80eb517eda
It seems that Cyclone DDS discards a DATA message before it has received a HEARTBEAT, but still ACKs it in the ACKNACKs.
197 lines
11 KiB
VHDL
197 lines
11 KiB
VHDL
-- altera vhdl_input_version vhdl_2008
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-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html)
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library ieee;
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use ieee.std_logic_1164.all;
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use ieee.numeric_std.all;
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use work.rtps_package.all;
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use work.ros_package.all;
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use work.ros_config.all;
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package user_config is
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--*****USER CONFIG*****
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-- Period of system clock
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constant CLOCK_PERIOD : time := ROS_CLOCK_PERIOD;
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-- Maximum number of supported remote Participants (Affects generated Memory Size)
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constant MAX_REMOTE_PARTICIPANTS : natural := 50;
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-- Maximum number of supported remote Endpoints (Affects generated Memory Size)
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constant MAX_REMOTE_ENDPOINTS : natural := 50;
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-- If Multicast Locators should be used instead of Unicast Locators
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constant PREFER_MULTICAST_LOCATORS : boolean := FALSE;
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-- Unicast IPv4 Address used by all RTPS Entities [Default 192.168.0.128]
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constant DEFAULT_IPv4_ADDRESS : std_logic_vector(IPv4_ADDRESS_WIDTH-1 downto 0) := ROS_ADDRESS;
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-- Number of RTPS Writer Endpoints
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constant NUM_WRITERS : natural := NUM_PUBS + NUM_SERVICES + 1;
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-- Number of RTPS Reader Endpoints
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constant NUM_READERS : natural := NUM_SUBS + NUM_SERVICES;
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-- Number of RTPS Endpoints (Do not modify)
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constant NUM_ENDPOINTS : natural := NUM_READERS+NUM_WRITERS;
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-- PB Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
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constant PORT_CONFIG_PB : natural := 7400;
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-- DG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
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constant PORT_CONFIG_DG : natural := 250;
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-- PG Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
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constant PORT_CONFIG_PG : natural := 2;
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-- D0 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
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constant PORT_CONFIG_D0 : natural := 0;
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-- D1 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
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constant PORT_CONFIG_D1 : natural := 10;
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-- D2 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
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constant PORT_CONFIG_D2 : natural := 1;
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-- D3 Value of Default Port Generation (see DDSI-RTPS 2.3 Section 9.6.1)
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constant PORT_CONFIG_D3 : natural := 11;
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-- MAC Address of underlying network stack (Used to generate GUIDs)
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constant MAC_ADDRESS : std_logic_vector(47 downto 0) := ROS_RAND_KEY;
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-- Domain ID
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constant USER_DOMAIN_ID : natural := get_domain_id(ROS_NODES);
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-- Domain TAG
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constant USER_DOMAIN_TAG : USER_STRING_TYPE := gen_user_string("");
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-- *TIMING CHARACTERISTICS*
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-- Timing Characteristics for Participant
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constant PARTICIPANT_ANNOUNCEMENT_PERIOD : DURATION_TYPE;
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constant PARTICIPANT_LEASE_DURATION : DURATION_TYPE;
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-- Denotes how much faster then the deadline/period we schedule in order to account for transport delay.
