Modified Type Size convention

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.

src/Tests/Level_2/L2_Testbench_Lib2_config.vhd

@@ -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);
         

src/Tests/Level_2/L2_Testbench_Lib3_config.vhd

@@ -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);
         

src/Tests/Level_2/L2_Testbench_Lib4_config.vhd

@@ -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);
         

src/Tests/Level_2/L2_Testbench_Lib5_config.vhd

@@ -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);
         

src/Tests/Type1_package.vhd

@@ -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;

src/Tests/Type2_package.vhd

@@ -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;

src/ros2/ROS_IDL.txt

@@ -21,7 +21,7 @@ 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:
 
@@ -34,7 +34,7 @@ The code generation follows the normal code generation for encoding and decoding
 *   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.
+    ROS_SERVICE_OVERHEAD_BYTES from ros_package gives this overhead bytes.
     
     
 ACTION

src/ros2/example_interfaces/AddTwoInts_package.vhd

@@ -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;

src/ros2/example_interfaces/Fibonacci_package.vhd

@@ -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;

src/ros2/rcl_interfaces/action_msgs/CancelGoal_package.vhd

@@ -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;

src/ros2/rcl_interfaces/action_msgs/GoalInfo_package.vhd

@@ -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;

src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_package.vhd

@@ -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;

src/ros2/rcl_interfaces/action_msgs/GoalStatus_package.vhd

@@ -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;

src/ros2/ros_package.vhd

@@ -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');

src/rtps_package.vhd

@@ -342,6 +342,9 @@ package rtps_package is
     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');
     constant ENTITYID_PARTICIPANT                           : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (x"000001c1");