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Add GEN_FIRST_GOAL and GET_NEXT_GOAL opcodes to ROS action server

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The functionality was already there, so we just extended the opcodes to
allow the user to also make use of them.
This commit is contained in:
John Ring 2022-03-05 16:45:01 +01:00
parent a064a44dc4
commit e4e702ebc4
5 changed files with 272 additions and 133 deletions
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183
src/ros2/Tests/Level_0/L0_ros_action_server_test1.vhd
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@ -22,8 +22,13 @@ use work.GoalStatusArray_package;
-- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT/=INFINITE] -- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT/=INFINITE]
-- TEST: GET_GOAL -- TEST: GET_GOAL
-- TEST: GET_GOAL [INVALID HANDLE] -- TEST: GET_GOAL [INVALID HANDLE]
-- TEST: GET_FIRST_GOAL [MEMORY NOT EMPTY]
-- TEST: GET_FIRST_GOAL [MEMORY EMPTY]
-- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY] -- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY]
-- TEST: GET_LAST_GOAL [MEMORY EMPTY] -- TEST: GET_LAST_GOAL [MEMORY EMPTY]
-- TEST: GET_NEXT_GOAL [NEXT GOAL EXISTS]
-- TEST: GET_NEXT_GOAL [NEXT GOAL DOES NOT EXISTS]
-- TEST: GET_NEXT_GOAL [INVALID HANDLE]
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS] -- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS]
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS] -- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS]
-- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE] -- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE]
@ -713,10 +718,20 @@ begin
wait until rising_edge(clk); wait until rising_edge(clk);
reset <= '0'; reset <= '0';
-- TEST: GET_FIRST_GOAL [MEMORY EMPTY]
Log("GET_FIRST_GOAL [No Goal]", INFO);
t <= gen_duration(1 sec);
user_op(GET_FIRST_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, GOAL_HANDLE_UNKNOWN);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: GET_LAST_GOAL [MEMORY EMPTY] -- TEST: GET_LAST_GOAL [MEMORY EMPTY]
Log("GET_LAST_GOAL [No Goal]", INFO); Log("GET_LAST_GOAL [No Goal]", INFO);
t <= gen_duration(1 sec); t <= gen_duration(2 sec);
user_op(GET_LAST_GOAL); user_op(GET_LAST_GOAL);
wait for 1 ps; -- Make sure all signals stable wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, GOAL_HANDLE_UNKNOWN); AffirmIfEqual(STATUS, goal_handle_out, GOAL_HANDLE_UNKNOWN);
@ -726,17 +741,27 @@ begin
-- TEST: GET_GOAL [INVALID HANDLE] -- TEST: GET_GOAL [INVALID HANDLE]
Log("GET_GOAL [Invalid Handle]", INFO); Log("GET_GOAL [Invalid Handle]", INFO);
t <= gen_duration(2 sec); t <= gen_duration(3 sec);
goal_handle_in <= (others => '0'); goal_handle_in <= (others => '0');
user_op(GET_GOAL); user_op(GET_GOAL);
wait for 1 ps; -- Make sure all signals stable wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code /= ROS_RET_ACTION_GOAL_HANDLE_INVALID, "User operation return code incorrect", FAILURE); AlertIf(return_code /= ROS_RET_ACTION_GOAL_HANDLE_INVALID, "User operation return code incorrect", FAILURE);
wait_on_idle; wait_on_idle;
-- TEST: GET_NEXT_GOAL [INVALID HANDLE]
Log("GET_NEXT_GOAL [Invalid Handle]", INFO);
t <= gen_duration(4 sec);
goal_handle_in <= (others => '0');
user_op(GET_NEXT_GOAL);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code /= ROS_RET_ACTION_GOAL_HANDLE_INVALID, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE] -- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE]
Log("GET_PREVIOUS_GOAL [Invalid Handle]", INFO); Log("GET_PREVIOUS_GOAL [Invalid Handle]", INFO);
t <= gen_duration(3 sec); t <= gen_duration(5 sec);
goal_handle_in <= (others => '0'); goal_handle_in <= (others => '0');
user_op(GET_PREVIOUS_GOAL); user_op(GET_PREVIOUS_GOAL);
wait for 1 ps; -- Make sure all signals stable wait for 1 ps; -- Make sure all signals stable
@ -746,7 +771,7 @@ begin
-- TEST: UPDATE_GOAL_STATE [INVALID HANDLE] -- TEST: UPDATE_GOAL_STATE [INVALID HANDLE]
Log("UPDATE_GOAL_STATE [Invalid Handle]", INFO); Log("UPDATE_GOAL_STATE [Invalid Handle]", INFO);
t <= gen_duration(4 sec); t <= gen_duration(6 sec);
goal_handle_in <= (others => '0'); goal_handle_in <= (others => '0');
goal_state_in <= STATUS_EXECUTING; goal_state_in <= STATUS_EXECUTING;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -757,7 +782,7 @@ begin
-- TEST: NEW RESULT REQUEST [MEMORY EMPTY] -- TEST: NEW RESULT REQUEST [MEMORY EMPTY]
Log("New Result Request [Goal 1]", INFO); Log("New Result Request [Goal 1]", INFO);
t <= gen_duration(5 sec); t <= gen_duration(7 sec);
get_result_request(2, gen_goal_id); get_result_request(2, gen_goal_id);
get_result_response(5,2); get_result_response(5,2);
wait_on_idle; wait_on_idle;
@ -766,7 +791,7 @@ begin
-- TEST: CANCEL REQUEST [NO GOAL ID SET, NO TIME SET, NO GOALS EXIST] -- TEST: CANCEL REQUEST [NO GOAL ID SET, NO TIME SET, NO GOALS EXIST]
Log("Cancel Request [ALL]", INFO); Log("Cancel Request [ALL]", INFO);
t <= gen_duration(6 sec); t <= gen_duration(8 sec);
test_cancel := (others => MAX_GOALS); test_cancel := (others => MAX_GOALS);
get_cancel_request((others => '0'), (others => '0')); get_cancel_request((others => '0'), (others => '0'));
get_cancel_response(CancelGoal_package.RR_ERROR_REJECTED); get_cancel_response(CancelGoal_package.RR_ERROR_REJECTED);
@ -777,7 +802,7 @@ begin
-- TEST: NEW GOAL [MEMORY EMPTY] -- TEST: NEW GOAL [MEMORY EMPTY]
Log("New Goal [Goal 1, Accept]", INFO); Log("New Goal [Goal 1, Accept]", INFO);
t <= gen_duration(7 sec); t <= gen_duration(9 sec);
get_goal_request(0, goal_id_r); get_goal_request(0, goal_id_r);
user_input_goal(0, TRUE); user_input_goal(0, TRUE);
get_goal_response(0); get_goal_response(0);
@ -786,28 +811,28 @@ begin
-- TEST: NEW GOAL [REJECT] -- TEST: NEW GOAL [REJECT]
Log("New Goal [Goal 2, Reject]", INFO); Log("New Goal [Goal 2, Reject]", INFO);