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constant DURATION_DELTA : DURATION_TYPE;
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-- Timing Characteristics for built-in Endpoints (Discovery Module)
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constant PARTICIPANT_HEARTBEAT_PERIOD : DURATION_TYPE;
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constant PARTICIPANT_HEARTBEAT_RESPONSE_DELAY : DURATION_TYPE;
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constant PARTICIPANT_HEARTBEAT_SUPPRESSION_DELAY : DURATION_TYPE;
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constant PARTICIPANT_ACKNACK_RESPONSE_DELAY : DURATION_TYPE;
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constant PARTICIPANT_ACKNACK_SUPPRESSION_DELAY : DURATION_TYPE;
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-- *ENDPOINT CONFIG*
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constant ENDPOINT_CONFIG : CONFIG_ARRAY_TYPE(0 to NUM_ENDPOINTS-1); -- Deferred to Package Body
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-- Set to TRUE for Simulation Testing (Extra Code generated)
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constant SIMULATION_FLAG : boolean := SIMULATION_TIMING;
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end package;
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package body user_config is
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function duration_mux(a : DURATION_TYPE; b : DURATION_TYPE; sel : boolean) return DURATION_TYPE is
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begin
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if (sel) then
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return a;
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else
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return b;
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end if;
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end function;
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constant PARTICIPANT_ANNOUNCEMENT_PERIOD : DURATION_TYPE := duration_mux(gen_duration(50 us), gen_duration(30 sec), SIMULATION_TIMING);
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constant PARTICIPANT_LEASE_DURATION : DURATION_TYPE := duration_mux(DEFAULT_PARTICIPANT_LEASE_DURATION, DEFAULT_PARTICIPANT_LEASE_DURATION, SIMULATION_TIMING);
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constant DURATION_DELTA : DURATION_TYPE := duration_mux(gen_duration(50 ns), gen_duration(100 ms), SIMULATION_TIMING);
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constant PARTICIPANT_HEARTBEAT_PERIOD : DURATION_TYPE := duration_mux(gen_duration(40 us), gen_duration(1 sec), SIMULATION_TIMING);
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constant PARTICIPANT_HEARTBEAT_RESPONSE_DELAY : DURATION_TYPE := duration_mux(gen_duration(500 ns), gen_duration(500 ms), SIMULATION_TIMING);
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constant PARTICIPANT_HEARTBEAT_SUPPRESSION_DELAY : DURATION_TYPE := duration_mux(gen_duration(100 ns), gen_duration(0 ms), SIMULATION_TIMING);
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constant PARTICIPANT_ACKNACK_RESPONSE_DELAY : DURATION_TYPE := duration_mux(gen_duration(500 ns), gen_duration(200 ms), SIMULATION_TIMING);
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constant PARTICIPANT_ACKNACK_SUPPRESSION_DELAY : DURATION_TYPE := duration_mux(gen_duration(100 ns), gen_duration(0 ms), SIMULATION_TIMING);
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procedure set_sim_timing (ref : inout CONFIG_TYPE; sel : in boolean) is
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begin
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if (sel) then
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ref.HEARTBEAT_PERIOD := gen_duration(50 us);
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ref.HEARTBEAT_RESPONSE_DELAY := gen_duration(500 ns);
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ref.HEARTBEAT_SUPPRESSION_DELAY := gen_duration(100 ns);
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ref.ACKNACK_RESPONSE_DELAY := gen_duration(500 ns);
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ref.ACKNACK_SUPPRESSION_DELAY := gen_duration(100 ns);
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end if;
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end procedure;
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-- NOTE: This function sets also the
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function gen_config return CONFIG_ARRAY_TYPE is
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variable ret : CONFIG_ARRAY_TYPE(0 to NUM_ENDPOINTS-1);
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variable index : natural;
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variable tmp : USER_STRING_TYPE;
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begin
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check_node_mapping(ROS_NODES, ROS_PUBLICATIONS, ROS_SUBSCRIPTIONS, ROS_SERVICES, ROS_ACTIONS);
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index := 0;
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-- SUBSCRIPTIONS
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for i in 0 to ROS_SUBSCRIPTIONS'length-1 loop
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ret(index) := DEFAULT_READER_CONFIG;
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set_from_qos_profile(ROS_SUBSCRIPTIONS(i).QOS, ret(index));
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set_sim_timing(ret(index),SIMULATION_TIMING);
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ret(index).TYPENAME := ROS_SUBSCRIPTIONS(i).TYPENAME;
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ret(index).MAX_PAYLOAD_SIZE := ROS_SUBSCRIPTIONS(i).MAX_SIZE;
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tmp := gen_fqn(ROS_NODES(ROS_SUBSCRIPTIONS(i).node_id).namespace, ROS_NODES(ROS_SUBSCRIPTIONS(i).node_id).name, ROS_SUBSCRIPTIONS(i).TOPICNAME);
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if (not ROS_SUBSCRIPTIONS(i).QOS.AVOID_ROS_NAMESPACE_CONVENTION) then
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ret(index).TOPICNAME := concat("rt",tmp);
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else
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ret(index).TOPICNAME := tmp;
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end if;
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index := index + 1;
