Modify ports of rtps_builtin_endpoint according to port naming convention

The ports to rtps_out from the rtps_reader and rtps_writer entities were
also modified to apply a uniform naming.

src/FWFT_FIFO.vhd

@@ -9,8 +9,10 @@ entity FWFT_FIFO is
     );
     port
     (
-        reset       : in std_logic;
+        -- SYSTEM
         clk         : in std_logic;
+        reset       : in std_logic;
+        
         data_in     : in std_logic_vector(DATA_WIDTH-1 downto 0);
         write       : in std_logic;
         read        : in std_logic;

src/Tests/Level_0/L0_rtps_builtin_endpoint_test1.vhd

@@ -35,10 +35,10 @@ architecture testbench of L0_rtps_builtin_endpoint_test1 is
     type TEST_RAM_TYPE is array (0 to (MAX_REMOTE_PARTICIPANTS*PARTICIPANT_FRAME_SIZE)-1) of std_logic_vector(WORD_WIDTH-1 downto 0);
     
     -- *SIGNAL DECLARATION*
-    signal clk, in_empty, rd_sig, last_word_in, last_word_out: std_logic := '0';
+    signal clk, in_empty, rd_sig, last_word_in, last_word_out_ue: std_logic := '0';
     signal reset : std_logic := '1'; --TODO: Do that in all testbenches
-    signal endpoint_wr, endpoint_full   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
-    signal data_in, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
+    signal wr_ue, full_ue   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
+    signal data_in, data_out_ue : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
     signal stim_stage : TEST_STAGE_TYPE := IDLE;
     shared variable stimulus, reference : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
     signal packet_sent : std_logic := '0';
@@ -76,20 +76,27 @@ begin
             MAX_REMOTE_PARTICIPANTS => MAX_REMOTE_PARTICIPANTS
         )
         port map (
-            clk             => clk,
-            reset           => reset,
-            empty           => in_empty or packet_sent,
-            rd              => rd_sig,
-            data_in         => data_in,
-            data_out        => data_out,
-            last_word_in    => last_word_in,
-            time            => TIME_ZERO,
-            endpoint_full   => endpoint_full,
-            endpoint_wr     => endpoint_wr,
-            rtps_wr         => open,
-            rtps_full       => '0',
-            last_word_out   => last_word_out,
-            alive           => (others => '0')
+            -- SYSTEM
+            clk                 => clk,
+            reset               => reset,
+            time                => TIME_ZERO,
+            -- FROM RTPS HANDLER
+            empty               => in_empty or packet_sent,
+            rd                  => rd_sig,
+            data_in             => data_in,
+            last_word_in        => last_word_in,
+            -- FROM USER ENDPOINT
+            alive               => (others => '0'),
+            -- TO USER ENDPOINT
+            full_ue             => full_ue,
+            wr_ue               => wr_ue,
+            data_out_ue         => data_out_ue,
+            last_word_out_ue    => last_word_out_ue,
+            -- RTPS OUTPUT
+            full_ro             => '0',
+            wr_ro               => open,
+            data_out_ro         => open,
+            last_word_out_ro    => open
         );
     
     stimulus_prc : process
@@ -595,10 +602,10 @@ begin
     
     endpoint_full_prc : process
     begin
-        endpoint_full   <= (others => '0');
-        wait until (or endpoint_wr) = '1';
+        full_ue   <= (others => '0');
+        wait until (or wr_ue) = '1';
         wait until rising_edge(clk);
-        endpoint_full   <= (others => '1');
+        full_ue   <= (others => '1');
         wait until rising_edge(clk);
     end process;
     
@@ -606,7 +613,7 @@ begin
     begin
         if rising_edge(clk) then
             alertif(in_empty = '1' and rd_sig = '1', "Input FIFO read signal high while empty signal high", ERROR);
-            alertif(endpoint_full /= (0 to NUM_ENDPOINTS-1 => '0') and (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
+            alertif(full_ue /= (0 to NUM_ENDPOINTS-1 => '0') and (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
         end if;
     end process;
     
@@ -645,8 +652,8 @@ begin
     output_check_prc : process(all)
     begin
         if rising_edge(clk) then
-            if (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')) then
-                SB_out.Check(endpoint_wr & last_word_out & data_out);
+            if (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')) then
+                SB_out.Check(wr_ue & last_word_out_ue & data_out_ue);
             end if;
             if (stim_done = '1' and SB_out.empty) then
                 check_done  <= '1';

src/Tests/Level_0/L0_rtps_builtin_endpoint_test2.vhd

@@ -107,10 +107,10 @@ architecture testbench of L0_rtps_builtin_endpoint_test2 is
     type MATCH_MATRIX_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(0 to NUM_READERS-1);
     
     -- *SIGNAL DECLARATION*
-    signal clk, in_empty, rd_sig, last_word_in, last_word_out: std_logic := '0';
+    signal clk, in_empty, rd_sig, last_word_in, last_word_out_ue: std_logic := '0';
     signal reset : std_logic := '1';
-    signal endpoint_wr, endpoint_full   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
-    signal data_in, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
+    signal wr_ue, full_ue   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
+    signal data_in, data_out_ue : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
     signal stim_stage : TEST_STAGE_TYPE := IDLE;
     shared variable stimulus, reference : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
     signal packet_sent : std_logic := '0';
@@ -149,20 +149,27 @@ begin
             MAX_REMOTE_PARTICIPANTS => 3
         )
         port map (
-            clk             => clk,
-            reset           => reset,
-            empty           => in_empty or packet_sent,
-            rd              => rd_sig,
-            data_in         => data_in,
-            data_out        => data_out,
-            last_word_in    => last_word_in,
-            time            => TIME_ZERO,
-            endpoint_full   => endpoint_full,
-            endpoint_wr     => endpoint_wr,
-            rtps_wr         => open,
-            rtps_full       => '0',
-            last_word_out   => last_word_out,
-            alive           => (others => '0')
+            -- SYSTEM
+            clk                 => clk,
+            reset               => reset,
+            time                => TIME_ZERO,
+            -- FROM RTPS HANDLER
+            empty               => in_empty or packet_sent,
+            rd                  => rd_sig,
+            data_in             => data_in,
+            last_word_in        => last_word_in,
+            -- FROM USER ENDPOINT
+            alive               => (others => '0'),
+            -- TO USER ENDPOINT
+            full_ue             => full_ue,
+            wr_ue               => wr_ue,
+            data_out_ue         => data_out_ue,
+            last_word_out_ue    => last_word_out_ue,
+            -- RTPS OUTPUT
+            full_ro             => '0',
+            wr_ro               => open,
+            data_out_ro         => open,
+            last_word_out_ro    => open
         );
     
     stimulus_prc : process
@@ -897,10 +904,10 @@ begin
     
     endpoint_full_prc : process
     begin
-        endpoint_full   <= (others => '0');
-        wait until (or endpoint_wr) = '1';
+        full_ue   <= (others => '0');
+        wait until (or wr_ue) = '1';
         wait until rising_edge(clk);
-        endpoint_full   <= (others => '1');
+        full_ue   <= (others => '1');
         wait until rising_edge(clk);
     end process;
     
@@ -908,7 +915,7 @@ begin
     begin
         if rising_edge(clk) then
             alertif(in_empty = '1' and rd_sig = '1', "Input FIFO read signal high while empty signal high", ERROR);
-            alertif(endpoint_full /= (0 to NUM_ENDPOINTS-1 => '0') and (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
+            alertif(full_ue /= (0 to NUM_ENDPOINTS-1 => '0') and (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
         end if;
     end process;
     
@@ -948,8 +955,8 @@ begin
     begin
         check_done  <= '0';
         if rising_edge(clk) then
-            if (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')) then
-                SB.Check(endpoint_wr & last_word_out & data_out);
+            if (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')) then
+                SB.Check(wr_ue & last_word_out_ue & data_out_ue);
             end if;
             if (stim_done = '1' and SB.empty) then
                 check_done  <= '1';

src/Tests/Level_0/L0_rtps_builtin_endpoint_test3.vhd

@@ -56,10 +56,10 @@ architecture testbench of L0_rtps_builtin_endpoint_test3 is
     type TEST_STAGE_TYPE is (IDLE, BUSY);
     
     -- *SIGNAL DECLARATION*
-    signal clk, in_empty, rd_sig, last_word_in, last_word_out: std_logic := '0';
+    signal clk, in_empty, rd_sig, last_word_in, last_word_out_ue: std_logic := '0';
     signal reset : std_logic := '1';
-    signal endpoint_wr, endpoint_full   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
-    signal data_in, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
+    signal wr_ue, full_ue   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
+    signal data_in, data_out_ue : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
     signal stim_stage : TEST_STAGE_TYPE := IDLE;
     shared variable stimulus, reference : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
     signal packet_sent : std_logic := '0';
@@ -97,20 +97,27 @@ begin
             MAX_REMOTE_PARTICIPANTS => MAX_REMOTE_PARTICIPANTS
         )
         port map (
-            clk             => clk,
-            reset           => reset,
-            empty           => in_empty or packet_sent,
-            rd              => rd_sig,
-            data_in         => data_in,
-            data_out        => data_out,
-            last_word_in    => last_word_in,
-            time            => TIME_ZERO,
-            endpoint_full   => endpoint_full,
-            endpoint_wr     => endpoint_wr,
-            rtps_wr         => open,
-            rtps_full       => '0',
-            last_word_out   => last_word_out,
-            alive           => (others => '0')
+            -- SYSTEM
+            clk                 => clk,
+            reset               => reset,
+            time                => TIME_ZERO,
+            -- FROM RTPS HANDLER
+            empty               => in_empty or packet_sent,
+            rd                  => rd_sig,
+            data_in             => data_in,
+            last_word_in        => last_word_in,
+            -- FROM USER ENDPOINT
+            alive               => (others => '0'),
+            -- TO USER ENDPOINT
+            full_ue             => full_ue,
+            wr_ue               => wr_ue,
+            data_out_ue         => data_out_ue,
+            last_word_out_ue    => last_word_out_ue,
+            -- RTPS OUTPUT
+            full_ro             => '0',
+            wr_ro               => open,
+            data_out_ro         => open,
+            last_word_out_ro    => open
         );
     
     stimulus_prc : process
@@ -1244,10 +1251,10 @@ begin
     
     endpoint_full_prc : process
     begin
-        endpoint_full   <= (others => '0');
-        wait until (or endpoint_wr) = '1';
+        full_ue   <= (others => '0');
+        wait until (or wr_ue) = '1';
         wait until rising_edge(clk);
-        endpoint_full   <= (others => '1');
+        full_ue   <= (others => '1');
         wait until rising_edge(clk);
     end process;
     
@@ -1255,7 +1262,7 @@ begin
     begin
         if rising_edge(clk) then
             alertif(in_empty = '1' and rd_sig = '1', "Input FIFO read signal high while empty signal high", ERROR);
-            alertif(endpoint_full /= (0 to NUM_ENDPOINTS-1 => '0') and (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
+            alertif(full_ue /= (0 to NUM_ENDPOINTS-1 => '0') and (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
         end if;
     end process;
     
@@ -1294,8 +1301,8 @@ begin
     output_check_prc : process(all)
     begin
         if rising_edge(clk) then
-            if (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')) then
-                SB_out.Check(endpoint_wr & last_word_out & data_out);
+            if (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')) then
+                SB_out.Check(wr_ue & last_word_out_ue & data_out_ue);
             end if;
             if (stim_done = '1' and SB_out.empty) then
                 check_done  <= '1';

src/Tests/Level_0/L0_rtps_builtin_endpoint_test4.vhd

@@ -25,10 +25,10 @@ architecture testbench of L0_rtps_builtin_endpoint_test4 is
     type TEST_RAM_TYPE is array (0 to (MAX_REMOTE_PARTICIPANTS*PARTICIPANT_FRAME_SIZE)-1) of std_logic_vector(WORD_WIDTH-1 downto 0);
     
     -- *SIGNAL DECLARATION*
-    signal clk, in_empty, rd_sig, last_word_in, last_word_out: std_logic := '0';
+    signal clk, in_empty, rd_sig, last_word_in, last_word_out_ue: std_logic := '0';
     signal reset : std_logic := '1';
-    signal endpoint_wr, endpoint_full   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
-    signal data_in, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
+    signal wr_ue, full_ue   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
+    signal data_in, data_out_ue : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
     signal stim_stage : TEST_STAGE_TYPE := IDLE;
     shared variable stimulus, reference : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
     signal packet_sent : std_logic := '0';
@@ -74,20 +74,27 @@ begin
             MAX_REMOTE_PARTICIPANTS => MAX_REMOTE_PARTICIPANTS
         )
         port map (
-            clk             => clk,
-            reset           => reset,
-            empty           => in_empty or packet_sent,
-            rd              => rd_sig,
-            data_in         => data_in,
-            data_out        => data_out,
-            last_word_in    => last_word_in,
-            time            => TIME_ZERO,
-            endpoint_full   => endpoint_full,
-            endpoint_wr     => endpoint_wr,
-            rtps_wr         => open,
-            rtps_full       => '0',
-            last_word_out   => last_word_out,
-            alive           => (others => '0')
+            -- SYSTEM
+            clk                 => clk,
+            reset               => reset,
+            time                => TIME_ZERO,
+            -- FROM RTPS HANDLER
+            empty               => in_empty or packet_sent,
+            rd                  => rd_sig,
+            data_in             => data_in,
+            last_word_in        => last_word_in,
+            -- FROM USER ENDPOINT
+            alive               => (others => '0'),
+            -- TO USER ENDPOINT
+            full_ue             => full_ue,
+            wr_ue               => wr_ue,
+            data_out_ue         => data_out_ue,
+            last_word_out_ue    => last_word_out_ue,
+            -- RTPS OUTPUT
+            full_ro             => '0',
+            wr_ro               => open,
+            data_out_ro         => open,
+            last_word_out_ro    => open
         );
     
     stimulus_prc : process
@@ -1765,10 +1772,10 @@ begin
     
     endpoint_full_prc : process
     begin
-        endpoint_full   <= (others => '0');
-        wait until (or endpoint_wr) = '1';
+        full_ue   <= (others => '0');
+        wait until (or wr_ue) = '1';
         wait until rising_edge(clk);
-        endpoint_full   <= (others => '1');
+        full_ue   <= (others => '1');
         wait until rising_edge(clk);
     end process;
     
@@ -1776,7 +1783,7 @@ begin
     begin
         if rising_edge(clk) then
             alertif(in_empty = '1' and rd_sig = '1', "Input FIFO read signal high while empty signal high", ERROR);
-            alertif(endpoint_full /= (0 to NUM_ENDPOINTS-1 => '0') and (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
+            alertif(full_ue /= (0 to NUM_ENDPOINTS-1 => '0') and (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
         end if;
     end process;
     
