Spiri/ROSBuzz_MISTLab
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fixed a bug within timesync algo.

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This commit is contained in:
vivek-shankar 2018-07-14 20:30:24 -04:00
parent 81b263fa0a
commit 0587a2ab6b
1 changed files with 3 additions and 5 deletions
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8
buzz_scripts/include/timesync.bzz
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@ -6,7 +6,7 @@ logical_time = 0
TIME_JUMP_THR = 5 TIME_JUMP_THR = 5
TIME_TO_FORGET = 20 TIME_TO_FORGET = 20
TIME_TO_SYNC = 200 TIME_TO_SYNC = 200
COM_DELAY = 3 COM_DELAY = 2
# table to store neighbor time data # table to store neighbor time data
time_nei_table = {} time_nei_table = {}
# Algo. global parameters # Algo. global parameters
@ -44,6 +44,7 @@ function init_time_sync(){
function step_time_sync(){ function step_time_sync(){
logical_time = logical_time + 1 logical_time = logical_time + 1
sync_timer = sync_timer + 1 sync_timer = sync_timer + 1
log("Logical time now ", logical_time)
if(sync_timer < TIME_TO_SYNC){ if(sync_timer < TIME_TO_SYNC){
log(" SYNC ALGO ACTIVE time:", sync_timer) log(" SYNC ALGO ACTIVE time:", sync_timer)
cnt = 0 cnt = 0
@ -51,8 +52,7 @@ function step_time_sync(){
if(size(time_nei_table) > 0){ if(size(time_nei_table) > 0){
foreach(time_nei_table, function(key, value) { foreach(time_nei_table, function(key, value) {
if(value.time != 0){ if(value.time != 0){
#log("ForEach neigh : id ", key, " time ", value.time, " , age ", value.age, " , diffmax ", value.max) var local_offset = value.time - logical_time + value.age
var local_offset = value.time - logical_time - value.age
if(local_offset > 0){ if(local_offset > 0){
avg_offset = avg_offset + 1 * local_offset avg_offset = avg_offset + 1 * local_offset
cnt = cnt + 1 cnt = cnt + 1
@ -80,10 +80,8 @@ function step_time_sync(){
jumped = 0 jumped = 0
syncError=0 syncError=0
var mstr = {.time = (logical_time + COM_DELAY) , .max = (logical_time + COM_DELAY + diffMaxLogical) } var mstr = {.time = (logical_time + COM_DELAY) , .max = (logical_time + COM_DELAY + diffMaxLogical) }
#string.concat(string.tostring(logical_time + 1),",",string.tostring(logical_time + 1 + diffMaxLogical))
neighbors.broadcast("time_sync",mstr) neighbors.broadcast("time_sync",mstr)
} }
log("Logical time now ", logical_time)
} }
# Function to set sync timer to zero and reinitiate sync. algo # Function to set sync timer to zero and reinitiate sync. algo