t <= gen_duration(8 sec); t <= gen_duration(10 sec);
get_goal_request(5, gen_goal_id); get_goal_request(5, gen_goal_id);
user_input_goal(5,FALSE); user_input_goal(5,FALSE);
get_goal_response(5); get_goal_response(5);
wait_on_idle; wait_on_idle;
Log("New Goal [Goal 3, Accept]", INFO); Log("New Goal [Goal 3, Accept]", INFO);
t <= gen_duration(9 sec); t <= gen_duration(11 sec);
get_goal_request(1, gen_goal_id); get_goal_request(1, gen_goal_id);
user_input_goal(1,TRUE); user_input_goal(1,TRUE);
get_goal_response(1); get_goal_response(1);
wait_on_idle; wait_on_idle;
Log("New Goal [Goal 4, Accept]", INFO); Log("New Goal [Goal 4, Accept]", INFO);
t <= gen_duration(10 sec); t <= gen_duration(12 sec);
get_goal_request(2, gen_goal_id); get_goal_request(2, gen_goal_id);
user_input_goal(2,TRUE); user_input_goal(2,TRUE);
get_goal_response(2); get_goal_response(2);
wait_on_idle; wait_on_idle;
Log("New Goal [Goal 5, Accept]", INFO); Log("New Goal [Goal 5, Accept]", INFO);
t <= gen_duration(11 sec); t <= gen_duration(13 sec);
get_goal_request(3, gen_goal_id); get_goal_request(3, gen_goal_id);
user_input_goal(3,TRUE); user_input_goal(3,TRUE);
get_goal_response(3); get_goal_response(3);
@ -816,7 +841,7 @@ begin
-- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT/=INFINITE] -- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT/=INFINITE]
data_available_g <= '1'; data_available_g <= '1';
t <= gen_duration(12 sec); t <= gen_duration(14 sec);
wait until rising_edge(clk); wait until rising_edge(clk);
wait until rising_edge(clk); wait until rising_edge(clk);
AlertIf(start_r = '1', "Goal service operation on full memory", FAILURE); AlertIf(start_r = '1', "Goal service operation on full memory", FAILURE);
@ -825,7 +850,7 @@ begin
-- TEST: STATUS UPDATE [GOAL UPDATE] -- TEST: STATUS UPDATE [GOAL UPDATE]
Log("UPDATE_GOAL_STATE [Goal 3, Executing]", INFO); Log("UPDATE_GOAL_STATE [Goal 3, Executing]", INFO);
t <= gen_duration(13 sec); t <= gen_duration(15 sec);
goal_handle_in <= test_goals(1).handle; goal_handle_in <= test_goals(1).handle;
goal_state_in <= STATUS_EXECUTING; goal_state_in <= STATUS_EXECUTING;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -835,7 +860,7 @@ begin
wait_on_idle; wait_on_idle;
Log("UPDATE_GOAL_STATE [Goal 5, Executing]", INFO); Log("UPDATE_GOAL_STATE [Goal 5, Executing]", INFO);
t <= gen_duration(14 sec); t <= gen_duration(16 sec);
goal_handle_in <= test_goals(3).handle; goal_handle_in <= test_goals(3).handle;
goal_state_in <= STATUS_EXECUTING; goal_state_in <= STATUS_EXECUTING;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -844,13 +869,13 @@ begin
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE); AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle; wait_on_idle;
-- TEST: GET_GOAL -- TEST: GET_FIRST_GOAL [MEMORY NOT EMPTY]
Log("GET_GOAL [Goal 1]", INFO); Log("GET_FIRST_GOAL [Goal 5]", INFO);
t <= gen_duration(15 sec); t <= gen_duration(17 sec);
goal_handle_in <= test_goals(0).handle; user_op(GET_FIRST_GOAL);
user_op(GET_GOAL);
wait for 1 ps; -- Make sure all signals stable wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(0).handle);
AffirmIfEqual(STATUS, goal_id, test_goals(0).goal_id); AffirmIfEqual(STATUS, goal_id, test_goals(0).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(0).stamp); AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(0).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(0).state); AffirmIfEqual(STATUS, goal_state_out, test_goals(0).state);
@ -860,7 +885,7 @@ begin
-- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY] -- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY]
Log("GET_LAST_GOAL [Goal 5]", INFO); Log("GET_LAST_GOAL [Goal 5]", INFO);
t <= gen_duration(16 sec); t <= gen_duration(18 sec);
user_op(GET_LAST_GOAL); user_op(GET_LAST_GOAL);
wait for 1 ps; -- Make sure all signals stable wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(3).handle); AffirmIfEqual(STATUS, goal_handle_out, test_goals(3).handle);
@ -870,32 +895,6 @@ begin
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE); AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle; wait_on_idle;
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS]
Log("GET_PREVIOUS_GOAL [Goal 4]", INFO);
t <= gen_duration(17 sec);
goal_handle_in <= test_goals(3).handle;
user_op(GET_PREVIOUS_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(2).handle);
AffirmIfEqual(STATUS, goal_id, test_goals(2).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(2).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(2).state);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
Log("GET_PREVIOUS_GOAL [Goal 3]", INFO);
t <= gen_duration(18 sec);
goal_handle_in <= test_goals(2).handle;
user_op(GET_PREVIOUS_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(1).handle);
AffirmIfEqual(STATUS, goal_id, test_goals(1).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(1).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(1).state);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS] -- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS]
Log("GET_PREVIOUS_GOAL [No Goal]", INFO); Log("GET_PREVIOUS_GOAL [No Goal]", INFO);
@ -907,10 +906,49 @@ begin
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE); AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle; wait_on_idle;
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS]
Log("GET_PREVIOUS_GOAL [Goal 4]", INFO);
t <= gen_duration(20 sec);
goal_handle_in <= test_goals(3).handle;
user_op(GET_PREVIOUS_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(2).handle);
AffirmIfEqual(STATUS, goal_id, test_goals(2).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(2).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(2).state);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: GET_NEXT_GOAL [NEXT GOAL DOES NOT EXISTS]
Log("GET_NEXT_GOAL [No Goal]", INFO);
t <= gen_duration(21 sec);