@@ -1815,8 +1822,8 @@ begin
     output_check_prc : process(all)
     begin
         if rising_edge(clk) then
-            if (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')) then
-                SB_out.Check(endpoint_wr & last_word_out & data_out);
+            if (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')) then
+                SB_out.Check(wr_ue & last_word_out_ue & data_out_ue);
             end if;
             if (stim_done = '1' and SB_out.empty) then
                 check_done  <= '1';

src/Tests/Level_0/L0_rtps_builtin_endpoint_test5.vhd

@@ -28,10 +28,10 @@ architecture testbench of L0_rtps_builtin_endpoint_test5 is
     type TEST_RAM_TYPE is array (0 to (MAX_REMOTE_PARTICIPANTS*PARTICIPANT_FRAME_SIZE)-1) of std_logic_vector(WORD_WIDTH-1 downto 0);
     
     -- *SIGNAL DECLARATION*
-    signal clk, in_empty, rd_sig, last_word_in, last_word_out: std_logic := '0';
+    signal clk, in_empty, rd_sig, last_word_in, last_word_out_ue: std_logic := '0';
     signal reset : std_logic := '1';
-    signal endpoint_wr, endpoint_full   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
-    signal data_in, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
+    signal wr_ue, full_ue   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
+    signal data_in, data_out_ue : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
     signal stim_stage : TEST_STAGE_TYPE := IDLE;
     shared variable stimulus, reference : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
     signal packet_sent : std_logic := '0';
@@ -70,20 +70,27 @@ begin
             MAX_REMOTE_PARTICIPANTS => MAX_REMOTE_PARTICIPANTS
         )
         port map (
-            clk             => clk,
-            reset           => reset,
-            empty           => in_empty or packet_sent,
-            rd              => rd_sig,
-            data_in         => data_in,
-            data_out        => data_out,
-            last_word_in    => last_word_in,
-            time            => test_time,
-            endpoint_full   => endpoint_full,
-            endpoint_wr     => endpoint_wr,
-            rtps_wr         => open,
-            rtps_full       => '0',
-            last_word_out   => last_word_out,
-            alive           => (others => '0')
+            -- SYSTEM
+            clk                 => clk,
+            reset               => reset,
+            time                => test_time,
+            -- FROM RTPS HANDLER
+            empty               => in_empty or packet_sent,
+            rd                  => rd_sig,
+            data_in             => data_in,
+            last_word_in        => last_word_in,
+            -- FROM USER ENDPOINT
+            alive               => (others => '0'),
+            -- TO USER ENDPOINT
+            full_ue             => full_ue,
+            wr_ue               => wr_ue,
+            data_out_ue         => data_out_ue,
+            last_word_out_ue    => last_word_out_ue,
+            -- RTPS OUTPUT
+            full_ro             => '0',
+            wr_ro               => open,
+            data_out_ro         => open,
+            last_word_out_ro    => open
         );
     
     stimulus_prc : process
@@ -301,10 +308,10 @@ begin
     
     endpoint_full_prc : process
     begin
-        endpoint_full   <= (others => '0');
-        wait until (or endpoint_wr) = '1';
+        full_ue   <= (others => '0');
+        wait until (or wr_ue) = '1';
         wait until rising_edge(clk);
-        endpoint_full   <= (others => '1');
+        full_ue   <= (others => '1');
         wait until rising_edge(clk);
     end process;
     
@@ -312,7 +319,7 @@ begin
     begin
         if rising_edge(clk) then
             alertif(in_empty = '1' and rd_sig = '1', "Input FIFO read signal high while empty signal high", ERROR);
-            alertif(endpoint_full /= (0 to NUM_ENDPOINTS-1 => '0') and (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
+            alertif(full_ue /= (0 to NUM_ENDPOINTS-1 => '0') and (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
         end if;
     end process;
     
@@ -351,8 +358,8 @@ begin
     output_check_prc : process(all)
     begin
         if rising_edge(clk) then
-            if (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')) then
-                SB_out.Check(endpoint_wr & last_word_out & data_out);
+            if (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')) then
+                SB_out.Check(wr_ue & last_word_out_ue & data_out_ue);
             end if;
             if (stim_done = '1' and SB_out.empty) then
                 check_done  <= '1';

src/Tests/Level_0/L0_rtps_builtin_endpoint_test6.vhd

@@ -23,10 +23,10 @@ architecture testbench of L0_rtps_builtin_endpoint_test6 is
     type TEST_STAGE_TYPE is (IDLE, BUSY);
     
     -- *SIGNAL DECLARATION*
-    signal clk, in_empty, rd_sig, last_word_in, last_word_out: std_logic := '0';
+    signal clk, in_empty, rd_sig, last_word_in, last_word_out_ue: std_logic := '0';
     signal reset : std_logic := '1';
-    signal endpoint_wr, endpoint_full   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
-    signal data_in, data_out : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
+    signal wr_ue, full_ue   : std_logic_vector(0 to NUM_ENDPOINTS-1) := (others => '0');
+    signal data_in, data_out_ue : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
     signal stim_stage : TEST_STAGE_TYPE := IDLE;
     shared variable stimulus, reference : TEST_PACKET_TYPE := EMPTY_TEST_PACKET;
     signal packet_sent : std_logic := '0';
@@ -57,20 +57,27 @@ begin
             MAX_REMOTE_PARTICIPANTS => 2
         )
         port map (
-            clk             => clk,
-            reset           => reset,
-            empty           => in_empty or packet_sent,
-            rd              => rd_sig,
-            data_in         => data_in,
-            data_out        => data_out,
-            last_word_in    => last_word_in,
-            time            => TIME_ZERO,
-            endpoint_full   => endpoint_full,
-            endpoint_wr     => endpoint_wr,
-            rtps_wr         => open,
-            rtps_full       => '0',
-            last_word_out   => last_word_out,
-            alive           => (others => '0')
+            -- SYSTEM
+            clk                 => clk,
+            reset               => reset,
+            time                => TIME_ZERO,
+            -- FROM RTPS HANDLER
+            empty               => in_empty or packet_sent,
+            rd                  => rd_sig,
+            data_in             => data_in,
+            last_word_in        => last_word_in,
+            -- FROM USER ENDPOINT
+            alive               => (others => '0'),
+            -- TO USER ENDPOINT
+            full_ue             => full_ue,
+            wr_ue               => wr_ue,
+            data_out_ue         => data_out_ue,
+            last_word_out_ue    => last_word_out_ue,
+            -- RTPS OUTPUT
+            full_ro             => '0',
+            wr_ro               => open,
+            data_out_ro         => open,
+            last_word_out_ro    => open
         );
     
     stimulus_prc : process
@@ -278,10 +285,10 @@ begin
     
     endpoint_full_prc : process
     begin
-        endpoint_full   <= (others => '0');
-        wait until (or endpoint_wr) = '1';
+        full_ue   <= (others => '0');
+        wait until (or wr_ue) = '1';
         wait until rising_edge(clk);
-        endpoint_full   <= (others => '1');
+        full_ue   <= (others => '1');
         wait until rising_edge(clk);
     end process;
     
@@ -289,7 +296,7 @@ begin
     begin
         if rising_edge(clk) then
             alertif(in_empty = '1' and rd_sig = '1', "Input FIFO read signal high while empty signal high", ERROR);
-            alertif(endpoint_full /= (0 to NUM_ENDPOINTS-1 => '0') and (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
+            alertif(full_ue /= (0 to NUM_ENDPOINTS-1 => '0') and (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')), "Endpoint FIFO write signal high while full signal high", ERROR);
         end if;
     end process;
     
@@ -329,8 +336,8 @@ begin
     begin
         check_done  <= '0';
         if rising_edge(clk) then
-            if (endpoint_wr /= (0 to NUM_ENDPOINTS-1 => '0')) then
-                SB_out.Check(endpoint_wr & last_word_out & data_out);
+            if (wr_ue /= (0 to NUM_ENDPOINTS-1 => '0')) then
+                SB_out.Check(wr_ue & last_word_out_ue & data_out_ue);
             end if;
             if (stim_done = '1' and SB_out.empty) then
                 check_done  <= '1';

src/Tests/Level_0/L0_rtps_reader_test1_vbk.vhd

@@ -98,10 +98,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => open,
-            full_rtps           => '0',
-            last_word_out_rtps  => open,
-            data_out_rtps       => open,
+            wr_ro               => open,
+            full_ro             => '0',
+            last_word_out_ro    => open,
+            data_out_ro         => open,
             start_hc            => start_hc,
             opcode_hc           => opcode_hc,
             ack_hc              => ack_hc,

src/Tests/Level_0/L0_rtps_reader_test1_vrk.vhd

@@ -98,10 +98,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => open,
-            full_rtps           => '0',
-            last_word_out_rtps  => open,
-            data_out_rtps       => open,
+            wr_ro               => open,
+            full_ro             => '0',
+            last_word_out_ro    => open,
+            data_out_ro         => open,
             start_hc            => start_hc,
             opcode_hc           => opcode_hc,
             ack_hc              => ack_hc,

src/Tests/Level_0/L0_rtps_reader_test2_tbk.vhd

@@ -86,10 +86,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => wr_rtps,
-            full_rtps           => '0',
-            last_word_out_rtps  => open,
-            data_out_rtps       => open,
+            wr_ro               => wr_rtps,
+            full_ro             => '0',
+            last_word_out_ro    => open,
+            data_out_ro         => open,
             start_hc            => start_hc,
             opcode_hc           => opcode_hc,
             ack_hc              => ack_hc,

src/Tests/Level_0/L0_rtps_reader_test2_trk.vhd

@@ -86,10 +86,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => open,
-            full_rtps           => '0',
-            last_word_out_rtps  => open,
-            data_out_rtps       => open,
+            wr_ro               => open,
+            full_ro             => '0',
+            last_word_out_ro    => open,
+            data_out_ro         => open,
             start_hc            => start_hc,
             opcode_hc           => opcode_hc,
             ack_hc              => ack_hc,

src/Tests/Level_0/L0_rtps_reader_test2_vbk.vhd

@@ -86,10 +86,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => wr_rtps,
-            full_rtps           => '0',
-            last_word_out_rtps  => open,
-            data_out_rtps       => open,
+            wr_ro               => wr_rtps,
+            full_ro             => '0',
+            last_word_out_ro    => open,
+            data_out_ro         => open,
             start_hc            => start_hc,
             opcode_hc           => opcode_hc,
             ack_hc              => ack_hc,

src/Tests/Level_0/L0_rtps_reader_test2_vrk.vhd

@@ -86,10 +86,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => open,
-            full_rtps           => '0',
-            last_word_out_rtps  => open,
-            data_out_rtps       => open,
+            wr_ro               => open,
+            full_ro             => '0',
+            last_word_out_ro    => open,
+            data_out_ro         => open,
             start_hc            => start_hc,
             opcode_hc           => opcode_hc,
             ack_hc              => ack_hc,

src/Tests/Level_0/L0_rtps_reader_test2_vrn.vhd

@@ -86,10 +86,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => open,
-            full_rtps           => '0',
-            last_word_out_rtps  => open,
-            data_out_rtps       => open,
+            wr_ro               => open,
+            full_ro             => '0',
+            last_word_out_ro    => open,
+            data_out_ro         => open,
             start_hc            => start_hc,
             opcode_hc           => opcode_hc,
             ack_hc              => ack_hc,

src/Tests/Level_0/L0_rtps_reader_test3_a.vhd

@@ -82,10 +82,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => open,
-            full_rtps           => '0',
-            last_word_out_rtps  => open,
-            data_out_rtps       => open,
+            wr_ro               => open,
+            full_ro             => '0',
+            last_word_out_ro    => open,
+            data_out_ro         => open,
             start_hc            => start_hc,
             opcode_hc           => opcode_hc,
             ack_hc              => ack_hc,

src/Tests/Level_0/L0_rtps_reader_test3_m.vhd

@@ -82,10 +82,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => open,
-            full_rtps           => '0',
-            last_word_out_rtps  => open,
-            data_out_rtps       => open,
+            wr_ro               => open,
+            full_ro             => '0',
+            last_word_out_ro    => open,
+            data_out_ro         => open,
             start_hc            => start_hc,
             opcode_hc           => opcode_hc,
             ack_hc              => ack_hc,

src/Tests/Level_0/L0_rtps_writer_test1_vbkdp.vhd

@@ -97,10 +97,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => open,
-            full_rtps               => '0',
-            last_word_out_rtps      => open,
-            data_out_rtps           => open,
+            wr_ro                   => open,
+            full_ro                 => '0',
+            last_word_out_ro        => open,
+            data_out_ro             => open,
             liveliness_assertion    => '0',
             data_available          => '0',
             start_hc                => start_hc,

src/Tests/Level_0/L0_rtps_writer_test1_vrkdp.vhd

@@ -97,10 +97,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => open,
-            full_rtps               => '0',
-            last_word_out_rtps      => open,
-            data_out_rtps           => open,
+            wr_ro                   => open,
+            full_ro                 => '0',
+            last_word_out_ro        => open,
+            data_out_ro             => open,
             liveliness_assertion    => '0',
             data_available          => '0',
             start_hc                => start_hc,

src/Tests/Level_0/L0_rtps_writer_test2_vrkdp.vhd

@@ -81,10 +81,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => open,
-            full_rtps               => '0',
-            last_word_out_rtps      => open,
-            data_out_rtps           => open,
+            wr_ro                   => open,
+            full_ro                 => '0',
+            last_word_out_ro        => open,
+            data_out_ro             => open,
             liveliness_assertion    => '0',
             data_available          => '0',
             start_hc                => start_hc,

src/Tests/Level_1/L1_rtps_builtin_endpoint_test1.vhd

@@ -389,20 +389,27 @@ begin
             MAX_REMOTE_PARTICIPANTS => 1
         )
         port map (
-            clk             => clk,
-            reset           => reset,
-            empty           => in_empty or packet_sent,
-            rd              => rd_sig,
-            data_in         => data_in,
-            data_out        => fifo_in(WORD_WIDTH-1 downto 0),
-            last_word_in    => last_word_in,
-            time            => test_time,
-            endpoint_full   => (others => '0'),
-            endpoint_wr     => open,
-            rtps_wr         => fifo_wr,
-            rtps_full       => fifo_full,
-            last_word_out   => fifo_in(WORD_WIDTH),
-            alive           => alive
+            -- SYSTEM
+            clk                 => clk,
+            reset               => reset,
+            time                => test_time,
+            -- FROM RTPS HANDLER
+            empty               => in_empty or packet_sent,
+            rd                  => rd_sig,
+            data_in             => data_in,
+            last_word_in        => last_word_in,
+            -- FROM USER ENDPOINT
+            alive               => alive,
+            -- TO USER ENDPOINT
+            full_ue             => (others => '0'),
+            wr_ue               => open,
+            data_out_ue         => open,
+            last_word_out_ue    => open,
+            -- RTPS OUTPUT
+            full_ro             => fifo_full,
+            wr_ro               => fifo_wr,
+            data_out_ro         => fifo_in(WORD_WIDTH-1 downto 0),
+            last_word_out_ro    => fifo_in(WORD_WIDTH)
         );
     
