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reactive collision avoidance

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liquidraver committed 2026-03-11 12:08:48 +01:00
1 parent 61909c62de
commit d45fbf7027
17 files changed
+439 -68
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zephcore/helpers/CommonCLI.cpp
+30 -25
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@@ -82,7 +82,7 @@ void CommonCLI::loadPrefs(const char* path) {
ok = ok && prefs_read(&file, &_prefs->tx_delay_factor, sizeof(_prefs->tx_delay_factor)); // 84
ok = ok && prefs_read(&file, &_prefs->guest_password[0], sizeof(_prefs->guest_password)); // 88
ok = ok && prefs_read(&file, &_prefs->direct_tx_delay_factor, sizeof(_prefs->direct_tx_delay_factor)); // 104
ok = ok && prefs_read(&file, pad, 4); // 108
ok = ok && prefs_read(&file, &_prefs->backoff_multiplier, sizeof(_prefs->backoff_multiplier)); // 108
ok = ok && prefs_read(&file, &_prefs->sf, sizeof(_prefs->sf)); // 112
ok = ok && prefs_read(&file, &_prefs->cr, sizeof(_prefs->cr)); // 113
ok = ok && prefs_read(&file, &_prefs->allow_read_only, sizeof(_prefs->allow_read_only)); // 114
@@ -122,6 +122,11 @@ void CommonCLI::loadPrefs(const char* path) {
_prefs->rx_delay_base = constrain(_prefs->rx_delay_base, 0.0f, 20.0f);
_prefs->tx_delay_factor = constrain(_prefs->tx_delay_factor, 0.0f, 2.0f);
_prefs->direct_tx_delay_factor = constrain(_prefs->direct_tx_delay_factor, 0.0f, 2.0f);
/* Migrate uninitialized pad bytes (0.0f or NaN) to default 0.5 */
if (_prefs->backoff_multiplier == 0.0f || _prefs->backoff_multiplier != _prefs->backoff_multiplier) {
_prefs->backoff_multiplier = 0.5f;
}
_prefs->backoff_multiplier = constrain(_prefs->backoff_multiplier, 0.0f, 2.0f);
/* Migrate old AF multiplier (0-9) to duty cycle percentage (0-99) */
if (_prefs->airtime_factor > 0.0f && _prefs->airtime_factor <= 9.0f) {
_prefs->airtime_factor *= 10.0f;
@@ -179,7 +184,7 @@ void CommonCLI::savePrefs(const char* path) {
fs_write(&file, &_prefs->tx_delay_factor, sizeof(_prefs->tx_delay_factor));
fs_write(&file, &_prefs->guest_password[0], sizeof(_prefs->guest_password));
fs_write(&file, &_prefs->direct_tx_delay_factor, sizeof(_prefs->direct_tx_delay_factor));
fs_write(&file, pad, 4);
fs_write(&file, &_prefs->backoff_multiplier, sizeof(_prefs->backoff_multiplier));
fs_write(&file, &_prefs->sf, sizeof(_prefs->sf));
fs_write(&file, &_prefs->cr, sizeof(_prefs->cr));
fs_write(&file, &_prefs->allow_read_only, sizeof(_prefs->allow_read_only));
@@ -417,13 +422,18 @@ void CommonCLI::handleCommand(uint32_t sender_timestamp, const char* command, ch
(double)_prefs->freq, (double)_prefs->bw,
(uint32_t)_prefs->sf, (uint32_t)_prefs->cr);
} else if (memcmp(config, "rxdelay", 7) == 0) {
snprintf(reply, CLI_REPLY_SIZE, "> %.2f", (double)_prefs->rx_delay_base);
snprintf(reply, CLI_REPLY_SIZE, "> adaptive (rxdelay deprecated)");
} else if (memcmp(config, "txdelay", 7) == 0) {
snprintf(reply, CLI_REPLY_SIZE, "> %.2f", (double)_prefs->tx_delay_factor);
float est = _callbacks->getContentionEstimate();
float ff = _callbacks->getFloodDelayFactor();
snprintf(reply, CLI_REPLY_SIZE, "> adaptive (est=%.1f flood=%.2f)",
(double)est, (double)ff);
} else if (memcmp(config, "flood.max", 9) == 0) {
snprintf(reply, CLI_REPLY_SIZE, "> %u", (uint32_t)_prefs->flood_max);
} else if (memcmp(config, "direct.txdelay", 14) == 0) {
snprintf(reply, CLI_REPLY_SIZE, "> %.2f", (double)_prefs->direct_tx_delay_factor);
snprintf(reply, CLI_REPLY_SIZE, "> adaptive (direct.txdelay deprecated)");
} else if (memcmp(config, "backoff.multiplier", 18) == 0) {
snprintf(reply, CLI_REPLY_SIZE, "> %.2f", (double)_prefs->backoff_multiplier);
} else if (memcmp(config, "owner.info", 10) == 0) {
*reply++ = '>';
*reply++ = ' ';
@@ -578,23 +588,13 @@ void CommonCLI::handleCommand(uint32_t sender_timestamp, const char* command, ch
savePrefs();
strcpy(reply, "OK");
} else if (memcmp(config, "rxdelay ", 8) == 0) {
float db = atof(&config[8]);
if (db >= 0) {
_prefs->rx_delay_base = db;
savePrefs();
strcpy(reply, "OK");
} else {
strcpy(reply, "Error, cannot be negative");
}
_prefs->rx_delay_base = atof(&config[8]);
savePrefs();
strcpy(reply, "OK (ignored: rxdelay is now adaptive)");
} else if (memcmp(config, "txdelay ", 8) == 0) {
float f = atof(&config[8]);
if (f >= 0) {
_prefs->tx_delay_factor = f;
savePrefs();
strcpy(reply, "OK");
} else {
strcpy(reply, "Error, cannot be negative");
}
_prefs->tx_delay_factor = atof(&config[8]);
savePrefs();
strcpy(reply, "OK (ignored: txdelay is now adaptive)");
} else if (memcmp(config, "flood.max ", 10) == 0) {
uint8_t m = atoi(&config[10]);
if (m <= 64) {
@@ -605,13 +605,18 @@ void CommonCLI::handleCommand(uint32_t sender_timestamp, const char* command, ch
strcpy(reply, "Error, max 64");
}
} else if (memcmp(config, "direct.txdelay ", 15) == 0) {
float f = atof(&config[15]);
if (f >= 0) {
_prefs->direct_tx_delay_factor = f;
_prefs->direct_tx_delay_factor = atof(&config[15]);
savePrefs();
strcpy(reply, "OK (ignored: direct.txdelay is now adaptive)");
} else if (memcmp(config, "backoff.multiplier ", 19) == 0) {
float f = atof(&config[19]);
if (f >= 0.0f && f <= 2.0f) {
_prefs->backoff_multiplier = f;
_callbacks->setBackoffMultiplier(f);
savePrefs();
strcpy(reply, "OK");
} else {
strcpy(reply, "Error, cannot be negative");
strcpy(reply, "Error, range 0.0-2.0");
}
} else if (memcmp(config, "owner.info ", 11) == 0) {
config += 11;