9ab7d79d87
- UDP Protocol * Added Synthesis Report for IPv4 Parser with different buffer sizes * Small fixes in IPv4 Handler * Added addsub Entity * Added Checksum entity * Implemented RTPS Parser - Compiles in Modelsim * Backup Version of RTPS Parser to extract and implement UDP Checksuming * Updated RTPS Package * Added VHDL comilation test file
87 lines
3.7 KiB
Plaintext
87 lines
3.7 KiB
Plaintext
RULES 8.4.2
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===========
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GENERAL
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-------
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* All communications must take place using RTPS Messages
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* All implementations must implement the RTPS Message Receiver
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* The timing characteristics of all implementations must be tunable
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* Implementations must implement the Simple Participant and Endpoint Discovery Protocols
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WRITER
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------
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* Writers must not send data out-of-order
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* Writers must include in-line QoS values if requested by a Reader
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* Writers must send periodic HEARTBEAT Messages (reliable only)
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* Writers must eventually respond to a negative acknowledgment (reliable only)
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* Sending Heartbeats and Gaps with Writer Group Information (Writer belonging to a Group)
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READER
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------
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A best-effort Reader is completely passive as it only receives data and does not send messages itself.
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Therefore, the requirements below only apply to reliable Readers.
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* Readers must respond eventually after receiving a HEARTBEAT with final flag not set
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* Readers must respond eventually after receiving a HEARTBEAT that indicates a sample is missing
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* Once acknowledged, always acknowledged
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* Readers can only send an ACKNACK Message in response to a HEARTBEAT Message
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RELIABILITY
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===========
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* Best Effort Writer can only be matched with Best Effort Reader
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* Stateless Reader can only be Best Effort (maintains absolutely no state, does not handle duplicate and out-of-order changes)
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STATELESS WRITER
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================
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Note that the processing of this message uses the reply locators in the RTPS Receiver.
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This is the only source of information for the StatelessWriter to determine where to send the reply to.
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Proper functioning of the protocol requires that the RTPS Reader inserts an InfoReply Submessage ahead of the AckNack such that these fields are properly set.
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Writer Liveness Protocol
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========================
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ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_WRITER
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ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_READER
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OPTIONAL 8.4.14
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===============
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Optional features may not be supported by all RTPS implementations.
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* LARGE DATA (Fragmented Data)
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--------------------------------------------
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ENTITYID_UKNOWN also for Built-In?
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Ignore Participant/Topic/Publication/Subscription (handle argument of Sampleinfo)
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ENDIANNESS
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==========
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You have to see what datatypes PSM maps to each element.
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If the datatype is bigger than a byte, byte swaping has to occur.
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The elements of an array are in order (but the elements themselves may need to be swapped if bigger than a Byte)
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ENDPOINT FIFO PACKET FORMAT
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===========================
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0...2...........8...............16..............24..............32
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+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
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| LENTGH |
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+---------------+---------------+---------------+---------------+
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| OPCODE | FLAGS | UDP_PORT |
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+---------------+---------------+---------------+---------------+
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| IPv4_ADDR |
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+---------------------------------------------------------------+
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| ENTITYID |
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+---------------------------------------------------------------+
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+ Sequence Number [only for DATA Submessage] +
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+---------------------------------------------------------------+
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~ PAYLOAD (SUBMESSAGE CONTENT) ~
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+---------------------------------------------------------------+
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ENDPOINT_ID
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===========
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MSB...........LSB
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READERS...WRITERS |