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Raft - minor timing fix, no changes to the logic

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This commit is contained in:
Pavel Kirienko 2015-05-24 21:09:56 +03:00
parent b7f7defd85
commit eb6102a9d4
1 changed files with 2 additions and 5 deletions
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7
libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
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@ -156,10 +156,7 @@ private:
bool isActivityTimedOut() const
{
const int multiplier = static_cast<int>(getNode().getNodeID().get()) - 1;
const MonotonicDuration activity_timeout =
MonotonicDuration::fromUSec(base_activity_timeout_.toUSec() + update_interval_.toUSec() * multiplier);
const MonotonicDuration activity_timeout = base_activity_timeout_ + update_interval_ * multiplier;
return getNode().getMonotonicTime() > (last_activity_timestamp_ + activity_timeout);
}
@ -798,7 +795,7 @@ public:
/*
* Initializing state variables
*/
last_activity_timestamp_ = getNode().getMonotonicTime();
last_activity_timestamp_ = getNode().getMonotonicTime() + update_interval_;
active_mode_ = true;
server_state_ = ServerStateFollower;
next_server_index_ = 0;