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reactive collision avoidance

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liquidraver
2026-03-11 12:08:48 +01:00
parent 61909c62de
commit d45fbf7027
17 changed files with 439 additions and 68 deletions
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zephcore/app/RepeaterMesh.cpp
+16 -25
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@@ -485,35 +485,25 @@ void RepeaterMesh::logTxFail(mesh::Packet* pkt, int len) {
}
}
/* Fast base^x approximation using IEEE 754 float bit tricks.
* Avoids linking pow()/powf() (~1.9KB). Accuracy ~5% which is
* more than sufficient for RX delay jitter calculation. */
static float fast_powf(float base, float exp)
{
/* log2(base) via IEEE 754: float bits ≈ 2^23 * (log2(x) + 127) */
union { float f; uint32_t i; } bx = { .f = base };
float log2_base = (float)(int32_t)(bx.i - 0x3F800000) * (1.0f / 8388608.0f); /* 1/2^23 */
/* exp2(exp * log2_base) via IEEE 754 */
float y = exp * log2_base;
union { float f; uint32_t i; } ex;
ex.i = (uint32_t)((int32_t)(y * 8388608.0f) + 0x3F800000);
return ex.f;
}
int RepeaterMesh::calcRxDelay(float score, uint32_t air_time) const {
if (_prefs.rx_delay_base <= 0.0f) return 0;
return (int)((fast_powf(_prefs.rx_delay_base, 0.85f - score) - 1.0f) * air_time);
}
uint32_t RepeaterMesh::getRetransmitDelay(const mesh::Packet* packet) {
uint32_t t = (_radio->getEstAirtimeFor(packet->getPathByteLen() + packet->payload_len + 2) * _prefs.tx_delay_factor);
return getRNG()->nextInt(0, 7 * t + 1);
float factor = getContentionTracker().getFloodDelayFactor();
uint32_t t = (uint32_t)(_radio->getEstAirtimeFor(
packet->getPathByteLen() + packet->payload_len + 2) * factor);
uint32_t max_jitter = 5 * t;
/* Cap jitter to 2000ms to avoid excessive latency in very dense areas.
* Reactive backoff will fine-tune further if needed. */
if (max_jitter > 2000) max_jitter = 2000;
/* Floor: give downstream nodes time to finish RX processing
* and return to RX mode before we TX (~20ms settle) */
return 20 + getRNG()->nextInt(0, max_jitter + 1);
}
uint32_t RepeaterMesh::getDirectRetransmitDelay(const mesh::Packet* packet) {
uint32_t t = (_radio->getEstAirtimeFor(packet->getPathByteLen() + packet->payload_len + 2) * _prefs.direct_tx_delay_factor);
return getRNG()->nextInt(0, 7 * t + 1);
uint32_t t = _radio->getEstAirtimeFor(
packet->getPathByteLen() + packet->payload_len + 2);
/* Floor: give downstream nodes time to finish RX processing
* and return to RX mode before we TX (~20ms settle + jitter) */
return 20 + getRNG()->nextInt(0, t / 10 + 1);
}
bool RepeaterMesh::filterRecvFloodPacket(mesh::Packet* pkt) {
@@ -816,6 +806,7 @@ void RepeaterMesh::begin(RepeaterDataStore* store) {
* NOTE: Identity is loaded in main_repeater.cpp before begin() is called,
* so we skip loading it here (self_id should already be set). */
_store->loadPrefs(_prefs);
_contention.setBackoffMultiplier(_prefs.backoff_multiplier);
acl.load(_store->getAclPath(), self_id);
region_map.load(_store->getRegionsPath());