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Raft - minor timing fix, no changes to the logic

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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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libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
+2 -5
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@@ -156,10 +156,7 @@ private:
bool isActivityTimedOut() const bool isActivityTimedOut() const
{ {
const int multiplier = static_cast<int>(getNode().getNodeID().get()) - 1; const int multiplier = static_cast<int>(getNode().getNodeID().get()) - 1;
const MonotonicDuration activity_timeout = base_activity_timeout_ + update_interval_ * multiplier;
const MonotonicDuration activity_timeout =
MonotonicDuration::fromUSec(base_activity_timeout_.toUSec() + update_interval_.toUSec() * multiplier);
return getNode().getMonotonicTime() > (last_activity_timestamp_ + activity_timeout); return getNode().getMonotonicTime() > (last_activity_timestamp_ + activity_timeout);
} }
@@ -798,7 +795,7 @@ public:
/* /*
* Initializing state variables * Initializing state variables
*/ */
last_activity_timestamp_ = getNode().getMonotonicTime(); last_activity_timestamp_ = getNode().getMonotonicTime() + update_interval_;
active_mode_ = true; active_mode_ = true;
server_state_ = ServerStateFollower; server_state_ = ServerStateFollower;
next_server_index_ = 0; next_server_index_ = 0;