library ieee; use ieee.std_logic_1164.all; use ieee.numeric_std.all; library osvvm; -- Utility Library context osvvm.OsvvmContext; use work.rtps_package.all; use work.user_config.all; use work.rtps_config_package.all; use work.rtps_test_package.all; -- This testbench tests the Liveliness handling of the RTPS Reader. -- The testbench checks the memory contents at specific times, and also checks if the removal is propagated to the History Cache. entity L0_rtps_reader_test3_m is end entity; architecture testbench of L0_rtps_reader_test3_m is -- *CONSTANT DECLARATION* constant MAX_REMOTE_ENDPOINTS : natural := 3; constant ACCEPT_RES : std_logic_vector(WORD_WIDTH downto 0) := (others => '0'); constant REJECT_RES : std_logic_vector(WORD_WIDTH downto 0) := (others => '1'); -- *TYPE DECLARATION* type SEND_STAGE_TYPE is (IDLE, BUSY); type CHECK_STAGE_TYPE is (IDLE, CHECK, RESPONSE); type TEST_RAM_TYPE is array (0 to (MAX_REMOTE_ENDPOINTS*WRITER_ENDPOINT_FRAME_SIZE_A)-1) of std_logic_vector(WORD_WIDTH-1 downto 0); -- *SIGNAL DECLARATION* signal clk, empty_user, empty_meta, rd_user, rd_meta, last_word_in_user, last_word_in_meta : std_logic := '0'; signal reset : std_logic := '1'; signal data_in_user, data_in_meta, data_out_hc : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0'); signal start_hc, ack_hc, done_hc, done_hc_delay, ready_out_hc, valid_out_hc, last_word_out_hc : std_logic := '0'; signal opcode_hc : HISTORY_CACHE_OPCODE_TYPE := NOP; signal ret_hc : HISTORY_CACHE_RESPONSE_TYPE := OK; signal test_time : TIME_TYPE := TIME_INVALID; signal stim_stage_user, stim_stage_meta : SEND_STAGE_TYPE := IDLE; signal check_stage : CHECK_STAGE_TYPE := IDLE; shared variable stimulus_user, stimulus_meta, reference : TEST_PACKET_TYPE := EMPTY_TEST_PACKET; signal packet_sent_user, packet_sent_meta : std_logic := '0'; signal cnt_stim_meta, cnt_stim_user : natural := 0; signal start_meta, start_user : std_logic := '0'; shared variable SB_out : osvvm.ScoreBoardPkg_slv.ScoreBoardPType; shared variable SB_mem : work.ScoreBoardPkg_MemoryTest.ScoreBoardPType; signal stim_done, mem_check_done, out_check_done, test_done, mem_check : std_logic := '0'; -- *FUNCTION DECLARATION* function gen_sn(input : natural) return SEQUENCENUMBER_TYPE is variable ret : SEQUENCENUMBER_TYPE; begin ret(0) := (others => '0'); ret(1) := unsigned(int(input, WORD_WIDTH)); return ret; end function; begin -- Unit Under Test uut : entity work.rtps_reader(arch) generic map ( ENTITYID => DEFAULT_READER_ENTITYID, RELIABILITY_QOS => RELIABLE_RELIABILITY_QOS, LIVELINESS_QOS => MANUAL_BY_TOPIC_LIVELINESS_QOS, DURABILITY_QOS => VOLATILE_DURABILITY_QOS, HEARTBEAT_RESPONSE_DELAY => DURATION_ZERO, HEARTBEAT_SUPPRESSION_DELAY => DURATION_ZERO, LEASE_DURATION => gen_duration(5,0), WITH_KEY => TRUE, MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS ) port map ( -- SYSTEM clk => clk, reset => reset, time => test_time, empty_user => empty_user or packet_sent_user, rd_user => rd_user, data_in_user => data_in_user, last_word_in_user => last_word_in_user, empty_meta => empty_meta or packet_sent_meta, rd_meta => rd_meta, data_in_meta => data_in_meta, last_word_in_meta => last_word_in_meta, wr_ro => open, full_ro => '0', last_word_out_ro => open, data_out_ro => open, start_hc => start_hc, opcode_hc => opcode_hc, ack_hc => ack_hc, done_hc => done_hc, ret_hc => ret_hc, data_out_hc => data_out_hc, valid_out_hc => valid_out_hc, ready_out_hc => ready_out_hc, last_word_out_hc => last_word_out_hc ); stimulus_prc : process variable RV : RandomPType; variable p0, p1, p2 : PARTICIPANT_DATA_TYPE := DEFAULT_PARTICIPANT_DATA; variable e0, e1, e2, endpoint : ENDPOINT_DATA_TYPE := DEFAULT_ENDPOINT_DATA; variable payload : TEST_PACKET_TYPE := EMPTY_TEST_PACKET; variable sub : RTPS_SUBMESSAGE_TYPE := DEFAULT_RTPS_SUBMESSAGE; variable cc : CACHE_CHANGE_TYPE := DEFAULT_CACHE_CHANGE; alias mem_op_done is <>; alias idle_sig is <>; -- Wrapper to use procedure as function impure function gen_rand_loc_2 return LOCATOR_TYPE is variable ret : LOCATOR_TYPE := EMPTY_LOCATOR; begin gen_rand_loc(RV, ret); return ret; end function; impure function gen_rand_guid_prefix return GUIDPREFIX_TYPE is variable ret : GUIDPREFIX_TYPE; begin ret := (0 => RV.RandSlv(WORD_WIDTH), 1 => RV.RandSlv(WORD_WIDTH), 2 => RV.RandSlv(WORD_WIDTH)); return ret; end function; procedure start_meta_test is begin start_meta <= '1'; wait until rising_edge(clk); start_meta <= '0'; wait until rising_edge(clk); end procedure; procedure start_user_test is begin start_user <= '1'; wait until rising_edge(clk); start_user <= '0'; wait until rising_edge(clk); end procedure; procedure push_reference(accept : in BOOLEAN) is begin -- NOTE: First Word represents the Response that we will return. if (accept) then SB_out.Push(ACCEPT_RES); else SB_out.Push(REJECT_RES); end if; for i in 0 to reference.length-1 loop SB_out.Push(reference.last(i) & reference.data(i)); end loop; end procedure; impure function gen_payload return TEST_PACKET_TYPE is variable ret : TEST_PACKET_TYPE := EMPTY_TEST_PACKET; begin for i in 0 to RV.RandInt(1,10) loop ret.data(ret.length) := RV.RandSlv(WORD_WIDTH); ret.length := ret.length + 1; end loop; ret.last(ret.length-1) := '1'; return ret; end function; impure function gen_key_hash return KEY_HASH_TYPE is variable ret : KEY_HASH_TYPE := KEY_HASH_NIL; begin for i in 0 to KEY_HASH_TYPE'length-1 loop ret(i) := RV.RandSlv(WORD_WIDTH); end loop; return ret; end function; procedure wait_on_meta_sent is begin wait until rising_edge(packet_sent_meta); end procedure; procedure wait_on_user_sent is begin wait until rising_edge(packet_sent_user); end procedure; procedure wait_on_out_check is begin if (out_check_done /= '1') then wait until out_check_done = '1'; end if; end procedure; procedure wait_on_mem_check is begin if (mem_check_done /= '1') then wait until mem_check_done = '1'; end if; end procedure; procedure wait_on_completion is begin if (test_done /= '1') then wait until test_done = '1'; end if; end procedure; procedure wait_on_idle is begin if (idle_sig /= '1' or mem_op_done /= '1') then wait until idle_sig = '1' and mem_op_done = '1'; end if; end procedure; begin SetAlertLogName("L0_rtps_reader_test3_m - (Manual by Topic Liveliness) - Liveliness Handling"); SetAlertEnable(FAILURE, TRUE); SetAlertEnable(ERROR, TRUE); SetAlertEnable(WARNING, TRUE); SetLogEnable(DEBUG, FALSE); SetLogEnable(PASSED, FALSE); SetLogEnable(INFO, TRUE); RV.InitSeed(RV'instance_name); -- Participant 0 p0 := DEFAULT_PARTICIPANT_DATA; p0.guidPrefix := gen_rand_guid_prefix; -- Participant 1 p1 := DEFAULT_PARTICIPANT_DATA; p1.guidPrefix := gen_rand_guid_prefix; -- Participant 2 p2 := DEFAULT_PARTICIPANT_DATA; p2.guidPrefix := gen_rand_guid_prefix; -- Endpoint 1 e0 := DEFAULT_ENDPOINT_DATA; e0.reader := FALSE; e0.entityid := RV.RandSlv(ENTITYID_WIDTH); e0.participant := p0; e0.unicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR)); -- Endpoint 2 e1 := DEFAULT_ENDPOINT_DATA; e1.reader := FALSE; e1.entityid := RV.RandSlv(ENTITYID_WIDTH); e1.participant := p1; e1.unicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR)); -- Endpoint 3 e2 := DEFAULT_ENDPOINT_DATA; e2.reader := FALSE; e2.entityid := RV.RandSlv(ENTITYID_WIDTH); e2.participant := p2; e2.unicastLocatorList := (numLocators => int(1,CDR_LONG_WIDTH), locator => (0 => gen_rand_loc_2, others => EMPTY_LOCATOR)); Log("Initiating Test", INFO); test_time <= TIME_ZERO; stim_done <= '0'; start_meta <= '0'; start_user <= '0'; mem_check <= '0'; reset <= '1'; wait until rising_edge(clk); wait until rising_edge(clk); reset <= '0'; Log("Current Time: 0 s", INFO); wait until rising_edge(clk); Log("Insert Endpoint 0 Participant 0", INFO); endpoint := e0; endpoint.nr := 0; endpoint.match := MATCH; gen_endpoint_match_frame(endpoint, stimulus_meta); SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); start_meta_test; wait_on_meta_sent; mem_check <= '1'; wait_on_mem_check; mem_check <= '0'; stimulus_meta := EMPTY_TEST_PACKET; stimulus_user := EMPTY_TEST_PACKET; reference := EMPTY_TEST_PACKET; Log("Insert Endpoint 1 Participant 1", INFO); endpoint := e1; endpoint.nr := 1; endpoint.match := MATCH; gen_endpoint_match_frame(endpoint, stimulus_meta); SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); start_meta_test; wait_on_meta_sent; mem_check <= '1'; wait_on_mem_check; mem_check <= '0'; stimulus_meta := EMPTY_TEST_PACKET; stimulus_user := EMPTY_TEST_PACKET; reference := EMPTY_TEST_PACKET; Log("Insert Endpoint 2 Participant 2", INFO); endpoint := e2; endpoint.nr := 2; endpoint.match := MATCH; gen_endpoint_match_frame(endpoint, stimulus_meta); SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); start_meta_test; wait_on_meta_sent; mem_check <= '1'; wait_on_mem_check; mem_check <= '0'; stimulus_meta := EMPTY_TEST_PACKET; stimulus_user := EMPTY_TEST_PACKET; reference := EMPTY_TEST_PACKET; wait_on_idle; Log("Current Time: 1 s", INFO); test_time <= gen_duration(1,0); wait until rising_edge(clk); Log("Accept Endpoint 0 sent DATA [SN 1]", INFO); endpoint := e0; sub := DEFAULT_RTPS_SUBMESSAGE; sub.submessageID := SID_DATA; sub.writerId := endpoint.entityid; sub.readerId := DEFAULT_READER_ENTITYID; sub.writerSN := gen_sn(1); sub.flags(SUBMESSAGE_DATA_FLAG_POS) := '1'; sub.data := gen_payload; gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user); cc := gen_cache_change(sub); gen_add_cache_change_dds(cc, TIME_INVALID, endpoint.nr, reference); push_reference(TRUE); start_user_test; wait_on_user_sent; wait_on_out_check; stimulus_meta := EMPTY_TEST_PACKET; stimulus_user := EMPTY_TEST_PACKET; reference := EMPTY_TEST_PACKET; wait_on_idle; Log("Current Time: 2 s", INFO); test_time <= gen_duration(2,0); wait until rising_edge(clk); Log("Participant 1 Liveliness Update [Ignored]", INFO); gen_liveliness_update_frame(p1, stimulus_meta); start_meta_test; wait_on_meta_sent; stimulus_meta := EMPTY_TEST_PACKET; stimulus_user := EMPTY_TEST_PACKET; reference := EMPTY_TEST_PACKET; wait_on_idle; Log("Current Time: 3 s", INFO); test_time <= gen_duration(3,0); wait until rising_edge(clk); Log("Endpoint 2 HEARTBEAT Liveliness Update", INFO); endpoint := e2; sub := DEFAULT_RTPS_SUBMESSAGE; sub.submessageID := SID_HEARTBEAT; sub.writerId := endpoint.entityid; sub.readerId := DEFAULT_READER_ENTITYID; sub.firstSN := gen_sn(0); sub.lastSN := gen_sn(1); sub.flags(SUBMESSAGE_LIVELINESS_FLAG_POS) := '1'; gen_rtps_handler_out(sub, get_loc(endpoint), FALSE, TIME_INVALID, endpoint.participant.guidPrefix, stimulus_user); start_user_test; wait_on_user_sent; stimulus_meta := EMPTY_TEST_PACKET; stimulus_user := EMPTY_TEST_PACKET; reference := EMPTY_TEST_PACKET; wait_on_idle; Log("Current Time: 5 s", INFO); test_time <= gen_duration(5,0); wait until rising_edge(clk); Log("Check removal of Endpoint 1", INFO); endpoint := e0; endpoint.nr := 0; endpoint.match := MATCH; SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); endpoint := e1; endpoint.nr := 1; endpoint.match := UNMATCH; SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); endpoint := e2; endpoint.nr := 2; endpoint.match := MATCH; SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); SB_out.Push("0" & std_logic_vector(to_unsigned(1, WORD_WIDTH))); wait_on_out_check; mem_check <= '1'; wait_on_mem_check; mem_check <= '0'; stimulus_meta := EMPTY_TEST_PACKET; stimulus_user := EMPTY_TEST_PACKET; reference := EMPTY_TEST_PACKET; wait_on_idle; Log("Current Time: 6 s", INFO); test_time <= gen_duration(6,0); wait until rising_edge(clk); Log("Check removal of Endpoint 0", INFO); endpoint := e0; endpoint.nr := 0; endpoint.match := UNMATCH; SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); endpoint := e1; endpoint.nr := 1; endpoint.match := UNMATCH; SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); endpoint := e2; endpoint.nr := 2; endpoint.match := MATCH; SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); SB_out.Push("0" & std_logic_vector(to_unsigned(0, WORD_WIDTH))); wait_on_out_check; mem_check <= '1'; wait_on_mem_check; mem_check <= '0'; stimulus_meta := EMPTY_TEST_PACKET; stimulus_user := EMPTY_TEST_PACKET; reference := EMPTY_TEST_PACKET; wait_on_idle; Log("Current Time: 8 s", INFO); test_time <= gen_duration(8,0); wait until rising_edge(clk); Log("Check removal of Endpoint 1", INFO); endpoint := e0; endpoint.nr := 0; endpoint.match := UNMATCH; SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); endpoint := e1; endpoint.nr := 1; endpoint.match := UNMATCH; SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); endpoint := e2; endpoint.nr := 2; endpoint.match := UNMATCH; SB_mem.Push(gen_writer_endpoint_mem_frame_a(endpoint)); SB_out.Push("0" & std_logic_vector(to_unsigned(2, WORD_WIDTH))); wait_on_out_check; mem_check <= '1'; wait_on_mem_check; mem_check <= '0'; stimulus_meta := EMPTY_TEST_PACKET; stimulus_user := EMPTY_TEST_PACKET; reference := EMPTY_TEST_PACKET; stim_done <= '1'; wait_on_completion; TranscriptOpen(RESULTS_FILE, APPEND_MODE); SetTranscriptMirror; ReportAlerts; TranscriptClose; std.env.stop; wait; end process; clock_prc : process begin clk <= '0'; wait for 25 ns; clk <= '1'; wait for 25 ns; end process; empty_meta_prc : process begin empty_meta <= '0'; wait until rd_meta = '1'; wait until rising_edge(clk); empty_meta <= '1'; wait until rising_edge(clk); end process; empty_user_prc : process begin empty_user <= '0'; wait until rd_user = '1'; wait until rising_edge(clk); empty_user <= '1'; wait until rising_edge(clk); end process; alert_prc : process(all) begin if rising_edge(clk) then alertif(empty_meta = '1' and rd_meta = '1', "Input FIFO read signal high while empty signal high (meta)", ERROR); alertif(empty_user = '1' and rd_user = '1', "Input FIFO read signal high while empty signal high (user)", ERROR); end if; end process; input_meta_prc : process(all) begin data_in_meta <= stimulus_meta.data(cnt_stim_meta); last_word_in_meta <= stimulus_meta.last(cnt_stim_meta); if rising_edge(clk) then if (reset = '1') then cnt_stim_meta <= 0; stim_stage_meta <= IDLE; packet_sent_meta <= '1'; else case (stim_stage_meta) is when IDLE => if (start_meta = '1' and stimulus_meta.length /= 0) then stim_stage_meta <= BUSY; packet_sent_meta <= '0'; end if; when BUSY => if (rd_meta = '1') then if (cnt_stim_meta = stimulus_meta.length-1) then stim_stage_meta <= IDLE; packet_sent_meta <= '1'; cnt_stim_meta <= 0; else cnt_stim_meta <= cnt_stim_meta + 1; end if; end if; end case; end if; end if; end process; input_user_prc : process(all) begin data_in_user <= stimulus_user.data(cnt_stim_user); last_word_in_user <= stimulus_user.last(cnt_stim_user); if rising_edge(clk) then if (reset = '1') then cnt_stim_user <= 0; stim_stage_user <= IDLE; packet_sent_user <= '1'; else case (stim_stage_user) is when IDLE => if (start_user = '1' and stimulus_user.length /= 0) then stim_stage_user <= BUSY; packet_sent_user <= '0'; end if; when BUSY => if (rd_user = '1') then if (cnt_stim_user = stimulus_user.length-1) then stim_stage_user <= IDLE; packet_sent_user <= '1'; cnt_stim_user <= 0; else cnt_stim_user <= cnt_stim_user + 1; end if; end if; end case; end if; end if; end process; done_proc : process(clk) begin if rising_edge(clk) then if (stim_done = '1' and SB_out.empty) then test_done <= '1'; else test_done <= '0'; end if; end if; end process; out_check_prc : process(all) variable accept : std_logic_vector(WORD_WIDTH downto 0); begin if rising_edge(clk) then case (check_stage) is when IDLE => out_check_done <= '0'; if (start_hc = '1') then check_stage <= CHECK; case (opcode_hc) is when REMOVE_WRITER => SB_out.Check(last_word_out_hc & data_out_hc); accept := ACCEPT_RES; check_stage <= RESPONSE; when ADD_CACHE_CHANGE => -- Pop Response Value SB_out.pop(accept); when others => Alert("Unexpected HC Opcode", ERROR); end case; end if; when CHECK => if (valid_out_hc = '1') then SB_out.Check(last_word_out_hc & data_out_hc); if (last_word_out_hc = '1') then check_stage <= RESPONSE; end if; end if; when RESPONSE => check_stage <= IDLE; out_check_done <= '1'; end case; end if; -- DEFAULT ack_hc <= '0'; done_hc <= '0'; ret_hc <= ERROR; ready_out_hc <= '0'; case (check_stage) is when IDLE => if (start_hc = '1') then ack_hc <= '1'; end if; when CHECK => ready_out_hc <= '1'; when RESPONSE => done_hc <= '1'; if (accept = ACCEPT_RES) then ret_hc <= OK; else ret_hc <= REJECTED; end if; end case; end process; mem_check_prc : process alias mem is <>; alias mem_op_done is <>; alias idle_sig is <>; variable reference : TEST_WRITER_ENDPOINT_MEMORY_FRAME_TYPE_A; begin mem_check_done <= '0'; -- SAFEGUARD: (Prevent Fall-through Behavior) if (reset /= '0') then wait until reset = '0'; end if; -- Wait for Stimulus Process to give the go wait until rising_edge(mem_check); -- Wait for UUT IDLE state if (idle_sig /= '1') then wait until idle_sig = '1'; end if; -- Wait for ongoing memory operation if (mem_op_done /= '1') then wait until mem_op_done = '1'; end if; while (not SB_mem.empty) loop SB_mem.Pop(reference); for i in 0 to reference'length-1 loop AffirmIf(?? (mem(reference(i).addr) ?= reference(i).data), "Address: " & integer'image(reference(i).addr) & " Received: " & to_hstring(mem(reference(i).addr)) & " Expected: " & to_hstring(reference(i).data)); end loop; end loop; -- Toggle High for one clock cycle mem_check_done <= '1'; wait until rising_edge(clk); end process; watchdog : process begin wait for 1 ms; Alert("Test timeout", FAILURE); std.env.stop; end process; end architecture;