     fifo_inst : entity work.FWFT_FIFO(arch)

src/Tests/Level_1/L1_rtps_reader_test1_trk.vhd

@@ -105,10 +105,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => fifo_wr,
-            full_rtps           => fifo_full,
-            last_word_out_rtps  => fifo_in(WORD_WIDTH),
-            data_out_rtps       => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro               => fifo_wr,
+            full_ro             => fifo_full,
+            last_word_out_ro    => fifo_in(WORD_WIDTH),
+            data_out_ro         => fifo_in(WORD_WIDTH-1 downto 0),
             start_hc            => open,
             opcode_hc           => open,
             ack_hc              => '1',

src/Tests/Level_1/L1_rtps_reader_test1_vrk.vhd

@@ -106,10 +106,10 @@ begin
             rd_meta             => rd_meta,
             data_in_meta        => data_in_meta,
             last_word_in_meta   => last_word_in_meta,
-            wr_rtps             => fifo_wr,
-            full_rtps           => fifo_full,
-            last_word_out_rtps  => fifo_in(WORD_WIDTH),
-            data_out_rtps       => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro               => fifo_wr,
+            full_ro             => fifo_full,
+            last_word_out_ro    => fifo_in(WORD_WIDTH),
+            data_out_ro         => fifo_in(WORD_WIDTH-1 downto 0),
             start_hc            => open,
             opcode_hc           => open,
             ack_hc              => '1',

src/Tests/Level_1/L1_rtps_writer_test1_tbkdp.vhd

@@ -104,10 +104,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => fifo_wr,
-            full_rtps               => fifo_full,
-            last_word_out_rtps      => fifo_in(WORD_WIDTH),
-            data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro                   => fifo_wr,
+            full_ro                 => fifo_full,
+            last_word_out_ro        => fifo_in(WORD_WIDTH),
+            data_out_ro             => fifo_in(WORD_WIDTH-1 downto 0),
             liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,

src/Tests/Level_1/L1_rtps_writer_test1_trkdn.vhd

@@ -104,10 +104,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => fifo_wr,
-            full_rtps               => fifo_full,
-            last_word_out_rtps      => fifo_in(WORD_WIDTH),
-            data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro                   => fifo_wr,
+            full_ro                 => fifo_full,
+            last_word_out_ro        => fifo_in(WORD_WIDTH),
+            data_out_ro             => fifo_in(WORD_WIDTH-1 downto 0),
             liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,

src/Tests/Level_1/L1_rtps_writer_test1_trkdp.vhd

@@ -104,10 +104,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => fifo_wr,
-            full_rtps               => fifo_full,
-            last_word_out_rtps      => fifo_in(WORD_WIDTH),
-            data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro                   => fifo_wr,
+            full_ro                 => fifo_full,
+            last_word_out_ro        => fifo_in(WORD_WIDTH),
+            data_out_ro             => fifo_in(WORD_WIDTH-1 downto 0),
             liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,

src/Tests/Level_1/L1_rtps_writer_test1_vbkdp.vhd

@@ -104,10 +104,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => fifo_wr,
-            full_rtps               => fifo_full,
-            last_word_out_rtps      => fifo_in(WORD_WIDTH),
-            data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro                   => fifo_wr,
+            full_ro                 => fifo_full,
+            last_word_out_ro        => fifo_in(WORD_WIDTH),
+            data_out_ro             => fifo_in(WORD_WIDTH-1 downto 0),
             liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,

src/Tests/Level_1/L1_rtps_writer_test1_vrkdn.vhd

@@ -104,10 +104,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => fifo_wr,
-            full_rtps               => fifo_full,
-            last_word_out_rtps      => fifo_in(WORD_WIDTH),
-            data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro                   => fifo_wr,
+            full_ro                 => fifo_full,
+            last_word_out_ro        => fifo_in(WORD_WIDTH),
+            data_out_ro             => fifo_in(WORD_WIDTH-1 downto 0),
             liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,

src/Tests/Level_1/L1_rtps_writer_test1_vrkdp.vhd

@@ -104,10 +104,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => fifo_wr,
-            full_rtps               => fifo_full,
-            last_word_out_rtps      => fifo_in(WORD_WIDTH),
-            data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro                   => fifo_wr,
+            full_ro                 => fifo_full,
+            last_word_out_ro        => fifo_in(WORD_WIDTH),
+            data_out_ro             => fifo_in(WORD_WIDTH-1 downto 0),
             liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,

src/Tests/Level_1/L1_rtps_writer_test1_vrksp.vhd

@@ -104,10 +104,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => fifo_wr,
-            full_rtps               => fifo_full,
-            last_word_out_rtps      => fifo_in(WORD_WIDTH),
-            data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro                   => fifo_wr,
+            full_ro                 => fifo_full,
+            last_word_out_ro        => fifo_in(WORD_WIDTH),
+            data_out_ro             => fifo_in(WORD_WIDTH-1 downto 0),
             liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,

src/Tests/Level_1/L1_rtps_writer_test1_vrndp.vhd

@@ -104,10 +104,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => fifo_wr,
-            full_rtps               => fifo_full,
-            last_word_out_rtps      => fifo_in(WORD_WIDTH),
-            data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro                   => fifo_wr,
+            full_ro                 => fifo_full,
+            last_word_out_ro        => fifo_in(WORD_WIDTH),
+            data_out_ro             => fifo_in(WORD_WIDTH-1 downto 0),
             liveliness_assertion    => '0',
             data_available          => data_available,
             start_hc                => start_hc,

src/Tests/Level_1/L1_rtps_writer_test2_vrkdn.vhd

@@ -103,10 +103,10 @@ begin
             data_in_meta            => data_in_meta,
             last_word_in_meta       => last_word_in_meta,
             alive_sig               => open,
-            wr_rtps                 => fifo_wr,
-            full_rtps               => fifo_full,
-            last_word_out_rtps      => fifo_in(WORD_WIDTH),
-            data_out_rtps           => fifo_in(WORD_WIDTH-1 downto 0),
+            wr_ro                   => fifo_wr,
+            full_ro                 => fifo_full,
+            last_word_out_ro        => fifo_in(WORD_WIDTH),
+            data_out_ro             => fifo_in(WORD_WIDTH-1 downto 0),
             liveliness_assertion    => liveliness_assertion,
             data_available          => data_available,
             start_hc                => start_hc,

src/Tests/Level_2/L2_Testbench_Lib2.vhd

@@ -244,10 +244,10 @@ begin
             -- TO RTPS_BUILTIN_ENDPOINT (META TRAFFIC)
             alive_sig               => alive_sig_rtps(0),
             -- RTPS OUTPUT
-            wr_rtps                 => wr_rtps_out(0),
-            full_rtps               => full_rtps_out(0),
-            data_out_rtps           => data_in_rtps_out(0)(WORD_WIDTH-1 downto 0),
-            last_word_out_rtps      => data_in_rtps_out(0)(WORD_WIDTH),
+            wr_ro                   => wr_rtps_out(0),
+            full_ro                 => full_rtps_out(0),
+            data_out_ro             => data_in_rtps_out(0)(WORD_WIDTH-1 downto 0),
+            last_word_out_ro        => data_in_rtps_out(0)(WORD_WIDTH),
             -- FROM HC
             liveliness_assertion    => liveliness_assertion_dds_rtps,
             data_available          => data_available_dds_rtps,
@@ -273,27 +273,29 @@ begin
             MAX_REMOTE_PARTICIPANTS => 5
         )
         port map (
-            clk             => clk,
-            reset           => reset,
-            time            => time,
+            clk                 => clk,
+            reset               => reset,
+            time                => time,
             -- FROM RTPS HANDLER
-            empty           => empty_rh(NUM_ENDPOINTS),
-            rd              => rd_rh(NUM_ENDPOINTS),
-            data_in         => data_out_rh(NUM_ENDPOINTS)(WORD_WIDTH-1 downto 0),
-            last_word_in    => data_out_rh(NUM_ENDPOINTS)(WORD_WIDTH),
-            -- TO RTPS ENDPOINTS
-            endpoint_full   => full_rtps(0 to NUM_ENDPOINTS-1),
-            endpoint_wr     => wr_rtps(0 to NUM_ENDPOINTS-1),
-            alive           => alive_sig_rtps(0 to NUM_ENDPOINTS-1),
+            empty               => empty_rh(NUM_ENDPOINTS),
+            rd                  => rd_rh(NUM_ENDPOINTS),
+            data_in             => data_out_rh(NUM_ENDPOINTS)(WORD_WIDTH-1 downto 0),
+            last_word_in        => data_out_rh(NUM_ENDPOINTS)(WORD_WIDTH),
+            -- FROM USER ENDPOINTS
+            alive               => alive_sig_rtps(0 to NUM_ENDPOINTS-1),
+            -- TO USER ENDPOINTS
+            full_ue             => full_rtps(0 to NUM_ENDPOINTS-1),
+            wr_ue               => wr_rtps(0 to NUM_ENDPOINTS-1),
+            data_out_ue         => data_out_rbe,
+            last_word_out_ue    => last_word_out_rbe,
             -- TO RTPS OUT
-            rtps_full       => full_rtps_out(NUM_ENDPOINTS),
-            rtps_wr         => wr_rtps_out(NUM_ENDPOINTS),
-            last_word_out   => last_word_out_rbe,
-            data_out        => data_out_rbe
+            full_ro             => full_rtps_out(NUM_ENDPOINTS),
+            wr_ro               => wr_rtps_out(NUM_ENDPOINTS),
+            data_out_ro         => data_in_rtps_out(NUM_ENDPOINTS)(WORD_WIDTH-1 downto 0),
+            last_word_out_ro    => data_in_rtps_out(NUM_ENDPOINTS)(WORD_WIDTH)
         );
     
     data_in_rtps(0 to NUM_ENDPOINTS-1) <= (others => (last_word_out_rbe & data_out_rbe));
-    data_in_rtps_out(NUM_ENDPOINTS)    <= last_word_out_rbe & data_out_rbe;
     
     rtps_handler_w_inst : entity Testbench_Lib2.rtps_handler(arch)
         port map (

src/Tests/Level_2/L2_Testbench_Lib3.vhd

@@ -305,10 +305,10 @@ begin
             data_in_meta            => data_out_rtps(0)(WORD_WIDTH-1 downto 0),
             last_word_in_meta       => data_out_rtps(0)(WORD_WIDTH),
             -- RTPS OUTPUT
-            wr_rtps                 => wr_rtps_out(0),
-            full_rtps               => full_rtps_out(0),
-            data_out_rtps           => data_in_rtps_out(0)(WORD_WIDTH-1 downto 0),
-            last_word_out_rtps      => data_in_rtps_out(0)(WORD_WIDTH),
+            wr_ro                   => wr_rtps_out(0),
+            full_ro                 => full_rtps_out(0),
+            data_out_ro             => data_in_rtps_out(0)(WORD_WIDTH-1 downto 0),
+            last_word_out_ro        => data_in_rtps_out(0)(WORD_WIDTH),
             -- TO HISTORY CACHE
             start_hc                => start_dds_rtps,
             opcode_hc               => opcode_dds_rtps,
@@ -326,27 +326,29 @@ begin
             MAX_REMOTE_PARTICIPANTS => 5
         )
         port map (
-            clk             => clk,
-            reset           => reset,
-            time            => time,
+            clk                 => clk,
+            reset               => reset,
+            time                => time,
             -- FROM RTPS HANDLER
-            empty           => empty_rh(NUM_ENDPOINTS),
-            rd              => rd_rh(NUM_ENDPOINTS),
-            data_in         => data_out_rh(NUM_ENDPOINTS)(WORD_WIDTH-1 downto 0),
-            last_word_in    => data_out_rh(NUM_ENDPOINTS)(WORD_WIDTH),
-            -- TO RTPS ENDPOINTS
-            endpoint_full   => full_rtps(0 to NUM_ENDPOINTS-1),
-            endpoint_wr     => wr_rtps(0 to NUM_ENDPOINTS-1),
-            alive           => alive_sig_rtps(0 to NUM_ENDPOINTS-1),
+            empty               => empty_rh(NUM_ENDPOINTS),
+            rd                  => rd_rh(NUM_ENDPOINTS),
+            data_in             => data_out_rh(NUM_ENDPOINTS)(WORD_WIDTH-1 downto 0),
+            last_word_in        => data_out_rh(NUM_ENDPOINTS)(WORD_WIDTH),
+            -- FROM USER ENDPOINTS
+            alive               => alive_sig_rtps(0 to NUM_ENDPOINTS-1),
+            -- TO USER ENDPOINTS
+            full_ue             => full_rtps(0 to NUM_ENDPOINTS-1),
+            wr_ue               => wr_rtps(0 to NUM_ENDPOINTS-1),
+            data_out_ue         => data_out_rbe,
+            last_word_out_ue    => last_word_out_rbe,
             -- TO RTPS OUT
-            rtps_full       => full_rtps_out(NUM_ENDPOINTS),
-            rtps_wr         => wr_rtps_out(NUM_ENDPOINTS),
-            last_word_out   => last_word_out_rbe,
-            data_out        => data_out_rbe
+            full_ro             => full_rtps_out(NUM_ENDPOINTS),
+            wr_ro               => wr_rtps_out(NUM_ENDPOINTS),
+            data_out_ro         => data_in_rtps_out(NUM_ENDPOINTS)(WORD_WIDTH-1 downto 0),
+            last_word_out_ro    => data_in_rtps_out(NUM_ENDPOINTS)(WORD_WIDTH)
         );
     
     data_in_rtps(0 to NUM_ENDPOINTS-1) <= (others => (last_word_out_rbe & data_out_rbe));
-    data_in_rtps_out(NUM_ENDPOINTS)    <= last_word_out_rbe & data_out_rbe;
     
     rtps_handler_r_inst : entity Testbench_Lib3.rtps_handler(arch)
         port map (

