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Modified Type Size convention

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The RTPS Payload size overhead was defined in the rtps_package, and is to be
used by all type packages to calculate the MAX_<TYPENAME>_SIZE.
The service overhead size was also renamed to ROS_SERVICE_OVERHEAD_BYTES to
make the connection with ROS clearer.
This commit is contained in:
John Ring 2023-07-21 17:06:52 +02:00
parent 5f7f2685c2
commit f0cc29fcd6
15 changed files with 65 additions and 63 deletions
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12
src/Tests/Level_2/L2_Testbench_Lib2_config.vhd
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@ -29,16 +29,16 @@ package user_config is
constant NUM_ENDPOINTS : natural := NUM_READERS+NUM_WRITERS;
-- PB Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_PB : natural := 7400;
-- DG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
-- DG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_DG : natural := 250;
-- PG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_PG : natural := 2;
constant PORT_CONFIG_PG : natural := 2;
-- D0 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D0 : natural := 0;
constant PORT_CONFIG_D0 : natural := 0;
-- D1 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D1 : natural := 10;
-- D2 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D2 : natural := 1;
-- D2 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D2 : natural := 1;
-- D3 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D3 : natural := 11;
-- MAC Address of underlying network stack (Used to generate GUIDs)
@ -89,7 +89,7 @@ package body user_config is
c.RELIABILITY_QOS := RELIABLE_RELIABILITY_QOS;
c.MAX_SAMPLES := std_logic_vector(to_unsigned(5, CDR_LONG_WIDTH));
c.MAX_INSTANCES := std_logic_vector(to_unsigned(5, CDR_LONG_WIDTH));
c.MAX_PAYLOAD_SIZE := MAX_TYPE1_SIZE + 4; -- (+ PAYLOAD HEADER)
c.MAX_PAYLOAD_SIZE := MAX_TYPE1_SIZE;
ret := (others => c);

12
src/Tests/Level_2/L2_Testbench_Lib3_config.vhd
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@ -29,16 +29,16 @@ package user_config is
constant NUM_ENDPOINTS : natural := NUM_READERS+NUM_WRITERS;
-- PB Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_PB : natural := 7400;
-- DG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
-- DG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_DG : natural := 250;
-- PG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_PG : natural := 2;
constant PORT_CONFIG_PG : natural := 2;
-- D0 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D0 : natural := 0;
constant PORT_CONFIG_D0 : natural := 0;
-- D1 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D1 : natural := 10;
-- D2 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D2 : natural := 1;
-- D2 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D2 : natural := 1;
-- D3 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D3 : natural := 11;
-- MAC Address of underlying network stack (Used to generate GUIDs)
@ -89,7 +89,7 @@ package body user_config is
c.RELIABILITY_QOS := RELIABLE_RELIABILITY_QOS;
c.MAX_SAMPLES := std_logic_vector(to_unsigned(5, CDR_LONG_WIDTH));
c.MAX_INSTANCES := std_logic_vector(to_unsigned(5, CDR_LONG_WIDTH));
c.MAX_PAYLOAD_SIZE := MAX_TYPE1_SIZE + 4; -- (+ PAYLOAD HEADER)
c.MAX_PAYLOAD_SIZE := MAX_TYPE1_SIZE;
ret := (others => c);

14
src/Tests/Level_2/L2_Testbench_Lib4_config.vhd
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@ -24,21 +24,21 @@ package user_config is
-- Number of RTPS Writer Endpoints
constant NUM_WRITERS : natural := 1;
-- Number of RTPS Reader Endpoints
constant NUM_READERS : natural := 1;
constant NUM_READERS : natural := 1;
-- Number of RTPS Endpoints (Do not modify)
constant NUM_ENDPOINTS : natural := NUM_READERS+NUM_WRITERS;
-- PB Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_PB : natural := 7400;
-- DG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
-- DG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_DG : natural := 250;
-- PG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_PG : natural := 2;
constant PORT_CONFIG_PG : natural := 2;
-- D0 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D0 : natural := 0;
constant PORT_CONFIG_D0 : natural := 0;
-- D1 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D1 : natural := 10;
-- D2 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D2 : natural := 1;
-- D2 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D2 : natural := 1;
-- D3 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D3 : natural := 11;
-- MAC Address of underlying network stack (Used to generate GUIDs)
@ -90,7 +90,7 @@ package body user_config is
c.HISTORY_DEPTH := std_logic_vector(to_unsigned(5, CDR_LONG_WIDTH));
c.MAX_SAMPLES := std_logic_vector(to_unsigned(20, CDR_LONG_WIDTH));
c.MAX_INSTANCES := std_logic_vector(to_unsigned(5, CDR_LONG_WIDTH));
c.MAX_PAYLOAD_SIZE := MAX_TYPE1_SIZE + 4; -- (+ PAYLOAD HEADER)
c.MAX_PAYLOAD_SIZE := MAX_TYPE1_SIZE;
ret := (others => c);