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end loop;
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-- SERVICE SUBS
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for i in 0 to ROS_SERVICES'length-1 loop
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ret(index) := DEFAULT_READER_CONFIG;
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set_from_qos_profile(ROS_SERVICES(i).QOS, ret(index));
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set_sim_timing(ret(index),SIMULATION_TIMING);
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tmp := gen_fqn(ROS_NODES(ROS_SERVICES(i).node_id).namespace, ROS_NODES(ROS_SERVICES(i).node_id).name, ROS_SERVICES(i).SERVICENAME);
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if (ROS_SERVICES(i).is_client) then
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ret(index).TOPICNAME := concat("rr",concat(tmp,"Reply"));
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ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RR_SIZE;
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ret(index).TYPENAME := ROS_SERVICES(i).RR_TYPENAME;
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else
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ret(index).TOPICNAME := concat("rq",concat(tmp,"Request"));
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ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RQ_SIZE;
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ret(index).TYPENAME := ROS_SERVICES(i).RQ_TYPENAME;
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end if;
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index := index + 1;
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end loop;
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-- PUBLICATIONS
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for i in 0 to ROS_PUBLICATIONS'length-1 loop
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ret(index) := DEFAULT_WRITER_CONFIG;
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set_from_qos_profile(ROS_PUBLICATIONS(i).QOS, ret(index));
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set_sim_timing(ret(index),SIMULATION_TIMING);
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ret(index).TYPENAME := ROS_PUBLICATIONS(i).TYPENAME;
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ret(index).MAX_PAYLOAD_SIZE := ROS_PUBLICATIONS(i).MAX_SIZE;
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tmp := gen_fqn(ROS_NODES(ROS_PUBLICATIONS(i).node_id).namespace, ROS_NODES(ROS_PUBLICATIONS(i).node_id).name, ROS_PUBLICATIONS(i).TOPICNAME);
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if (not ROS_PUBLICATIONS(i).QOS.AVOID_ROS_NAMESPACE_CONVENTION) then
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ret(index).TOPICNAME := concat("rt",tmp);
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else
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ret(index).TOPICNAME := tmp;
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end if;
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index := index + 1;
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end loop;
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-- SERVICE PUBS
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for i in 0 to ROS_SERVICES'length-1 loop
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ret(index) := DEFAULT_WRITER_CONFIG;
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set_from_qos_profile(ROS_SERVICES(i).QOS, ret(index));
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set_sim_timing(ret(index),SIMULATION_TIMING);
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tmp := gen_fqn(ROS_NODES(ROS_SERVICES(i).node_id).namespace, ROS_NODES(ROS_SERVICES(i).node_id).name, ROS_SERVICES(i).SERVICENAME);
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if (ROS_SERVICES(i).is_client) then
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ret(index).TOPICNAME := concat("rq",concat(tmp,"Request"));
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ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RQ_SIZE;
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ret(index).TYPENAME := ROS_SERVICES(i).RQ_TYPENAME;
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else
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ret(index).TOPICNAME := concat("rr",concat(tmp,"Reply"));
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ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RR_SIZE;
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ret(index).TYPENAME := ROS_SERVICES(i).RR_TYPENAME;
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end if;
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index := index + 1;
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end loop;
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-- ROS DISCOVERY PUB
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ret(index) := DEFAULT_WRITER_CONFIG;
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set_sim_timing(ret(index),SIMULATION_TIMING);
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ret(index).RELIABILITY_QOS := RELIABLE_RELIABILITY_QOS;
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ret(index).DURABILITY_QOS := TRANSIENT_LOCAL_DURABILITY_QOS;
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ret(index).HISTORY_QOS := KEEP_LAST_HISTORY_QOS;
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ret(index).HISTORY_DEPTH := std_logic_vector(to_unsigned(1, CDR_LONG_WIDTH));
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ret(index).MAX_SAMPLES := std_logic_vector(to_unsigned(1, CDR_LONG_WIDTH));
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ret(index).MAX_INSTANCES := std_logic_vector(to_unsigned(1, CDR_LONG_WIDTH));
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ret(index).MAX_SAMPLES_PER_INSTANCE := std_logic_vector(to_unsigned(1, CDR_LONG_WIDTH));
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ret(index).TOPICNAME := gen_user_string("ros_discovery_info");
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ret(index).TYPENAME := gen_user_string("rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_");
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return ret;
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end function;
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constant ENDPOINT_CONFIG : CONFIG_ARRAY_TYPE(0 to NUM_ENDPOINTS-1) := gen_config;
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end package body; |