Blind implementation of RTPS Writer

src/REF.txt

@@ -253,9 +253,9 @@ ENDPOINT MATCH FRAME
 04|                          ENTITYID                           |
   +-------------------------------------------------------------+
 05|                        IPv4_ADDRESS                         |
-  +-----------------------------+-----------------------------+-+
+  +-----------------------------+---------------------------+-+-+
-06|         UDP_PORT            |            UNUSED           |Q|
+06|         UDP_PORT            |            UNUSED         |D|Q|
-  +-----------------------------+-----------------------------+-+
+  +-----------------------------+---------------------------+-+-+
 
 ENDPOINT UNMATCH FRAME
 ======================
@@ -347,26 +347,28 @@ WRITER
   +                                                             +
 03|                                                             |
   +-------------------------------------------------------------+
-04|                        IPv4_ADDRESS                         | [Reliable Only]
+04|                        IPv4_ADDRESS                         |
-  +-----------------------------+---------------------------+-+-+
+  +-----------------------------+-------------------------+-+-+-+
-05|         UDP_PORT            |            UNUSED         |P|Q| [Reliable Only]
+05|         UDP_PORT            |            UNUSED       |B|H|Q|
-  +-----------------------------+---------------------------+-+-+
+  +-----------------------------+-------------------------+-+-+-+
 06|                                                             |
-  +                        LEASE_DEADLINE                       +
+  +                        LEASE_DEADLINE                       + [Reliable Only]
 07|                                                             |
   +-------------------------------------------------------------+
-08|                                                             |
+08|                                                             | 
-  +                       GAP_LOW_SEQ_NR                        + [Reliable Only]
+  +                          RES_TIME                           + [Reliable Only]
 09|                                                             |
   +-------------------------------------------------------------+
 10|                                                             |
-  +                       GAP_HIGH_SEQ_NR                       + [Reliable Only]
+  +                       ACK_SEQ_NR_BASE                       + [Reliable Only]
 11|                                                             |
   +-------------------------------------------------------------+
-12|                                                             | 
+12|                                                             |
-  +                           RES_TIME                          + [Reliable Only]
+  +                       REQ_SEQ_NR_BASE                       + [Reliable Only]
 13|                                                             |
   +-------------------------------------------------------------+
+14|                         REQ_BITMAP                          | [Reliable Only]
+  +-------------------------------------------------------------+
 
 
 HISTORY CACHE
@@ -377,29 +379,56 @@ READER
   31............24..............16..............8...............0
   +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
   +-------------------------------------------------------------+
-00|                         STATUS_INFO                         | {A/B}
+00|                         STATUS_INFO                         |
   +-------------------------------------------------------------+
 01|                                                             |
-  +                          TIMESTAMP                          + {A}
+  +                          TIMESTAMP                          +
 02|                                                             |
   +-------------------------------------------------------------+
 03|                                                             |
-  +                      LIFESPAN_DEADLINE                      + {A}
+  +                      LIFESPAN_DEADLINE                      +
 04|                                                             |
   +-------------------------------------------------------------+
-05|                       PAYLOAD_ADDRESS                       | {A}
+05|                       PAYLOAD_ADDRESS                       |
   +-------------------------------------------------------------+
-06|                       INSTANCE_ADDRESS                      | {A}
+06|                       INSTANCE_ADDRESS                      |
   +-------------------------------------------------------------+
-07|                    DISPOSED_GENERATION_COUNT                | {A}
+07|                    DISPOSED_GENERATION_COUNT                |
   +-------------------------------------------------------------+
-08|                   NO_WRITERS_GENERATION_COUNT               | {A}
+08|                   NO_WRITERS_GENERATION_COUNT               |
   +-------------------------------------------------------------+
-09|                         PREV_ADDRESS                        | {A}
+09|                         PREV_ADDRESS                        |
   +-------------------------------------------------------------+
-10|                         NEXT_ADDRESS                        | {A/B}
+10|                         NEXT_ADDRESS                        |
   +-------------------------------------------------------------+
 
+WRITER
+------
+  31............24..............16..............8...............0
+  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+  +-------------------------------------------------------------+
+00|                         STATUS_INFO                         |
+  +-------------------------------------------------------------+
+01|                                                             |
+  +                          TIMESTAMP                          +
+02|                                                             |
+  +-------------------------------------------------------------+
+03|                                                             |
+  +                      LIFESPAN_DEADLINE                      +
+04|                                                             |
+  +-------------------------------------------------------------+
+05|                       PAYLOAD_ADDRESS                       |
+  +-------------------------------------------------------------+
+06|                       INSTANCE_ADDRESS                      |
+  +-------------------------------------------------------------+
+07|                                                             |
+  ~                          ACK_BITMAP                         ~
+**|                                                             |
+  +-------------------------------------------------------------+
+**|                         PREV_ADDRESS                        |
+  +-------------------------------------------------------------+
+**|                         NEXT_ADDRESS                        |
+  +-------------------------------------------------------------+
   
