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Docs for dsdl/uavcan/protocol/dynamic_node_id/server/220.AppendEntries.uavcan

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Pavel Kirienko
2015-05-27 11:06:23 +03:00
parent 75b8831f21
commit 89c8ed0cf1
1 changed files with 9 additions and 6 deletions
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dsdl/uavcan/protocol/dynamic_node_id/server/220.AppendEntries.uavcan
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@@ -4,11 +4,14 @@
# #
# #
# Given min election timeout and cluster size, the maximum request interval can be derived as follows: # Given min election timeout and cluster size, the maximum recommended request interval can be derived as follows:
# max request interval = (min election timeout) / 2 requests / (cluster size - 1) # max recommended request interval = (min election timeout) / 2 requests / (cluster size - 1)
# Obviously, request interval can be lower than that if needed, but not higher. # The equation assumes that the Leader requests one Follower at a time, so that there's at most one pending call
# at any moment. Such behavior is optimal as it creates uniform bus load, but it is actually implementation-specific.
# Obviously, request interval can be lower than that if needed, but higher values are not recommended as they may
# cause Followers to initiate premature elections in case of intensive frame losses or delays.
# #
# Real timeout is randomized in the range (MIN, MAX]. # Real timeout is randomized in the range (MIN, MAX], according to the Raft paper.
# #
uint16 DEFAULT_MIN_ELECTION_TIMEOUT_MS = 4000 uint16 DEFAULT_MIN_ELECTION_TIMEOUT_MS = 4000
uint16 DEFAULT_MAX_ELECTION_TIMEOUT_MS = 6000 uint16 DEFAULT_MAX_ELECTION_TIMEOUT_MS = 6000
@@ -19,8 +22,8 @@ uint8 prev_log_index
uint8 leader_commit uint8 leader_commit
# #
# Worst-case replication time can be computed as: # Worst-case replication time per Follower can be computed as:
# worst replication time = (127 log entries) * (2 trips of next_index) * (cluster size - 1) * (request interval) # worst replication time = (127 log entries) * (2 trips of next_index) * (request interval per Follower)
# #
Entry[<=1] entries Entry[<=1] entries