goal_handle_in <= test_goals(3).handle;
user_op(GET_NEXT_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, GOAL_HANDLE_UNKNOWN);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: GET_NEXT_GOAL [NEXT GOAL EXISTS]
Log("GET_NEXT_GOAL [Goal 0]", INFO);
t <= gen_duration(22 sec);
goal_handle_in <= test_goals(0).handle;
user_op(GET_NEXT_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(1).handle);
AffirmIfEqual(STATUS, goal_id, test_goals(1).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(1).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(1).state);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: NEW RESULT REQUEST [GOAL DOES NOT EXIST] -- TEST: NEW RESULT REQUEST [GOAL DOES NOT EXIST]
Log("New Result Request [Unknown Goal]", INFO); Log("New Result Request [Unknown Goal]", INFO);
t <= gen_duration(20 sec); t <= gen_duration(23 sec);
get_result_request(2, gen_goal_id); get_result_request(2, gen_goal_id);
get_result_response(5,2); get_result_response(5,2);
wait_on_idle; wait_on_idle;
@ -918,14 +956,14 @@ begin
-- TEST: NEW RESULT REQUEST [GOAL NOT TERMINAL] -- TEST: NEW RESULT REQUEST [GOAL NOT TERMINAL]
Log("New Result Request [Goal 1, Store]", INFO); Log("New Result Request [Goal 1, Store]", INFO);
t <= gen_duration(21 sec); t <= gen_duration(24 sec);
get_result_request(0, test_goals(0).goal_id); get_result_request(0, test_goals(0).goal_id);
wait_on_idle; wait_on_idle;
-- TEST: STORED RESULT REQUEST [GOAL STATE UPDATES] -- TEST: STORED RESULT REQUEST [GOAL STATE UPDATES]
Log("UPDATE_GOAL_STATE [Goal 1, Executing]", INFO); Log("UPDATE_GOAL_STATE [Goal 1, Executing]", INFO);
t <= gen_duration(22 sec); t <= gen_duration(25 sec);
goal_handle_in <= test_goals(0).handle; goal_handle_in <= test_goals(0).handle;
goal_state_in <= STATUS_EXECUTING; goal_state_in <= STATUS_EXECUTING;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -935,7 +973,7 @@ begin
wait_on_idle; wait_on_idle;
Log("UPDATE_GOAL_STATE [Goal 5, Succeeded]", INFO); Log("UPDATE_GOAL_STATE [Goal 5, Succeeded]", INFO);
t <= gen_duration(23 sec); t <= gen_duration(26 sec);
goal_handle_in <= test_goals(3).handle; goal_handle_in <= test_goals(3).handle;
goal_state_in <= STATUS_SUCCEEDED; goal_state_in <= STATUS_SUCCEEDED;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -947,20 +985,20 @@ begin
-- TEST: NEW RESULT REQUEST [GOAL TERMINAL] -- TEST: NEW RESULT REQUEST [GOAL TERMINAL]
Log("New Result Request [Goal 5]", INFO); Log("New Result Request [Goal 5]", INFO);
t <= gen_duration(24 sec); t <= gen_duration(27 sec);
get_result_request(2, test_goals(3).goal_id); get_result_request(2, test_goals(3).goal_id);
get_result_response(3,2); get_result_response(3,2);
wait_on_idle; wait_on_idle;
Log("New Result Request [Goal 3, Store]", INFO); Log("New Result Request [Goal 3, Store]", INFO);
t <= gen_duration(25 sec); t <= gen_duration(28 sec);
get_result_request(1, test_goals(1).goal_id); get_result_request(1, test_goals(1).goal_id);
wait_on_idle; wait_on_idle;
-- TEST: NEW RESULT REQUEST [FULL RESULT MEMORY] -- TEST: NEW RESULT REQUEST [FULL RESULT MEMORY]
data_available_r <= '1'; data_available_r <= '1';
t <= gen_duration(26 sec); t <= gen_duration(29 sec);
wait until rising_edge(clk); wait until rising_edge(clk);
wait until rising_edge(clk); wait until rising_edge(clk);
AlertIf(start_r = '1', "Result service operation on full memory", FAILURE); AlertIf(start_r = '1', "Result service operation on full memory", FAILURE);
@ -968,7 +1006,7 @@ begin
-- TEST: STORED RESULT REQUEST [GOAL STATE CHANGES TO TERMINAL] -- TEST: STORED RESULT REQUEST [GOAL STATE CHANGES TO TERMINAL]
Log("UPDATE_GOAL_STATE [Goal 1, Aborted]", INFO); Log("UPDATE_GOAL_STATE [Goal 1, Aborted]", INFO);
t <= gen_duration(27 sec); t <= gen_duration(30 sec);
goal_handle_in <= test_goals(0).handle; goal_handle_in <= test_goals(0).handle;
goal_state_in <= STATUS_ABORTED; goal_state_in <= STATUS_ABORTED;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -980,14 +1018,14 @@ begin
AlertIf(start_r /= '1', "No Result service operation on available memory", FAILURE); AlertIf(start_r /= '1', "No Result service operation on available memory", FAILURE);
Log("New Result Request [Goal 4, Store]", INFO); Log("New Result Request [Goal 4, Store]", INFO);
t <= gen_duration(28 sec); t <= gen_duration(31 sec);
get_result_request(0, test_goals(2).goal_id); get_result_request(0, test_goals(2).goal_id);
wait_on_idle; wait_on_idle;
-- TEST: UPDATE_GOAL_STATE [INVALID STATE] -- TEST: UPDATE_GOAL_STATE [INVALID STATE]
Log("UPDATE_GOAL_STATE [Goal 1, Invalid State Transition]", INFO); Log("UPDATE_GOAL_STATE [Goal 1, Invalid State Transition]", INFO);
t <= gen_duration(29 sec); t <= gen_duration(32 sec);
goal_handle_in <= test_goals(0).handle; goal_handle_in <= test_goals(0).handle;
goal_state_in <= STATUS_SUCCEEDED; goal_state_in <= STATUS_SUCCEEDED;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -998,7 +1036,7 @@ begin
-- TEST: CANCEL REQUEST [GOAL ID SET, GOAL DOES NOT EXISTS] -- TEST: CANCEL REQUEST [GOAL ID SET, GOAL DOES NOT EXISTS]
Log("Cancel Request [Unknown Goal] (ERROR_REJECTED)", INFO); Log("Cancel Request [Unknown Goal] (ERROR_REJECTED)", INFO);
t <= gen_duration(30 sec); t <= gen_duration(33 sec);
test_cancel := (others => MAX_GOALS); test_cancel := (others => MAX_GOALS);
get_cancel_request(gen_goal_id, (others => '0')); get_cancel_request(gen_goal_id, (others => '0'));
get_cancel_response(CancelGoal_package.RR_ERROR_UNKNOWN_GOAL_ID); get_cancel_response(CancelGoal_package.RR_ERROR_UNKNOWN_GOAL_ID);
@ -1007,7 +1045,7 @@ begin
-- TEST: CANCEL REQUEST [GOAL ID SET, GOAL EXISTS, GOAL TERMINAL] -- TEST: CANCEL REQUEST [GOAL ID SET, GOAL EXISTS, GOAL TERMINAL]
Log("Cancel Request [Goal 1] (ERROR_GOAL_TERMINATED)", INFO); Log("Cancel Request [Goal 1] (ERROR_GOAL_TERMINATED)", INFO);
t <= gen_duration(31 sec); t <= gen_duration(34 sec);