 STATUS INFO
 -----------
@@ -461,35 +490,60 @@ HISTORY CACHE INPUT
 
 INSTANCE MEMORY
 ===============
+
+READER
+------
   31............24..............16..............8...............0
   +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
   +-------------------------------------------------------------+
-00|                         NEXT_ADDRESS                        | {A/B}
+00|                         NEXT_ADDRESS                        |
   +-------------------------------------------------------------+
 01|                                                             |
   +                                                             +
 02|                                                             |
-  +                           KEY_HASH                          + {A}
+  +                           KEY_HASH                          +
 03|                                                             |
   +                                                             +
 04|                                                             |
   +-------------------------------------------------------------+
-05|                         STATUS_INFO                         | {A/B}
+05|                         STATUS_INFO                         |
   +-------------------------------------------------------------+
-06|                         SAMPLE_COUNT                        | {A/B}
+06|                         SAMPLE_COUNT                        |
   +-------------------------------------------------------------+
-07|                    DISPOSED_GENERATION_COUNT                | {A}
+07|                    DISPOSED_GENERATION_COUNT                |
   +-------------------------------------------------------------+
-08|                   NO_WRITERS_GENERATION_COUNT               | {A}
+08|                   NO_WRITERS_GENERATION_COUNT               |
   +-------------------------------------------------------------+
 09|                                                             |
-  +                       IGNORE_DEADLINE                       + {A} [only TIME_BASED_FILTER]
+  +                       IGNORE_DEADLINE                       + [only TIME_BASED_FILTER]
 10|                                                             |
   +-------------------------------------------------------------+
 11|                                                             |
-  ~                        WRITER_BITMAP                        ~ {A}
+  ~                        WRITER_BITMAP                        ~
 **|                                                             |
   +-------------------------------------------------------------+
+
+WRITER
+------
+  31............24..............16..............8...............0
+  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+  +-------------------------------------------------------------+
+00|                         NEXT_ADDRESS                        |
+  +-------------------------------------------------------------+
+01|                                                             |
+  +                                                             +
+02|                                                             |
+  +                           KEY_HASH                          +
+03|                                                             |
+  +                                                             +
+04|                                                             |
+  +-------------------------------------------------------------+
+05|                         STATUS_INFO                         |
+  +-------------------------------------------------------------+
+06|                         SAMPLE_COUNT                        |
+  +-------------------------------------------------------------+
+07|                           ACK_COUNT                         |
+  +-------------------------------------------------------------+
   
 
 STATUS INFO

src/TODO.txt

@@ -68,6 +68,10 @@
 * Currently a RTPS Writer with DURABILITY TARNSIENT_LOCAL does send historical data to all matched readers, not depending if they are VOLATILE or TRANSIENT_LOCAL.
 * Assert Heartbeat period > Heartbeat Suppression Period
 * Can I request (NACK) SNs that were NOT announced by the writer (> last_sn in Heartbeat)?
+* Does AUTOMATIC Liveliness QoS also update the lease on write/assert_liveliness operations?
+* The Lease Duration is also updated if the Cache Change is not accepted by the DDS/HC. This in effect "skews" the "correctness" of the Writer Liveliness Protocol until the reader has no pending request from the Writer.
+* If an Instance is DISPOSED, but later has no active writers, the Instance STAYS in the NOT_ALIVE_DISPOSED state.
+* Is a Writer that is Disposing a Instance also Unregistering that instance? (Currently only Unregistering removes the remote Writer)
 
