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Author SHA1 Message Date
Greek64
0a7c7f6a8b Add Docs, updated TODO 2022-05-16 19:04:50 +02:00
Greek64
6fe7e426ca Add ROS Action TEMPLATES and generation recipes 
The existing Fibonacci implementation was slightly modified to adhere to
the recipes and be more in line with existing code generation.
 2022-04-27 12:37:02 +02:00
Greek64
e7ca8c581e Fix Bug in Fibonacci,where indices were not reset for next goals 2022-04-18 23:02:52 +02:00
Greek64
9a3dab9a4e Fixed bug when dds_reader is generating a sample on empty sample memory 
Extended testbench to also test this case.
 2022-04-18 17:50:55 +02:00
Greek64
a92bd9ece1 BUG FIX: ros_action_server was not using latched values 2022-04-17 13:49:15 +02:00
Greek64
1e8b5464b8 BUG FIX: Incorrect transition in Fibanacci_ros_action_server on unknown goal result response 2022-04-17 13:46:47 +02:00
Greek64
1efeeef279 CYCLONE DDS COMPATIBILITY: Add start delay in ROS action Server 
Even with the previous commits, there still exist race conditions in
which if the Cyclone DDS implementation receives the initial HEARTBEAT
after the message has been sent, it is silently dropped (Volatile behaviour).
And since the Cyclone DDS implementation is ignoring HEARTBEATs of
yet unmatched endpoints (which is what happens to our init HEARTBEAT),
the best way to counter this is to just wait after the reception of the
first Cyclone DDS message (which signifies that it has matched all our
endpoints) until the HEARTBEAT timeout has also sent the respective
initial HEARTBEATs.
 2022-04-16 20:01:37 +02:00
Greek64
6bfcc241c2 Revert CycloneDDS compatibility change 
Since we now send a HEARTBEAT on remote endpoint match, we can use the
PUSH_MODE without fear of "losing" messages with Cyclone DDS.
 2022-04-16 13:51:31 +02:00
Greek64
1ed234e85c rtps_writer: Send HEARTBEAT immediately on remote endpoint match 2022-04-16 13:02:28 +02:00
Greek64
544717a9aa BUG FIX: Fix typename of cancel_goalReply Topic 2022-04-15 16:35:35 +02:00
Greek64
6724156e72 TIMING CLOSURE: Split main FSM in dds_reader 
The sequential logic of the main FSM in dds_reader was just to big to
pass the timing requirement of 50 MHz.
All the DDS READ/TAKE relevant states were removed from the main FSM,
and added to a seperate read FSM. This reduces the state numberes and
state tarnsition logic of the main FSM, allowing it to pass the timing
requirements.
 2022-04-14 14:27:09 +02:00
Greek64
d388e29c36 Convert dds_reader to Vector Endpoint 2022-04-10 11:04:59 +02:00
Greek64
bc745fdcd9 BUG FIX: Instance memory process of dds_reader was writing to wrong address 2022-04-10 11:04:16 +02:00
Greek64
ddacbb6d2b code refactoring 2022-04-10 11:04:16 +02:00
Greek64
5e7ea79887 Convert dds_writer to Vector Endpoint 2022-04-10 11:04:02 +02:00
Greek64
74af242bcc code refactoring 2022-04-05 17:20:32 +02:00
Greek64
54602a1f21 Convert rtps_reader to Vector Endpoint 2022-04-05 17:20:22 +02:00
Greek64
f6fec48a0e Convert rtps_writer to Vector Endpoint 
rtps_writer now can be configured to simulate multiple endpoints. All
Testbenched were modified to reflect and test this change.
Packages were extended with array definitions.
 2022-04-05 17:18:07 +02:00
Greek64
979ec2423f Add vector_FIFO 2022-03-20 11:49:41 +01:00
Greek64
ad03ae6ecd Remove RTPS_OUT_DATA_TYPE and modify rtps_out with generic 2022-03-20 11:49:41 +01:00
Greek64
ab20cad4d6 code refactoring 2022-03-20 11:49:31 +01:00
Greek64
70072a51bf Change memory format of rtps_discovery_module to use double linked list 2022-03-13 12:43:13 +01:00
Greek64
290807f2ae BUG FIX: rtps_reader/rtps_discovery_module GAP Processing 
An internal signal was initialized wrongly, and due to various
other reasons (testbench bug, to_integer conversion bug) was not picked
up by the testbenches.