test_cancel := (others => MAX_GOALS); test_cancel := (others => MAX_GOALS);
get_cancel_request(test_goals(0).goal_id, (others => '0')); get_cancel_request(test_goals(0).goal_id, (others => '0'));
get_cancel_response(CancelGoal_package.RR_ERROR_GOAL_TERMINATED); get_cancel_response(CancelGoal_package.RR_ERROR_GOAL_TERMINATED);
@ -1017,7 +1055,7 @@ begin
-- TEST: STATUS UPDATE [GOAL CANCELED] -- TEST: STATUS UPDATE [GOAL CANCELED]
Log("Cancel Request [Goal 3] (Goal 3 Accept)", INFO); Log("Cancel Request [Goal 3] (Goal 3 Accept)", INFO);
t <= gen_duration(32 sec); t <= gen_duration(35 sec);
test_cancel := (0 => 1, others => MAX_GOALS); test_cancel := (0 => 1, others => MAX_GOALS);
get_cancel_request(test_goals(1).goal_id, (others => '0')); get_cancel_request(test_goals(1).goal_id, (others => '0'));
user_input_cancel(1,TRUE); user_input_cancel(1,TRUE);
@ -1027,7 +1065,7 @@ begin
-- TEST: CANCEL REQUEST [NO GOAL ID SET, NO TIME SET, GOALS EXIST] -- TEST: CANCEL REQUEST [NO GOAL ID SET, NO TIME SET, GOALS EXIST]
Log("Cancel Request [ALL] (Goal 4 Accept)", INFO); Log("Cancel Request [ALL] (Goal 4 Accept)", INFO);
t <= gen_duration(33 sec); t <= gen_duration(36 sec);
test_cancel := (0 => 2, 1 => 1, others => MAX_GOALS); test_cancel := (0 => 2, 1 => 1, others => MAX_GOALS);
get_cancel_request((others => '0'), (others => '0')); get_cancel_request((others => '0'), (others => '0'));
user_input_cancel(2,TRUE); user_input_cancel(2,TRUE);
@ -1035,7 +1073,7 @@ begin
wait_on_idle; wait_on_idle;
Log("UPDATE_GOAL_STATE [Goal 3, Canceled]", INFO); Log("UPDATE_GOAL_STATE [Goal 3, Canceled]", INFO);
t <= gen_duration(34 sec); t <= gen_duration(37 sec);
goal_handle_in <= test_goals(1).handle; goal_handle_in <= test_goals(1).handle;
goal_state_in <= STATUS_CANCELED; goal_state_in <= STATUS_CANCELED;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -1046,7 +1084,7 @@ begin
wait_on_idle; wait_on_idle;
Log("UPDATE_GOAL_STATE [Goal 4, Abort]", INFO); Log("UPDATE_GOAL_STATE [Goal 4, Abort]", INFO);
t <= gen_duration(35 sec); t <= gen_duration(38 sec);
goal_handle_in <= test_goals(2).handle; goal_handle_in <= test_goals(2).handle;
goal_state_in <= STATUS_ABORTED; goal_state_in <= STATUS_ABORTED;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -1060,7 +1098,7 @@ begin
-- TEST: STATUS UPDATE [GOAL REMOVED] -- TEST: STATUS UPDATE [GOAL REMOVED]
Log("Expire Goal [Goal 5]", INFO); Log("Expire Goal [Goal 5]", INFO);
t <= gen_duration(43 sec); t <= gen_duration(46 sec);
test_goal_cnt := test_goal_cnt - 1; test_goal_cnt := test_goal_cnt - 1;
wait_on_idle; wait_on_idle;
AlertIf(start_g /= '1', "No Goal service operation on available memory", FAILURE); AlertIf(start_g /= '1', "No Goal service operation on available memory", FAILURE);
@ -1072,12 +1110,25 @@ begin
get_goal_response(3); get_goal_response(3);
wait_on_idle; wait_on_idle;
-- TEST: GET_GOAL
Log("GET_GOAL [Goal 6]", INFO);
t <= gen_duration(47 sec);
goal_handle_in <= test_goals(3).handle;
user_op(GET_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_id, test_goals(3).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(3).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(3).state);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: CANCEL REQUEST [TIME SET, NO RELEVANT GOALS] -- TEST: CANCEL REQUEST [TIME SET, NO RELEVANT GOALS]
Log("Cancel Request [Time Set] (NO GOALS)", INFO); Log("Cancel Request [Time Set] (NO GOALS)", INFO);
t <= gen_duration(44 sec); t <= gen_duration(48 sec);
test_cancel := (others => MAX_GOALS); test_cancel := (others => MAX_GOALS);
get_cancel_request((others => '0'), ros_gen_time(40 sec)); get_cancel_request((others => '0'), ros_gen_time(45 sec));
get_cancel_response(CancelGoal_package.RR_ERROR_REJECTED); get_cancel_response(CancelGoal_package.RR_ERROR_REJECTED);
wait_on_idle; wait_on_idle;
@ -1094,7 +1145,7 @@ begin
Log("Cancel Request [Time Set] (Goal 6 Accept)", INFO); Log("Cancel Request [Time Set] (Goal 6 Accept)", INFO);
t <= gen_duration(61 sec); t <= gen_duration(61 sec);
test_cancel := (0 => 0, others => MAX_GOALS); test_cancel := (0 => 0, others => MAX_GOALS);
get_cancel_request((others => '0'), ros_gen_time(43 sec)); get_cancel_request((others => '0'), ros_gen_time(46 sec));
user_input_cancel(0,TRUE); user_input_cancel(0,TRUE);
get_cancel_response(CancelGoal_package.RR_ERROR_NONE); get_cancel_response(CancelGoal_package.RR_ERROR_NONE);
wait_on_idle; wait_on_idle;

183
src/ros2/Tests/Level_0/L0_ros_action_server_test2.vhd
View File

@ -23,8 +23,13 @@ use work.GoalStatusArray_package;
-- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT=INFINITE, TERMINAL STATE GOAL EXISTS] -- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT=INFINITE, TERMINAL STATE GOAL EXISTS]
-- TEST: GET_GOAL -- TEST: GET_GOAL
-- TEST: GET_GOAL [INVALID HANDLE] -- TEST: GET_GOAL [INVALID HANDLE]
-- TEST: GET_FIRST_GOAL [MEMORY NOT EMPTY]
-- TEST: GET_FIRST_GOAL [MEMORY EMPTY]
-- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY] -- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY]
-- TEST: GET_LAST_GOAL [MEMORY EMPTY] -- TEST: GET_LAST_GOAL [MEMORY EMPTY]
-- TEST: GET_NEXT_GOAL [NEXT GOAL EXISTS]
-- TEST: GET_NEXT_GOAL [NEXT GOAL DOES NOT EXISTS]
-- TEST: GET_NEXT_GOAL [INVALID HANDLE]
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS] -- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS]
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS] -- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS]
-- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE] -- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE]
@ -710,10 +715,20 @@ begin
wait until rising_edge(clk); wait until rising_edge(clk);
reset <= '0'; reset <= '0';
-- TEST: GET_FIRST_GOAL [MEMORY EMPTY]
Log("GET_FIRST_GOAL [No Goal]", INFO);
t <= gen_duration(1 sec);