 * Fast-RTPS doen not follow DDSI-RTPS Specification
     - Open Github Issue
@@ -85,6 +89,8 @@
         Isn't Reader -> Writer also valid? Does it have a specific direction?
     - 9.4.5.3 Data Submessage
         writerSN is incorrectly shown as only 32 bits in width
+    - 8.2.3 The RTPS CacheChange
+        Add IDL Specification for CacheChange_t
     - 8.3.4 The RTPS Message Receiver, Table 8.16 - Initial State of the Receiver
         Port of UnicastReplyLocatorList should be initialized to Source Port.
     - 8.3.7.4.3 Validity
@@ -93,6 +99,9 @@
         'This Submessage is invalid when the following is true:
             submessageLength in the Submessage header is too small'
         But if InvalidateFlag is set, Length can be Zero. Since the length is unsigned, there cannot be an invalid length.
+    - 8.7.2.2.1 DURABILITY
+        'While volatile and transient-local durability do not affect the RTPS protocol'
+        But in case of Durability TRANSIENT_LOCAL the writer has to send historical Data.
     - 8.7.3.2 Indicating to a Reader that a Sample has been filtered
         Text refs 8.3.7.2.2 for DataFlag, but shoudl also ref 8.7.4 for FilteredFlag
     - 9.4.5.1.2 Flags 

src/rtps_config_package.vhd

@@ -49,27 +49,31 @@ package rtps_config_package is
     constant OPCODE_PARTICIPANT_UNMATCH : std_logic_vector(ENDPOINT_MATCH_OPCODE_WIDTH-1 downto 0) := x"55000002";
     constant OPCODE_LIVELINESS_UPDATE   : std_logic_vector(ENDPOINT_MATCH_OPCODE_WIDTH-1 downto 0) := x"55000003";
     
-    type HISTORY_CACHE_OPCODE_TYPE is (NOP, ADD_CACHE_CHANGE);
+    type HISTORY_CACHE_OPCODE_TYPE is (NOP, ADD_CACHE_CHANGE, GET_CACHE_CHANGE, ACK_CACHE_CHANGE, NACK_CACHE_CHANGE);
     type KEY_GENERATOR_OPCODE_TYPE is (NOP, WRITE_PAYLOAD, READ_KEY, READ_SIZE);
-    type HISTORY_CACHE_RESPOSNE_TYPE is (UNDEFINED, ACK, ACCEPTED, REJECTED);
+    type HISTORY_CACHE_RESPONSE_TYPE is (UNDEFINED, ACK, ACCEPTED, REJECTED, INVALID);
-    type INSTANCE_STATE_TYPE is (ALIVE, NOT_ALIVE_DISPOSED, NOT_ALIVE_NO_WRITERS);
-    type VIEW_STATE_TYPE is (NEW_INSTANCE, NOT_NEW_INSTANCE);
-    type SAMPLE_STATE is (READ, NOT_READ);
     
+    -- TODO: Prefix the Flags with something that differntiates between them
     -- Sample Status Info Flags
-    constant DISPOSED_FLAG      : natural := 0;
+    constant DISPOSED_FLAG      : natural := STATUS_INFO_DISPOSED_FLAG;
-    constant UNREGISTERED_FLAG  : natural := 1;
+    constant UNREGISTERED_FLAG  : natural := STATUS_INFO_UNREGISTERED_FLAG;
-    constant FILTERED_FLAG      : natural := 2;
+    constant FILTERED_FLAG      : natural := STATUS_INFO_FILTERED_FLAG;
     constant KEY_HASH_FLAG      : natural := 29;
     constant PAYLOAD_FLAG       : natural := 30;
     constant READ_FLAG          : natural := 31;
     
+    -- Instance Status Info Flags
     constant NOT_ALIVE_DISPOSED_FLAG    : natural := 0;
     constant NOT_ALIVE_NO_WRITERS_FLAG  : natural := 1;
     constant LIVELINESS_FLAG            : natural := 2;
     constant VIEW_FLAG                  : natural := 3;
     constant MARK_FLAG                  : natural := 4;
     
+    -- Remote Endpoint Flags
+    constant EXPECTS_INLINE_QOS_FLAG    : natural := 0;
+    constant SEND_HISTORICAL_DATA_FLAG  : natural := 1;
+    constant BEST_EFFORT_FLAG           : natural := 2;
+    
     -- Marks the Reader Endpoint in the Endpoint Array
     constant ENDPOINT_READERS           : std_logic_vector(0 to NUM_ENDPOINTS-1) := (0 to NUM_READERS-1 => '1', others => '0');
     
@@ -136,7 +140,9 @@ package rtps_config_package is
     function check_qos_compatibility(src_is_reader : std_logic; direction : std_logic; remote : unsigned(WORD_WIDTH-1 downto 0); local : unsigned(WORD_WIDTH-1 downto 0)) return boolean;
     function check_qos_compatibility(src_is_reader : std_logic; direction : std_logic; remote : DOUBLE_WORD_ARRAY; local : DOUBLE_WORD_ARRAY) return boolean;
     
