344 lines
16 KiB
VHDL
344 lines
16 KiB
VHDL
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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library osvvm; -- Utility Library
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context osvvm.OsvvmContext;
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use work.rtps_package.all;
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use work.ros_package.all;
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use work.rtps_test_package.all;
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use work.GoalStatusArray_package.all;
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-- This testbench tests the General Behavour of ROS publishers and subscribers
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-- More specifically following tests are done:
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-- * Test Unssuported Opcode Operations
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-- * Test RETCODE_NO_DATA response from DDS Reader
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-- * Test RETCODE_ERROR response from DDS Reader
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-- * Test RETCODE_ERROR response from DDS Writer
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-- * Test Sample with No Valid response from DDS Reader
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-- * Test Big Endian Encoding/Decoding of Messages
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entity L1_GoalStatusArray_ros_test1 is
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end entity;
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architecture testbench of L1_GoalStatusArray_ros_test1 is
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constant DEFAULT_SAMPLE_INFO : SAMPLE_INFO_TYPE := (
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sample_state => ANY_SAMPLE_STATE,
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view_state => ANY_VIEW_STATE,
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instance_state => ANY_INSTANCE_STATE,
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source_timestamp => TIME_ZERO,
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instance_handle => HANDLE_NIL,
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publication_handle => HANDLE_NIL,
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disposed_generation_count => (others => '0'),
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no_writers_generation_count => (others => '0'),
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sample_rank => (others => '0'),
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generation_rank => (others => '0'),
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absolute_generation_rank => (others => '0'),
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valid_data => '0'
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);
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signal clk, reset : std_logic := '0';
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signal valid, ready, last_word, last_word_out_w : std_logic := '0';
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signal data : std_logic_vector(WORD_WIDTH-1 downto 0) := (others => '0');
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signal start_sub, start_pub, ack_sub, ack_pub, taken_sub, taken_pub, done_sub, done_pub : std_logic := '0';
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signal opcode_sub, opcode_pub : ROS_TOPIC_OPCODE_TYPE := NOP;
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signal return_code_sub, return_code_pub : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0) := (others => '0');
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signal sample_info_r : SAMPLE_INFO_TYPE := DEFAULT_SAMPLE_INFO;
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signal start_r : std_logic := '0';
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signal return_code_r, return_code_w : std_logic_vector(RETURN_CODE_WIDTH-1 downto 0) := (others => '0');
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signal ready_w, selector : std_logic := '0';
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signal message_info_sub : MESSAGE_INFO_TYPE := EMPTY_MESSAGE_INFO;
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--
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signal status_list_len_pub, status_list_len_sub, status_list_addr_pub, status_list_addr_sub : std_logic_vector(STATUS_LIST_ADDR_WIDTH-1 downto 0) := (others => '0');
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signal status_list_ready_pub, status_list_ready_sub, status_list_ren_pub, status_list_ren_sub, status_list_valid_pub, status_list_valid_sub, status_list_ack_pub, status_list_ack_sub, status_list_wen_pub : std_logic := '0';
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signal status_list_goal_info_goal_id_r_pub, status_list_goal_info_goal_id_w_pub, status_list_goal_info_goal_id_sub : std_logic_vector(UUID_WIDTH-1 downto 0) := (others => '0');
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signal status_list_goal_info_stamp_r_pub, status_list_goal_info_stamp_w_pub, status_list_goal_info_stamp_sub : std_logic_vector(ROS_TIME_WIDTH-1 downto 0) := (others => '0');
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signal status_list_status_r_pub, status_list_status_w_pub, status_list_status_sub : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := (others => '0');
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begin
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uut_sub : entity work.GoalStatusArray_ros_sub(arch)
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port map (
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clk => clk,
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reset => reset,
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start_dds => start_r,--
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ack_dds => '1',--
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opcode_dds => open,
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instance_state_dds => open,
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view_state_dds => open,
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sample_state_dds => open,
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instance_handle_dds => open,
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max_samples_dds => open,
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get_data_dds => open,--
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done_dds => '1',--
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return_code_dds => return_code_r,--
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valid_in_dds => valid,--
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ready_in_dds => ready,--
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data_in_dds => data,--
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last_word_in_dds => last_word,--
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sample_info_dds => sample_info_r,
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sample_info_valid_dds => '1',--
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sample_info_ack_dds => open,--
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eoc_dds => '1',--
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status_dds => (others => '0'),
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start_user => start_sub,
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opcode_user => opcode_sub,
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ack_user => ack_sub,
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done_user => done_sub,
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return_code_user => return_code_sub,
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data_available_user => open,
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status_list_len => status_list_len_sub,
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status_list_addr => status_list_addr_sub,
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status_list_ready => status_list_ready_sub,
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status_list_ren => status_list_ren_sub,
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status_list_valid => status_list_valid_sub,
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status_list_ack => status_list_ack_sub,
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status_list_goal_info_goal_id => status_list_goal_info_goal_id_sub,
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status_list_goal_info_stamp => status_list_goal_info_stamp_sub,
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status_list_status => status_list_status_sub,
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message_info_user => message_info_sub,
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taken_user => taken_sub
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);
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uut_pub : entity work.GoalStatusArray_ros_pub(arch)
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port map (