user_op(GET_FIRST_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, GOAL_HANDLE_UNKNOWN);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: GET_LAST_GOAL [MEMORY EMPTY] -- TEST: GET_LAST_GOAL [MEMORY EMPTY]
Log("GET_LAST_GOAL [No Goal]", INFO); Log("GET_LAST_GOAL [No Goal]", INFO);
t <= gen_duration(1 sec); t <= gen_duration(2 sec);
user_op(GET_LAST_GOAL); user_op(GET_LAST_GOAL);
wait for 1 ps; -- Make sure all signals stable wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, GOAL_HANDLE_UNKNOWN); AffirmIfEqual(STATUS, goal_handle_out, GOAL_HANDLE_UNKNOWN);
@ -723,17 +738,27 @@ begin
-- TEST: GET_GOAL [INVALID HANDLE] -- TEST: GET_GOAL [INVALID HANDLE]
Log("GET_GOAL [Invalid Handle]", INFO); Log("GET_GOAL [Invalid Handle]", INFO);
t <= gen_duration(2 sec); t <= gen_duration(3 sec);
goal_handle_in <= (others => '0'); goal_handle_in <= (others => '0');
user_op(GET_GOAL); user_op(GET_GOAL);
wait for 1 ps; -- Make sure all signals stable wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code /= ROS_RET_ACTION_GOAL_HANDLE_INVALID, "User operation return code incorrect", FAILURE); AlertIf(return_code /= ROS_RET_ACTION_GOAL_HANDLE_INVALID, "User operation return code incorrect", FAILURE);
wait_on_idle; wait_on_idle;
-- TEST: GET_NEXT_GOAL [INVALID HANDLE]
Log("GET_NEXT_GOAL [Invalid Handle]", INFO);
t <= gen_duration(4 sec);
goal_handle_in <= (others => '0');
user_op(GET_NEXT_GOAL);
wait for 1 ps; -- Make sure all signals stable
AlertIf(return_code /= ROS_RET_ACTION_GOAL_HANDLE_INVALID, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE] -- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE]
Log("GET_PREVIOUS_GOAL [Invalid Handle]", INFO); Log("GET_PREVIOUS_GOAL [Invalid Handle]", INFO);
t <= gen_duration(3 sec); t <= gen_duration(5 sec);
goal_handle_in <= (others => '0'); goal_handle_in <= (others => '0');
user_op(GET_PREVIOUS_GOAL); user_op(GET_PREVIOUS_GOAL);
wait for 1 ps; -- Make sure all signals stable wait for 1 ps; -- Make sure all signals stable
@ -743,7 +768,7 @@ begin
-- TEST: UPDATE_GOAL_STATE [INVALID HANDLE] -- TEST: UPDATE_GOAL_STATE [INVALID HANDLE]
Log("UPDATE_GOAL_STATE [Invalid Handle]", INFO); Log("UPDATE_GOAL_STATE [Invalid Handle]", INFO);
t <= gen_duration(4 sec); t <= gen_duration(6 sec);
goal_handle_in <= (others => '0'); goal_handle_in <= (others => '0');
goal_state_in <= STATUS_EXECUTING; goal_state_in <= STATUS_EXECUTING;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -754,7 +779,7 @@ begin
-- TEST: NEW RESULT REQUEST [MEMORY EMPTY] -- TEST: NEW RESULT REQUEST [MEMORY EMPTY]
Log("New Result Request [Goal 1]", INFO); Log("New Result Request [Goal 1]", INFO);
t <= gen_duration(5 sec); t <= gen_duration(7 sec);
get_result_request(2, gen_goal_id); get_result_request(2, gen_goal_id);
get_result_response(5,2); get_result_response(5,2);
wait_on_idle; wait_on_idle;
@ -763,7 +788,7 @@ begin
-- TEST: CANCEL REQUEST [NO GOAL ID SET, NO TIME SET, NO GOALS EXIST] -- TEST: CANCEL REQUEST [NO GOAL ID SET, NO TIME SET, NO GOALS EXIST]
Log("Cancel Request [ALL]", INFO); Log("Cancel Request [ALL]", INFO);
t <= gen_duration(6 sec); t <= gen_duration(8 sec);
test_cancel := (others => MAX_GOALS); test_cancel := (others => MAX_GOALS);
get_cancel_request((others => '0'), (others => '0')); get_cancel_request((others => '0'), (others => '0'));
get_cancel_response(CancelGoal_package.RR_ERROR_REJECTED); get_cancel_response(CancelGoal_package.RR_ERROR_REJECTED);
@ -774,7 +799,7 @@ begin
-- TEST: NEW GOAL [MEMORY EMPTY] -- TEST: NEW GOAL [MEMORY EMPTY]
Log("New Goal [Goal 1, Accept]", INFO); Log("New Goal [Goal 1, Accept]", INFO);
t <= gen_duration(7 sec); t <= gen_duration(9 sec);
get_goal_request(0, goal_id_r); get_goal_request(0, goal_id_r);
user_input_goal(0, TRUE); user_input_goal(0, TRUE);
get_goal_response(0); get_goal_response(0);
@ -783,28 +808,28 @@ begin
-- TEST: NEW GOAL [REJECT] -- TEST: NEW GOAL [REJECT]
Log("New Goal [Goal 2, Reject]", INFO); Log("New Goal [Goal 2, Reject]", INFO);
t <= gen_duration(8 sec); t <= gen_duration(10 sec);
get_goal_request(5, gen_goal_id); get_goal_request(5, gen_goal_id);
user_input_goal(5,FALSE); user_input_goal(5,FALSE);
get_goal_response(5); get_goal_response(5);
wait_on_idle; wait_on_idle;
Log("New Goal [Goal 3, Accept]", INFO); Log("New Goal [Goal 3, Accept]", INFO);
t <= gen_duration(9 sec); t <= gen_duration(11 sec);
get_goal_request(1, gen_goal_id); get_goal_request(1, gen_goal_id);
user_input_goal(1,TRUE); user_input_goal(1,TRUE);
get_goal_response(1); get_goal_response(1);
wait_on_idle; wait_on_idle;
Log("New Goal [Goal 4, Accept]", INFO); Log("New Goal [Goal 4, Accept]", INFO);
t <= gen_duration(10 sec); t <= gen_duration(12 sec);
get_goal_request(2, gen_goal_id); get_goal_request(2, gen_goal_id);
user_input_goal(2,TRUE); user_input_goal(2,TRUE);
get_goal_response(2); get_goal_response(2);
wait_on_idle; wait_on_idle;
Log("New Goal [Goal 5, Accept]", INFO); Log("New Goal [Goal 5, Accept]", INFO);
t <= gen_duration(11 sec); t <= gen_duration(13 sec);
get_goal_request(3, gen_goal_id); get_goal_request(3, gen_goal_id);
user_input_goal(3,TRUE); user_input_goal(3,TRUE);
get_goal_response(3); get_goal_response(3);
@ -813,7 +838,7 @@ begin
-- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT=INFINITE, NO TERMINAL STATE GOAL EXISTS] -- TEST: NEW GOAL [FULL GOAL MEMORY, TIMEOUT=INFINITE, NO TERMINAL STATE GOAL EXISTS]
data_available_g <= '1'; data_available_g <= '1';
t <= gen_duration(12 sec); t <= gen_duration(14 sec);
wait until rising_edge(clk); wait until rising_edge(clk);
wait until rising_edge(clk); wait until rising_edge(clk);
AlertIf(start_r = '1', "Goal service operation on full memory", FAILURE); AlertIf(start_r = '1', "Goal service operation on full memory", FAILURE);
@ -822,7 +847,7 @@ begin
-- TEST: STATUS UPDATE [GOAL UPDATE] -- TEST: STATUS UPDATE [GOAL UPDATE]
Log("UPDATE_GOAL_STATE [Goal 3, Executing]", INFO); Log("UPDATE_GOAL_STATE [Goal 3, Executing]", INFO);