14
src/Tests/Level_2/L2_Testbench_Lib5_config.vhd
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@ -24,21 +24,21 @@ package user_config is
-- Number of RTPS Writer Endpoints
constant NUM_WRITERS : natural := 1;
-- Number of RTPS Reader Endpoints
constant NUM_READERS : natural := 1;
constant NUM_READERS : natural := 1;
-- Number of RTPS Endpoints (Do not modify)
constant NUM_ENDPOINTS : natural := NUM_READERS+NUM_WRITERS;
-- PB Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_PB : natural := 7400;
-- DG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
-- DG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_DG : natural := 250;
-- PG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_PG : natural := 2;
constant PORT_CONFIG_PG : natural := 2;
-- D0 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D0 : natural := 0;
constant PORT_CONFIG_D0 : natural := 0;
-- D1 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D1 : natural := 10;
-- D2 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D2 : natural := 1;
-- D2 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D2 : natural := 1;
-- D3 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
constant PORT_CONFIG_D3 : natural := 11;
-- MAC Address of underlying network stack (Used to generate GUIDs)
@ -90,7 +90,7 @@ package body user_config is
c.HISTORY_DEPTH := std_logic_vector(to_unsigned(5, CDR_LONG_WIDTH));
c.MAX_SAMPLES := std_logic_vector(to_unsigned(20, CDR_LONG_WIDTH));
c.MAX_INSTANCES := std_logic_vector(to_unsigned(5, CDR_LONG_WIDTH));
c.MAX_PAYLOAD_SIZE := MAX_TYPE1_SIZE + 4; -- (+ PAYLOAD HEADER)
c.MAX_PAYLOAD_SIZE := MAX_TYPE1_SIZE;
ret := (others => c);

5
src/Tests/Type1_package.vhd
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@ -7,12 +7,9 @@ use work.rtps_package.all;
package Type1_package is
constant MAX_ID_SIZE : natural := 4;
constant MAX_A_SIZE : natural := 4; -- 8
constant MAX_TYPE1_SIZE : natural := 8;
constant MAX_TYPE1_KEY_HOLDER_SIZE : natural := 4;
constant MAX_TYPE1_SIZE : natural := 8 + RTPS_PAYLOAD_HEADER_SIZE;
end package;

3
src/Tests/Type2_package.vhd
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@ -45,8 +45,7 @@ package Type2_package is
constant MAX_TESTUNION_SIZE : natural := 7; -- 180
constant MAX_TESTBITMASK_SIZE : natural := 4; -- 184
constant MAX_TESTSTRING_SIZE : natural := 17; -- 201
constant MAX_TYPE2_SIZE : natural := 201;
constant MAX_TYPE2_KEY_HOLDER_SIZE : natural := 28;
constant MAX_TYPE2_SIZE : natural := 201 + RTPS_PAYLOAD_HEADER_SIZE;
end package;