src/Tests/Level_2/L2_Type1_test1.vhd

@@ -120,7 +120,7 @@ begin
     
     fifo_r_w_inst : entity work.FWFT_FIFO(arch)
         generic map (
-            FIFO_DEPTH  => 65536,
+            FIFO_DEPTH  => 65536/(WORD_WIDTH/BYTE_WIDTH),
             DATA_WIDTH  => WORD_WIDTH
         )
         port map
@@ -138,7 +138,7 @@ begin
     
     fifo_w_r_inst : entity work.FWFT_FIFO(arch)
         generic map (
-            FIFO_DEPTH  => 65536,
+            FIFO_DEPTH  => 65536/(WORD_WIDTH/BYTE_WIDTH),
             DATA_WIDTH  => WORD_WIDTH
         )
         port map

src/key_hash_generator.vhd

@@ -4,17 +4,18 @@ use ieee.numeric_std.all;
 
 entity key_hash_generator is
     port (
+        -- SYSTEM
         clk             : in std_logic;
         reset           : in std_logic;
-        
+        -- CONTROL
         start           : in std_logic;
         ack             : out std_logic;
-        
+        -- INPUT
         data_in         : in std_logic_vector(7 downto 0);
         valid_in        : in std_logic;
         ready_in        : out std_logic;
         last_word_in    : in std_logic;
-        
+        -- OUTPUT
         key_hash        : out std_logic_vector(127 downto 0);
         done            : out std_logic
     );

src/key_holder.vhd

@@ -7,20 +7,21 @@ use work.rtps_config_package.all;
 
 entity key_holder is
     port (
+        -- SYSTEM
         clk             : in std_logic;
         reset           : in std_logic;
-        
+        -- CONTROL
         start           : in std_logic;
         opcode          : in KEY_HOLDER_OPCODE_TYPE;
         ack             : out std_logic;
         decode_error    : out std_logic;
         abort           : in std_logic;
-        
+        -- INPUT
         data_in         : in std_logic_vector(WORD_WIDTH-1 downto 0);
         valid_in        : in std_logic;
         ready_in        : out std_logic;
         last_word_in    : in std_logic;
-        
+        -- OUTPUT
         data_out        : out std_logic_vector(WORD_WIDTH-1 downto 0);
         valid_out       : out std_logic;
         ready_out       : in std_logic;  

src/mem_ctrl.vhd

@@ -10,8 +10,10 @@ entity mem_ctrl is
         MAX_BURST_LENGTH    : natural
     );
     port (
+        -- SYSTEM
         clk         : in std_logic;
         reset       : in std_logic;
+        
         addr        : in std_logic_vector(ADDR_WIDTH-1 downto 0);
         read        : in std_logic;
         ready_in    : out std_logic;

src/rtps_builtin_endpoint.vhd

@@ -12,20 +12,27 @@ entity rtps_builtin_endpoint is
         MAX_REMOTE_PARTICIPANTS : natural := 50
     );
     port (
-        clk             : in std_logic;                                             -- Input Clock
-        reset           : in std_logic;                                             -- Synchronous Reset
-        empty           : in std_logic;                                             -- Input FIFO empty flag
-        rd              : out std_logic;                                            -- Input FIFO read signal
-        data_in         : in std_logic_vector(WORD_WIDTH-1 downto 0);               -- Input FIFO data signal
-        data_out        : out std_logic_vector(WORD_WIDTH-1 downto 0);
-        last_word_in    : in std_logic;
-        time            : in TIME_TYPE;
-        endpoint_full   : in std_logic_vector(0 to NUM_ENDPOINTS-1);
-        endpoint_wr     : out std_logic_vector(0 to NUM_ENDPOINTS-1);
-        rtps_wr         : out std_logic;
-        rtps_full       : in std_logic;
-        last_word_out   : out std_logic;
-        alive           : in std_logic_vector(0 to NUM_ENDPOINTS-1)
+        -- SYSTEM
+        clk                 : in std_logic;
+        reset               : in std_logic;
+        time                : in TIME_TYPE;
+        -- FROM RTPS HANDLER
+        empty               : in std_logic;
+        rd                  : out std_logic;
+        data_in             : in std_logic_vector(WORD_WIDTH-1 downto 0);
+        last_word_in        : in std_logic;
+        -- FROM USER ENDPOINTS
+        alive               : in std_logic_vector(0 to NUM_ENDPOINTS-1);
+        -- TO USER ENDPOINTS
+        full_ue             : in std_logic_vector(0 to NUM_ENDPOINTS-1);
+        wr_ue               : out std_logic_vector(0 to NUM_ENDPOINTS-1);
+        data_out_ue         : out std_logic_vector(WORD_WIDTH-1 downto 0);  -- one-to-many (Multicast) Connection
+        last_word_out_ue    : out std_logic;                                -- one-to-many (Multicast) Connection
+        -- RTPS OUTPUT
+        full_ro             : in std_logic;
+        wr_ro               : out std_logic;
+        data_out_ro         : out std_logic_vector(WORD_WIDTH-1 downto 0);
+        last_word_out_ro    : out std_logic
     );
 end entity;
 
@@ -351,6 +358,10 @@ architecture arch of rtps_builtin_endpoint is
     signal idle_sig : std_logic := '0';
     -- Signifies that we received an Unregister/Dispose Status Info
     signal ud_status, ud_status_next : std_logic := '0';
+    -- Internal Signal for data_out
+    signal data_out_sig :  std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
+    -- Internal Signal for last_word_out
+    signal last_word_out_sig : std_logic := '0';
     
     -- *MEMORY PROCESS*
     -- Memory FSM State
@@ -512,30 +523,35 @@ begin
     -- This process connects the Intermediate Output Signals to the actual output FIFOs
     output_prc : process(all)
     begin
-        endpoint_wr <= (others => '0');
-        rtps_wr     <= '0';
+        wr_ue   <= (others => '0');
+        wr_ro   <= '0';
         case (stage) is
             when INFORM_ENDPOINTS_MATCH =>
                 if (wr_sig = '1') then
-                    endpoint_wr <= endpoint_mask;
+                    wr_ue   <= endpoint_mask;
                 end if;
             when INFORM_ENDPOINTS_UNMATCH =>
                 if (wr_sig = '1') then
-                    endpoint_wr <= not endpoint_mask;
+                    wr_ue   <= not endpoint_mask;
                 end if;
             when INFORM_ENDPOINTS_PARTICIPANT_UNMATCH =>
                 if (wr_sig = '1') then
-                    endpoint_wr <= (others => '1');
+                    wr_ue   <= (others => '1');
                 end if;
             when LIVELINESS_UPDATE =>
                 if (wr_sig = '1') then
-                    endpoint_wr <= endpoint_mask;
+                    wr_ue   <= endpoint_mask;
                 end if;
             when others =>
-                rtps_wr <= wr_sig;
+                wr_ro   <= wr_sig;
         end case;
     end process;
     
+    data_out_ue         <= data_out_sig;
+    data_out_ro         <= data_out_sig;
+    last_word_out_ue    <= last_word_out_sig;
+    last_word_out_ro    <= last_word_out_sig;
+    
     -- Main State Machine
     -- STATE                                DESCRIPTION
     -- IDLE                                 Idle state. Initiates Participant Announcements, Heartbeat/Liveliness Assertions, Stale Participant Entry Checks ,and Packet Processing, in that priority order.
@@ -666,10 +682,10 @@ begin
         wr_sig                          <= '0';
         mem_opcode                      <= NOP;
         mem_op_start                    <= '0';
-        last_word_out                   <= '0';
+        last_word_out_sig               <= '0';
         reset_endpoint_alive            <= '0';
         idle_sig                        <= '0';
-        data_out                        <= (others => '0');
+        data_out_sig                    <= (others => '0');
         mem_field_flags                 <= (others => '0');
         extra_flags                     <= (others => '0');
         mem_addr_update                 <= PARTICIPANT_MEMORY_MAX_ADDRESS;
@@ -1392,26 +1408,26 @@ begin
                     -- DONE
                     stage_next  <= SKIP_PACKET;
                 -- Output FIFO Guard
-                elsif ((endpoint_mask and endpoint_full) = (endpoint_full'range => '0')) then
+                elsif ((endpoint_mask and full_ue) = (full_ue'range => '0')) then
                     wr_sig  <= '1';
                     
                     case (cnt) is
                         -- Liveliness Assertion Opcode
                         when 0 =>
-                            data_out    <= OPCODE_LIVELINESS_UPDATE;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= OPCODE_LIVELINESS_UPDATE;
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 1/3
                         when 1 =>
-                            data_out    <= guid(0);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= guid(0);
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 2/3
                         when 2 =>
-                            data_out    <= guid(1);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= guid(1);
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 3/3
                         when 3 =>
-                            data_out        <= guid(2);
-                            last_word_out   <= '1';
+                            data_out_sig        <= guid(2);
+                            last_word_out_sig   <= '1';
                             
                             -- DONE
                             stage_next  <= SKIP_PACKET;
@@ -2880,54 +2896,54 @@ begin
                     assert check_mask(current_pmf, PMF_DEFAULT_IPV4_ADDR_FLAG or PMF_UDP_PORT_FLAG) severity FAILURE;
                     
                     -- Output FIFO Guard
-                    if ((endpoint_mask and endpoint_full) = (endpoint_full'range => '0')) then
+                    if ((endpoint_mask and full_ue) = (full_ue'range => '0')) then
                         wr_sig      <= '1';
                         
                         case (cnt) is
                             -- Match Opcode
                             when 0 =>
-                                data_out    <= OPCODE_ENDPOINT_MATCH;
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= OPCODE_ENDPOINT_MATCH;
+                                cnt_next        <= cnt + 1;
                             -- GUID Prefix 1/3
                             when 1 =>
-                                data_out    <= guid(0);
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= guid(0);
+                                cnt_next        <= cnt + 1;
                             -- GUID Prefix 2/3
                             when 2 =>
-                                data_out    <= guid(1);
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= guid(1);
+                                cnt_next        <= cnt + 1;
                             -- GUID Prefix 3/3
                             when 3 =>
-                                data_out    <= guid(2);
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= guid(2);
+                                cnt_next        <= cnt + 1;
                             -- Entity ID
                             when 4 =>
-                                data_out    <= guid(3);
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= guid(3);
+                                cnt_next        <= cnt + 1;
                             -- IPv4 Address
                             when 5 =>
                                 -- If Endpoint did not set Address, use Participant Default
                                 if (def_addr /= (def_addr'reverse_range => '0')) then
-                                    data_out  <= def_addr;
+                                    data_out_sig    <= def_addr;
                                 else
-                                    data_out  <= participant_data.def_addr;
+                                    data_out_sig    <= participant_data.def_addr;
                                 end if;
                                 cnt_next    <= cnt + 1;
                             -- UDPv4 Port and Reader Flags
                             when 6 =>
                                 -- Default
-                                data_out        <= (others => '0');
-                                last_word_out   <= '1';
+                                data_out_sig        <= (others => '0');
+                                last_word_out_sig   <= '1';
                                 
                                 -- If Endpoint did not set Port, use Participant Default
                                 if (def_port /= (def_port'reverse_range => '0')) then
-                                    data_out(31 downto 16)    <= def_port;
+                                    data_out_sig(31 downto 16)  <= def_port;
                                 else
-                                    data_out(31 downto 16)    <= participant_data.def_port;
+                                    data_out_sig(31 downto 16)  <= participant_data.def_port;
                                 end if;
                                 
                                 if (is_subscriber = '1') then
-                                    data_out(15 downto 0) <= reader_flags;
+                                    data_out_sig(15 downto 0)   <= reader_flags;
                                 end if;
                                 
                                 -- DONE
@@ -2940,30 +2956,30 @@ begin
                 end if;
             when INFORM_ENDPOINTS_UNMATCH =>
                 -- Output FIFO Guard
-                if (((not endpoint_mask) and endpoint_full) = (endpoint_full'range => '0')) then
+                if (((not endpoint_mask) and full_ue) = (full_ue'range => '0')) then
                     wr_sig      <= '1';
                     
                     case (cnt) is
                         -- Match Opcode
                         when 0 =>
-                            data_out    <= OPCODE_ENDPOINT_UNMATCH;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= OPCODE_ENDPOINT_UNMATCH;
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 1/3
                         when 1 =>
-                            data_out    <= guid(0);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= guid(0);
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 2/3
                         when 2 =>
-                            data_out    <= guid(1);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= guid(1);
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 3/3
                         when 3 =>
-                            data_out    <= guid(2);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= guid(2);
+                            cnt_next        <= cnt + 1;
                         -- Entity ID
                         when 4 =>
-                            data_out        <= guid(3);
-                            last_word_out   <= '1';
+                            data_out_sig        <= guid(3);
+                            last_word_out_sig   <= '1';
                             
                             -- DONE
                             stage_next  <= SKIP_PACKET;
@@ -2973,26 +2989,26 @@ begin
                 end if;
             when INFORM_ENDPOINTS_PARTICIPANT_UNMATCH =>
                 -- Output FIFO Guard
-                if (endpoint_full = (endpoint_full'range => '0')) then
+                if (full_ue = (full_ue'range => '0')) then
                     wr_sig      <= '1';
                     
                     case (cnt) is
                         -- Match Opcode
                         when 0 =>
-                            data_out    <= OPCODE_PARTICIPANT_UNMATCH;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= OPCODE_PARTICIPANT_UNMATCH;
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 1/3
                         when 1 =>
-                            data_out    <= guid(0);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= guid(0);
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 2/3
                         when 2 =>
-                            data_out    <= guid(1);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= guid(1);
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 3/3
                         when 3 =>
-                            data_out        <= guid(2);
-                            last_word_out   <= '1';
+                            data_out_sig        <= guid(2);
+                            last_word_out_sig   <= '1';
                             
                             -- Currently in Stale Check
                             if (stale_check = '1') then
@@ -3015,48 +3031,48 @@ begin
                         assert check_mask(current_pmf, PMF_META_IPV4_ADDR_FLAG or PMF_UDP_PORT_FLAG) severity FAILURE;
                     end if;
                     
-                    if (rtps_full = '0') then
+                    if (full_ro = '0') then
                         wr_sig      <= '1';
                         