t <= gen_duration(13 sec); t <= gen_duration(15 sec);
goal_handle_in <= test_goals(1).handle; goal_handle_in <= test_goals(1).handle;
goal_state_in <= STATUS_EXECUTING; goal_state_in <= STATUS_EXECUTING;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -832,7 +857,7 @@ begin
wait_on_idle; wait_on_idle;
Log("UPDATE_GOAL_STATE [Goal 5, Executing]", INFO); Log("UPDATE_GOAL_STATE [Goal 5, Executing]", INFO);
t <= gen_duration(14 sec); t <= gen_duration(16 sec);
goal_handle_in <= test_goals(3).handle; goal_handle_in <= test_goals(3).handle;
goal_state_in <= STATUS_EXECUTING; goal_state_in <= STATUS_EXECUTING;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -841,13 +866,13 @@ begin
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE); AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle; wait_on_idle;
-- TEST: GET_GOAL -- TEST: GET_FIRST_GOAL [MEMORY NOT EMPTY]
Log("GET_GOAL [Goal 1]", INFO); Log("GET_FIRST_GOAL [Goal 5]", INFO);
t <= gen_duration(15 sec); t <= gen_duration(17 sec);
goal_handle_in <= test_goals(0).handle; user_op(GET_FIRST_GOAL);
user_op(GET_GOAL);
wait for 1 ps; -- Make sure all signals stable wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(0).handle);
AffirmIfEqual(STATUS, goal_id, test_goals(0).goal_id); AffirmIfEqual(STATUS, goal_id, test_goals(0).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(0).stamp); AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(0).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(0).state); AffirmIfEqual(STATUS, goal_state_out, test_goals(0).state);
@ -857,7 +882,7 @@ begin
-- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY] -- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY]
Log("GET_LAST_GOAL [Goal 5]", INFO); Log("GET_LAST_GOAL [Goal 5]", INFO);
t <= gen_duration(16 sec); t <= gen_duration(18 sec);
user_op(GET_LAST_GOAL); user_op(GET_LAST_GOAL);
wait for 1 ps; -- Make sure all signals stable wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(3).handle); AffirmIfEqual(STATUS, goal_handle_out, test_goals(3).handle);
@ -867,32 +892,6 @@ begin
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE); AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle; wait_on_idle;
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS]
Log("GET_PREVIOUS_GOAL [Goal 4]", INFO);
t <= gen_duration(17 sec);
goal_handle_in <= test_goals(3).handle;
user_op(GET_PREVIOUS_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(2).handle);
AffirmIfEqual(STATUS, goal_id, test_goals(2).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(2).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(2).state);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
Log("GET_PREVIOUS_GOAL [Goal 3]", INFO);
t <= gen_duration(18 sec);
goal_handle_in <= test_goals(2).handle;
user_op(GET_PREVIOUS_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(1).handle);
AffirmIfEqual(STATUS, goal_id, test_goals(1).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(1).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(1).state);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS] -- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS]
Log("GET_PREVIOUS_GOAL [No Goal]", INFO); Log("GET_PREVIOUS_GOAL [No Goal]", INFO);
@ -904,10 +903,49 @@ begin
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE); AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle; wait_on_idle;
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS]
Log("GET_PREVIOUS_GOAL [Goal 4]", INFO);
t <= gen_duration(20 sec);
goal_handle_in <= test_goals(3).handle;
user_op(GET_PREVIOUS_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(2).handle);
AffirmIfEqual(STATUS, goal_id, test_goals(2).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(2).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(2).state);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: GET_NEXT_GOAL [NEXT GOAL DOES NOT EXISTS]
Log("GET_NEXT_GOAL [No Goal]", INFO);
t <= gen_duration(21 sec);
goal_handle_in <= test_goals(3).handle;
user_op(GET_NEXT_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, GOAL_HANDLE_UNKNOWN);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: GET_NEXT_GOAL [NEXT GOAL EXISTS]
Log("GET_NEXT_GOAL [Goal 0]", INFO);
t <= gen_duration(22 sec);
goal_handle_in <= test_goals(0).handle;
user_op(GET_NEXT_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_handle_out, test_goals(1).handle);
AffirmIfEqual(STATUS, goal_id, test_goals(1).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(1).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(1).state);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: NEW RESULT REQUEST [GOAL DOES NOT EXIST] -- TEST: NEW RESULT REQUEST [GOAL DOES NOT EXIST]
Log("New Result Request [Unknown Goal]", INFO); Log("New Result Request [Unknown Goal]", INFO);
t <= gen_duration(20 sec); t <= gen_duration(23 sec);
get_result_request(2, gen_goal_id); get_result_request(2, gen_goal_id);
get_result_response(5,2); get_result_response(5,2);
wait_on_idle; wait_on_idle;
@ -915,14 +953,14 @@ begin
-- TEST: NEW RESULT REQUEST [GOAL NOT TERMINAL] -- TEST: NEW RESULT REQUEST [GOAL NOT TERMINAL]
Log("New Result Request [Goal 1, Store]", INFO); Log("New Result Request [Goal 1, Store]", INFO);
t <= gen_duration(21 sec); t <= gen_duration(24 sec);
get_result_request(0, test_goals(0).goal_id); get_result_request(0, test_goals(0).goal_id);
wait_on_idle; wait_on_idle;
-- TEST: STORED RESULT REQUEST [GOAL STATE UPDATES] -- TEST: STORED RESULT REQUEST [GOAL STATE UPDATES]
Log("UPDATE_GOAL_STATE [Goal 1, Executing]", INFO); Log("UPDATE_GOAL_STATE [Goal 1, Executing]", INFO);
t <= gen_duration(22 sec); t <= gen_duration(25 sec);
goal_handle_in <= test_goals(0).handle; goal_handle_in <= test_goals(0).handle;
goal_state_in <= STATUS_EXECUTING; goal_state_in <= STATUS_EXECUTING;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -934,7 +972,7 @@ begin
