIDTH-1 downto CDR_LONG_LONG_WIDTH/2) <= data_in_latch;
stage_next <= FETCH;
cnt_next <= cnt + 1;
-- Double Word 2/2
when 1 =>
dw_latch_next((CDR_LONG_LONG_WIDTH/2)-1 downto 0) <= data_in_latch;
cnt_next <= cnt + 1;
-- Push Double Word
when 2 =>
service_info_sig_next.request_id.sequence_number <= to_double_word(unsigned(endian_swap(endian_flag, dw_latch)));
stage_next <= FETCH;
align_offset_next <= align_offset + 8;
decode_stage_next <= GET_RQ_GOAL_ID;
when others =>
null;
end case;
end if;
when GET_RQ_GOAL_ID =>
-- Special Decoding for effieciency (Prevent having to define memory for UUID)
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_1)) then
target_align_next <= ALIGN_1;
stage_next <= ALIGN_IN_STREAM;
else
goal_id_latch_next <= write_sub_vector(goal_id_latch_next, get_sub_vector(data_in_latch, to_integer(align_offset(1 downto 0)), CDR_INT8_WIDTH, TRUE), uuid_cnt, TRUE);
align_offset_next <= align_offset + 1;
-- Need to fetch next Word
if(align_offset(1 downto 0) = "11") then
stage_next <= FETCH;
end if;
if (uuid_cnt = G_RQ_GOAL_ID_MAX_DEPTH-1) then
-- ###GENERATED START###
decode_stage_next <= GET_RQ_ORDER;
-- ###GENERATED END###
uuid_cnt_next <= 0; -- Post-reset
else
uuid_cnt_next <= uuid_cnt + 1;
end if;
end if;
-- ###GENERATED START###
when GET_RQ_ORDER =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_IN_STREAM;
else
order_latch_next <= endian_swap(endian_flag, data_in_latch);
stage_next <= FETCH;
align_offset_next <= align_offset + 4;
-- DONE
stage_next <= SKIP_PAYLOAD;
end if;
-- ###GENERATED END###
when GET_OPTIONAL_HEADER =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_IN_STREAM;
else
case (cnt) is
-- Optional Member Header
when 0 =>
-- Extended Parameter Header
if (endian_swap(endian_flag,parameter_id) = PID_EXTENDED) then
cnt_next <= cnt + 1;
stage_next <= FETCH;
else
stage_next <= FETCH;
decode_stage_next <= return_stage;
cnt_next <= 0;
-- Alignment Reset
align_offset_next <= (others => '0');
-- Optional omitted
if(endian_swap(endian_flag,parameter_length) = (parameter_length'reverse_range => '0')) then
optional_next <= '0';
else
optional_next <= '1';
end if;
end if;
-- eMemberHeader
when 1 =>
-- Ignore Parameter ID
cnt_next <= cnt + 1;
stage_next <= FETCH;
-- Llength
when 2 =>
stage_next <= FETCH;
decode_stage_next <= return_stage;
cnt_next <= 0;
-- Alignment Reset
align_offset_next <= (others => '0');
-- Optional omitted
if(endian_swap(endian_flag, data_in_r) = (data_in_r'reverse_range => '0')) then
optional_next <= '0';
else
optional_next <= '1';
end if;
when others =>
null;
end case;
end if;
when others =>
null;
end case;
when SKIP_PAYLOAD =>
if (last_word_in_latch = '0') then
-- Skip Read
ready_in_r_sig <= '1';
else
-- Reset
last_word_in_latch_next <= '0';
-- If no Decode Error, mark output as valid
if (decode_error_latch = '0') then
taken_sig_next <= '1';
return_code_latch_next <= ROS_RET_OK;
else
taken_sig_next <= '0';
return_code_latch_next <= ROS_RET_ERROR;
end if;
stage_next <= RETURN_ROS;
end if;
when INITIATE_WRITE =>
start_w <= '1';
opcode_w <= WRITE;
if (ack_w = '1') then
stage_next <= WRITE_PAYLOAD_HEADER;
end if;
when WRITE_PAYLOAD_HEADER =>
valid_out_w <= '1';
if (LITTLE_ENDIAN = '0') then
data_out_w <= CDR_BE & x"0000";
else
data_out_w <= CDR_LE & x"0000";
end if;
-- Output Guard
if (ready_out_w = '1') then
stage_next <= ENCODE_PAYLOAD;
-- Reset
align_offset_next <= (others => '0');
data_out_latch_next <= (others => '0');
encode_stage_next <= WRITE_RID_WGUID;
cnt_next <= 0;
end if;
when PUSH =>
-- Mark Last Word
if (finalize_payload = '1') then
last_word_out_w <= '1';
end if;
valid_out_w <= '1';
data_out_w <= data_out_latch;
-- Output Guard
if (ready_out_w = '1') then
-- NOTE: Ensures all padding is zero.
