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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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2
src/Tests/Level_2/L2_Testbench_Lib2_config.vhd
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@ -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);

2
src/Tests/Level_2/L2_Testbench_Lib3_config.vhd
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@ -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);

2
src/Tests/Level_2/L2_Testbench_Lib4_config.vhd
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@ -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);

2
src/Tests/Level_2/L2_Testbench_Lib5_config.vhd
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@ -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;

4
src/ros2/ROS_IDL.txt
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@ -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

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;

2
src/ros2/rcl_interfaces/action_msgs/GoalStatus_package.vhd
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@ -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');

3
src/rtps_package.vhd
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@ -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");