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clk => clk,
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reset => reset,
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start_dds => open,--
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ack_dds => '1',--
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opcode_dds => open,
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instance_handle_out_dds => open,
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source_ts_dds => open,
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max_wait_dds => open,
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done_dds => '1',--
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return_code_dds => return_code_w,--
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instance_handle_in_dds => HANDLE_NIL,
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valid_out_dds => valid,--
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ready_out_dds => ready_w,--ready,--
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data_out_dds => data,--
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last_word_out_dds => last_word_out_w,--last_word,--
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valid_in_dds => '0',
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ready_in_dds => open,
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data_in_dds => (others => '0'),
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last_word_in_dds => '0',
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status_dds => (others => '0'),
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start_user => start_pub,--
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ack_user => ack_pub,--
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opcode_user => opcode_pub,--
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status_list_len => status_list_len_pub,
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status_list_addr => status_list_addr_pub,
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status_list_ready => status_list_ready_pub,
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status_list_ren => status_list_ren_pub,
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status_list_wen => status_list_wen_pub,
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status_list_valid => status_list_valid_pub,
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status_list_ack => status_list_ack_pub,
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status_list_goal_info_goal_id_r => status_list_goal_info_goal_id_r_pub,
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status_list_goal_info_goal_id_w => status_list_goal_info_goal_id_w_pub,
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status_list_goal_info_stamp_r => status_list_goal_info_stamp_r_pub,
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status_list_goal_info_stamp_w => status_list_goal_info_stamp_w_pub,
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status_list_status_r => status_list_status_r_pub,
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status_list_status_w => status_list_status_w_pub,
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done_user => done_pub,--
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return_code_user => return_code_pub --
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);
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process (all)
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begin
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if (selector = '1') then
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ready_w <= '1';
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last_word <= '0';
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else
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ready_w <= ready;
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last_word <= last_word_out_w;
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end if;
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end process;
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stimulus_prc : process
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variable RV : RandomPType;
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variable GOAL_ID, STAMP, STATUS : AlertLogIDType;
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procedure wait_on_sig(signal sig : std_logic) is
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begin
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if (sig /= '1') then
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wait on sig until sig = '1';
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end if;
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end procedure;
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begin
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SetAlertLogName("L1_GoalStatusArray_ros_test1 - (Big Endian) - General");
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SetAlertEnable(FAILURE, TRUE);
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SetAlertEnable(ERROR, TRUE);
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SetAlertEnable(WARNING, TRUE);
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SetLogEnable(DEBUG, FALSE);
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SetLogEnable(PASSED, FALSE);
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SetLogEnable(INFO, TRUE);
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RV.InitSeed(RV'instance_name);
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GOAL_ID := GetAlertLogID("GOAL_ID", ALERTLOG_BASE_ID);
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STAMP := GetAlertLogID("STAMP", ALERTLOG_BASE_ID);
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STATUS := GetAlertLogID("STATUS", ALERTLOG_BASE_ID);
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Log("Initial Reset", INFO);
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selector <= '1';
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return_code_r <= RETCODE_OK;
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return_code_w <= RETCODE_OK;
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sample_info_r.valid_data <= '0';
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start_sub <= '0';
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start_pub <= '0';
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reset <= '1';
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wait until rising_edge(clk);
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wait until rising_edge(clk);
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reset <= '0';
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Log("SUBSCRIBER: Test Unsupported Opcode", INFO);
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start_sub <= '1';
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opcode_sub <= PUBLISH;
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wait_on_sig(ack_sub);
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wait until rising_edge(clk);
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start_sub <= '0';
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wait_on_sig(done_sub);
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wait for 1 ps; -- Make sure all signals stable
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AlertIf(return_code_sub /= ROS_RET_UNSUPPORTED, "Unexpected Subscriber Response", FAILURE);
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wait until rising_edge(clk);
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Log("PUBLISHER: Test Unsupported Opcode", INFO);
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start_pub <= '1';
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opcode_pub <= TAKE;
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wait_on_sig(ack_pub);
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wait until rising_edge(clk);
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start_pub <= '0';
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wait_on_sig(done_pub);
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wait for 1 ps; -- Make sure all signals stable
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AlertIf(return_code_pub /= ROS_RET_UNSUPPORTED, "Unexpected Publisher Response", FAILURE);
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wait until rising_edge(clk);
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Log("SUBSCRIBER: Test No Data", INFO);
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return_code_r <= RETCODE_NO_DATA;
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start_sub <= '1';
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opcode_sub <= TAKE;
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wait_on_sig(ack_sub);
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wait until rising_edge(clk);
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start_sub <= '0';
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wait_on_sig(done_sub);
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wait for 1 ps; -- Make sure all signals stable