36
src/ros2/ROS_IDL.txt
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@ -6,7 +6,7 @@ GENERAL
The wrapper Entities that define and implement the ROS Publisher and Subscriber - named <MESSAGENAME>_ros_pub
and <MESSAGENAME>_ros_sub - are basically carbon copies of a normal <TYPENAME>_reader_interface and
<TYPENAME>_writer_interface, with the exception of hiding all the user facing DDS signals and being
<TYPENAME>_writer_interface, with the exception of hiding all the user facing DDS signals and being
responsible for interacting with the DDS entity directly.
All these changes are static for all ROS messages, and the actual message dependent VHDL generation is the
same, as the RTPS IDL interface generation.
@ -21,20 +21,20 @@ The Service VHDL generation closely follows the general RTPS IDL interface gener
For each Service (i.e. .srv File) two files are generated, a server (called <SERVICENAME>_ros_srv_server)
and a client (called <SERVICENAME>_ros_srv_client) file.
Each file contains both encoding and decoding functionality (similar to the key_holder entities).
The files also contain extra logic that may be necessary to parse the SERVICE_OVERHEAD_BYTES that may be
The files also contain extra logic that may be necessary to parse the ROS_SERVICE_OVERHEAD_BYTES that may be
present in the payload.
The code generation follows the normal code generation for encoding and decoding with following changes:
* Encoding and Decoding stages get a "RQ_" or "RR_" prefixed to the <NAME> to differentiate between
Request and Response message members, respectively.
e.g. GET_A -> GET_RQ_A, WRITE_SUM -> WRITE_RR_SUM
* Similar to the previous point, the <SERVICENAME>_package differentiates the MAX_* sizes of the Request
* Similar to the previous point, the <SERVICENAME>_package differentiates the MAX_* sizes of the Request
and Response message members.
e.g. MAX_A_SIZE -> MAX_RQ_A_SIZE, MAX_SUM_SIZE -> MAX_RR_SUM_SIZE
* The <SERVICENAME>_package calculates both a maximum request and response message size, named
* The <SERVICENAME>_package calculates both a maximum request and response message size, named
MAX_<SERVICENAME>_RQ_SIZE and MAX_<SERVICENAME>_RR_SIZE, respectively.
The maximum includes the service overhead bytes that are contained in the DDS Payloads. The constant
SERVICE_OVERHEAD_BYTES from ros_package gives this overhead bytes.
The maximum includes the service overhead bytes that are contained in the DDS Payloads. The constant
ROS_SERVICE_OVERHEAD_BYTES from ros_package gives this overhead bytes.
ACTION
@ -73,35 +73,35 @@ In the IDLE stage, similar to the normal code generation, the memory signals are
user facing port signals, allowing the user to write the RESULT. The 'result_addr' signal is used to index
the (outer) memories.
If r_sel is '1', the FETCH_RESULT stage is entered, which is responsible for fetching the correct RESULT.
The FETCH_RESULT stage is split into 2 sub-stages, a GET and a READ sub-stage. The GET sub-stage is waiting
The FETCH_RESULT stage is split into 2 sub-stages, a GET and a READ sub-stage. The GET sub-stage is waiting
for all memories to be ready (ANDing the ready_in signals) before toggling the valid_in signal to initiate
the memory read operation and proceeding to the next sub-stage. The READ sub-stage is waiting for all
memory read operations to finish (ANDing the valid_out signals) before proceeding to the next stage.
If the RESULT contains collections, they have to be manually pushed to the
If the RESULT contains collections, they have to be manually pushed to the
<ACTIONNAME>_ros_action_result_srv_server. In that case the next stage is a stage called PUSH_<COLLECTIONNAME>,
which, similar to the normal code generation of a collection in a writer_interface, has 2 sub-stages
which, similar to the normal code generation of a collection in a writer_interface, has 2 sub-stages
(GET, WRITE). The difference is that the second sub-stage (WRITE) is not only waiting on the valid_out
signal of the memory, but also on the respective ready port signal of the
signal of the memory, but also on the respective ready port signal of the
<ACTIONNAME>_ros_action_result_srv_server.
Once the RESULT is ready and available on the <ACTIONNAME>_ros_action_result_srv_server, the PASSTHROUGH
stage is entered. In this stage the r_sel_ack signal is toggled, signaling to the ros_action_server that
it can continue its operations. The stage is held until the r_sel goes low, in which case the IDLE stage
it can continue its operations. The stage is held until the r_sel goes low, in which case the IDLE stage
is resumed.
If r_index is equal to MAX_GOALS, it is treated as a special value, in which the RESULT is empty/don't care.
If that is the case the PASSTHROUGH stage is taken directly (since we don't have to fetch any particular
result from the memories), and a empty RESULT is made available to the
If that is the case the PASSTHROUGH stage is taken directly (since we don't have to fetch any particular
result from the memories), and a empty RESULT is made available to the
<ACTIONNAME>_ros_action_result_srv_server.
If ENABLE_FEEDBACK is '0', no ROS publisher for the FEEDBACK is generated, and the FEEDBACK output ports
If ENABLE_FEEDBACK is '0', no ROS publisher for the FEEDBACK is generated, and the FEEDBACK output ports
have to manually be set to default values.
NOTE: If the RESULT contains a collection, the read port signals of the
NOTE: If the RESULT contains a collection, the read port signals of the
<ACTIONNAME>_ros_action_result_srv_server are not needed, and can be hardwired to defaults
(*_ren = '0', *_valid = open, *_ack = '1', *_r = open)
ACTION CLIENT
-------------
The <ACTIONNAME>_ros_action_client contains a FSM responsible for interfacing all the underlying service
clients and subscribers. Since this state machine is static, only the port connection of the
The <ACTIONNAME>_ros_action_client contains a FSM responsible for interfacing all the underlying service
clients and subscribers. Since this state machine is static, only the port connection of the
instantiated entities has to be generated.
Similarly to the action server, if ENABLE_FEEDBACK is '0', the FEEDBACK output ports have to manually be
Similarly to the action server, if ENABLE_FEEDBACK is '0', the FEEDBACK output ports have to manually be
set to default values.

