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adapted syc algo to robots

This commit is contained in:
vivek-shankar 2018-07-11 23:18:35 -04:00
parent 7261aabc40
commit d3f0299b7e
2 changed files with 47 additions and 40 deletions
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2
buzz_scripts/include/act/barrier.bzz
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@ -67,7 +67,7 @@ function barrier_wait(threshold, transf, resumef, bc) {
barrier = nil barrier = nil
timeW = 0 timeW = 0
BVMSTATE = resumef BVMSTATE = resumef
} else if(timeW % 10 == 0 and bc > 0) } else if(timeW % 50 == 0 and bc > 0)
neighbors.broadcast("cmd", bc) neighbors.broadcast("cmd", bc)
timeW = timeW+1 timeW = timeW+1

85
buzz_scripts/include/timesync.bzz
View File

@ -5,7 +5,8 @@ logical_time = 0
# sync algo. constants # sync algo. constants
TIME_JUMP_THR = 5 TIME_JUMP_THR = 5
TIME_TO_FORGET = 20 TIME_TO_FORGET = 20
TIME_TO_SYNC = 100 TIME_TO_SYNC = 200
COM_DELAY = 3
# table to store neighbor time data # table to store neighbor time data
time_nei_table = {} time_nei_table = {}
# Algo. global parameters # Algo. global parameters
@ -18,20 +19,23 @@ sync_timer = 0
function init_time_sync(){ function init_time_sync(){
neighbors.listen("time_sync", neighbors.listen("time_sync",
function(vid, value, rid) { function(vid, value, rid) {
log(" TIME SYNC Got (", vid, ",", value, ") #", rid) if(value != nil){
var msg = string.split(value,",") log(" TIME SYNC Got (", vid, ",", value.time , " , ", value.max, ") #", rid)
var msg_time = string.toint(msg[0]) var msg_time = value.time
var msg_max = string.toint(msg[1]) var msg_max = value.max
#log("msg: 1: ", msg_time, " 2: ", msg_max ) #log("msg: 1: ", msg_time, " 2: ", msg_max )
diffMaxLogical = math.max(diffMaxLogical,msg_max-logical_time) if(msg_time != nil and msg_max != nil){
var time_offset = msg_time - logical_time diffMaxLogical = math.max(diffMaxLogical,msg_max-logical_time)
if(math.abs(time_offset) > math.abs(syncError)) syncError = time_offset var time_offset = msg_time - logical_time
if(time_offset > TIME_JUMP_THR){ if(math.abs(time_offset) > math.abs(syncError)) syncError = time_offset
logical_time = logical_time + time_offset if(time_offset > TIME_JUMP_THR){
diffMaxLogical = math.max(diffMaxLogical-time_offset,0) logical_time = logical_time + time_offset
jumped = 1 diffMaxLogical = math.max(diffMaxLogical-time_offset,0)
jumped = 1
}
time_nei_table[rid] = { .time=msg_time, .age=0, .max=msg_max}
}
} }
time_nei_table[rid] = { .time=msg_time, .age=0, .max=msg_max}
} }
) )
} }
@ -44,36 +48,39 @@ function step_time_sync(){
log(" SYNC ALGO ACTIVE time:", sync_timer) log(" SYNC ALGO ACTIVE time:", sync_timer)
cnt = 0 cnt = 0
avg_offset = 0 avg_offset = 0
foreach(time_nei_table, function(key, value) { if(size(time_nei_table) > 0){
if(value != nil){ foreach(time_nei_table, function(key, value) {
#log("ForEach neigh : id ", key, " time ", value.time, " , age ", value.age, " , diffmax ", value.max) if(value.time != 0){
var local_offset = value.time - logical_time - value.age #log("ForEach neigh : id ", key, " time ", value.time, " , age ", value.age, " , diffmax ", value.max)
if(local_offset > 0){ var local_offset = value.time - logical_time - value.age
avg_offset = avg_offset + 1 * local_offset if(local_offset > 0){
cnt = cnt + 1 avg_offset = avg_offset + 1 * local_offset
} cnt = cnt + 1
else{ }
if(math.abs(local_offset)<TIME_JUMP_THR){ else{
avg_offset = avg_offset + local_offset if(math.abs(local_offset)<TIME_JUMP_THR){
cnt = cnt + 1 avg_offset = avg_offset + local_offset
} cnt = cnt + 1
} }
}
if(value.age > TIME_TO_FORGET) if(value.age > TIME_TO_FORGET)
time_nei_table[key] = nil value.time = 0
value.age = value.age + 1
value.age = value.age + 1
}
})
if(cnt > 0 and jumped != 1){
var correction = math.ceil(avg_offset / (cnt + 1) )
if(math.abs(correction) < TIME_JUMP_THR){
logical_time = logical_time + correction
}
} }
})
if(cnt > 0 and jumped != 1){
var correction = math.ceil(avg_offset / (cnt + 1) )
if(math.abs(correction) < TIME_JUMP_THR){
logical_time = logical_time + correction
}
} }
jumped = 0 jumped = 0
syncError=0 syncError=0
var mstr = string.concat(string.tostring(logical_time + 1),",",string.tostring(logical_time + 1 + 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) log("Logical time now ", logical_time)