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AlertIf(return_code_sub /= ROS_RET_OK, "Unexpected Subscriber Response", FAILURE);
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AlertIf(taken_sub /= '0', "Subscriber taken is unexpectedly set", FAILURE);
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wait until rising_edge(clk);
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Log("SUBSCRIBER: Test Reader Error", INFO);
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return_code_r <= RETCODE_ERROR;
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start_sub <= '1';
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opcode_sub <= TAKE;
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wait_on_sig(ack_sub);
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wait until rising_edge(clk);
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start_sub <= '0';
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wait_on_sig(done_sub);
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wait for 1 ps; -- Make sure all signals stable
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AlertIf(return_code_sub /= ROS_RET_ERROR, "Unexpected Subscriber Response", FAILURE);
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wait until rising_edge(clk);
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Log("PUBLISHER: Test Writer Error", INFO);
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return_code_w <= RETCODE_ERROR;
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start_pub <= '1';
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opcode_pub <= PUBLISH;
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wait_on_sig(ack_pub);
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wait until rising_edge(clk);
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start_pub <= '0';
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wait_on_sig(done_pub);
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wait for 1 ps; -- Make sure all signals stable
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AlertIf(return_code_pub /= ROS_RET_ERROR, "Unexpected Publisher Response", FAILURE);
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wait until rising_edge(clk);
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return_code_r <= RETCODE_OK;
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return_code_w <= RETCODE_OK;
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selector <= '0';
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Log("Setting Setting Data in Publisher Side", INFO);
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for i in 0 to 10 loop
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status_list_len_pub <= int(11,status_list_len_pub'length);
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status_list_addr_pub <= int(i,status_list_addr_pub'length);
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status_list_goal_info_goal_id_w_pub <= RV.RandSlv(status_list_goal_info_goal_id_w_pub'length);
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status_list_goal_info_stamp_w_pub <= RV.RandSlv(status_list_goal_info_stamp_w_pub'length);
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status_list_status_w_pub <= RV.RandSlv(status_list_status_w_pub'length);
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wait_on_sig(status_list_ready_pub);
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status_list_wen_pub <= '1';
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wait for TEST_CLOCK_PERIOD;
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status_list_wen_pub <= '0';
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end loop;
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Log("Publish message", INFO);
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start_pub <= '1';
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opcode_pub <= PUBLISH;
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wait_on_sig(ack_pub);
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wait until rising_edge(clk);
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start_pub <= '0';
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Log("Take message", INFO);
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start_sub <= '1';
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opcode_sub <= TAKE;
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wait_on_sig(ack_sub);
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wait until rising_edge(clk);
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start_sub <= '0';
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-- TEST NO VALID DATA
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wait_on_sig(start_r);
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wait until rising_edge(clk);
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wait until rising_edge(clk);
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wait_on_sig(start_r);
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sample_info_r.valid_data <= '1';
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Log("Wait for Data", INFO);
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wait_on_sig(done_sub);
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wait until rising_edge(clk);
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AlertIf(return_code_sub /= ROS_RET_OK, "Subscriber did Return ERROR", FAILURE);
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AlertIf(taken_sub /= '1', "Subscriber did not take Message", FAILURE);
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Log("Compare Messages", INFO);
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AffirmIfEqual(status_list_len_sub, status_list_len_pub);
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for i in 0 to to_integer(unsigned(status_list_len_pub))-1 loop
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status_list_addr_pub <= int(i,status_list_addr_pub'length);
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status_list_addr_sub <= int(i,status_list_addr_sub'length);
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wait_on_sig(status_list_ready_pub);
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wait_on_sig(status_list_ready_sub);
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status_list_ren_pub <= '1';
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status_list_ren_sub <= '1';
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wait for TEST_CLOCK_PERIOD;
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status_list_ren_pub <= '0';
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status_list_ren_sub <= '0';
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wait_on_sig(status_list_valid_pub);
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wait_on_sig(status_list_valid_sub);
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AffirmIfEqual(GOAL_ID, status_list_goal_info_goal_id_sub, status_list_goal_info_goal_id_r_pub);
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AffirmIfEqual(STAMP, status_list_goal_info_stamp_sub, status_list_goal_info_stamp_r_pub);
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AffirmIfEqual(STATUS, status_list_status_sub, status_list_status_r_pub);
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status_list_ack_pub <= '1';
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status_list_ack_sub <= '1';
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wait for TEST_CLOCK_PERIOD;
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status_list_ack_pub <= '0';
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status_list_ack_sub <= '0';
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end loop;
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TranscriptOpen(RESULTS_FILE, APPEND_MODE);
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SetTranscriptMirror;
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ReportAlerts;
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TranscriptClose;
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std.env.stop;
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wait;
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end process;
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clock_prc : process
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begin
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clk <= '0';
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wait for TEST_CLOCK_PERIOD/2;
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clk <= '1';
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wait for TEST_CLOCK_PERIOD/2;
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end process;
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watchdog : process
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begin
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wait for 1 ms;
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Alert("Test timeout", FAILURE);
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std.env.stop;
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end process;
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end architecture; |