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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/src/Mesh.cpp
+40 -1
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@@ -27,6 +27,35 @@ void Mesh::loop()
Dispatcher::loop();
}
void Mesh::maintenanceLoop()
{
Dispatcher::maintenanceLoop();
_contention.tick((uint32_t)_ms->getMillis());
}
void Mesh::extendPendingRetransmit(uint32_t hash32)
{
uint32_t now = (uint32_t)_ms->getMillis();
int total = _mgr->getOutboundTotal();
for (int i = 0; i < total; i++) {
Packet *pkt = _mgr->getOutboundByIdx(i);
if (pkt && pkt->isRouteFlood()
&& ContentionTracker::computePacketHash32(pkt) == hash32) {
uint32_t airtime = _radio->getEstAirtimeFor(pkt->getRawLength());
uint16_t headroom = _contention.getReactiveHeadroom(hash32, airtime);
if (headroom == 0) break;
uint32_t extra = _rng->nextInt(0, (int)headroom + 1);
/* Reschedule from NOW, not from the original EMA-based schedule.
* Hearing a dupe means the channel was just used — defer from
* this moment, don't compound on top of the base delay. */
_mgr->rescheduleOutbound(i, now + extra);
_contention.addReactiveExtension(hash32, (uint16_t)extra);
notifyTxQueued(extra);
break;
}
}
}
bool Mesh::allowPacketForward(const Packet *packet)
{
(void)packet;
@@ -36,7 +65,7 @@ bool Mesh::allowPacketForward(const Packet *packet)
uint32_t Mesh::getRetransmitDelay(const Packet *packet)
{
uint32_t t = (_radio->getEstAirtimeFor(packet->getRawLength()) * 52 / 50) / 2;
return _rng->nextInt(0, 7) * t;
return _rng->nextInt(0, 5) * t;
}
uint32_t Mesh::getCADFailRetryDelay() const
@@ -62,6 +91,8 @@ DispatcherAction Mesh::routeRecvPacket(Packet *packet)
// append this node's hash to 'path'
self_id.copyHashTo(&packet->path[n * packet->getPathHashSize()], packet->getPathHashSize());
packet->setPathHashCount(n + 1);
uint32_t h = ContentionTracker::computePacketHash32(packet);
_contention.trackRetransmit(h, (uint32_t)_ms->getMillis());
uint32_t d = getRetransmitDelay(packet);
return ACTION_RETRANSMIT_DELAYED(packet->getPathHashCount(), d); // give priority to closer sources
}
@@ -170,6 +201,14 @@ DispatcherAction Mesh::onRecvPacket(Packet *pkt)
if (pkt->isRouteFlood() && filterRecvFloodPacket(pkt)) return ACTION_RELEASE;
/* Record dupes for contention tracking + reactive backoff */
if (pkt->isRouteFlood()) {
uint32_t h = ContentionTracker::computePacketHash32(pkt);
if (_contention.recordDupeIfTracked(h, (uint32_t)_ms->getMillis())) {
extendPendingRetransmit(h);
}
}
DispatcherAction action = ACTION_RELEASE;
switch (pkt->getPayloadType()) {