                         case (cnt) is
                             -- OUTPUT HEADER
                             -- Src IPv4 Address
                             when 0 =>
-                                data_out    <= DEFAULT_IPv4_ADDRESS;
+                                data_out_sig    <= DEFAULT_IPv4_ADDRESS;
                                 cnt_next    <= cnt + 1;
                             -- Dest IPv4 Address
                             when 1 =>
                                 -- Set Default Multicast Announce Address if Participant Announcement
                                 if (return_stage = SEND_PARTICIPANT_ANNOUNCEMENT) then
-                                    data_out  <= DEFAULT_IPv4_META_ADDRESS;
+                                    data_out_sig    <= DEFAULT_IPv4_META_ADDRESS;
                                 else
-                                    data_out  <= participant_data.meta_addr;
+                                    data_out_sig    <= participant_data.meta_addr;
                                 end if;
                                 cnt_next    <= cnt + 1;
                             -- Src and Dest UDPv4 Ports
                             when 2 =>
                                 -- Set Default Multicast Announce Port if Participant Announcement
                                 if (return_stage = SEND_PARTICIPANT_ANNOUNCEMENT) then
-                                    data_out  <= META_IPv4_UNICAST_PORT & META_IPv4_MULTICAST_PORT;
+                                    data_out_sig    <= META_IPv4_UNICAST_PORT & META_IPv4_MULTICAST_PORT;
                                 else
-                                    data_out  <= META_IPv4_UNICAST_PORT & participant_data.meta_port;
+                                    data_out_sig    <= META_IPv4_UNICAST_PORT & participant_data.meta_port;
                                 end if;
                                 cnt_next    <= cnt + 1;
                             -- RTPS MESSAGE HEADER
                             when 3 =>
-                                data_out    <= PROTOCOL_RTPS;
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= PROTOCOL_RTPS;
+                                cnt_next        <= cnt + 1;
                             when 4 =>
-                                data_out    <= PROTOCOLVERSION_2_4 & VENDORID;
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= PROTOCOLVERSION_2_4 & VENDORID;
+                                cnt_next        <= cnt + 1;
                             when 5 =>
-                                data_out    <= GUIDPREFIX(0);
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= GUIDPREFIX(0);
+                                cnt_next        <= cnt + 1;
                             when 6 =>
-                                data_out    <= GUIDPREFIX(1);
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= GUIDPREFIX(1);
+                                cnt_next        <= cnt + 1;
                             when 7 =>
-                                data_out    <= GUIDPREFIX(2);
+                                data_out_sig    <= GUIDPREFIX(2);
                                 
                                 -- Continue with respective RTPS Submessage
                                 stage_next                  <= return_stage;
@@ -3070,15 +3086,15 @@ begin
                     end if;
                 end if;
             when SEND_PARTICIPANT_ANNOUNCEMENT =>
-                if (rtps_full = '0') then
+                if (full_ro = '0') then
                     wr_sig                      <= '1';
                     
                     -- Send Participant Data
-                    data_out  <= LOCAL_PARTICIPANT_DATA.data(participant_data_cnt);
+                    data_out_sig    <= LOCAL_PARTICIPANT_DATA.data(participant_data_cnt);
                     
                     -- Exit Condition
                     if (participant_data_cnt = (LOCAL_PARTICIPANT_DATA.length-1)) then
-                        last_word_out   <= '1';
+                        last_word_out_sig   <= '1';
                         -- DONE
                         stage_next      <= IDLE;
                     else
@@ -3092,115 +3108,115 @@ begin
                 if (mem_op_done = '1') then
                     assert check_mask(current_pmf, PMF_PUB_SEQ_NR_FLAG or PMF_SUB_SEQ_NR_FLAG or PMF_MES_SEQ_NR_FLAG) severity FAILURE;
                     
-                    if (rtps_full = '0') then
+                    if (full_ro = '0') then
                         wr_sig      <= '1';
                         
                         case (cnt) is
                             -- ACKNACK RTPS SUBMESSAGE (Publication)
                             -- RTPS Submessage Header
                             when 0 =>
-                                data_out    <= SID_ACKNACK & "00000010" & std_logic_vector(to_unsigned(28, 16));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= SID_ACKNACK & "00000010" & std_logic_vector(to_unsigned(28, 16));
+                                cnt_next        <= cnt + 1;
                             -- Reader Entity ID
                             when 1 =>
-                                data_out    <= ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_DETECTOR;
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_DETECTOR;
+                                cnt_next        <= cnt + 1;
                             -- Writer Entity ID
                             when 2 =>
-                                data_out    <= ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_ANNOUNCER;
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_ANNOUNCER;
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap Base 1/2)
                             when 3 =>
-                                data_out    <= std_logic_vector(participant_data.pub_seq_nr(0));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(participant_data.pub_seq_nr(0));
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap Base 2/2)
                             when 4 =>
-                                data_out    <= std_logic_vector(participant_data.pub_seq_nr(1));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(participant_data.pub_seq_nr(1));
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (NumBits)
                             when 5 =>
-                                data_out    <= std_logic_vector(to_unsigned(CDR_LONG_WIDTH, CDR_LONG_WIDTH));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(to_unsigned(CDR_LONG_WIDTH, CDR_LONG_WIDTH));
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap)
                             when 6 =>
                                 -- NOTE: In order to avoid having to generate a variable sized bitmap, we always request the next 32 sequence numbers, even if they do not exist (yet)
                                 -- XXX: Assumes correct implementation of the RTPS Protocol (i.e. Writer ignores requested SNs that do not exist)
-                                data_out    <= (others => '1');
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= (others => '1');
+                                cnt_next        <= cnt + 1;
                             -- Count
                             when 7 =>
-                                data_out  <= std_logic_vector(count);
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(count);
+                                cnt_next        <= cnt + 1;
                             -- ACKNACK RTPS SUBMESSAGE (Subscription)
                             -- RTPS Submessage Header
                             when 8 =>
-                                data_out    <= SID_ACKNACK & "00000010" & std_logic_vector(to_unsigned(28, 16));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= SID_ACKNACK & "00000010" & std_logic_vector(to_unsigned(28, 16));
+                                cnt_next        <= cnt + 1;
                             -- Reader Entity ID
                             when 9 =>
-                                data_out    <= ENTITYID_SEDP_BUILTIN_PUBLICATIONS_DETECTOR;
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= ENTITYID_SEDP_BUILTIN_PUBLICATIONS_DETECTOR;
+                                cnt_next        <= cnt + 1;
                             -- Writer Entity ID
                             when 10 =>
-                                data_out    <= ENTITYID_SEDP_BUILTIN_PUBLICATIONS_ANNOUNCER;
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= ENTITYID_SEDP_BUILTIN_PUBLICATIONS_ANNOUNCER;
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap Base 1/2)
                             when 11 =>
-                                data_out    <= std_logic_vector(participant_data.sub_seq_nr(0));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(participant_data.sub_seq_nr(0));
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap Base 2/2)
                             when 12 =>
-                                data_out    <= std_logic_vector(participant_data.sub_seq_nr(1));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(participant_data.sub_seq_nr(1));
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (NumBits)
                             when 13 =>
-                                data_out    <= std_logic_vector(to_unsigned(CDR_LONG_WIDTH, CDR_LONG_WIDTH));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(to_unsigned(CDR_LONG_WIDTH, CDR_LONG_WIDTH));
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap)
                             when 14 =>
                                 -- NOTE: In order to avoid having to generate a variable sized bitmap, we always request the next 32 sequence numbers, even if they do not exist (yet)
                                 -- XXX: Assumes correct implementation of the RTPS Protocol (i.e. Writer ignores requested SNs that do not exist)
-                                data_out    <= (others => '1');
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= (others => '1');
+                                cnt_next        <= cnt + 1;
                             -- Count
                             when 15 =>
-                                data_out    <= std_logic_vector(count);
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(count);
+                                cnt_next        <= cnt + 1;
                             -- ACKNACK RTPS SUBMESSAGE (Message)
                             -- RTPS Submessage Header
                             when 16 =>
-                                data_out    <= SID_ACKNACK & "00000010" & std_logic_vector(to_unsigned(28, 16));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= SID_ACKNACK & "00000010" & std_logic_vector(to_unsigned(28, 16));
+                                cnt_next        <= cnt + 1;
                             -- Reader Entity ID
                             when 17 =>
-                                data_out    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER;
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER;
+                                cnt_next        <= cnt + 1;
                             -- Writer Entity ID
                             when 18 =>
-                                data_out    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER;
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER;
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap Base 1/2)
                             when 19 =>
-                                data_out    <= std_logic_vector(participant_data.mes_seq_nr(0));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(participant_data.mes_seq_nr(0));
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap Base 2/2)
                             when 20 =>
-                                data_out    <= std_logic_vector(participant_data.mes_seq_nr(1));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(participant_data.mes_seq_nr(1));
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (NumBits)
                             when 21 =>
-                                data_out    <= std_logic_vector(to_unsigned(CDR_LONG_WIDTH, CDR_LONG_WIDTH));
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= std_logic_vector(to_unsigned(CDR_LONG_WIDTH, CDR_LONG_WIDTH));
+                                cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap)
                             when 22 =>
                                 -- NOTE: In order to avoid having to generate a variable sized bitmap, we always request the next 32 sequence numbers, even if they do not exist (yet)
                                 -- XXX: Assumes correct implementation of the RTPS Protocol (i.e. Writer ignores requested SNs that do not exist)
-                                data_out    <= (others => '1');
-                                cnt_next    <= cnt + 1;
+                                data_out_sig    <= (others => '1');
+                                cnt_next        <= cnt + 1;
                             -- Count
                             when 23 =>
-                                data_out        <= std_logic_vector(count);
-                                last_word_out   <= '1';
+                                data_out_sig        <= std_logic_vector(count);
+                                last_word_out_sig   <= '1';
                                 
                                 -- Continue
                                 stage_next      <= PARTICIPANT_STALE_CHECK;
@@ -3211,108 +3227,108 @@ begin
                     end if;
                 end if;
             when SEND_HEARTBEAT =>
-                if (rtps_full = '0') then
+                if (full_ro = '0') then
                     wr_sig      <= '1';
                     
                     case (cnt) is
                         -- HEARTBEAT RTPS SUBMESSAGE (Publication)
                         -- RTPS Submessage Header
                         when 0 =>
-                            data_out    <= SID_HEARTBEAT & "00000010" & std_logic_vector(to_unsigned(28, 16));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= SID_HEARTBEAT & "00000010" & std_logic_vector(to_unsigned(28, 16));
+                            cnt_next        <= cnt + 1;
                         -- Reader Entity ID
                         when 1 =>
-                            data_out    <= ENTITYID_SEDP_BUILTIN_PUBLICATIONS_DETECTOR;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_SEDP_BUILTIN_PUBLICATIONS_DETECTOR;
+                            cnt_next        <= cnt + 1;
                         -- Writer Entity ID
                         when 2 =>
-                            data_out    <= ENTITYID_SEDP_BUILTIN_PUBLICATIONS_ANNOUNCER;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_SEDP_BUILTIN_PUBLICATIONS_ANNOUNCER;
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 3 =>
-                            data_out    <= std_logic_vector(FIRST_SEQUENCENUMBER(0));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(FIRST_SEQUENCENUMBER(0));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 2/2
                         when 4 =>
-                            data_out    <= std_logic_vector(FIRST_SEQUENCENUMBER(1));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(FIRST_SEQUENCENUMBER(1));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 5 =>
-                            data_out    <= std_logic_vector(PUB_SEQUENCENUMBER(0));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(PUB_SEQUENCENUMBER(0));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 6 =>
-                            data_out    <= std_logic_vector(PUB_SEQUENCENUMBER(1));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(PUB_SEQUENCENUMBER(1));
+                            cnt_next        <= cnt + 1;
                         -- Count
                         when 7 =>
-                            data_out    <= std_logic_vector(count);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(count);
+                            cnt_next        <= cnt + 1;
                         -- HEARTBEAT RTPS SUBMESSAGE (Subscription)
                         -- RTPS Submessage Header
                         when 8 =>
-                            data_out    <= SID_HEARTBEAT & "00000010" & std_logic_vector(to_unsigned(28, 16));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= SID_HEARTBEAT & "00000010" & std_logic_vector(to_unsigned(28, 16));
+                            cnt_next        <= cnt + 1;
                         -- Reader Entity ID
                         when 9 =>
-                            data_out    <= ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_DETECTOR;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_DETECTOR;
+                            cnt_next        <= cnt + 1;
                         -- Writer Entity ID
                         when 10 =>
-                            data_out    <= ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_ANNOUNCER;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_ANNOUNCER;
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 11 =>
-                            data_out    <= std_logic_vector(FIRST_SEQUENCENUMBER(0));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(FIRST_SEQUENCENUMBER(0));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 2/2
                         when 12 =>
-                            data_out    <= std_logic_vector(FIRST_SEQUENCENUMBER(1));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(FIRST_SEQUENCENUMBER(1));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 13 =>
-                            data_out    <= std_logic_vector(SUB_SEQUENCENUMBER(0));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(SUB_SEQUENCENUMBER(0));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 14 =>
-                            data_out    <= std_logic_vector(SUB_SEQUENCENUMBER(1));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(SUB_SEQUENCENUMBER(1));
+                            cnt_next        <= cnt + 1;
                         -- Count
                         when 15 =>
-                            data_out    <= std_logic_vector(count);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(count);
+                            cnt_next        <= cnt + 1;
                         -- HEARTBEAT RTPS SUBMESSAGE (Message)
                         -- RTPS Submessage Header
                         when 16 =>
-                            data_out    <= SID_HEARTBEAT & "00000010" & std_logic_vector(to_unsigned(28, 16));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= SID_HEARTBEAT & "00000010" & std_logic_vector(to_unsigned(28, 16));
+                            cnt_next        <= cnt + 1;
                         -- Reader Entity ID
                         when 17 =>
-                            data_out    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER;
+                            cnt_next        <= cnt + 1;
                         -- Writer Entity ID
                         when 18 =>
-                            data_out    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER;
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 19 =>
-                            data_out    <= std_logic_vector(man_live_seq_nr(0));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(man_live_seq_nr(0));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 2/2
                         when 20 =>
-                            data_out    <= std_logic_vector(man_live_seq_nr(1));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(man_live_seq_nr(1));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 21 =>
-                            data_out    <= std_logic_vector(auto_live_seq_nr(0));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(auto_live_seq_nr(0));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 22 =>
-                            data_out    <= std_logic_vector(auto_live_seq_nr(1));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(auto_live_seq_nr(1));
+                            cnt_next        <= cnt + 1;
                         -- Count
                         when 23 =>
-                            data_out  <= std_logic_vector(count);
+                            data_out_sig    <= std_logic_vector(count);
                             