data_out_latch_next <= (others => '0');
-- Alignment Operation in process
if (align_op = '1') then
stage_next <= ALIGN_OUT_STREAM;
-- Reset
align_op_next <= '0';
-- DONE
elsif (finalize_payload = '1') then
finalize_payload_next <= '0';
stage_next <= WAIT_FOR_WRITER;
else
stage_next <= ENCODE_PAYLOAD;
end if;
end if;
when ALIGN_OUT_STREAM =>
-- Target Stream Alignment reached
if (check_align(align_offset, target_align)) then
-- DONE
stage_next <= ENCODE_PAYLOAD;
else
align_offset_next <= align_offset + 1;
-- Need to push Word
if (align_offset(1 downto 0) = "11") then
align_op_next <= '1';
stage_next <= PUSH;
end if;
end if;
when ENCODE_PAYLOAD =>
case (encode_stage) is
when WRITE_RID_WGUID =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, get_sub_vector(std_logic_vector(to_unsigned(request_id_user.writer_guid)), 0, 64, TRUE)), 0, WORD_WIDTH, TRUE);
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, get_sub_vector(std_logic_vector(to_unsigned(request_id_user.writer_guid)), 0, 64, TRUE)), 1, WORD_WIDTH, TRUE);
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
encode_stage_next <= WRITE_RID_SN;
cnt_next <= 0;
when others =>
end case;
end if;
when WRITE_RID_SN =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_8)) then
target_align_next <= ALIGN_8;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
when 0 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, std_logic_vector(to_unsigned(request_id_user.sequence_number))), 0, WORD_WIDTH, TRUE);
stage_next <= PUSH;
cnt_next <= cnt + 1;
when 1 =>
data_out_latch_next <= get_sub_vector(endian_swap(LITTLE_ENDIAN, std_logic_vector(to_unsigned(request_id_user.sequence_number))), 1, WORD_WIDTH, TRUE);
stage_next <= PUSH;
align_offset_next <= align_offset + 8;
encode_stage_next <= WRITE_RR_ACCEPTED;
when others =>
end case;
end if;
when WRITE_RR_ACCEPTED =>
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_1)) then
target_align_next <= ALIGN_1;
stage_next <= ALIGN_OUT_STREAM;
else
data_out_latch_next <= write_sub_vector(data_out_latch, ("0000000" & accepted), to_integer(align_offset(1 downto 0)), TRUE);
align_offset_next <= align_offset + 1;
encode_stage_next <= WRITE_RR_STAMP;
cnt_next <= 0;
-- Need to fetch next Word
if(align_offset(1 downto 0) = "11") then
stage_next <= PUSH;
end if;
end if;
when WRITE_RR_STAMP =>
-- We intepret the TIME as a double word for efficiency
-- ALIGN GUARD
if (not check_align(align_offset, ALIGN_4)) then
target_align_next <= ALIGN_4;
stage_next <= ALIGN_OUT_STREAM;
else
case (cnt) is
-- WRITE 1/2
when 0 =>
data_out_latch_next <= endian_swap(LITTLE_ENDIAN, get_sub_vector(stamp, 0, WORD_WIDTH, TRUE));
stage_next <= PUSH;
cnt_next <= cnt + 1;
-- WRITE 2/2
when 1 =>
data_out_latch_next <= endian_swap(LITTLE_ENDIAN, get_sub_vector(stamp, 1, WORD_WIDTH, TRUE));
align_offset_next <= align_offset + 8;
-- DONE
stage_next <= PUSH;
finalize_payload_next <= '1';
when others =>
end case;
end if;
when others =>
null;
end case;
when WAIT_FOR_WRITER =>
if (done_w = '1') then
case (return_code_w) is
when RETCODE_OK =>
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_ROS;
when others =>
return_code_latch_next <= ROS_RET_ERROR;
stage_next <= RETURN_ROS;
end case;
end if;
when others =>
null;
end case;
-- OVERREAD GUARD
-- Attempted read on empty input
if (last_word_in_latch = '1' and last_word_in_r = '0' and ready_in_r_sig = '1') then
stage_next <= SKIP_PAYLOAD;
decode_error_latch_next <= '1';
end if;
end process;
sync_prc : process(clk)
begin
if rising_edge(clk) then
if (reset = '1') then
stage <= IDLE;
encode_stage <= WRITE_RID_WGUID;
decode_stage <= GET_RID_WGUID;
return_stage <= GET_RID_WGUID;
target_align <= ALIGN_1;
cnt <= 0;
endian_flag <= '0';
last_word_in_latch <= '0';
decode_error_latch <= '0';
optional <= '0';
taken_sig <= '0';
align_op <= '0';
finalize_payload <= '0';
data_available_sig <= '0';
align_offset <= (others => '0');
data_in_latch <= (others => '0');
data_out_latch <= (others => '0');
dw_latch <= (others => '0');
return_code_latch <= ROS_RET_OK;
service_info_sig <= EMPTY_SERVICE_INFO;
uuid_cnt <= 0;
goal_id_latch <= (others => '0');
-- ###GENERATED START###
order_latch <= (others => '0');
-- ###GENERATED END###
else
stage <= stage_next;
encode_stage <= encode_stage_next;
decode_stage <= decode_stage_next;
return_stage <= return_stage_next;
target_align <= target_align_next;
cnt <= cnt_next;
endian_flag <= endian_flag_next;
last_word_in_latch <= last_word_in_latch_next;
decode_error_latch <= decode_error_latch_next;
optional <= optional_next;
taken_sig <= taken_sig_next;
align_op <= align_op_next;
finalize_payload <= finalize_payload_next;
data_available_sig <= data_available_sig_next;
align_offset <= align_offset_next;
data_in_latch <= data_in_latch_next;
data_out_latch <= data_out_latch_next;
dw_latch <= dw_latch_next;
return_code_latch <= return_code_latch_next;
service_info_sig <= service_info_sig_next;
uuid_cnt <= uuid_cnt_next;
goal_id_latch <= goal_id_latch_next;
-- ###GENERATED START###
order_latch <= order_latch_next;
-- ###GENERATED END###
end if;
end if;
end process;
end architecture;