data_available_g <= '0'; data_available_g <= '0';
Log("UPDATE_GOAL_STATE [Goal 5, Succeeded]", INFO); Log("UPDATE_GOAL_STATE [Goal 5, Succeeded]", INFO);
t <= gen_duration(23 sec); t <= gen_duration(26 sec);
goal_handle_in <= test_goals(3).handle; goal_handle_in <= test_goals(3).handle;
goal_state_in <= STATUS_SUCCEEDED; goal_state_in <= STATUS_SUCCEEDED;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -946,20 +984,20 @@ begin
-- TEST: NEW RESULT REQUEST [GOAL TERMINAL] -- TEST: NEW RESULT REQUEST [GOAL TERMINAL]
Log("New Result Request [Goal 5]", INFO); Log("New Result Request [Goal 5]", INFO);
t <= gen_duration(24 sec); t <= gen_duration(27 sec);
get_result_request(2, test_goals(3).goal_id); get_result_request(2, test_goals(3).goal_id);
get_result_response(3,2); get_result_response(3,2);
wait_on_idle; wait_on_idle;
Log("New Result Request [Goal 3, Store]", INFO); Log("New Result Request [Goal 3, Store]", INFO);
t <= gen_duration(25 sec); t <= gen_duration(28 sec);
get_result_request(1, test_goals(1).goal_id); get_result_request(1, test_goals(1).goal_id);
wait_on_idle; wait_on_idle;
-- TEST: NEW RESULT REQUEST [FULL RESULT MEMORY] -- TEST: NEW RESULT REQUEST [FULL RESULT MEMORY]
data_available_r <= '1'; data_available_r <= '1';
t <= gen_duration(26 sec); t <= gen_duration(29 sec);
wait until rising_edge(clk); wait until rising_edge(clk);
wait until rising_edge(clk); wait until rising_edge(clk);
AlertIf(start_r = '1', "Result service operation on full memory", FAILURE); AlertIf(start_r = '1', "Result service operation on full memory", FAILURE);
@ -967,7 +1005,7 @@ begin
-- TEST: STORED RESULT REQUEST [GOAL STATE CHANGES TO TERMINAL] -- TEST: STORED RESULT REQUEST [GOAL STATE CHANGES TO TERMINAL]
Log("UPDATE_GOAL_STATE [Goal 1, Aborted]", INFO); Log("UPDATE_GOAL_STATE [Goal 1, Aborted]", INFO);
t <= gen_duration(27 sec); t <= gen_duration(30 sec);
goal_handle_in <= test_goals(0).handle; goal_handle_in <= test_goals(0).handle;
goal_state_in <= STATUS_ABORTED; goal_state_in <= STATUS_ABORTED;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -979,14 +1017,14 @@ begin
AlertIf(start_r /= '1', "No Result service operation on available memory", FAILURE); AlertIf(start_r /= '1', "No Result service operation on available memory", FAILURE);
Log("New Result Request [Goal 4, Store]", INFO); Log("New Result Request [Goal 4, Store]", INFO);
t <= gen_duration(28 sec); t <= gen_duration(31 sec);
get_result_request(0, test_goals(2).goal_id); get_result_request(0, test_goals(2).goal_id);
wait_on_idle; wait_on_idle;
-- TEST: UPDATE_GOAL_STATE [INVALID STATE] -- TEST: UPDATE_GOAL_STATE [INVALID STATE]
Log("UPDATE_GOAL_STATE [Goal 1, Invalid State Transition]", INFO); Log("UPDATE_GOAL_STATE [Goal 1, Invalid State Transition]", INFO);
t <= gen_duration(29 sec); t <= gen_duration(32 sec);
goal_handle_in <= test_goals(0).handle; goal_handle_in <= test_goals(0).handle;
goal_state_in <= STATUS_SUCCEEDED; goal_state_in <= STATUS_SUCCEEDED;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -997,7 +1035,7 @@ begin
-- TEST: CANCEL REQUEST [GOAL ID SET, GOAL DOES NOT EXISTS] -- TEST: CANCEL REQUEST [GOAL ID SET, GOAL DOES NOT EXISTS]
Log("Cancel Request [Unknown Goal] (ERROR_REJECTED)", INFO); Log("Cancel Request [Unknown Goal] (ERROR_REJECTED)", INFO);
t <= gen_duration(30 sec); t <= gen_duration(33 sec);
test_cancel := (others => MAX_GOALS); test_cancel := (others => MAX_GOALS);
get_cancel_request(gen_goal_id, (others => '0')); get_cancel_request(gen_goal_id, (others => '0'));
get_cancel_response(CancelGoal_package.RR_ERROR_UNKNOWN_GOAL_ID); get_cancel_response(CancelGoal_package.RR_ERROR_UNKNOWN_GOAL_ID);
@ -1006,7 +1044,7 @@ begin
-- TEST: CANCEL REQUEST [GOAL ID SET, GOAL EXISTS, GOAL TERMINAL] -- TEST: CANCEL REQUEST [GOAL ID SET, GOAL EXISTS, GOAL TERMINAL]
Log("Cancel Request [Goal 1] (ERROR_GOAL_TERMINATED)", INFO); Log("Cancel Request [Goal 1] (ERROR_GOAL_TERMINATED)", INFO);
t <= gen_duration(31 sec); t <= gen_duration(34 sec);
test_cancel := (others => MAX_GOALS); test_cancel := (others => MAX_GOALS);
get_cancel_request(test_goals(0).goal_id, (others => '0')); get_cancel_request(test_goals(0).goal_id, (others => '0'));
get_cancel_response(CancelGoal_package.RR_ERROR_GOAL_TERMINATED); get_cancel_response(CancelGoal_package.RR_ERROR_GOAL_TERMINATED);
@ -1016,7 +1054,7 @@ begin
-- TEST: STATUS UPDATE [GOAL CANCELED] -- TEST: STATUS UPDATE [GOAL CANCELED]
Log("Cancel Request [Goal 3] (Goal 3 Accept)", INFO); Log("Cancel Request [Goal 3] (Goal 3 Accept)", INFO);
t <= gen_duration(32 sec); t <= gen_duration(35 sec);
test_cancel := (0 => 1, others => MAX_GOALS); test_cancel := (0 => 1, others => MAX_GOALS);
get_cancel_request(test_goals(1).goal_id, (others => '0')); get_cancel_request(test_goals(1).goal_id, (others => '0'));
user_input_cancel(1,TRUE); user_input_cancel(1,TRUE);
@ -1026,7 +1064,7 @@ begin
-- TEST: CANCEL REQUEST [NO GOAL ID SET, NO TIME SET, GOALS EXIST] -- TEST: CANCEL REQUEST [NO GOAL ID SET, NO TIME SET, GOALS EXIST]
Log("Cancel Request [ALL] (Goal 4 Accept)", INFO); Log("Cancel Request [ALL] (Goal 4 Accept)", INFO);
t <= gen_duration(33 sec); t <= gen_duration(36 sec);
test_cancel := (0 => 2, 1 => 1, others => MAX_GOALS); test_cancel := (0 => 2, 1 => 1, others => MAX_GOALS);
get_cancel_request((others => '0'), (others => '0')); get_cancel_request((others => '0'), (others => '0'));
user_input_cancel(2,TRUE); user_input_cancel(2,TRUE);
@ -1034,7 +1072,7 @@ begin
wait_on_idle; wait_on_idle;
Log("UPDATE_GOAL_STATE [Goal 3, Canceled]", INFO); Log("UPDATE_GOAL_STATE [Goal 3, Canceled]", INFO);
t <= gen_duration(34 sec); t <= gen_duration(37 sec);
goal_handle_in <= test_goals(1).handle; goal_handle_in <= test_goals(1).handle;