                             -- If manual and automatic sequence numbers are not consecutive, we have only asserted the automatic liveliness
                             if (live_gap_start /= auto_live_seq_nr) then
@@ -3338,15 +3354,15 @@ begin
                     if (not check_mask(participant_data.extra_flags, EF_PUB_DATA_FLAG) or NUM_WRITERS = 0) then
                         stage_next  <= SEND_SUB_DATA;
                     -- Output FIFO Guard
-                    elsif (rtps_full = '0') then
+                    elsif (full_ro = '0') then
                         wr_sig                  <= '1';
                         
                         -- Send Publisher Data
-                        data_out  <= WRITER_ENDPOINT_DATA.data(publisher_data_cnt);
+                        data_out_sig    <= WRITER_ENDPOINT_DATA.data(publisher_data_cnt);
                         
                         -- Exit Condition
                         if (publisher_data_cnt = (WRITER_ENDPOINT_DATA.length-1)) then
-                            last_word_out   <= '1';
+                            last_word_out_sig   <= '1';
                             -- If we still have Data to sent, continue
                             if (check_mask(participant_data.extra_flags, EF_SUB_DATA_FLAG) or check_mask(participant_data.extra_flags, EF_MES_DATA_FLAG)) then
                                 stage_next          <= SEND_HEADER;
@@ -3377,15 +3393,15 @@ begin
                         stage_next  <= SEND_MES_MAN_LIVE;
                         cnt_next    <= 0;
                     -- Output FIFO Guard
-                    elsif (rtps_full = '0') then
+                    elsif (full_ro = '0') then
                         wr_sig                      <= '1';
                         
                         -- Send Subscriber Data
-                        data_out  <= READER_ENDPOINT_DATA.data(subscriber_data_cnt);
+                        data_out_sig    <= READER_ENDPOINT_DATA.data(subscriber_data_cnt);
                         
                         -- Exit Condition
                         if (subscriber_data_cnt = (READER_ENDPOINT_DATA.length-1)) then
-                            last_word_out   <= '1';
+                            last_word_out_sig   <= '1';
                             -- If we still have Data to sent, continue
                             if (check_mask(participant_data.extra_flags, EF_MES_DATA_FLAG)) then
                                 stage_next          <= SEND_HEADER;
@@ -3406,59 +3422,59 @@ begin
                 end if;
             when SEND_MES_MAN_LIVE =>
                 -- Output FIFO Guard
-                if (rtps_full = '0') then
+                if (full_ro = '0') then
                     wr_sig      <= '1';
                     
                     case (cnt) is
                         -- DATA RTPS SUBMESSAGE (Participant Message)
                         -- RTPS Submessage Header
                         when 0 =>
-                            data_out    <= SID_DATA & "00000100" & std_logic_vector(to_unsigned(44, 16));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= SID_DATA & "00000100" & std_logic_vector(to_unsigned(44, 16));
+                            cnt_next        <= cnt + 1;
                         -- ExtraFlags, octetsToInlineQoS
                         when 1 =>
-                            data_out    <= x"0000" & std_logic_vector(to_unsigned(16, 16));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= x"0000" & std_logic_vector(to_unsigned(16, 16));
+                            cnt_next        <= cnt + 1;
                         -- Reader Entity ID
                         when 2 =>
-                            data_out    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER;
+                            cnt_next        <= cnt + 1;
                         -- Writer Entity ID
                         when 3 =>
-                            data_out    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER;
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 4 =>
-                            data_out    <= std_logic_vector(man_live_seq_nr(0));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(man_live_seq_nr(0));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 2/2
                         when 5 =>
-                            data_out    <= std_logic_vector(man_live_seq_nr(1));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(man_live_seq_nr(1));
+                            cnt_next        <= cnt + 1;
                         -- Serialized Payload Header
                         when 6 =>
-                            data_out    <= CDR_BE & x"0000";
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= CDR_BE & x"0000";
+                            cnt_next        <= cnt + 1;
                         -- Serialized Payload BEGIN
                         -- GUID Prefix 1/3
                         when 7 =>
-                            data_out    <= GUIDPREFIX(0);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= GUIDPREFIX(0);
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 2/3
                         when 8 =>
-                            data_out    <= GUIDPREFIX(1);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= GUIDPREFIX(1);
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 3/3
                         when 9 =>
-                            data_out    <= GUIDPREFIX(2);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= GUIDPREFIX(2);
+                            cnt_next        <= cnt + 1;
                         -- Participant Message Kind
                         when 10 =>
-                            data_out    <= PARTICIPANT_MESSAGE_DATA_KIND_MANUAL_LIVELINESS_UPDATE;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= PARTICIPANT_MESSAGE_DATA_KIND_MANUAL_LIVELINESS_UPDATE;
+                            cnt_next        <= cnt + 1;
                         -- Data Length
                         when 11 =>
-                            data_out  <= (others => '0');
+                            data_out_sig    <= (others => '0');
                             -- If manual and automatic sequence numbers are not consecutive, we need to send a GAP Message
                             if (live_gap_start /= auto_live_seq_nr) then
                                 stage_next  <= SEND_MES_GAP;
@@ -3473,104 +3489,104 @@ begin
                 end if;
             when SEND_MES_GAP =>
                 -- Output FIFO Guard
-                if (rtps_full = '0') then
+                if (full_ro = '0') then
                     wr_sig      <= '1';
                     
                     case (cnt) is
                         -- DATA RTPS SUBMESSAGE (Participant Message)
                         -- RTPS Submessage Header
                         when 0 =>
-                            data_out    <= SID_GAP & "00000000" & std_logic_vector(to_unsigned(28, 16));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= SID_GAP & "00000000" & std_logic_vector(to_unsigned(28, 16));
+                            cnt_next        <= cnt + 1;
                         -- Reader Entity ID
                         when 1 =>
-                            data_out    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER;
+                            cnt_next        <= cnt + 1;
                         -- Writer Entity ID
                         when 2 =>
-                            data_out    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER;
+                            cnt_next        <= cnt + 1;
                         -- GAP Start Sequence Number 1/2
                         when 3 =>
-                            data_out    <= std_logic_vector(live_gap_start(0));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(live_gap_start(0));
+                            cnt_next        <= cnt + 1;
                         -- GAP Start Sequence Number 2/2
                         when 4 =>
-                            data_out    <= std_logic_vector(live_gap_start(1));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(live_gap_start(1));
+                            cnt_next        <= cnt + 1;
                         -- GAP End Sequence Number Set (Bitmap Base 1/2)
                         when 5 =>
-                            data_out    <= std_logic_vector(live_gap_end(0));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(live_gap_end(0));
+                            cnt_next        <= cnt + 1;
                         -- GAP End Sequence Number Set (Bitmap Base 2/2)
                         when 6 =>
-                            data_out    <= std_logic_vector(live_gap_end(1));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(live_gap_end(1));
+                            cnt_next        <= cnt + 1;
                         -- GAP End Sequence Number Set (NumBits)
                         when 7 =>
-                            data_out  <= (others => '0');
-                            stage_next  <= SEND_MES_AUTO_LIVE;
-                            cnt_next    <= 0;
+                            data_out_sig    <= (others => '0');
+                            stage_next      <= SEND_MES_AUTO_LIVE;
+                            cnt_next        <= 0;
                         when others =>
                             null;
                     end case;
                 end if;
             when SEND_MES_AUTO_LIVE =>
                 -- Output FIFO Guard
-                if (rtps_full = '0') then
+                if (full_ro = '0') then
                     wr_sig      <= '1';
                     
                     case (cnt) is
                         -- DATA RTPS SUBMESSAGE (Participant Message)
                         -- RTPS Submessage Header
                         when 0 =>
-                            data_out    <= SID_DATA & "00000100" & std_logic_vector(to_unsigned(44, 16));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= SID_DATA & "00000100" & std_logic_vector(to_unsigned(44, 16));
+                            cnt_next        <= cnt + 1;
                         -- ExtraFlags, octetsToInlineQoS
                         when 1 =>
-                            data_out    <= x"0000" & std_logic_vector(to_unsigned(16, 16));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= x"0000" & std_logic_vector(to_unsigned(16, 16));
+                            cnt_next        <= cnt + 1;
                         -- Reader Entity ID
                         when 2 =>
-                            data_out    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER;
+                            cnt_next        <= cnt + 1;
                         -- Writer Entity ID
                         when 3 =>
-                            data_out    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER;
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 1/2
                         when 4 =>
-                            data_out    <= std_logic_vector(auto_live_seq_nr(0));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(auto_live_seq_nr(0));
+                            cnt_next        <= cnt + 1;
                         -- Sequence Number 2/2
                         when 5 =>
-                            data_out    <= std_logic_vector(auto_live_seq_nr(1));
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= std_logic_vector(auto_live_seq_nr(1));
+                            cnt_next        <= cnt + 1;
                         -- Serialized Payload Header
                         when 6 =>
-                            data_out    <= CDR_BE & x"0000";
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= CDR_BE & x"0000";
+                            cnt_next        <= cnt + 1;
                         -- Serialized Payload BEGIN
                         -- GUID Prefix 1/3
                         when 7 =>
-                            data_out    <= GUIDPREFIX(0);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= GUIDPREFIX(0);
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 2/3
                         when 8 =>
-                            data_out    <= GUIDPREFIX(1);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= GUIDPREFIX(1);
+                            cnt_next        <= cnt + 1;
                         -- GUID Prefix 3/3
                         when 9 =>
-                            data_out    <= GUIDPREFIX(2);
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= GUIDPREFIX(2);
+                            cnt_next        <= cnt + 1;
                         -- Participant Message Kind
                         when 10 =>
-                            data_out    <= PARTICIPANT_MESSAGE_DATA_KIND_AUTOMATIC_LIVELINESS_UPDATE;
-                            cnt_next    <= cnt + 1;
+                            data_out_sig    <= PARTICIPANT_MESSAGE_DATA_KIND_AUTOMATIC_LIVELINESS_UPDATE;
+                            cnt_next        <= cnt + 1;
                         -- Data Length
                         when 11 =>
-                            data_out        <= (others => '0');
-                            last_word_out   <= '1';
+                            data_out_sig        <= (others => '0');
+                            last_word_out_sig   <= '1';
                             
                             -- If we are in the middle of a liveliness assertion, find the next Participant destination
                             if (is_live_assert = '1') then
@@ -3640,7 +3656,7 @@ begin
             -- Force rd_sig low
             rd_sig                  <= '0';
             -- Notify Endpoints of EOP
-            last_word_out           <= '1'; -- TODO: Necessary? (We do not pass through input to output, so a EOP should not leave us "stranded" during a write out)
+            last_word_out_sig       <= '1'; -- TODO: Necessary? (We do not pass through input to output, so a EOP should not leave us "stranded" during a write out)
             -- Continue parsing next Packet
             stage_next              <= IDLE;
             -- Reset Last Word In Latch
@@ -3655,7 +3671,7 @@ begin
             -- Force rd_sig low
             rd_sig              <= '0';
             -- Notify Endpoints of EOP
-            last_word_out       <= '1';
+            last_word_out_sig   <= '1';
             -- Invalid Parameter Length, Skip Packet
             stage_next          <= SKIP_PACKET;
             -- Reset Parameter End

src/rtps_out.vhd

@@ -9,18 +9,21 @@ use work.rtps_config_package.all;
 entity rtps_out is
     generic (
         -- Max Serialized Payload Size in a UDP Stream (Bytes) [MAX_PAYLOAD(65536) - IPv4_HEADER(20) - UDP_HEADER(8) + FORMAT_HEADER(16)]
-        MAX_BUFFER_SIZE : natural := 65524/4
+        MAX_BUFFER_SIZE : natural := 65524/(WORD_WIDTH/BYTE_WIDTH)
     );
     port (
+        -- SYSTEM
         clk         : in std_logic;
         reset       : in std_logic;
+        -- INPUT
+        full        : in std_logic;
+        wr          : out std_logic;
         data_in     : in RTPS_OUT_DATA_TYPE;
         last_word_in: in std_logic_vector(0 to NUM_ENDPOINTS);
-        rd          : out std_logic_vector(0 to NUM_ENDPOINTS);
+        -- OUTPUT
         empty       : in std_logic_vector(0 to NUM_ENDPOINTS);
-        data_out    : out std_logic_vector(WORD_WIDTH-1 downto 0);
-        wr          : out std_logic;
-        full        : in std_logic
+        rd          : out std_logic_vector(0 to NUM_ENDPOINTS);
+        data_out    : out std_logic_vector(WORD_WIDTH-1 downto 0)
     );
 end entity;
 

src/rtps_reader.vhd

@@ -28,21 +28,21 @@ entity rtps_reader is
         clk                 : in std_logic;
         reset               : in std_logic;
         time                : in TIME_TYPE;
-        -- FROM RTPS_HANDLER (USER TRAFFIC)
+        -- FROM RTPS HANDLER (USER TRAFFIC)
         empty_user          : in std_logic;
         rd_user             : out std_logic;
         data_in_user        : in std_logic_vector(WORD_WIDTH-1 downto 0);
         last_word_in_user   : in std_logic;
-        -- FROM RTPS_BUILTIN_ENDPOINT (META TRAFFIC)
+        -- FROM RTPS BUILTIN ENDPOINT (META TRAFFIC)
         empty_meta          : in std_logic;
         rd_meta             : out std_logic;
         data_in_meta        : in std_logic_vector(WORD_WIDTH-1 downto 0);
         last_word_in_meta   : in std_logic;
         -- RTPS OUTPUT
-        wr_rtps             : out std_logic;
-        full_rtps           : in std_logic;
-        last_word_out_rtps  : out std_logic;
-        data_out_rtps       : out std_logic_vector(WORD_WIDTH-1 downto 0);
+        full_ro             : in std_logic;
+        wr_ro               : out std_logic;
+        data_out_ro         : out std_logic_vector(WORD_WIDTH-1 downto 0);
+        last_word_out_ro    : out std_logic;
         -- TO HISTORY CACHE
         start_hc            : out std_logic;
         opcode_hc           : out HISTORY_CACHE_OPCODE_TYPE;
@@ -435,13 +435,13 @@ begin
         start_hc                    <= '0';
         valid_out_hc                <= '0';
         last_word_out_hc            <= '0';
-        wr_rtps                     <= '0';
-        last_word_out_rtps          <= '0';
+        wr_ro                       <= '0';
+        last_word_out_ro            <= '0';
         idle_sig                    <= '0';
         rd_guard                    := '0';
         mem_field_flags             <= (others => '0');
         data_out_hc                 <= (others => '0');
-        data_out_rtps               <= (others => '0');
+        data_out_ro                 <= (others => '0');
         mem_addr_update             <= (others => '0');
         
