-- 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.ros_package.all; 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 ( -- SYSTEM clk : in std_logic; reset : in std_logic; time : in TIME_TYPE; -- INPUT empty : in std_logic; read : out std_logic; data_in : in std_logic_vector(WORD_WIDTH-1 downto 0); -- OUTPUT full : in std_logic; write : out std_logic; data_out : out std_logic_vector(WORD_WIDTH-1 downto 0) ); end entity; architecture arch of L2_Testbench_ROS_Lib2 is type EARRAY_DATA_TYPE is array (0 to NUM_ENDPOINTS-1) of std_logic_vector(WORD_WIDTH downto 0); type HISTORY_CACHE_OPCODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of HISTORY_CACHE_OPCODE_TYPE; type HISTORY_CACHE_OPCODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of HISTORY_CACHE_OPCODE_TYPE; type HISTORY_CACHE_RESPONSE_RARRAY_TYPE is array (0 to NUM_READERS-1) of HISTORY_CACHE_RESPONSE_TYPE; type HISTORY_CACHE_RESPONSE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of HISTORY_CACHE_RESPONSE_TYPE; type RARRAY_DATA_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(WORD_WIDTH downto 0); type WARRAY_DATA_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(WORD_WIDTH downto 0); type SEQUENCENUMBER_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of SEQUENCENUMBER_TYPE; type INSTANCE_HANDLE_RARRAY_TYPE is array (0 to NUM_READERS-1) of INSTANCE_HANDLE_TYPE; type INSTANCE_HANDLE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of INSTANCE_HANDLE_TYPE; type CACHE_CHANGE_KIND_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of CACHE_CHANGE_KIND_TYPE; type TIME_RARRAY_TYPE is array (0 to NUM_READERS-1) of TIME_TYPE; type TIME_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of TIME_TYPE; type DDS_READER_OPCODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of DDS_READER_OPCODE_TYPE; type DDS_WRITER_OPCODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of DDS_WRITER_OPCODE_TYPE; type INSTANCE_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0); type VIEW_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0); type SAMPLE_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0); type MAX_SAMPLES_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(MAX_SAMPLES_WIDTH-1 downto 0); type RETURN_CODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(RETURN_CODE_WIDTH-1 downto 0); type RETURN_CODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(RETURN_CODE_WIDTH-1 downto 0); type DISPOSED_GENERATION_COUNT_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(DISPOSED_GENERATION_COUNT_WIDTH-1 downto 0); type NO_WRITERS_GENERATION_COUNT_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(NO_WRITERS_GENERATION_COUNT_WIDTH-1 downto 0); type SAMPLE_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(SAMPLE_RANK_WIDTH-1 downto 0); type GENERATION_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(GENERATION_RANK_WIDTH-1 downto 0); type ABSOLUTE_GENERATION_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(ABSOLUTE_GENERATION_COUNT_WIDTH-1 downto 0); type STATUS_KIND_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(STATUS_KIND_WIDTH-1 downto 0); type STATUS_KIND_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(STATUS_KIND_WIDTH-1 downto 0); type DURATION_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of DURATION_TYPE; signal full_fire_rh, write_rh_fire : std_logic_vector(0 to NUM_ENDPOINTS-1); signal