5
src/ros2/example_interfaces/AddTwoInts_package.vhd
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@ -3,6 +3,7 @@ use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.math_pkg.all;
use work.rtps_package.all;
use work.ros_package.all;
package AddTwoInts_package is
@ -10,10 +11,10 @@ package AddTwoInts_package is
-- REQUEST
constant MAX_RQ_A_SIZE : natural := 8;
constant MAX_RQ_B_SIZE : natural := 8; -- 16
constant MAX_ADDTWOINTS_RQ_SIZE : natural := 16 + SERVICE_OVERHEAD_BYTES;
constant MAX_ADDTWOINTS_RQ_SIZE : natural := 16 + ROS_SERVICE_OVERHEAD_BYTES + RTPS_PAYLOAD_HEADER_SIZE;
-- RESPONSE
constant MAX_RR_SUM_SIZE : natural := 8;
constant MAX_ADDTWOINTS_RR_SIZE : natural := 8 + SERVICE_OVERHEAD_BYTES;
constant MAX_ADDTWOINTS_RR_SIZE : natural := 8 + ROS_SERVICE_OVERHEAD_BYTES + RTPS_PAYLOAD_HEADER_SIZE;
end package;

7
src/ros2/example_interfaces/Fibonacci_package.vhd
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@ -3,6 +3,7 @@ use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.math_pkg.all;
use work.rtps_package.all;
use work.ros_package.all;
use work.GoalInfo_package;
@ -20,7 +21,7 @@ package Fibonacci_package is
constant G_RR_MAX_STAMP_SEC_SIZE : natural := GoalInfo_package.MAX_STAMP_SEC_SIZE;
constant G_RR_MAX_STAMP_NANOSEC_SIZE : natural := GoalInfo_package.MAX_STAMP_NANOSEC_SIZE;
constant G_RR_MAX_STAMP_SIZE : natural := GoalInfo_package.MAX_STAMP_SIZE;
constant G_RR_MAX_FIBONACCI_SIZE : natural := G_RR_MAX_ACCEPTED + G_RR_MAX_STAMP_SIZE;
constant G_RR_MAX_FIBONACCI_SIZE : natural := G_RR_MAX_ACCEPTED + G_RR_MAX_STAMP_SIZE + ROS_SERVICE_OVERHEAD_BYTES + RTPS_PAYLOAD_HEADER_SIZE;
-- RESULT
constant R_RQ_GOAL_ID_MAX_DEPTH : natural := GoalInfo_package.GOAL_ID_MAX_DEPTH;
@ -34,7 +35,7 @@ package Fibonacci_package is
constant R_RR_MAX_STATUS_SIZE : natural := 1;
constant R_RR_MAX_SEQ_SIZE : natural := R_RR_SEQ_MAX_DEPTH * 4;
constant R_RR_MAX_FIBONACCI_SIZE : natural := R_RR_MAX_STATUS_SIZE + R_RR_MAX_SEQ_SIZE;
constant R_RR_MAX_FIBONACCI_SIZE : natural := R_RR_MAX_STATUS_SIZE + R_RR_MAX_SEQ_SIZE + ROS_SERVICE_OVERHEAD_BYTES + RTPS_PAYLOAD_HEADER_SIZE;
-- FEEDBACK
constant F_GOAL_ID_MAX_DEPTH : natural := GoalInfo_package.GOAL_ID_MAX_DEPTH;
@ -44,6 +45,6 @@ package Fibonacci_package is
constant F_MAX_GOAL_ID_SIZE : natural := GoalInfo_package.MAX_GOAL_ID_SIZE;
constant F_MAX_SEQ_SIZE : natural := F_SEQ_MAX_DEPTH * 4;
constant F_MAX_FIBONACCI_SIZE : natural := F_MAX_GOAL_ID_SIZE + F_MAX_SEQ_SIZE;
constant F_MAX_FIBONACCI_SIZE : natural := F_MAX_GOAL_ID_SIZE + F_MAX_SEQ_SIZE + RTPS_PAYLOAD_HEADER_SIZE;
end package;