         
@@ -1557,38 +1557,38 @@ begin
                     assert check_mask(current_emf, EMF_IPV4_ADDR_FLAG or EMF_UDP_PORT_FLAG) severity FAILURE;
                     
                     -- Output FIFO Guard
-                    if (full_rtps = '0') then
-                        wr_rtps     <= '1';
+                    if (full_ro = '0') then
+                        wr_ro   <= '1';
                         
                         case (cnt) is
                             -- OUTPUT HEADER
                             -- Src IPv4 Address
                             when 0 =>
-                                data_out_rtps   <= DEFAULT_IPv4_ADDRESS;
-                                cnt_next        <= cnt + 1;
+                                data_out_ro <= DEFAULT_IPv4_ADDRESS;
+                                cnt_next    <= cnt + 1;
                             -- Dest IPv4 Address
                             when 1 =>
-                                data_out_rtps   <= mem_endpoint_data.addr;
+                                data_out_ro     <= mem_endpoint_data.addr;
                                 cnt_next        <= cnt + 1;
                             -- Src and Dest UDPv4 Ports
                             when 2 =>
-                                data_out_rtps   <= USER_IPv4_UNICAST_PORT & mem_endpoint_data.portn;
+                                data_out_ro     <= USER_IPv4_UNICAST_PORT & mem_endpoint_data.portn;
                                 cnt_next        <= cnt + 1;
                             -- RTPS MESSAGE HEADER
                             when 3 =>
-                                data_out_rtps   <= PROTOCOL_RTPS;
+                                data_out_ro     <= PROTOCOL_RTPS;
                                 cnt_next        <= cnt + 1;
                             when 4 =>
-                                data_out_rtps   <= PROTOCOLVERSION_2_4 & VENDORID;
+                                data_out_ro     <= PROTOCOLVERSION_2_4 & VENDORID;
                                 cnt_next        <= cnt + 1;
                             when 5 =>
-                                data_out_rtps   <= GUIDPREFIX(0);
+                                data_out_ro     <= GUIDPREFIX(0);
                                 cnt_next        <= cnt + 1;
                             when 6 =>
-                                data_out_rtps   <= GUIDPREFIX(1);
+                                data_out_ro     <= GUIDPREFIX(1);
                                 cnt_next        <= cnt + 1;
                             when 7 =>
-                                data_out_rtps   <= GUIDPREFIX(2);
+                                data_out_ro     <= GUIDPREFIX(2);
                                 
                                 -- Continue with respective RTPS Submessage
                                 stage_next  <= return_stage;
@@ -1606,45 +1606,45 @@ begin
                     assert check_mask(current_emf, EMF_ENTITYID_FLAG or EMF_NEXT_SEQ_NR_FLAG) severity FAILURE;
                     
                     -- Output FIFO Guard
-                    if (full_rtps = '0') then
-                        wr_rtps     <= '1';
+                    if (full_ro = '0') then
+                        wr_ro   <= '1';
                         
                         case (cnt) is
                             -- ACKNACK RTPS SUBMESSAGE
                             -- RTPS Submessage Header
                             when 0 =>
-                                data_out_rtps   <= SID_ACKNACK & "00000010" & std_logic_vector(to_unsigned(28, SUBMESSAGE_LENGTH_WIDTH));
+                                data_out_ro     <= SID_ACKNACK & "00000010" & std_logic_vector(to_unsigned(28, SUBMESSAGE_LENGTH_WIDTH));
                                 cnt_next        <= cnt + 1;
                             -- Reader Entity ID
                             when 1 =>
-                                data_out_rtps   <= ENTITYID;
+                                data_out_ro     <= ENTITYID;
                                 cnt_next        <= cnt + 1;
                             -- Writer Entity ID
                             when 2 =>
-                                data_out_rtps   <= mem_endpoint_data.guid(3);
+                                data_out_ro     <= mem_endpoint_data.guid(3);
                                 cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap Base 1/2)
                             when 3 =>
-                                data_out_rtps   <= std_logic_vector(mem_endpoint_data.next_seq_nr(0));
+                                data_out_ro     <= std_logic_vector(mem_endpoint_data.next_seq_nr(0));
                                 cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap Base 2/2)
                             when 4 =>
-                                data_out_rtps   <= std_logic_vector(mem_endpoint_data.next_seq_nr(1));
+                                data_out_ro     <= std_logic_vector(mem_endpoint_data.next_seq_nr(1));
                                 cnt_next        <= cnt + 1;
                             -- Sequence Number Set (NumBits)
                             when 5 =>
-                                data_out_rtps   <= std_logic_vector(to_unsigned(CDR_LONG_WIDTH, CDR_LONG_WIDTH));
+                                data_out_ro     <= std_logic_vector(to_unsigned(CDR_LONG_WIDTH, CDR_LONG_WIDTH));
                                 cnt_next        <= cnt + 1;
                             -- Sequence Number Set (Bitmap)
                             when 6 =>
                                 -- NOTE: In order to avoid having to generate a variable sized bitmap, we always request the next 32 sequence numbers, even if they do not exist (yet)
                                 -- XXX: Assumes correct implementation of the RTPS Protocol (i.e. Writer ignores requested SNs that do not exist)
-                                data_out_rtps   <= (others => '1');
+                                data_out_ro     <= (others => '1');
                                 cnt_next        <= cnt + 1;
                             -- Count
                             when 7 =>
-                                data_out_rtps       <= std_logic_vector(count);
-                                last_word_out_rtps  <= '1';
+                                data_out_ro         <= std_logic_vector(count);
+                                last_word_out_ro    <= '1';
                                 
                                 -- Stale Check in Progress
                                 if (stale_check = '1') then

src/rtps_writer.vhd

@@ -31,24 +31,24 @@ entity rtps_writer is
         clk                     : in std_logic;
         reset                   : in std_logic;
         time                    : in TIME_TYPE;
-        -- FROM RTPS_HANDLER (USER TRAFFIC)
+        -- FROM RTPS HANDLER (USER TRAFFIC)
         empty_user              : in std_logic;
         rd_user                 : out std_logic;
         data_in_user            : in std_logic_vector(WORD_WIDTH-1 downto 0);
         last_word_in_user       : in std_logic;
-        -- FROM RTPS_BUILTIN_ENDPOINT (META TRAFFIC)
+        -- FROM RTPS BUILTIN ENDPOINT (META TRAFFIC)
         empty_meta              : in std_logic;
         rd_meta                 : out std_logic;
         data_in_meta            : in std_logic_vector(WORD_WIDTH-1 downto 0);
         last_word_in_meta       : in std_logic;
-        -- TO RTPS_BUILTIN_ENDPOINT (META TRAFFIC)
+        -- TO RTPS BUILTIN ENDPOINT (META TRAFFIC)
         alive_sig               : out std_logic;
         -- RTPS OUTPUT
-        wr_rtps                 : out std_logic;
-        full_rtps               : in std_logic;
-        last_word_out_rtps      : out std_logic;
-        data_out_rtps           : out std_logic_vector(WORD_WIDTH-1 downto 0);
-        -- FROM HC
+        full_ro                 : in std_logic;
+        wr_ro                   : out std_logic;
+        data_out_ro             : out std_logic_vector(WORD_WIDTH-1 downto 0);
+        last_word_out_ro        : out std_logic;
+        -- FROM HISTORY CACHE
         liveliness_assertion    : in std_logic;
         data_available          : in std_logic;
         start_hc                : out std_logic;
@@ -328,10 +328,10 @@ architecture arch of rtps_writer is
     alias final_flag            : std_logic is rtps_flags(1);
     alias liveliness_flag       : std_logic is rtps_flags(2);
     -- RTPS OUT DATA SUBMESSAGE FLAGS
-    alias qos_flag              : std_logic is data_out_rtps(17);
-    alias data_flag             : std_logic is data_out_rtps(18);
-    alias key_flag              : std_logic is data_out_rtps(19);
-    alias non_std_flag          : std_logic is data_out_rtps(20);
+    alias qos_flag              : std_logic is data_out_ro(17);
+    alias data_flag             : std_logic is data_out_ro(18);
+    alias key_flag              : std_logic is data_out_ro(19);
+    alias non_std_flag          : std_logic is data_out_ro(20);
     -- ACKNACK
     alias nack_base             : SEQUENCENUMBER_TYPE is sn_latch_1;
     alias nack_base_next        : SEQUENCENUMBER_TYPE is sn_latch_1_next;
@@ -463,8 +463,8 @@ begin
         alive_sig                   <= '0';
         rd_meta                     <= '0';
         rd_user                     <= '0';
-        wr_rtps                     <= '0';
-        last_word_out_rtps          <= '0';
+        wr_ro                       <= '0';
+        last_word_out_ro            <= '0';
         mem_op_start                <= '0';
         start_hc                    <= '0';
         ready_in_hc                 <= '0';
@@ -473,7 +473,7 @@ begin
         seq_nr                      <= SEQUENCENUMBER_UNKNOWN;
         seq_nr_hc                   <= SEQUENCENUMBER_UNKNOWN;
         mem_field_flags             <= (others => '0');
-        data_out_rtps               <= (others => '0');
+        data_out_ro                 <= (others => '0');
         mem_addr_update             <= (others => '0');
         
         -- Assert Liveliness Latch Setter
@@ -1639,38 +1639,38 @@ begin
                     assert check_mask(current_emf, EMF_IPV4_ADDR_FLAG or EMF_UDP_PORT_FLAG) severity FAILURE;
                     
                     -- Output FIFO Guard
-                    if (full_rtps = '0') then
-                        wr_rtps     <= '1';
+                    if (full_ro = '0') then
+                        wr_ro   <= '1';
                         
                         case (cnt) is
                             -- OUTPUT HEADER
                             -- Src IPv4 Address
                             when 0 =>
-                                data_out_rtps   <= DEFAULT_IPv4_ADDRESS;
+                                data_out_ro     <= DEFAULT_IPv4_ADDRESS;
                                 cnt_next        <= cnt + 1;
                             -- Dest IPv4 Address
                             when 1 =>
-                                data_out_rtps   <= mem_endpoint_data.addr;
+                                data_out_ro     <= mem_endpoint_data.addr;
                                 cnt_next        <= cnt + 1;
                             -- Src and Dest UDPv4 Ports
                             when 2 =>
-                                data_out_rtps   <= USER_IPv4_UNICAST_PORT & mem_endpoint_data.portn;
+                                data_out_ro     <= USER_IPv4_UNICAST_PORT & mem_endpoint_data.portn;
                                 cnt_next        <= cnt + 1;
                             -- RTPS MESSAGE HEADER
                             when 3 =>
-                                data_out_rtps   <= PROTOCOL_RTPS;
+                                data_out_ro     <= PROTOCOL_RTPS;
                                 cnt_next        <= cnt + 1;
                             when 4 =>
-                                data_out_rtps   <= PROTOCOLVERSION_2_4 & VENDORID;
+                                data_out_ro     <= PROTOCOLVERSION_2_4 & VENDORID;
                                 cnt_next        <= cnt + 1;
                             when 5 =>
-                                data_out_rtps   <= GUIDPREFIX(0);
+                                data_out_ro     <= GUIDPREFIX(0);
                                 cnt_next        <= cnt + 1;
                             when 6 =>
-                                data_out_rtps   <= GUIDPREFIX(1);
+                                data_out_ro     <= GUIDPREFIX(1);
                                 cnt_next        <= cnt + 1;
                             when 7 =>
-                                data_out_rtps   <= GUIDPREFIX(2);
+                                data_out_ro   <= GUIDPREFIX(2);
                                 
                                 -- Continue with respective RTPS Submessage
                                 stage_next  <= return_stage;
@@ -1682,22 +1682,22 @@ begin
                 end if;
             when SEND_INFO_TS =>
                 -- Output FIFO Guard
-                if (full_rtps = '0') then
-                    wr_rtps     <= '1';
+                if (full_ro = '0') then
+                    wr_ro   <= '1';
                     
                     case (cnt) is
                         -- INFO_TS RTPS SUBMESSAGE
                         -- RTPS Submessage Header
                         when 0 =>
-                            data_out_rtps   <= SID_INFO_TS & "00000000" & std_logic_vector(to_unsigned(8, SUBMESSAGE_LENGTH_WIDTH));
+                            data_out_ro     <= SID_INFO_TS & "00000000" & std_logic_vector(to_unsigned(8, SUBMESSAGE_LENGTH_WIDTH));
                             cnt_next        <= cnt + 1;
                         -- Source Timestamp 1/2
                         when 1 =>
-                            data_out_rtps   <= std_logic_vector(cc_source_timestamp(0));
+                            data_out_ro     <= std_logic_vector(cc_source_timestamp(0));
                             cnt_next        <= cnt + 1;
                         -- Writer Entity ID
                         when 2 =>
-                            data_out_rtps   <= std_logic_vector(cc_source_timestamp(1));
+                            data_out_ro <= std_logic_vector(cc_source_timestamp(1));
                             
                             stage_next  <= SEND_DATA_A;
                             cnt_next    <= 0;    
@@ -1713,41 +1713,41 @@ begin
                     assert check_mask(current_emf, EMF_UDP_PORT_FLAG) severity FAILURE;
                     
                     -- Output FIFO Guard
-                    if (full_rtps = '0') then
+                    if (full_ro = '0') then
                         case (cnt) is
                             -- DATA RTPS SUBMESSAGE
                             -- RTPS Submessage Header
                             when 0 =>
-                                data_out_rtps   <= SID_DATA & "00000000" & std_logic_vector(to_unsigned(0, SUBMESSAGE_LENGTH_WIDTH));
+                                data_out_ro     <= SID_DATA & "00000000" & std_logic_vector(to_unsigned(0, SUBMESSAGE_LENGTH_WIDTH));
                                 data_flag       <= '1' when (cc_kind = ALIVE) else '0';
                                 key_flag        <= '1' when (WITH_KEY and cc_kind /= ALIVE) else '0';
                                 qos_flag        <= '1' when (cc_kind /= ALIVE or WITH_KEY or mem_endpoint_data.flags(READER_EXPECTS_INLINE_QOS_FLAG) = '1') else '0';
-                                wr_rtps         <= '1';
+                                wr_ro           <= '1';
                                 cnt_next        <= cnt + 1;
                             -- extraFlags, octetsToInlineQoS
                             when 1 =>
-                                data_out_rtps   <= x"0000" & std_logic_vector(to_unsigned(16, 16));
-                                wr_rtps         <= '1';
+                                data_out_ro     <= x"0000" & std_logic_vector(to_unsigned(16, 16));
+                                wr_ro           <= '1';
                                 cnt_next        <= cnt + 1;
                             -- Reader Entity ID
                             when 2 =>
-                                data_out_rtps   <= ENTITYID_UNKNOWN;
-                                wr_rtps         <= '1';
+                                data_out_ro     <= ENTITYID_UNKNOWN;
+                                wr_ro           <= '1';
                                 cnt_next        <= cnt + 1;
                             -- Writer Entity ID
                             when 3 =>
-                                data_out_rtps   <= ENTITYID;
-                                wr_rtps         <= '1';
+                                data_out_ro     <= ENTITYID;
+                                wr_ro           <= '1';
                                 cnt_next        <= cnt + 1;
                             -- Sequence Number 1/2
                             when 4 =>
-                                data_out_rtps   <= std_logic_vector(next_seq_nr(0));
-                                wr_rtps         <= '1';
+                                data_out_ro     <= std_logic_vector(next_seq_nr(0));
+                                wr_ro           <= '1';
                                 cnt_next        <= cnt + 1;
                             -- Sequence Number 2/2
                             when 5 =>
-                                data_out_rtps   <= std_logic_vector(next_seq_nr(1));
-                                wr_rtps         <= '1';
+                                data_out_ro     <= std_logic_vector(next_seq_nr(1));
+                                wr_ro           <= '1';
                                 
