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.
Simple Dual Port (Read and Write Port), and True Dual Port RAM
implementations, together with their respective Altera implementations
were added.
The 'arch' Architectures should have the same behaviour as the Altera
Implementations (single_port_ram was modified to achieve that)
The REGISTER_INSTANCE and LOOKUP_INSTANCE DDS Writer Operations return
an Instance Handle. Until now this instance Handle was returned via the
Data output interface of the dds_writer (ready_out, valid_out,
data_out_last_word_out).
This was changed, so that the dds_writer directly outputs the Instance
Handle via a dedicated port while asserting the done Signal.
This has the result that the <TYPENAME>_writer_wrapper no longer
"exports" data out signals from the dds_writer.
All relevant instantiations and testcases are changed accordingly
