adapted syc algo to robots
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@ -67,7 +67,7 @@ function barrier_wait(threshold, transf, resumef, bc) {
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barrier = nil
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timeW = 0
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BVMSTATE = resumef
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} else if(timeW % 10 == 0 and bc > 0)
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} else if(timeW % 50 == 0 and bc > 0)
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neighbors.broadcast("cmd", bc)
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timeW = timeW+1
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@ -5,7 +5,8 @@ logical_time = 0
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# sync algo. constants
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TIME_JUMP_THR = 5
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TIME_TO_FORGET = 20
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TIME_TO_SYNC = 100
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TIME_TO_SYNC = 200
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COM_DELAY = 3
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# table to store neighbor time data
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time_nei_table = {}
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# Algo. global parameters
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@ -18,20 +19,23 @@ sync_timer = 0
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function init_time_sync(){
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neighbors.listen("time_sync",
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function(vid, value, rid) {
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log(" TIME SYNC Got (", vid, ",", value, ") #", rid)
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var msg = string.split(value,",")
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var msg_time = string.toint(msg[0])
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var msg_max = string.toint(msg[1])
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#log("msg: 1: ", msg_time, " 2: ", msg_max )
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diffMaxLogical = math.max(diffMaxLogical,msg_max-logical_time)
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var time_offset = msg_time - logical_time
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if(math.abs(time_offset) > math.abs(syncError)) syncError = time_offset
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if(time_offset > TIME_JUMP_THR){
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logical_time = logical_time + time_offset
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diffMaxLogical = math.max(diffMaxLogical-time_offset,0)
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jumped = 1
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if(value != nil){
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log(" TIME SYNC Got (", vid, ",", value.time , " , ", value.max, ") #", rid)
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var msg_time = value.time
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var msg_max = value.max
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#log("msg: 1: ", msg_time, " 2: ", msg_max )
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if(msg_time != nil and msg_max != nil){
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diffMaxLogical = math.max(diffMaxLogical,msg_max-logical_time)
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var time_offset = msg_time - logical_time
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if(math.abs(time_offset) > math.abs(syncError)) syncError = time_offset
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if(time_offset > TIME_JUMP_THR){
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logical_time = logical_time + time_offset
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diffMaxLogical = math.max(diffMaxLogical-time_offset,0)
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jumped = 1
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}
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time_nei_table[rid] = { .time=msg_time, .age=0, .max=msg_max}
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}
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}
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time_nei_table[rid] = { .time=msg_time, .age=0, .max=msg_max}
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}
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)
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}
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@ -44,36 +48,39 @@ function step_time_sync(){
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log(" SYNC ALGO ACTIVE time:", sync_timer)
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cnt = 0
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avg_offset = 0
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foreach(time_nei_table, function(key, value) {
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if(value != nil){
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#log("ForEach neigh : id ", key, " time ", value.time, " , age ", value.age, " , diffmax ", value.max)
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var local_offset = value.time - logical_time - value.age
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if(local_offset > 0){
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avg_offset = avg_offset + 1 * local_offset
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cnt = cnt + 1
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}
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else{
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if(math.abs(local_offset)<TIME_JUMP_THR){
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avg_offset = avg_offset + local_offset
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cnt = cnt + 1
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}
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}
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if(size(time_nei_table) > 0){
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foreach(time_nei_table, function(key, value) {
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if(value.time != 0){
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#log("ForEach neigh : id ", key, " time ", value.time, " , age ", value.age, " , diffmax ", value.max)
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var local_offset = value.time - logical_time - value.age
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if(local_offset > 0){
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avg_offset = avg_offset + 1 * local_offset
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cnt = cnt + 1
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}
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else{
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if(math.abs(local_offset)<TIME_JUMP_THR){
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avg_offset = avg_offset + local_offset
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cnt = cnt + 1
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}
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}
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if(value.age > TIME_TO_FORGET)
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time_nei_table[key] = nil
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value.age = value.age + 1
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if(value.age > TIME_TO_FORGET)
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value.time = 0
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value.age = value.age + 1
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}
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})
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if(cnt > 0 and jumped != 1){
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var correction = math.ceil(avg_offset / (cnt + 1) )
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if(math.abs(correction) < TIME_JUMP_THR){
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logical_time = logical_time + correction
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}
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}
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})
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if(cnt > 0 and jumped != 1){
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var correction = math.ceil(avg_offset / (cnt + 1) )
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if(math.abs(correction) < TIME_JUMP_THR){
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logical_time = logical_time + correction
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}
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}
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jumped = 0
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syncError=0
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var mstr = string.concat(string.tostring(logical_time + 1),",",string.tostring(logical_time + 1 + diffMaxLogical))
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var mstr = {.time = (logical_time + COM_DELAY) , .max = (logical_time + COM_DELAY + diffMaxLogical) }
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#string.concat(string.tostring(logical_time + 1),",",string.tostring(logical_time + 1 + diffMaxLogical))
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neighbors.broadcast("time_sync",mstr)
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}
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log("Logical time now ", logical_time)
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