goal_state_in <= STATUS_CANCELED; goal_state_in <= STATUS_CANCELED;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -1045,7 +1083,7 @@ begin
wait_on_idle; wait_on_idle;
Log("UPDATE_GOAL_STATE [Goal 4, Abort]", INFO); Log("UPDATE_GOAL_STATE [Goal 4, Abort]", INFO);
t <= gen_duration(35 sec); t <= gen_duration(38 sec);
goal_handle_in <= test_goals(2).handle; goal_handle_in <= test_goals(2).handle;
goal_state_in <= STATUS_ABORTED; goal_state_in <= STATUS_ABORTED;
user_op(UPDATE_GOAL_STATE); user_op(UPDATE_GOAL_STATE);
@ -1059,7 +1097,7 @@ begin
-- TEST: STATUS UPDATE [GOAL REMOVED] -- TEST: STATUS UPDATE [GOAL REMOVED]
Log("New Goal [Goal 6, Accept]", INFO); Log("New Goal [Goal 6, Accept]", INFO);
t <= gen_duration(43 sec); t <= gen_duration(46 sec);
test_goals(0) := test_goals(1); test_goals(0) := test_goals(1);
test_goals(1) := test_goals(2); test_goals(1) := test_goals(2);
test_goals(2) := test_goals(3); test_goals(2) := test_goals(3);
@ -1069,12 +1107,25 @@ begin
get_goal_response(3); get_goal_response(3);
wait_on_idle; wait_on_idle;
-- TEST: GET_GOAL
Log("GET_GOAL [Goal 6]", INFO);
t <= gen_duration(47 sec);
goal_handle_in <= test_goals(3).handle;
user_op(GET_GOAL);
wait for 1 ps; -- Make sure all signals stable
AffirmIfEqual(STATUS, goal_id, test_goals(3).goal_id);
AffirmIfEqual(STATUS, std_logic_vector(to_unsigned(goal_stamp)), test_goals(3).stamp);
AffirmIfEqual(STATUS, goal_state_out, test_goals(3).state);
AlertIf(return_code /= ROS_RET_OK, "User operation return code incorrect", FAILURE);
wait_on_idle;
-- TEST: CANCEL REQUEST [TIME SET, NO RELEVANT GOALS] -- TEST: CANCEL REQUEST [TIME SET, NO RELEVANT GOALS]
Log("Cancel Request [Time Set] (NO GOALS)", INFO); Log("Cancel Request [Time Set] (NO GOALS)", INFO);
t <= gen_duration(44 sec); t <= gen_duration(48 sec);
test_cancel := (others => MAX_GOALS); test_cancel := (others => MAX_GOALS);
get_cancel_request((others => '0'), ros_gen_time(40 sec)); get_cancel_request((others => '0'), ros_gen_time(45 sec));
get_cancel_response(CancelGoal_package.RR_ERROR_REJECTED); get_cancel_response(CancelGoal_package.RR_ERROR_REJECTED);
wait_on_idle; wait_on_idle;
@ -1083,7 +1134,7 @@ begin
Log("Cancel Request [Time Set] (Goal 6 Accept)", INFO); Log("Cancel Request [Time Set] (Goal 6 Accept)", INFO);
t <= gen_duration(61 sec); t <= gen_duration(61 sec);
test_cancel := (0 => 3, others => MAX_GOALS); test_cancel := (0 => 3, others => MAX_GOALS);
get_cancel_request((others => '0'), ros_gen_time(43 sec)); get_cancel_request((others => '0'), ros_gen_time(46 sec));
user_input_cancel(3,TRUE); user_input_cancel(3,TRUE);
get_cancel_response(CancelGoal_package.RR_ERROR_NONE); get_cancel_response(CancelGoal_package.RR_ERROR_NONE);
wait_on_idle; wait_on_idle;

5
src/ros2/Tests/Level_0/ros_action_server_tests.txt
View File

@ -7,8 +7,13 @@
-- TEST: GET_GOAL -- TEST: GET_GOAL
-- TEST: GET_GOAL [INVALID HANDLE] -- TEST: GET_GOAL [INVALID HANDLE]
-- TEST: GET_FIRST_GOAL [MEMORY NOT EMPTY]
-- TEST: GET_FIRST_GOAL [MEMORY EMPTY]
-- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY] -- TEST: GET_LAST_GOAL [MEMORY NOT EMPTY]
-- TEST: GET_LAST_GOAL [MEMORY EMPTY] -- TEST: GET_LAST_GOAL [MEMORY EMPTY]
-- TEST: GET_NEXT_GOAL [NEXT GOAL EXISTS]
-- TEST: GET_NEXT_GOAL [NEXT GOAL DOES NOT EXISTS]
-- TEST: GET_NEXT_GOAL [INVALID HANDLE]
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS] -- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL EXISTS]
-- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS] -- TEST: GET_PREVIOUS_GOAL [PREVIOUS GOAL DOES NOT EXISTS]
-- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE] -- TEST: GET_PREVIOUS_GOAL [INVALID HANDLE]

32
src/ros2/ros_action_server.vhd
View File

@ -593,6 +593,38 @@ begin
return_code_latch_next <= ROS_RET_OK; return_code_latch_next <= ROS_RET_OK;
end if; end if;
end if; end if;
when GET_FIRST_GOAL =>
-- No Goals Available
if (mem_occupied_tail = GOAL_MEMORY_MAX_ADDRESS) then
mem_data_r_next.addr <= GOAL_MEMORY_MAX_ADDRESS;
ack <= '1';
return_code_latch_next <= ROS_RET_OK;
stage_next <= RETURN_USER;
else
-- Memory Operation Guard
if (mem_done = '1') then
mem_start <= '1';
mem_opcode <= GET;
mem_r.field_flags <= GMF_GOAL_ID_FLAG or GMF_STAMP_FLAG or GMF_RESULT_INDEX_FLAG or GMF_STATE_FLAG;
mem_r.addr <= mem_occupied_tail;
ack <= '1';
stage_next <= WAIT_FOR_U_MEM;
return_code_latch_next <= ROS_RET_OK;
end if;
end if;
when GET_NEXT_GOAL =>
-- Memory Operation Guard
if (mem_done = '1') then
mem_start <= '1';
mem_opcode <= GET_PREV;
mem_r.field_flags <= GMF_GOAL_ID_FLAG or GMF_STAMP_FLAG or GMF_RESULT_INDEX_FLAG or GMF_STATE_FLAG;
mem_r.addr <= resize(unsigned(goal_handle_in),GOAL_MEMORY_ADDR_WIDTH);
ack <= '1';
stage_next <= WAIT_FOR_U_MEM;
return_code_latch_next <= ROS_RET_OK;
end if;
when GET_PREVIOUS_GOAL => when GET_PREVIOUS_GOAL =>
-- Memory Operation Guard -- Memory Operation Guard
if (mem_done = '1') then if (mem_done = '1') then

2
src/ros2/ros_package.vhd
View File

@ -273,7 +273,7 @@ package ros_package is
type ROS_TOPIC_OPCODE_TYPE is (NOP, PUBLISH, TAKE); type ROS_TOPIC_OPCODE_TYPE is (NOP, PUBLISH, TAKE);
type ROS_SERVICE_OPCODE_TYPE is (NOP, SEND_REQUEST, TAKE_REQUEST, SEND_RESPONSE, TAKE_RESPONSE); type ROS_SERVICE_OPCODE_TYPE is (NOP, SEND_REQUEST, TAKE_REQUEST, SEND_RESPONSE, TAKE_RESPONSE);
type ROS_ACTION_OPCODE_TYPE is (NOP, GET_GOAL, GET_LAST_GOAL, GET_PREVIOUS_GOAL, UPDATE_GOAL_STATE, PUBLISH_FEEDBACK, SEND_GOAL_REQUEST, TAKE_GOAL_RESPONSE, SEND_RESULT_REQUEST, TAKE_RESULT_RESPONSE, SEND_CANCEL_REQUEST, TAKE_CANCEL_RESPONSE, TAKE_FEEDBACK); type ROS_ACTION_OPCODE_TYPE is (NOP, GET_GOAL, GET_LAST_GOAL, GET_FIRST_GOAL, GET_NEXT_GOAL, GET_PREVIOUS_GOAL, UPDATE_GOAL_STATE, PUBLISH_FEEDBACK, SEND_GOAL_REQUEST, TAKE_GOAL_RESPONSE, SEND_RESULT_REQUEST, TAKE_RESULT_RESPONSE, SEND_CANCEL_REQUEST, TAKE_CANCEL_RESPONSE, TAKE_FEEDBACK);
constant ROS_SEQUENCE_ID_WIDTH : natural := 64; constant ROS_SEQUENCE_ID_WIDTH : natural := 64;