-    function check_mask(flags : std_logic_vector, mask : std_logic_vector) return boolean;
+    function check_mask(flags : std_logic_vector; mask : std_logic_vector) return boolean;
+    
+    function gen_inline_qos (id : natural) return OUTPUT_DATA_TYPE;
     
 end package;
 
@@ -723,6 +729,121 @@ package body rtps_config_package is
     
     constant WRITER_ENDPOINT_DATA  : OUTPUT_DATA_TYPE := gen_writer_endpoint_data;
     
+    function gen_inline_qos (id : natural) return OUTPUT_DATA_TYPE is
+        variable ret    : OUTPUT_DATA_TYPE := (data => (others => (others => '0')), length => 0);
+        variable ind    : natural := 0;
+        variable tmp    : natural := 0;
+    begin
+        assert (id >= NUM_READERS) report "Inline Qos can only be generated for Writer Endpoints" severity FAILURE;
+        
+        -- TOPIC NAME
+        tmp := string_len(ENDPOINT_TOPIC(id));
+        ret.data(ret.length)    := PID_TOPIC_NAME & std_logic_vector(to_unsigned((round_div(tmp,4)+1)*4, 16));
+        ret.length              := ret.length + 1;
+        ret.data(ret.length)    := std_logic_vector(to_unsigned(tmp, 32));
+        for j in 0 to round_div(tmp,4)-1 loop
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := ENDPOINT_TOPIC(id)(j);
+        end loop;
+        -- DURABILITY
+        if (ENDPOINT_DURABILITY_QOS(id) /= DEFAULT_DURABILITY_QOS) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_DURABILITY & std_logic_vector(to_unsigned(4, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := ENDPOINT_DURABILITY_QOS(id);
+        end if;
+        -- PRESENTATION
+        if (ENDPOINT_PRESENTATION_QOS(id) /= DEFAULT_PRESENTATION_QOS or ENDPOINT_COHERENT_ACCESS(id) /= DEFAULT_COHERENT_ACCESS or ENDPOINT_ORDERED_ACCESS(id) /= DEFAULT_ORDERED_ACCESS) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_PRESENTATION & std_logic_vector(to_unsigned(8, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := ENDPOINT_PRESENTATION_QOS(id);
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := (24 => boolean_to_std_logic(ENDPOINT_COHERENT_ACCESS(id)), 16 => boolean_to_std_logic(ENDPOINT_ORDERED_ACCESS(id)), others => '0');
+        end if;
+        -- DEADLINE
+        if (ENDPOINT_DEADLINE_QOS(id) /= DEFAULT_DEADLINE_QOS) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_DEADLINE & std_logic_vector(to_unsigned(8, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := std_logic_vector(ENDPOINT_DEADLINE_QOS(id)(0));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := std_logic_vector(ENDPOINT_DEADLINE_QOS(id)(1));
+        end if;
+        -- LATENCY_BUDGET
+        if (ENDPOINT_LATENCY_BUDGET_QOS(id) /= DEFAULT_LATENCY_BUDGET_QOS) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_LATENCY_BUDGET & std_logic_vector(to_unsigned(8, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := std_logic_vector(ENDPOINT_LATENCY_BUDGET_QOS(id)(0));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := std_logic_vector(ENDPOINT_LATENCY_BUDGET_QOS(id)(1));
+        end if;
+        -- OWNERSHIP
+        if (ENDPOINT_OWNERSHIP_QOS(id) /= DEFAULT_OWNERSHIP_QOS) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_OWNERSHIP & std_logic_vector(to_unsigned(4, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := ENDPOINT_OWNERSHIP_QOS(id);
+        end if;
+        -- OWNERSHIP STRENGTH
+        if (ENDPOINT_OWNERSHIP_STRENGTH_QOS(id) /= DEFAULT_OWNERSHIP_STRENGTH_QOS) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_OWNERSHIP_STRENGTH & std_logic_vector(to_unsigned(4, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := ENDPOINT_OWNERSHIP_STRENGTH_QOS(id);
+        end if;
+        -- LIVELINESS
+        if (ENDPOINT_LIVELINESS_QOS(id) /= DEFAULT_LIVELINESS_QOS or ENDPOINT_LEASE_DURATION(id) /= DEFAULT_LEASE_DURATION) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_LIVELINESS & std_logic_vector(to_unsigned(12, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := ENDPOINT_LIVELINESS_QOS(id);
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := std_logic_vector(ENDPOINT_LEASE_DURATION(id)(0));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := std_logic_vector(ENDPOINT_LEASE_DURATION(id)(1));
+        end if;
+        -- RELIABILITY
+        if (ENDPOINT_RELIABILITY_QOS(id) /= DEFAULT_RELIABILTY_QOS or ENDPOINT_MAX_BLOCKING_TIME(id) /= DEFAULT_MAX_BLOCKING_TIME) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_RELIABILITY & std_logic_vector(to_unsigned(12, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := ENDPOINT_RELIABILITY_QOS(id);
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := std_logic_vector(ENDPOINT_MAX_BLOCKING_TIME(id)(0));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := std_logic_vector(ENDPOINT_MAX_BLOCKING_TIME(id)(1));
+        end if;
+        -- TRANSPORT PRIORITY
+        if (ENDPOINT_TRANSPORT_PRIORITY_QOS(id) /= DEFAULT_TRANSPORT_PRIORITY_QOS) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_TRANSPORT_PRIORITY & std_logic_vector(to_unsigned(4, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := ENDPOINT_TRANSPORT_PRIORITY_QOS(id);
+        end if;
+        -- LIFESPAN
+        if (ENDPOINT_LIFESPAN_QOS(id) /= DEFAULT_LIFESPAN_QOS) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_LIFESPAN & std_logic_vector(to_unsigned(8, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := std_logic_vector(ENDPOINT_LIFESPAN_QOS(id)(0));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := std_logic_vector(ENDPOINT_LIFESPAN_QOS(id)(1));
+        end if;
+        -- DESTINATION ORDER
+        if (ENDPOINT_DESTINATION_ORDER_QOS(id) /= DEFAULT_DESTINATION_ORDER_QOS) then
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := PID_DESTINATION_ORDER & std_logic_vector(to_unsigned(4, 16));
+            ret.length              := ret.length + 1;
+            ret.data(ret.length)    := ENDPOINT_DESTINATION_ORDER_QOS(id);
+        end if;
+        -- SENTINEL
+        ret.length              := ret.length + 1;
+        ret.data(ret.length)    := PID_SENTINEL & std_logic_vector(to_unsigned(0, 16));
+        return ret;
+    end function;
+    
     function gen_participant_data return OUTPUT_DATA_TYPE is
         variable ret    : OUTPUT_DATA_TYPE := (data => (others => (others => '0')), length => 0);
         variable len    : natural := 0;
@@ -1089,7 +1210,7 @@ package body rtps_config_package is
         return ret;
     end function;
     