4
src/ros2/rcl_interfaces/action_msgs/CancelGoal_package.vhd
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@ -17,7 +17,7 @@ package CancelGoal_package is
constant RQ_MAX_GOAL_INFO_STAMP_NANOSEC_SIZE : natural := GoalInfo_package.MAX_STAMP_NANOSEC_SIZE;
constant RQ_MAX_GOAL_INFO_STAMP_SIZE : natural := GoalInfo_package.MAX_STAMP_SIZE;
constant RQ_MAX_GOAL_INFO_SIZE : natural := RQ_MAX_GOAL_INFO_GOAL_ID_SIZE + RQ_MAX_GOAL_INFO_STAMP_SIZE;
constant RQ_MAX_CANCELGOAL_SIZE : natural := RQ_MAX_GOAL_INFO_SIZE;
constant RQ_MAX_CANCELGOAL_SIZE : natural := RQ_MAX_GOAL_INFO_SIZE + ROS_SERVICE_OVERHEAD_BYTES + RTPS_PAYLOAD_HEADER_SIZE;
-- RESPONSE
constant RR_ERROR_NONE : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(0,CDR_INT8_WIDTH));
@ -36,5 +36,5 @@ package CancelGoal_package is
constant RR_MAX_GOALS_CANCELING_STAMP_NANOSEC_SIZE : natural := GoalInfo_package.MAX_STAMP_NANOSEC_SIZE;
constant RR_MAX_GOALS_CANCELING_STAMP_SIZE : natural := GoalInfo_package.MAX_STAMP_SIZE;
constant RR_MAX_GOALS_CANCELING_SIZE : natural := RR_GOALS_CANCELING_MAX_DEPTH * GoalInfo_package.MAX_GOALINFO_SIZE;
constant RR_MAX_CANCELGOAL_SIZE : natural := RR_MAX_RETURN_CODE_SIZE + RR_MAX_GOALS_CANCELING_SIZE;
constant RR_MAX_CANCELGOAL_SIZE : natural := RR_MAX_RETURN_CODE_SIZE + RR_MAX_GOALS_CANCELING_SIZE + ROS_SERVICE_OVERHEAD_BYTES + RTPS_PAYLOAD_HEADER_SIZE;
end package;

2
src/ros2/rcl_interfaces/action_msgs/GoalInfo_package.vhd
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@ -21,5 +21,5 @@ package GoalInfo_package is
constant MAX_STAMP_NANOSEC_SIZE : natural := 4;
constant MAX_STAMP_SIZE : natural := MAX_STAMP_SEC_SIZE + MAX_STAMP_NANOSEC_SIZE;
constant MAX_GOALINFO_SIZE : natural := MAX_GOAL_ID_SIZE + MAX_STAMP_SIZE;
constant MAX_GOALINFO_SIZE : natural := MAX_GOAL_ID_SIZE + MAX_STAMP_SIZE + RTPS_PAYLOAD_HEADER_SIZE;
end package;