                                 -- Need to send Key Hash
                                 if (WITH_KEY) then
@@ -1764,7 +1764,7 @@ begin
                                     stage_next  <= SEND_DATA_B;
                                     cnt_next    <= 0;
                                 else
-                                    last_word_out_rtps  <= '1';
+                                    last_word_out_ro    <= '1';
                                     -- Continue
                                     if (RELIABILITY_QOS = RELIABLE_RELIABILITY_QOS and stale_check = '1') then
                                         stage_next  <= HANDLE_REQUESTS;
@@ -1783,40 +1783,40 @@ begin
                             when 6 =>
                                 -- Synthesis Guard
                                 if (WITH_KEY) then
-                                    data_out_rtps   <= PID_KEY_HASH & std_logic_vector(to_unsigned(16, SUBMESSAGE_LENGTH_WIDTH));
-                                    wr_rtps         <= '1';
+                                    data_out_ro     <= PID_KEY_HASH & std_logic_vector(to_unsigned(16, SUBMESSAGE_LENGTH_WIDTH));
+                                    wr_ro           <= '1';
                                     cnt_next        <= cnt + 1;
                                 end if;
                             -- Key Hash 1/4
                             when 7 =>
                                 -- Synthesis Guard
                                 if (WITH_KEY) then
-                                    data_out_rtps   <= std_logic_vector(cc_instance_handle(0));
-                                    wr_rtps         <= '1';
+                                    data_out_ro     <= std_logic_vector(cc_instance_handle(0));
+                                    wr_ro           <= '1';
                                     cnt_next        <= cnt + 1;
                                 end if;
                             -- Key Hash 2/4
                             when 8 =>
                                 -- Synthesis Guard
                                 if (WITH_KEY) then
-                                    data_out_rtps   <= std_logic_vector(cc_instance_handle(1));
-                                    wr_rtps         <= '1';
+                                    data_out_ro     <= std_logic_vector(cc_instance_handle(1));
+                                    wr_ro           <= '1';
                                     cnt_next        <= cnt + 1;
                                 end if;
                             -- Key Hash 3/4
                             when 9 =>
                                 -- Synthesis Guard
                                 if (WITH_KEY) then
-                                    data_out_rtps   <= std_logic_vector(cc_instance_handle(2));
-                                    wr_rtps         <= '1';
+                                    data_out_ro     <= std_logic_vector(cc_instance_handle(2));
+                                    wr_ro           <= '1';
                                     cnt_next        <= cnt + 1;
                                 end if;
                             -- Key Hash 4/4
                             when 10 =>
                                 -- Synthesis Guard
                                 if (WITH_KEY) then
-                                    data_out_rtps   <= std_logic_vector(cc_instance_handle(3));
-                                    wr_rtps         <= '1';
+                                    data_out_ro     <= std_logic_vector(cc_instance_handle(3));
+                                    wr_ro           <= '1';
                                     
                                     -- Need to send Status Info
                                     if (cc_kind /= ALIVE) then
@@ -1831,20 +1831,20 @@ begin
                                 end if;
                             -- Status Info PID
                             when 11 =>
-                                data_out_rtps   <= PID_STATUS_INFO & std_logic_vector(to_unsigned(4, SUBMESSAGE_LENGTH_WIDTH));
-                                wr_rtps         <= '1';
+                                data_out_ro     <= PID_STATUS_INFO & std_logic_vector(to_unsigned(4, SUBMESSAGE_LENGTH_WIDTH));
+                                wr_ro           <= '1';
                                 cnt_next        <= cnt + 1;
                             -- Status Info
                             when 12 =>
-                                data_out_rtps   <= (others => '0');
-                                wr_rtps          <= '1';
+                                data_out_ro   <= (others => '0');
+                                wr_ro          <= '1';
                                 case (cc_kind) is
                                     when ALIVE_FILTERED =>
-                                        data_out_rtps(STATUS_INFO_FILTERED_FLAG)        <= '1';
+                                        data_out_ro(STATUS_INFO_FILTERED_FLAG)      <= '1';
                                     when NOT_ALIVE_DISPOSED =>
-                                        data_out_rtps(STATUS_INFO_DISPOSED_FLAG)        <= '1';
+                                        data_out_ro(STATUS_INFO_DISPOSED_FLAG)      <= '1';
                                     when NOT_ALIVE_UNREGISTERED =>
-                                        data_out_rtps(STATUS_INFO_UNREGISTERED_FLAG)    <= '1';
+                                        data_out_ro(STATUS_INFO_UNREGISTERED_FLAG)  <= '1';
                                     when others =>
                                         null;
                                 end case;
@@ -1858,14 +1858,14 @@ begin
                                 end if;
                             -- Sentinel
                             when 13 =>
-                                data_out_rtps   <= PID_SENTINEL & std_logic_vector(to_unsigned(0, PARAMETER_LENGTH_WIDTH));
-                                wr_rtps          <= '1';
+                                data_out_ro <= PID_SENTINEL & std_logic_vector(to_unsigned(0, PARAMETER_LENGTH_WIDTH));
+                                wr_ro       <= '1';
                                 
                                 -- Payload Available (DATA or Serialized Key)
                                 if (cc_kind = ALIVE or (WITH_KEY and cc_kind /= ALIVE)) then
                                     stage_next      <= SEND_DATA_B;  
                                 else
-                                    last_word_out_rtps  <= '1';
+                                    last_word_out_ro    <= '1';
                                     -- Continue
                                     if (RELIABILITY_QOS = RELIABLE_RELIABILITY_QOS and stale_check = '1') then
                                         stage_next          <= HANDLE_REQUESTS;
@@ -1887,9 +1887,9 @@ begin
                 end if;
             when SEND_INLINE_QOS =>
                 -- Output FIFO Guard
-                if (full_rtps = '0') then
-                    data_out_rtps   <= INLINE_QOS.data(cnt3);
-                    wr_rtps         <= '1';
+                if (full_ro = '0') then
+                    data_out_ro <= INLINE_QOS.data(cnt3);
+                    wr_ro       <= '1';
                     
                     -- Exit Condition
                     if (cnt3 = INLINE_QOS.length-1) then
@@ -1897,7 +1897,7 @@ begin
                         if (cc_kind = ALIVE or (WITH_KEY and cc_kind /= ALIVE)) then
                             stage_next      <= SEND_DATA_B;  
                         else
-                            last_word_out_rtps  <= '1';
+                            last_word_out_ro    <= '1';
                             -- Continue
                             if (RELIABILITY_QOS = RELIABLE_RELIABILITY_QOS and stale_check = '1') then
                                 stage_next  <= HANDLE_REQUESTS;
@@ -1918,15 +1918,15 @@ begin
                 end if;
             when SEND_DATA_B =>
                 -- Output FIFO Guard
-                if (full_rtps = '0') then
+                if (full_ro = '0') then
                     ready_in_hc <= '1';
                     
                     if (valid_in_hc = '1') then
-                        data_out_rtps   <= data_in_hc;
-                        wr_rtps          <= '1';
+                        data_out_ro <= data_in_hc;
+                        wr_ro       <= '1';
                         
                         if (last_word_in_hc = '1') then
-                            last_word_out_rtps  <= '1';
+                            last_word_out_ro    <= '1';
                             
                             -- Continue
                             if (RELIABILITY_QOS = RELIABLE_RELIABILITY_QOS and stale_check = '1') then
@@ -1946,30 +1946,30 @@ begin
                 end if;
             when SEND_GAP_A =>
                 -- Output FIFO Guard
-                if (full_rtps = '0') then
-                    wr_rtps      <= '1';
+                if (full_ro = '0') then
+                    wr_ro   <= '1';
                     
                     case (cnt) is
                         -- DATA RTPS SUBMESSAGE (Participant Message)
                         -- RTPS Submessage Header
                         when 0 =>
-                            data_out_rtps   <= SID_GAP & "00000000" & std_logic_vector(to_unsigned(28, 16));
+                            data_out_ro     <= SID_GAP & "00000000" & std_logic_vector(to_unsigned(28, 16));
                             cnt_next        <= cnt + 1;
                         -- Reader Entity ID
                         when 1 =>
-                            data_out_rtps   <= ENTITYID_UNKNOWN;
+                            data_out_ro     <= ENTITYID_UNKNOWN;
                             cnt_next        <= cnt + 1;
                         -- Writer Entity ID
                         when 2 =>
-                            data_out_rtps   <= ENTITYID;
+                            data_out_ro     <= ENTITYID;
                             cnt_next        <= cnt + 1;
                         -- GAP Start Sequence Number 1/2
                         when 3 =>
-                            data_out_rtps   <= std_logic_vector(next_seq_nr(0));
+                            data_out_ro     <= std_logic_vector(next_seq_nr(0));
                             cnt_next        <= cnt + 1;
                         -- GAP Start Sequence Number 2/2
                         when 4 =>
-                            data_out_rtps   <= std_logic_vector(next_seq_nr(1));
+                            data_out_ro     <= std_logic_vector(next_seq_nr(1));
                             
                             -- Continue
                             if (RELIABILITY_QOS = RELIABLE_RELIABILITY_QOS and stale_check = '1') then
@@ -1985,24 +1985,24 @@ begin
                 end if;
             when SEND_GAP_B =>
                 -- Output FIFO Guard
-                if (full_rtps = '0') then
-                    wr_rtps      <= '1';
+                if (full_ro = '0') then
+                    wr_ro   <= '1';
                     
                     case (cnt) is
                         -- GAP List Sequence Number Set (Bitmap Base 1/2)
                         when 0 =>
-                            data_out_rtps   <= std_logic_vector(next_seq_nr(0));
+                            data_out_ro     <= std_logic_vector(next_seq_nr(0));
                             cnt_next        <= cnt + 1;
                         -- GAP List Sequence Number Set (Bitmap Base 2/2)
                         when 1 =>
-                            data_out_rtps   <= std_logic_vector(next_seq_nr(1));
+                            data_out_ro     <= std_logic_vector(next_seq_nr(1));
                             cnt_next        <= cnt + 1;
                         -- GAP List Sequence Number Set (NumBits)
                         when 2 =>
-                            data_out_rtps   <= (others => '0');
+                            data_out_ro     <= (others => '0');
                             
                             if (gap_is_last = '1') then
-                                last_word_out_rtps  <= '1';
+                                last_word_out_ro    <= '1';
                                 -- Reset
                                 gap_is_last_next    <= '0';
                             end if;
@@ -2018,47 +2018,47 @@ begin
                 -- Synthesis Guard
                 if (RELIABILITY_QOS = RELIABLE_RELIABILITY_QOS or LIVELINESS_QOS = MANUAL_BY_TOPIC_LIVELINESS_QOS) then
                     -- Output FIFO Guard
-                    if (full_rtps = '0') then
-                        wr_rtps     <= '1';
+                    if (full_ro = '0') then
+                        wr_ro   <= '1';
                         
                         case (cnt) is
                             -- HEARTBEAT RTPS SUBMESSAGE
                             -- RTPS Submessage Header
                             when 0 =>
                                 if (assert_liveliness_latch = '1') then
-                                    data_out_rtps  <= SID_HEARTBEAT & "00000100" & std_logic_vector(to_unsigned(28, 16));
+                                    data_out_ro <= SID_HEARTBEAT & "00000100" & std_logic_vector(to_unsigned(28, 16));
                                 else
-                                    data_out_rtps  <= SID_HEARTBEAT & "00000000" & std_logic_vector(to_unsigned(28, 16));
+                                    data_out_ro <= SID_HEARTBEAT & "00000000" & std_logic_vector(to_unsigned(28, 16));
                                 end if;
                                 cnt_next    <= cnt + 1;
                             -- Reader Entity ID
                             when 1 =>
-                                data_out_rtps   <= ENTITYID_UNKNOWN;
+                                data_out_ro     <= ENTITYID_UNKNOWN;
                                 cnt_next        <= cnt + 1;
                             -- Writer Entity ID
                             when 2 =>
-                                data_out_rtps   <= ENTITYID;
+                                data_out_ro     <= ENTITYID;
                                 cnt_next        <= cnt + 1;
                             -- First Sequence Number 1/2
                             when 3 =>
-                                data_out_rtps   <= std_logic_vector(min_sn(0));
+                                data_out_ro     <= std_logic_vector(min_sn(0));
                                 cnt_next        <= cnt + 1;
                             -- First Sequence Number 2/2
                             when 4 =>
-                                data_out_rtps   <= std_logic_vector(min_sn(1));
+                                data_out_ro     <= std_logic_vector(min_sn(1));
                                 cnt_next        <= cnt + 1;
                             -- Last Sequence Number 1/2
                             when 5 =>
-                                data_out_rtps   <= std_logic_vector(last_seq_nr(0));
+                                data_out_ro     <= std_logic_vector(last_seq_nr(0));
                                 cnt_next        <= cnt + 1;
                             -- Last Sequence Number 2/2
                             when 6 =>
-                                data_out_rtps   <= std_logic_vector(last_seq_nr(1));
+                                data_out_ro     <= std_logic_vector(last_seq_nr(1));
                                 cnt_next        <= cnt + 1;
                             -- Count
                             when 7 =>
-                                data_out_rtps       <= std_logic_vector(count);
-                                last_word_out_rtps  <= '1';
+                                data_out_ro         <= std_logic_vector(count);
+                                last_word_out_ro    <= '1';
                                 
                                 stage_next  <= HANDLE_HEARTBEATS;
                                 cnt_next    <= 1;