-    function check_mask(flags : std_logic_vector, mask : std_logic_vector) return boolean is
+    function check_mask(flags : std_logic_vector; mask : std_logic_vector) return boolean is
     begin
         assert (flags'length = mask'length) report "Flag and mask Signal have unequal length" severity FAILURE;
         if ((flags and mask) = mask) then

src/rtps_package.vhd

@@ -200,6 +200,11 @@ package rtps_package is
     constant LIFESPAN_QOS_POLICY_ID             : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(21,QOS_POLICY_ID_WIDTH));
     constant DURABILITYSERVICE_QOS_POLICY_ID    : std_logic_vector(QOS_POLICY_ID_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(22,QOS_POLICY_ID_WIDTH));
     
+    -- *STATUS INFO*
+    constant STATUS_INFO_DISPOSED_FLAG      : natural := 0;
+    constant STATUS_INFO_UNREGISTERED_FLAG  : natural := 1;
+    constant STATUS_INFO_FILTERED_FLAG      : natural := 2;
+    
     -- *SUBMESSAGE IDs*
     constant SID_PAD            : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"01";
     constant SID_ACKNACK        : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := x"06";
@@ -440,6 +445,7 @@ package rtps_package is
     constant PARTICIPANT_MESSAGE_DATA_KIND_MANUAL_LIVELINESS_UPDATE     : std_logic_vector(PARTICIPANT_MESSAGE_KIND_WIDTH-1 downto 0) := x"00000002";
     
     --*CUSTOM TYPES*
+    type CACHE_CHANGE_KIND_TYPE is (ALIVE, ALIVE_FILTERED, NOT_ALIVE_DISPOSED, NOT_ALIVE_UNREGISTERED);
     type USER_BOOLEAN_ARRAY_TYPE is array (natural range <>) of boolean;
     subtype USER_STRING_TYPE is string(1 to 256);
     type USER_STRING_ARRAY_TYPE is array (natural range <>) of USER_STRING_TYPE;