data_rh_fire, data_rh_fidm : std_logic_vector(WORD_WIDTH downto 0); signal full_fidm_rh, write_rh_fidm : std_logic; signal read_dm_fidm, empty_fidm_dm : std_logic; signal data_fidm_dm : std_logic_vector(WORD_WIDTH downto 0); signal read_re_fire, empty_fire_re : std_logic_vector(0 to NUM_ENDPOINTS); signal data_fire_re : EARRAY_DATA_TYPE; signal alive_re_dm, full_fdmre_re, write_dm_fdmre : std_logic_vector(0 to NUM_ENDPOINTS-1); signal data_dm_fdmre , data_dm_firo : std_logic_vector(WORD_WIDTH downto 0); signal full_firo_dm, write_dm_firo : std_logic; signal empty_fdmre_re, read_re_fdmre : std_logic_vector(0 to NUM_ENDPOINTS-1); signal data_fdmre_re : EARRAY_DATA_TYPE; signal full_firo_re, write_re_firo : std_logic_vector(0 to NUM_ENDPOINTS-1); signal data_re_firo : EARRAY_DATA_TYPE; signal start_rr_dr, ack_dr_rr, done_dr_rr, valid_rr_dr, ready_dr_rr : std_logic_vector(0 to NUM_READERS-1); signal opcode_rr_dr : HISTORY_CACHE_OPCODE_RARRAY_TYPE; signal ret_dr_rr : HISTORY_CACHE_RESPONSE_RARRAY_TYPE; signal data_rr_dr : RARRAY_DATA_TYPE; signal liveliness_assertion_dw_rw, data_available_dw_rw, start_rw_dw, ack_dw_rw, done_rw_dw, get_data_rw_dw, valid_dw_rw, ready_rw_dw : std_logic_vector(0 to NUM_WRITERS-1); signal opcode_rw_dw : HISTORY_CACHE_OPCODE_WARRAY_TYPE; signal seq_nr_rw_dw, cc_seq_nr_dw_rw : SEQUENCENUMBER_WARRAY_TYPE; signal ret_dw_rw : HISTORY_CACHE_RESPONSE_WARRAY_TYPE; signal data_dw_rw : WARRAY_DATA_TYPE; signal cc_instance_handle_dw_rw : INSTANCE_HANDLE_WARRAY_TYPE; signal cc_kind_dw_rw : CACHE_CHANGE_KIND_WARRAY_TYPE; signal cc_source_timestamp_dw_rw : TIME_WARRAY_TYPE; signal start_ri_dr, ack_dr_ri, get_data_ri_dr, done_dr_ri, ready_ri_dr, valid_dr_ri, si_valid_data_dr_ri, si_valid_dr_ri, si_ack_ri_dr, eoc_dr_ri : std_logic_vector(0 to NUM_READERS-1); signal opcode_ri_dr : DDS_READER_OPCODE_RARRAY_TYPE; signal instance_state_ri_dr, si_instance_state_dr_ri : INSTANCE_STATE_RARRAY_TYPE; signal view_state_ri_dr, si_view_state_dr_ri : VIEW_STATE_RARRAY_TYPE; signal sample_state_ri_dr, si_sample_state_dr_ri : SAMPLE_STATE_RARRAY_TYPE; signal instance_handle_ri_dr, si_instance_handle_dr_ri, si_publication_handle_dr_ri : INSTANCE_HANDLE_RARRAY_TYPE; signal max_samples_ri_dr : MAX_SAMPLES_RARRAY_TYPE; signal return_code_dr_ri : RETURN_CODE_RARRAY_TYPE; signal data_dr_ri : RARRAY_DATA_TYPE; signal si_source_timestamp_dr_ri : TIME_RARRAY_TYPE; signal si_disposed_generation_count_dr_ri : DISPOSED_GENERATION_COUNT_RARRAY_TYPE; signal si_no_writers_generation_count_dr_ri : NO_WRITERS_GENERATION_COUNT_RARRAY_TYPE; signal si_sample_rank_dr_ri : SAMPLE_RANK_RARRAY_TYPE; signal si_generation_rank_dr_ri : GENERATION_RANK_RARRAY_TYPE; signal si_absolute_generation_rank_dr_ri : ABSOLUTE_GENERATION_RANK_RARRAY_TYPE; signal status_dr_ri : STATUS_KIND_RARRAY_TYPE; signal start_wi_dw, ack_dw_wi, done_dw_wi, valid_wi_dw, valid_dw_wi, ready_wi_dw, ready_dw_wi : std_logic_vector(0 to NUM_WRITERS-1); signal opcode_wi_dw : DDS_WRITER_OPCODE_WARRAY_TYPE; signal instance_handle_wi_dw, instance_handle_dw_wi : INSTANCE_HANDLE_WARRAY_TYPE; signal source_ts_wi_dw : TIME_WARRAY_TYPE; signal max_wait_wi_dw : DURATION_WARRAY_TYPE; signal return_code_dw_wi : RETURN_CODE_WARRAY_TYPE; signal data_dw_wi, data_wi_dw : WARRAY_DATA_TYPE; signal status_dw_wi : STATUS_KIND_WARRAY_TYPE; signal empty_firo_ro, read_ro_firo, last_word_firo_ro : std_logic_vector(0 