Add a configurable moving_average implementaion, that has a configurable
window size and is enable triggered.
Also add a moving_average_wrapper that instantiates 2 moving_average instances
(an inner and an outer) to lower the memory resource requirement for large
window sizes. Effective window size is OUTER*INNER, whereas the resources are
only OUTER+INNER. A trigger signal signals when the average is "valid".
Accompanying testebench was also implemented.
The DDS Writer was expecting the user to provide the serialized key
on DISPOSE/UNREGISTER operations. The user should have no direct
interaction with the serialized key.
The operation flow was changed to expect the normal payload from the
user, push it to the Key Holder, and the calculate the serialized key.
The stage that was responsible for simutanously pushing the input to
payload memory and/or the Key Holder was simplified, and the decode
error signal of the Key Holder is now handled.
The last two changes (simplified stage and decode error handling)
were also ported to the DDS Reader.
During testing a scenario arose, where a toggling in the last_word
signal lane while the rest of the signals were not valid was falsely
latched.
All entities with "last_word_in" latches were modifies to only latch
the signal when in valid state.
The ready/valid Signals were missing from the DDS Reader and Writer Interfaces,
preventing the user from effectively using non-Type dependent operations
(like GET_OFFERED_DEADLINE_MISSED_STATUS).
The L1_Type1_test1 was extended to test for this non-type dependent operation.
Fixed Updated Template-, Type1-, and Type2-key_holder to reset the
decode_error signal when a new PUSH_* operation is initiated.
Testbenches are extended to test foe decode_error and its reset.
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.
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.
The SKIP_PAYLOAD stage of decoders would not read the last word
(last_word_in = '1').
The <NAME>_MEMBER_END stage was removed from encoders/decoders, since it
could happen that the last aggregated member of a last collection entry
could also be the last type member overall, which would miss toggling
the "last_word_out" correctly. The logic was instead put inside the last
member stage (instead of defining a separate MEMEBR_END stage).
All the necessary "glue" logic to convert ROS Data to a form that the
DDS/RTPS back-end can use is implemented in packages.
The ROS Node discovery information is statically generated in packages
(similar to the RTPS Participant Data), and a special dds writer is
implemented (ros_static_discovery_writer) that has this static data as
its only payload sample.
Some definitions are moved out of rtps_config_package to prevent
circular package dependency.
Since the Type Specific user facing entities did not actually wrap the
DDS entities, but connected to them through port signals, a more
semantically correct name would be "interface", since they are the user
facing interface of the DDS entities.
Since we disabled the 'expectsInlineQoS' Flag due to Cyclone DDS
compatibility, we no longer have access to the lifespan of the remote
writers.
The Endpoint Match Format was changed to also send the Lifespan Duration
from the rtps_builtin_endpoint.
ACK HANDLING
------------
If there are no remote reliable reader endpoints the new Cache Changes
are immediately ACKed/removed from the HC.
Internal Global ACK SN is set to SEQUENCENUMBER_UNKNOWN, and
only initialized on first reliable remote reader endpoint.
If all remote reliable reader endpints are unmatched the internal Global
ACK SN is set to SEQUENCENUMBER_UNKNOWN and all Cache Changes are
ACKed/removed from the HC.
PUSH MODE
---------
Historical DATA is no longer send on remote endpoint match, if PUSH mode
is FALSE.
TESTBENCH
---------
Level 1 Test2 of rtps_writer was split into 2 tests.
Apparently Cyclone DDS does not support Readers with the inline QoS
Flag.
Change rtps_test_package to generate only necessary PIDs (e.g. no
PID_EXPECTS_INLINE_QOS for writers)
The rtps_handler was droping SequenceNumberSets where the 0 bit was set.
The rtps_handler Test1 was also extended a bit to test for more invalid
variants.
Until now the rtps_builtin_endpoint was using the last parsed Locator as
the Locator of choice.
The rtps_builtin_endpoint was extended with a PREFER_MULTICAST boolean
generic that allows to influence which locators are used.
Test1 of rtps_builtin_endpoint was split in two, to test both settings
of the generic.