3
src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_package.vhd
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@ -3,6 +3,7 @@ use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.math_pkg.all;
use work.rtps_package.all;
use work.ros_package.all;
use work.GoalInfo_package;
use work.GoalStatus_package;
@ -22,6 +23,6 @@ package GoalStatusArray_package is
constant MAX_STATUS_LIST_STATUS_SIZE : natural := GoalStatus_package.MAX_STATUS_SIZE;
constant MAX_STATUS_LIST_SIZE : natural := STATUS_LIST_MAX_DEPTH * (GoalStatus_package.MAX_GOALSTATUS_SIZE);
constant MAX_GOALSTATUSARRAY_SIZE : natural := MAX_STATUS_LIST_SIZE;
constant MAX_GOALSTATUSARRAY_SIZE : natural := MAX_STATUS_LIST_SIZE + RTPS_PAYLOAD_HEADER_SIZE;
end package;

4
src/ros2/rcl_interfaces/action_msgs/GoalStatus_package.vhd
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@ -17,7 +17,7 @@ package GoalStatus_package is
constant STATUS_CANCELED : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(5, CDR_INT8_WIDTH));
constant STATUS_ABORTED : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := std_logic_vector(to_unsigned(6, CDR_INT8_WIDTH));
type GOALSTATUS_TYPE is record
type GOALSTATUS_TYPE is record
goal_info : Goalinfo_package.GOALINFO_TYPE;
status : std_logic_vector(CDR_INT8_WIDTH-1 downto 0);
end record;
@ -25,6 +25,6 @@ package GoalStatus_package is
constant MAX_GOAL_INFO_SIZE : natural := Goalinfo_package.MAX_GOALINFO_SIZE;
constant MAX_STATUS_SIZE : natural := 1;
constant MAX_GOALSTATUS_SIZE : natural := MAX_GOAL_INFO_SIZE + MAX_STATUS_SIZE;
constant MAX_GOALSTATUS_SIZE : natural := MAX_GOAL_INFO_SIZE + MAX_STATUS_SIZE + RTPS_PAYLOAD_HEADER_SIZE;
end package;

2
src/ros2/ros_package.vhd
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@ -306,7 +306,7 @@ package ros_package is
type ENDPOINT_ROS_NODE_MAPPING_ARRAY_TYPE is array (natural range <>) of natural;
constant SERVICE_OVERHEAD_BYTES : natural := 16;
constant ROS_SERVICE_OVERHEAD_BYTES : natural := 16;
constant GOAL_HANDLE_WIDTH : natural := WORD_WIDTH;
constant GOAL_HANDLE_UNKNOWN : std_logic_vector(GOAL_HANDLE_WIDTH-1 downto 0) := (others => '1');

5
src/rtps_package.vhd
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@ -134,7 +134,7 @@ package rtps_package is
constant TIME_INFINITE : TIME_TYPE := (x"ffffffff", x"fffffffe");
constant FIRST_SEQUENCENUMBER : SEQUENCENUMBER_TYPE := (x"00000000", x"00000001");
constant SEQUENCENUMBER_UNKNOWN : SEQUENCENUMBER_TYPE := (x"ffffffff", x"00000000");
constant PROTOCOL_RTPS : std_logic_vector(PROTOCOL_WIDTH-1 downto 0) := x"52545053"; -- 'RTPS' in Ascii code
constant PROTOCOL_RTPS : std_logic_vector(PROTOCOL_WIDTH-1 downto 0) := x"52545053"; -- 'RTPS' in Ascii code
constant PROTOCOLVERSION_1_0 : std_logic_vector(PROTOCOLVERSION_WIDTH-1 downto 0) := x"0100";
constant PROTOCOLVERSION_1_1 : std_logic_vector(PROTOCOLVERSION_WIDTH-1 downto 0) := x"0101";
constant PROTOCOLVERSION_2_0 : std_logic_vector(PROTOCOLVERSION_WIDTH-1 downto 0) := x"0200";
@ -341,6 +341,9 @@ package rtps_package is
constant PL_CDR2_LE : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) := x"0013";
constant D_CDR_BE : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) := x"0014";
constant D_CDR_LE : std_logic_vector(PAYLOAD_REPRESENTATION_ID_WIDTH-1 downto 0) := x"0015";
-- Size of RTPS Payload Header in Bytes
constant RTPS_PAYLOAD_HEADER_SIZE : natural := 4;
-- *ENTITY ID*
constant ENTITYID_UNKNOWN : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (others => '0');