Add/Modify synthesis entities to synthesize AddTwoInts_srv_server

src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2.vhd

@@ -10,9 +10,6 @@ use work.ros_config.all;
 use work.rtps_package.all;
 use work.user_config.all;
 use work.rtps_config_package.all;
-use work.rtps_test_package.all;
-
-
 
 entity L2_Testbench_ROS_Lib2 is
     port (

syn/DE10-Nano/top.qsf

@@ -50,9 +50,13 @@ set_global_assignment -name POWER_BOARD_THERMAL_MODEL "NONE (CONSERVATIVE)"
 set_global_assignment -name PARTITION_NETLIST_TYPE SOURCE -section_id Top
 set_global_assignment -name PARTITION_FITTER_PRESERVATION_LEVEL PLACEMENT_AND_ROUTING -section_id Top
 set_global_assignment -name PARTITION_COLOR 16764057 -section_id Top
-set_global_assignment -name VHDL_FILE ../test6.vhd -hdl_version VHDL_2008
 set_global_assignment -name SDC_FILE ../top.sdc
 set_global_assignment -name VHDL_FILE ../test_top.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../../src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../../src/ros2/example_interfaces/AddTwoInts_srv_server.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../../src/ros2/example_interfaces/AddTwoInts_srv_client.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../../src/ros2/Tests/AddTwoInts.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../../src/ros2/ros_static_discovery_writer.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../../src/Avalon_MM_wrapper.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../../src/Tests/Level_2/L2_testbench_Lib4.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../../src/Tests/test_loopback.vhd -hdl_version VHDL_2008
@@ -76,6 +80,7 @@ set_global_assignment -name VHDL_FILE ../../src/rtps_writer.vhd -hdl_version VHD
 set_global_assignment -name VHDL_FILE ../../src/rtps_discovery_module.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../../src/rtps_handler.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../../src/rtps_out.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../test6.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../test5.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../test4.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../test3.vhd -hdl_version VHDL_2008
@@ -93,8 +98,12 @@ set_global_assignment -name VHDL_FILE ../../src/dual_port_ram.vhd -hdl_version V
 set_global_assignment -name VHDL_FILE ../../src/single_port_ram_cfg.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../../src/single_port_ram_Altera.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../../src/single_port_ram.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../../src/ros2/ros_config_package.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../../src/rtps_config_package.vhd -hdl_version VHDL_2008
-set_global_assignment -name VHDL_FILE ../syn_config.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../../src/ros2/dds_user_config.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../syn_ros_service_config.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../../src/ros2/example_interfaces/AddTwoInts_package.vhd -hdl_version VHDL_2008
+set_global_assignment -name VHDL_FILE ../../src/ros2/ros_package.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../../src/rtps_package.vhd -hdl_version VHDL_2008
 set_global_assignment -name VHDL_FILE ../../src/math_pkg.vhd -hdl_version VHDL_2008
 set_instance_assignment -name PARTITION_HIERARCHY root_partition -to | -section_id Top

syn/syn_ros_service_config.vhd

@@ -0,0 +1,78 @@
+-- altera vhdl_input_version vhdl_2008
+-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html)
+
+library ieee;
+use ieee.std_logic_1164.all;
+use ieee.numeric_std.all;
+
+use work.rtps_package.all;
+use work.ros_package.all;
+use work.AddTwoInts_package.all;
+
+package ros_config is
+    
+    -- IPv4 Address of ROS System [192.168.0.90]
+    constant ROS_ADDRESS    : std_logic_vector(IPv4_ADDRESS_WIDTH-1 downto 0) := x"C0A8005A";
+    -- Random Key used to generate GUIDs
+    constant ROS_RAND_KEY   : std_logic_vector(47 downto 0) := x"1D4EEC915C7C";
+    
+    constant NUM_NODES : natural := 1;
+    
+    constant ROS_NODES : ROS_NODE_ARRAY_TYPE(0 to NUM_NODES-1) := (
+        0 => (
+            name            => gen_user_string("add_two_ints_server"),
+            namespace       => gen_user_string(""),
+            domain_id       => 0,
+            NUM_PUBS        => 0,
+            NUM_SUBS        => 0,
+            NUM_SERVICES    => 1,
+            NUM_ACTIONS     => 0
+        )
+    );
+    
+    constant NUM_PUBS       : natural := get_num_pubs(ROS_NODES);
+    constant NUM_SUBS       : natural := get_num_subs(ROS_NODES);
+    constant NUM_SERVICES   : natural := get_num_services(ROS_NODES);
+    constant NUM_ACTIONS    : natural := get_num_actions(ROS_NODES);
+    
+    constant ROS_PUBLICATIONS : ROS_TOPIC_ARRAY_TYPE(0 to NUM_PUBS-1) := (
+        others => (
+            node_id     => 0,
+            TOPICNAME   => gen_user_string(""),
+            TYPENAME    => gen_user_string(""),
+            QOS         => ROS_QOS_PROFILE_DEFAULT,
+            MAX_SIZE    => 0
+        )
+    );
+    
+    constant ROS_SUBSCRIPTIONS : ROS_TOPIC_ARRAY_TYPE(0 to NUM_SUBS-1) := (
+        others => (
+            node_id     => 0,
+            TOPICNAME   => gen_user_string(""),
+            TYPENAME    => gen_user_string(""),
+            QOS         => ROS_QOS_PROFILE_DEFAULT,
+            MAX_SIZE    => 0
+        )
+    );
+    
+    constant ROS_SERVICES : ROS_SERVICE_ARRAY_TYPE(0 to NUM_SERVICES-1) := (
+        0 => (
+            node_id     => 0,
+            SERVICENAME => gen_user_string("add_two_ints"),
+            TYPENAME    => gen_user_string("example_interfaces::srv::dds_::AddTwoInts_Request_"),
+            QOS         => ROS_QOS_PROFILE_SERVICES_DEFAULT,
+            MAX_RQ_SIZE => MAX_ADDTWOINTS_RQ_SIZE,
+            MAX_RR_SIZE => MAX_ADDTWOINTS_RR_SIZE,
+            is_client   => FALSE
+        )
+    );
+    
+    constant ROS_ACTIONS : ROS_ACTION_ARRAY_TYPE(0 to NUM_ACTIONS-1) := (
+        others => (
+            node_id     => 0
+        )
+    );
+    
+    -- Defines sensible RTPS timings for simulation
+    constant SIMULATION_TIMING : boolean := FALSE;
+end package;

syn/test_top.vhd

@@ -83,7 +83,23 @@ begin
             free        => open
         );
     
-    dds_loopback_inst : entity work.L2_Testbench_Lib4(arch)
+    --dds_loopback_inst : entity work.L2_Testbench_Lib4(arch)
+    --    port map (
+    --        -- SYSTEM
+    --        clk         => clk,
+    --        reset       => reset,
+    --        time        => time,
+    --        -- INPUT
+    --        empty       => empty_fi_test,
+    --        read        => read_test_fi,
+    --        data_in     => data_fi_test,
+    --        -- OUTPUT
+    --        full        => full_fo_test,
+    --        write       => write_test_fo,
+    --        data_out    => data_test_fo
+    --    );
+    
+    ros_service_inst : entity work.L2_Testbench_ROS_Lib2(arch)
         port map (
             -- SYSTEM
             clk         => clk,