to NUM_ENDPOINTS); signal data_firo_ro : RTPS_OUT_DATA_TYPE; signal service_if : SERVICE_INTERFACE_ARRAY_TYPE(0 to NUM_SERVICES-1); -- ###GENERATED START### signal start_s, ack_s, taken_s, done_s, data_available_s : std_logic; signal opcode_s : ROS_SERVICE_OPCODE_TYPE; signal service_info_s : SERVICE_INFO_TYPE; signal request_id_s : REQUEST_ID_TYPE; signal a_s, b_s, sum_s : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0); signal return_code_s : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0); -- ###GENERATED END### begin rtps_handler_inst : entity work.rtps_handler(arch) port map ( -- SYSTEM clk => clk, reset => reset, -- INPUT empty => empty, rd => read, data_in => data_in, -- TO DISCOVERY MODULE full_dm => full_fidm_rh, wr_dm => write_rh_fidm, data_out_dm => data_rh_fidm(WORD_WIDTH-1 downto 0), last_word_out_dm => data_rh_fidm(WORD_WIDTH), -- TO USER ENDPOINTS full_rtps => full_fire_rh, wr_rtps => write_rh_fire, data_out_rtps => data_rh_fire(WORD_WIDTH-1 downto 0), last_word_out_rtps => data_rh_fire(WORD_WIDTH) ); fifo_in_dm_inst : configuration work.FWFT_FIFO_cfg generic map ( FIFO_DEPTH => 2, DATA_WIDTH => WORD_WIDTH+1 ) port map ( -- SYSTEM reset => reset, clk => clk, -- INPUT full => full_fidm_rh, write => write_rh_fidm, data_in => data_rh_fidm, -- OUTPUT empty => empty_fidm_dm, read => read_dm_fidm, data_out => data_fidm_dm, -- MISC free => open ); fifo_in_re_gen : for i in 0 to NUM_ENDPOINTS-1 generate fifo_in_re_inst : configuration work.FWFT_FIFO_cfg generic map ( FIFO_DEPTH => 2, DATA_WIDTH => WORD_WIDTH+1 ) port map ( -- SYSTEM reset => reset, clk => clk, -- INPUT full => full_fire_rh(i), write => write_rh_fire(i), data_in => data_rh_fire, -- Multicast -- OUTPUT empty => empty_fire_re(i), read => read_re_fire(i), data_out => data_fire_re(i), -- MISC free => open ); end generate; rtps_discovery_module_inst : entity work.rtps_discovery_module(arch) generic map ( MAX_REMOTE_PARTICIPANTS => MAX_REMOTE_PARTICIPANTS ) port map ( clk => clk, reset => reset, time => time, -- FROM RTPS HANDLER empty => empty_fidm_dm, rd => read_dm_fidm, data_in => data_fidm_dm(WORD_WIDTH-1 downto 0), last_word_in => data_fidm_dm(WORD_WIDTH), -- FROM RTPS ENDPOINTS alive => alive_re_dm, -- TO RTPS ENDPOINTS full_rtps => full_fdmre_re, wr_rtps => write_dm_fdmre, data_out_rtps => data_dm_fdmre(WORD_WIDTH-1 downto 0), last_word_out_rtps => data_dm_fdmre(WORD_WIDTH), -- TO RTPS OUT full_ro => full_firo_dm, wr_ro => write_dm_firo, data_out_ro => data_dm_firo(WORD_WIDTH-1 downto 0), last_word_out_ro => data_dm_firo(WORD_WIDTH) ); fifo_dm_re_gen : for i in 0 to NUM_ENDPOINTS-1 generate fifo_dm_re_inst : configuration work.FWFT_FIFO_cfg generic map ( FIFO_DEPTH => 2, DATA_WIDTH => WORD_WIDTH+1 ) port map ( -- SYSTEM reset => reset, clk => clk, -- INPUT full => full_fdmre_re(i), write => write_dm_fdmre(i), data_in => data_dm_fdmre, -- Multicast -- OUTPUT empty => empty_fdmre_re(i), read => read_re_fdmre(i), data_out => data_fdmre_re(i), -- MISC free => open ); end generate; rtps_endpoint_gen : for i in 0 to NUM_ENDPOINTS-1 generate rtps_endpoint_if : if (i < NUM_READERS) generate rtps_reader_inst : entity work.rtps_reader(arch) generic map ( ENTITYID => ENTITYID(i), RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS, LIVELINESS_QOS => ENDPOINT_CONFIG(i).LIVELINESS_QOS, DURABILITY_QOS => ENDPOINT_CONFIG(i).DURABILITY_QOS, HEARTBEAT_RESPONSE_DELAY => ENDPOINT_CONFIG(i).HEARTBEAT_RESPONSE_DELAY, HEARTBEAT_SUPPRESSION_DELAY => ENDPOINT_CONFIG(i).HEARTBEAT_SUPPRESSION_DELAY, LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION, WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS ) port map ( -- SYSTEM clk => clk, reset => reset, time => time, -- FROM RTPS_HANDLER (USER TRAFFIC) empty_user => empty_fire_re(i), rd_user => read_re_fire(i), data_in_user => data_fire_re(i)(WORD_WIDTH-1 downto 0), last_word_in_user => data_fire_re(i)(WORD_WIDTH), -- FROM DISCOVERY MODULE (META TRAFFIC) empty_meta => empty_fdmre_re(i), rd_meta => read_re_fdmre(i), data_in_meta => data_fdmre_re(i)(WORD_WIDTH-1 downto 0), last_word_in_meta => data_fdmre_re(i)(WORD_WIDTH), -- RTPS OUTPUT full_ro => full_firo_re(i), wr_ro => write_re_firo(i), data_out_ro => data_re_firo(i)(WORD_WIDTH-1 downto 0), last_word_out_ro => data_re_firo(i)(WORD_WIDTH), -- TO HISTORY CACHE start_hc => start_rr_dr(i), opcode_hc => opcode_rr_dr(i), ack_hc => ack_dr_rr(i), done_hc => done_dr_rr(i), ret_hc => ret_dr_rr(i), valid_out_hc => valid_rr_dr(i), ready_out_hc => ready_dr_rr(i), data_out_hc => data_rr_dr(i)(WORD_WIDTH-1 downto 0), last_word_out_hc => data_rr_dr(i)(WORD_WIDTH) ); -- Set Alive Signals of Readers to Zero alive_re_dm(i) <= ('0'); else generate rtps_writer_inst : entity work.rtps_writer(arch) generic map ( RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS, LIVELINESS_QOS => ENDPOINT_CONFIG(i).LIVELINESS_QOS, DURABILITY_QOS => ENDPOINT_CONFIG(i).DURABILITY_QOS, DESTINATION_ORDER_QOS => ENDPOINT_CONFIG(i).DESTINATION_ORDER_QOS, ACKNACK_RESPONSE_DELAY => ENDPOINT_CONFIG(i).ACKNACK_RESPONSE_DELAY, ACKNACK_SUPPRESSION_DELAY => ENDPOINT_CONFIG(i).ACKNACK_SUPPRESSION_DELAY, LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION, HEARTBEAT_PERIOD => ENDPOINT_CONFIG(i).HEARTBEAT_PERIOD, ENTITYID => ENTITYID(i), WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, PUSH_MODE => ENDPOINT_CONFIG(i).PUSH_MODE, INLINE_QOS => gen_inline_qos(i), MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS ) port map ( -- SYSTEM clk => clk, reset => reset, time => time, -- FROM RTPS_HANDLER (USER TRAFFIC) empty_user => empty_fire_re(i), rd_user => read_re_fire(i), data_in_user => data_fire_re(i)(WORD_WIDTH-1 downto 0), last_word_in_user => data_fire_re(i)(WORD_WIDTH), -- FROM DISCOVERY MODULE (META TRAFFIC) empty_meta => empty_fdmre_re(i), rd_meta => read_re_fdmre(i), data_in_meta => data_fdmre_re(i)(WORD_WIDTH-1 downto 0), last_word_in_meta => data_fdmre_re(i)(WORD_WIDTH), -- TO DISCOVERY MODULE (META TRAFFIC) alive_sig => alive_re_dm(i), -- RTPS OUTPUT full_ro => full_firo_re(i), wr_ro => write_re_firo(i), data_out_ro => data_re_firo(i)(WORD_WIDTH-1 downto 0), last_word_out_ro => data_re_firo(i)(WORD_WIDTH), -- FROM HC liveliness_assertion => liveliness_assertion_dw_rw(i-NUM_READERS), data_available => data_available_dw_rw(i-NUM_READERS), start_hc => start_rw_dw(i-NUM_READERS), opcode_hc => opcode_rw_dw(i-NUM_READERS), ack_hc => ack_dw_rw(i-NUM_READERS), seq_nr_hc => seq_nr_rw_dw(i-NUM_READERS), done_hc => done_rw_dw(i-NUM_READERS), ret_hc => ret_dw_rw(i-NUM_READERS), get_data_hc => get_data_rw_dw(i-NUM_READERS), valid_in_hc => valid_dw_rw(i-NUM_READERS), ready_in_hc => ready_rw_dw(i-NUM_READERS), data_in_hc => data_dw_rw(i-NUM_READERS)(WORD_WIDTH-1 downto 0), last_word_in_hc => data_dw_rw(i-NUM_READERS)(WORD_WIDTH), cc_instance_handle => cc_instance_handle_dw_rw(i-NUM_READERS), cc_kind => cc_kind_dw_rw(i-NUM_READERS), cc_source_timestamp => cc_source_timestamp_dw_rw(i-NUM_READERS), cc_seq_nr => cc_seq_nr_dw_rw(i-NUM_READERS) ); end generate; end generate; dds_endpoint_gen : for i in 0 to NUM_ENDPOINTS-2 generate dds_endpoint_if : if (i < NUM_READERS) generate dds_reader_inst : entity work.dds_reader(arch) generic map ( TIME_BASED_FILTER_QOS => ENDPOINT_CONFIG(i).TIME_BASED_FILTER_QOS, DEADLINE_QOS => ENDPOINT_CONFIG(i).DEADLINE_QOS, MAX_INSTANCES => ENDPOINT_CONFIG(i).MAX_INSTANCES, MAX_SAMPLES_PER_INSTANCE => ENDPOINT_CONFIG(i).MAX_SAMPLES_PER_INSTANCE, MAX_SAMPLES => ENDPOINT_CONFIG(i).MAX_SAMPLES, HISTORY_QOS => ENDPOINT_CONFIG(i).HISTORY_QOS, RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS, PRESENTATION_QOS => ENDPOINT_CONFIG(i).PRESENTATION_QOS, DESTINATION_ORDER_QOS => ENDPOINT_CONFIG(i).DESTINATION_ORDER_QOS, COHERENT_ACCESS => ENDPOINT_CONFIG(i).COHERENT_ACCESS, ORDERED_ACCESS => ENDPOINT_CONFIG(i).ORDERED_ACCESS, WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, PAYLOAD_FRAME_SIZE => ENDPOINT_CONFIG(i).MAX_PAYLOAD_SIZE, MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS ) port map ( -- SYSTEM clk => clk, reset => reset, time => time, -- FROM RTPS ENDPOINT start_rtps => start_rr_dr(i), opcode_rtps => opcode_rr_dr(i), ack_rtps => ack_dr_rr(i), done_rtps => done_dr_rr(i), ret_rtps => ret_dr_rr(i), valid_in_rtps => valid_rr_dr(i), ready_in_rtps => ready_dr_rr(i), data_in_rtps => data_rr_dr(i)(WORD_WIDTH-1 downto 0), last_word_in_rtps => data_rr_dr(i)(WORD_WIDTH), -- TO USER ENTITY start_dds => start_ri_dr(i), ack_dds => ack_dr_ri(i), opcode_dds => opcode_ri_dr(i), instance_state_dds => instance_state_ri_dr(i), view_state_dds => view_state_ri_dr(i), sample_state_dds => sample_state_ri_dr(i), instance_handle_dds => instance_handle_ri_dr(i), max_samples_dds => max_samples_ri_dr(i), get_data_dds => get_data_ri_dr(i), done_dds => done_dr_ri(i), return_code_dds => return_code_dr_ri(i), valid_out_dds => valid_dr_ri(i), ready_out_dds => ready_ri_dr(i), data_out_dds => data_dr_ri(i)(WORD_WIDTH-1 downto 0), last_word_out_dds => data_dr_ri(i)(WORD_WIDTH), -- Sample Info si_sample_state => si_sample_state_dr_ri(i), si_view_state => si_view_state_dr_ri(i), si_instance_state => si_instance_state_dr_ri(i), si_source_timestamp => si_source_timestamp_dr_ri(i), si_instance_handle => si_instance_handle_dr_ri(i), si_publication_handle => si_publication_handle_dr_ri(i), si_disposed_generation_count => si_disposed_generation_count_dr_ri(i), si_no_writers_generation_count => si_no_writers_generation_count_dr_ri(i), si_sample_rank => si_sample_rank_dr_ri(i), si_generation_rank => si_generation_rank_dr_ri(i), si_absolute_generation_rank => si_absolute_generation_rank_dr_ri(i), si_valid_data => si_valid_data_dr_ri(i), si_valid => si_valid_dr_ri(i), si_ack => si_ack_ri_dr(i), eoc => eoc_dr_ri(i), -- Communication Status status => status_dr_ri(i) ); else generate dds_writer_inst : entity work.dds_writer(arch) generic map ( HISTORY_QOS => ENDPOINT_CONFIG(i).HISTORY_QOS, DEADLINE_QOS => ENDPOINT_CONFIG(i).DEADLINE_QOS, LIFESPAN_QOS => ENDPOINT_CONFIG(i).LIFESPAN_QOS, LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION, WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY, MAX_SAMPLES => ENDPOINT_CONFIG(i).MAX_SAMPLES, MAX_INSTANCES => ENDPOINT_CONFIG(i).MAX_INSTANCES, MAX_SAMPLES_PER_INSTANCE => ENDPOINT_CONFIG(i).MAX_SAMPLES_PER_INSTANCE, PAYLOAD_FRAME_SIZE => ENDPOINT_CONFIG(i).MAX_PAYLOAD_SIZE ) port map ( -- SYSTEM clk => clk, reset => reset, time => time, -- TO/FROM RTPS ENDPOINT start_rtps => start_rw_dw(i-NUM_READERS), opcode_rtps => opcode_rw_dw(i-NUM_READERS), ack_rtps => ack_dw_rw(i-NUM_READERS), done_rtps => done_rw_dw(i-NUM_READERS), ret_rtps => ret_dw_rw(i-NUM_READERS), seq_nr_rtps => seq_nr_rw_dw(i-NUM_READERS), get_data_rtps => get_data_rw_dw(i-NUM_READERS), valid_out_rtps => valid_dw_rw(i-NUM_READERS), ready_out_rtps => ready_rw_dw(i-NUM_READERS), data_out_rtps => data_dw_rw(i-NUM_READERS)(WORD_WIDTH-1 downto 0), last_word_out_rtps => data_dw_rw(i-NUM_READERS)(WORD_WIDTH), liveliness_assertion => liveliness_assertion_dw_rw(i-NUM_READERS), data_available => data_available_dw_rw(i-NUM_READERS), -- Cache Change cc_instance_handle => cc_instance_handle_dw_rw(i-NUM_READERS), cc_kind => cc_kind_dw_rw(i-NUM_READERS), cc_source_timestamp => cc_source_timestamp_dw_rw(i-NUM_READERS), cc_seq_nr => cc_seq_nr_dw_rw(i-NUM_READERS), -- TO/FROM USER ENTITY start_dds => start_wi_dw(i-NUM_READERS), ack_dds => ack_dw_wi(i-NUM_READERS), opcode_dds => opcode_wi_dw(i-NUM_READERS), instance_handle_in_dds => instance_handle_wi_dw(i-NUM_READERS), source_ts_dds => source_ts_wi_dw(i-NUM_READERS), max_wait_dds => max_wait_wi_dw(i-NUM_READERS), done_dds => done_dw_wi(i-NUM_READERS), return_code_dds => return_code_dw_wi(i-NUM_READERS), instance_handle_out_dds => instance_handle_dw_wi(i-NUM_READERS), valid_in_dds => valid_wi_dw(i-NUM_READERS), ready_in_dds => ready_dw_wi(i-NUM_READERS), data_in_dds => data_wi_dw(i-NUM_READERS)(WORD_WIDTH-1 downto 0), last_word_in_dds => data_wi_dw(i-NUM_READERS)(WORD_WIDTH), valid_out_dds => valid_dw_wi(i-NUM_READERS), ready_out_dds => ready_wi_dw(i-NUM_READERS), data_out_dds => data_dw_wi(i-NUM_READERS)(WORD_WIDTH-1 downto 0), last_word_out_dds => data_dw_wi(i-NUM_READERS)(WORD_WIDTH), -- Communication Status status => status_dw_wi(i-NUM_READERS) ); end generate; end generate; ros_discovery_writer_inst : entity work.ros_static_discovery_writer(arch) port map ( -- SYSTEM clk => clk, reset => reset, -- TO/FROM RTPS ENDPOINT start => start_rw_dw(NUM_WRITERS-1), opcode => opcode_rw_dw(NUM_WRITERS-1), ack => ack_dw_rw(NUM_WRITERS-1), done => done_rw_dw(NUM_WRITERS-1), ret => ret_dw_rw(NUM_WRITERS-1), seq_nr => seq_nr_rw_dw(NUM_WRITERS-1), get_data => get_data_rw_dw(NUM_WRITERS-1), valid_out => valid_dw_rw(NUM_WRITERS-1), ready_out => ready_rw_dw(NUM_WRITERS-1), data_out => data_dw_rw(NUM_WRITERS-1)(WORD_WIDTH-1 downto 0), last_word_out => data_dw_rw(NUM_WRITERS-1)(WORD_WIDTH), liveliness_assertion => liveliness_assertion_dw_rw(NUM_WRITERS-1), data_available => data_available_dw_rw(NUM_WRITERS-1), -- Cache Change cc_instance_handle => cc_instance_handle_dw_rw(NUM_WRITERS-1), cc_kind => cc_kind_dw_rw(NUM_WRITERS-1), cc_source_timestamp => cc_source_timestamp_dw_rw(NUM_WRITERS-1), cc_seq_nr => cc_seq_nr_dw_rw(NUM_WRITERS-1) ); fifo_in_ro_gen : for i in 0 to NUM_ENDPOINTS generate fifo_in_ro_if : if (i = NUM_ENDPOINTS) generate fifo_in_ro_inst : configuration work.FWFT_FIFO_cfg generic map ( FIFO_DEPTH => 2, DATA_WIDTH => WORD_WIDTH+1 ) port map ( -- SYSTEM reset => reset, clk => clk, -- INPUT full => full_firo_dm, write => write_dm_firo, data_in => data_dm_firo, -- OUTPUT empty => empty_firo_ro(i), read => read_ro_firo(i), data_out(WORD_WIDTH) => last_word_firo_ro(i), data_out(WORD_WIDTH-1 downto 0) => data_firo_ro(i), -- MISC free => open ); else generate fifo_in_ro_inst : configuration work.FWFT_FIFO_cfg generic map ( FIFO_DEPTH => 2, DATA_WIDTH => WORD_WIDTH+1 ) port map ( -- SYSTEM reset => reset, clk => clk, -- INPUT full => full_firo_re(i), write => write_re_firo(i), data_in => data_re_firo(i), -- OUTPUT empty => empty_firo_ro(i), read => read_ro_firo(i), data_out(WORD_WIDTH) => last_word_firo_ro(i), data_out(WORD_WIDTH-1 downto 0) => data_firo_ro(i), -- MISC free => open ); end generate; end generate; rtps_out_inst : entity work.rtps_out(arch) port map ( -- SYSTEM clk => clk, reset => reset, -- INPUT empty => empty_firo_ro, rd => read_ro_firo, data_in => data_firo_ro, last_word_in => last_word_firo_ro, -- OUTPUT full => full, wr => write, data_out => data_out ); service_if_gen : for i in 0 to NUM_SERVICES-1 generate start_ri_dr(i) <= service_if(i).start_r; service_if(i).ack_r <= ack_dr_ri(i); opcode_ri_dr(i) <= service_if(i).opcode_r; instance_state_ri_dr(i) <= service_if(i).instance_state_r; view_state_ri_dr(i) <= service_if(i).view_state_r; sample_state_ri_dr(i) <= service_if(i).sample_state_r; instance_handle_ri_dr(i) <= service_if(i).instance_handle_r; max_samples_ri_dr(i) <= service_if(i).max_samples_r; get_data_ri_dr(i) <= service_if(i).get_data_r; service_if(i).done_r <= done_dr_ri(i); service_if(i).return_code_r <= return_code_dr_ri(i); service_if(i).valid_in_r <= valid_dr_ri(i); ready_ri_dr(i) <= service_if(i).ready_in_r; service_if(i).data_in_r <= data_dr_ri(i)(WORD_WIDTH-1 downto 0); service_if(i).last_word_in_r <= data_dr_ri(i)(WORD_WIDTH); service_if(i).si_sample_state_r <= si_sample_state_dr_ri(i); service_if(i).si_view_state_r <= si_view_state_dr_ri(i); service_if(i).si_instance_state_r <= si_instance_state_dr_ri(i); service_if(i).si_source_timestamp_r <= si_source_timestamp_dr_ri(i); service_if(i).si_instance_handle_r <= si_instance_handle_dr_ri(i); service_if(i).si_publication_handle_r <= si_publication_handle_dr_ri(i); service_if(i).si_disposed_generation_count_r <= si_disposed_generation_count_dr_ri(i); service_if(i).si_no_writers_generation_count_r <= si_no_writers_generation_count_dr_ri(i); service_if(i).si_sample_rank_r <= si_sample_rank_dr_ri(i); service_if(i).si_generation_rank_r <= si_generation_rank_dr_ri(i); service_if(i).si_absolute_generation_rank_r <= si_absolute_generation_rank_dr_ri(i); service_if(i).si_valid_data_r <= si_valid_data_dr_ri(i); service_if(i).si_valid_r <= si_valid_dr_ri(i); si_ack_ri_dr(i) <= service_if(i).si_ack_r; service_if(i).eoc_r <= eoc_dr_ri(i); service_if(i).status_r <= status_dr_ri(i); start_wi_dw(i) <= service_if(i).start_w; service_if(i).ack_w <= ack_dw_wi(i); opcode_wi_dw(i) <= service_if(i).opcode_w; service_if(i).instance_handle_out_w <= instance_handle_dw_wi(i); source_ts_wi_dw(i) <= service_if(i).source_ts_w; max_wait_wi_dw(i) <= service_if(i).max_wait_w; service_if(i).done_w <= done_dw_wi(i); service_if(i).return_code_w <= return_code_dw_wi(i); instance_handle_wi_dw(i) <= service_if(i).instance_handle_in_w; valid_wi_dw(i) <= service_if(i).valid_out_w; service_if(i).ready_out_w <= ready_dw_wi(i); data_wi_dw(i)(WORD_WIDTH-1 downto 0) <= service_if(i).data_out_w; data_wi_dw(i)(WORD_WIDTH) <= service_if(i).last_word_out_w; service_if(i).valid_in_w <= valid_dw_wi(i); ready_wi_dw(i) <= service_if(i).ready_in_w; service_if(i).data_in_w <= data_dw_wi(i)(WORD_WIDTH-1 downto 0); service_if(i).last_word_in_w <= data_dw_wi(i)(WORD_WIDTH); service_if(i).status_w <= status_dw_wi(i); end generate; -- ######GENERATED START###### AddTwoInts_srv_server_inst : entity work.AddTwoInts_srv_server(arch) port map ( clk => clk, reset => reset, start_r => service_if(0).start_r, ack_r => service_if(0).ack_r, opcode_r => service_if(0).opcode_r, instance_state_r => service_if(0).instance_state_r, view_state_r => service_if(0).view_state_r, sample_state_r => service_if(0).sample_state_r, instance_handle_r => service_if(0).instance_handle_r, max_samples_r => service_if(0).max_samples_r, get_data_r => service_if(0).get_data_r, done_r => service_if(0).done_r, return_code_r => service_if(0).return_code_r, valid_in_r => service_if(0).valid_in_r, ready_in_r => service_if(0).ready_in_r, data_in_r => service_if(0).data_in_r, last_word_in_r => service_if(0).last_word_in_r, si_sample_state_r => service_if(0).si_sample_state_r, si_view_state_r => service_if(0).si_view_state_r, si_instance_state_r => service_if(0).si_instance_state_r, si_source_timestamp_r => service_if(0).si_source_timestamp_r, si_instance_handle_r => service_if(0).si_instance_handle_r, si_publication_handle_r => service_if(0).si_publication_handle_r, si_disposed_generation_count_r => service_if(0).si_disposed_generation_count_r, si_no_writers_generation_count_r => service_if(0).si_no_writers_generation_count_r, si_sample_rank_r => service_if(0).si_sample_rank_r, si_generation_rank_r => service_if(0).si_generation_rank_r, si_absolute_generation_rank_r => service_if(0).si_absolute_generation_rank_r, si_valid_data_r => service_if(0).si_valid_data_r, si_valid_r => service_if(0).si_valid_r, si_ack_r => service_if(0).si_ack_r, eoc_r => service_if(0).eoc_r, status_r => service_if(0).status_r, start_w => service_if(0).start_w, ack_w => service_if(0).ack_w, opcode_w => service_if(0).opcode_w, instance_handle_out_w => service_if(0).instance_handle_out_w, source_ts_w => service_if(0).source_ts_w, max_wait_w => service_if(0).max_wait_w, done_w => service_if(0).done_w, return_code_w => service_if(0).return_code_w, instance_handle_in_w => service_if(0).instance_handle_in_w, valid_out_w => service_if(0).valid_out_w, ready_out_w => service_if(0).ready_out_w, data_out_w => service_if(0).data_out_w, last_word_out_w => service_if(0).last_word_out_w, valid_in_w => service_if(0).valid_in_w, ready_in_w => service_if(0).ready_in_w, data_in_w => service_if(0).data_in_w, last_word_in_w => service_if(0).last_word_in_w, status_w => service_if(0).status_w, start_user => start_s, ack_user => ack_s, opcode_user => opcode_s, service_info_user => service_info_s, request_id_user => request_id_s, taken_user => taken_s, data_available_user => data_available_s, a => a_s, b => b_s, sum => sum_s, done_user => done_s, return_code_user => return_code_s ); AddTwoInts_inst : entity work.AddTwoInts(arch) port map ( clk => clk, reset => reset, start => start_s, ack => ack_s, opcode => opcode_s, service_info => service_info_s, request_id => request_id_s, taken => taken_s, data_available => data_available_s, a => a_s, b => b_s, sum => sum_s, done => done_s, return_code => return_code_s ); -- ######GENERATED END###### end architecture;