 2022-03-13 12:43:13 +01:00
Greek64
76824037d1 Change memory format of rtps_reader to use double linked list 2022-03-13 12:43:13 +01:00
Greek64
1e2a835c02 Change memory format of rtps_writer to use double linked list 2022-03-13 12:43:12 +01:00
Greek64
70f9a08802 Add/Modify synthesis entities to synthesize Fibonacci_ros_action_server 
NOTE: Synthesized design does not fit
 2022-03-13 12:43:12 +01:00
Greek64
fba065e59e BUG FIX: Remove inferred Latches 2022-03-13 12:43:12 +01:00
Greek64
e7ed1eab28 BUG FIX: Change Fibonacci_ros_action_server memory operation guard 2022-03-13 12:43:12 +01:00
Greek64
27e5b808b0 BUG FIX: Fix instance_handle Port Directions of Writer interfaces 2022-03-13 12:43:12 +01:00
Greek64
e38c1dcf55 Add Level 2 ROS Action Test (Fibonacci) 2022-03-13 12:43:04 +01:00
Greek64
90a8aaad19 Add RTPS to ROS time converter 2022-03-09 15:37:10 +01:00
Greek64
7c423467bc Add multipier implementation 2022-03-09 15:36:32 +01:00
Greek64
7292cedeb5 Add ROS Action glue logic 2022-03-08 14:03:39 +01:00
Greek64
bd1f803906 Modify rtps_discovery_module to send a PARTICIPANT Announcement immediately on startup 2022-03-08 14:03:33 +01:00
Greek64
5f01a94b31 Code refactoring 2022-03-08 13:12:18 +01:00
Greek64
e4e702ebc4 Add GEN_FIRST_GOAL and GET_NEXT_GOAL opcodes to ROS action server 
The functionality was already there, so we just extended the opcodes to
allow the user to also make use of them.
 2022-03-08 13:12:11 +01:00
Greek64
a064a44dc4 Add Fibonacci ROS Action Implementation 
A complete ROS action server and client implementation of the
example_interfaces Fibonacci action is done, along with accompaning
testbenches.
 2022-03-05 11:47:58 +01:00
Greek64
b86ef8ec53 Add request ID comparisons to ROS Service Level 1 Tests 2022-03-05 02:19:24 +01:00
Greek64
6bbb5fc102 Add ROS Action Server implementation 2022-03-04 23:48:51 +01:00
Greek64
f759f0d201 Code refactoring 2022-03-02 11:00:37 +01:00
Greek64
cf3daa12b0 Define record for sample_info of DDS Reader 2022-02-19 11:58:40 +01:00
Greek64
f29df9b41c Add Fibonacci Action Result Service 2022-02-05 15:23:54 +01:00
Greek64
c6c19299b5 Add Fibonacci Action Goal Service 2022-02-05 15:20:40 +01:00
Greek64
f9cb1a8d0e Change Testbench String to reflect file names 2022-02-05 13:35:33 +01:00
Greek64
f1cc87c25f Add ROS CancelGoal Service 2022-02-05 13:35:32 +01:00
Greek64
c9d4b55d4a Change decoding convention 
In muti-word decoding do not call the "FETCH" stage in the
last-to-second sub-stage.
 2022-02-05 13:35:20 +01:00
Greek64
158ab05a4d Add Little Endian tests for Fibonacci_ros_action_feedback and GoalStatusArray_ros 2022-02-04 20:31:49 +01:00
Greek64
f137e8b06b Add "ros" identifier to ROS files 2022-02-04 18:37:02 +01:00
Greek64
1e1a896613 Add ROS Publisher/Subscriber Templates 2022-02-03 17:06:01 +01:00
Greek64
0a84093edd Add GoalStatusArray ROS Publisher/Subscriber 2022-02-03 16:07:38 +01:00