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Properly defined timeouts and max cluster size

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This commit is contained in:
Pavel Kirienko
2015-05-08 12:29:28 +03:00
parent a1ee2efea0
commit 1a640e6763
5 changed files with 50 additions and 31 deletions
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libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+21 -14
View File
@@ -870,19 +870,26 @@ void ClusterManager::resetAllServerIndices()
/*
* RaftCore
*/
void RaftCore::updateFollower(const MonotonicTime& current_time)
bool RaftCore::isActivityTimedOut() const
{
(void)current_time;
const int multiplier = static_cast<int>(getNode().getNodeID().get()) - 1;
const MonotonicDuration activity_timeout =
MonotonicDuration::fromUSec(base_activity_timeout_.toUSec() + update_interval_.toUSec() * multiplier);
return getNode().getMonotonicTime() > (last_activity_timestamp_ + activity_timeout);
}
void RaftCore::updateCandidate(const MonotonicTime& current_time)
void RaftCore::updateFollower()
{
(void)current_time;
}
void RaftCore::updateLeader(const MonotonicTime& current_time)
void RaftCore::updateCandidate()
{
}
void RaftCore::updateLeader()
{
(void)current_time;
propagateCommitIndex();
}
@@ -1244,7 +1251,7 @@ void RaftCore::handleRequestVoteResponse(const ServiceCallResult<RequestVote>& r
// I'm no fan of asynchronous programming. At all.
}
void RaftCore::handleTimerEvent(const TimerEvent& event)
void RaftCore::handleTimerEvent(const TimerEvent&)
{
if (cluster_.hadDiscoveryActivity())
{
@@ -1255,17 +1262,17 @@ void RaftCore::handleTimerEvent(const TimerEvent& event)
{
case ServerStateFollower:
{
updateFollower(event.real_time);
updateFollower();
break;
}
case ServerStateCandidate:
{
updateCandidate(event.real_time);
updateCandidate();
break;
}
case ServerStateLeader:
{
updateLeader(event.real_time);
updateLeader();
break;
}
default:
@@ -1320,18 +1327,18 @@ int RaftCore::init(uint8_t cluster_size)
{
return res;
}
append_entries_client_.setRequestTimeout(getUpdateInterval());
append_entries_client_.setRequestTimeout(update_interval_);
res = request_vote_client_.init();
if (res < 0)
{
return res;
}
request_vote_client_.setRequestTimeout(getUpdateInterval());
request_vote_client_.setRequestTimeout(update_interval_);
startPeriodic(getUpdateInterval());
startPeriodic(update_interval_);
trace(TraceRaftCoreInited, getUpdateInterval().toUSec());
trace(TraceRaftCoreInited, update_interval_.toUSec());
UAVCAN_ASSERT(res >= 0);
return 0;