Merge TinyOS 2.1.1 into master.

[tinyos-2.x.git] / tos / lib / net / ctp / CtpRoutingEngineP.nc

diff --git a/tos/lib/net/ctp/CtpRoutingEngineP.nc b/tos/lib/net/ctp/CtpRoutingEngineP.nc
index 342f2f53d52360a21c53579416adb7a65a0bf6d4..4657a00f20ccffc96657bcd4079e827f207a80b0 100644 (file)
--- a/tos/lib/net/ctp/CtpRoutingEngineP.nc
+++ b/tos/lib/net/ctp/CtpRoutingEngineP.nc
@@ -151,13 +151,6 @@ implementation {
     uint32_t parentChanges;
     /* end statistics */
 
-    uint32_t routeUpdateTimerCount;
-
-    // Maximimum it takes to hear four beacons
-    enum {
-      DEATH_TEST_INTERVAL = (maxInterval * 4) / (BEACON_INTERVAL / 1024),
-    };
-    
     // forward declarations
     void routingTableInit();
     uint8_t routingTableFind(am_addr_t);
@@ -199,7 +192,6 @@ implementation {
 
     command error_t Init.init() {
         uint8_t maxLength;
-        routeUpdateTimerCount = 0;
         radioOn = FALSE;
         running = FALSE;
         parentChanges = 0;
@@ -250,16 +242,9 @@ implementation {
     /* Is this quality measure better than the minimum threshold? */
     // Implemented assuming quality is EETX
     bool passLinkEtxThreshold(uint16_t etx) {
-       return TRUE;
         return (etx < ETX_THRESHOLD);
     }
 
-    /* Converts the output of the link estimator to path metric
-     * units, that can be *added* to form path metric measures */
-    uint16_t evaluateEtx(uint16_t quality) {
-        //dbg("TreeRouting","%s %d -> %d\n",__FUNCTION__,quality, quality+10);
-        return (quality + 10);
-    }
 
     /* updates the routing information, using the info that has been received
      * from neighbor beacons. Two things can cause this info to change: 
@@ -294,11 +279,11 @@ implementation {
                   i, entry->neighbor, entry->info.parent);
               continue;
             }
-            /* Compute this neighbor's path metric */
-            linkEtx = evaluateEtx(call LinkEstimator.getLinkQuality(entry->neighbor));
+
+            linkEtx = call LinkEstimator.getLinkQuality(entry->neighbor);
             dbg("TreeRouting", 
-                "routingTable[%d]: neighbor: [id: %d parent: %d etx: %d]\n",  
-                i, entry->neighbor, entry->info.parent, linkEtx);
+                "routingTable[%d]: neighbor: [id: %d parent: %d etx: %d retx: %d]\n",  
+                i, entry->neighbor, entry->info.parent, linkEtx, entry->info.etx);
             pathEtx = linkEtx + entry->info.etx;
             /* Operations specific to the current parent */
             if (entry->neighbor == routeInfo.parent) {
@@ -321,6 +306,7 @@ implementation {
             }
             
             if (pathEtx < minEtx) {
+             dbg("TreeRouting", "   best is %d, setting to %d\n", pathEtx, entry->neighbor);
                 minEtx = pathEtx;
                 best = entry;
             }  
@@ -354,11 +340,15 @@ implementation {
                 call LinkEstimator.unpinNeighbor(routeInfo.parent);
                 call LinkEstimator.pinNeighbor(best->neighbor);
                 call LinkEstimator.clearDLQ(best->neighbor);
-                atomic {
+
+               atomic {
                     routeInfo.parent = best->neighbor;
                     routeInfo.etx = best->info.etx;
                     routeInfo.congested = best->info.congested;
                 }
+               if (currentEtx - minEtx > 20) {
+                 call CtpInfo.triggerRouteUpdate();
+               }
             }
         }    
 
@@ -403,8 +393,7 @@ implementation {
             beaconMsg->etx = routeInfo.etx;
             beaconMsg->options |= CTP_OPT_PULL;
         } else {
-            beaconMsg->etx = routeInfo.etx +
-                                evaluateEtx(call LinkEstimator.getLinkQuality(routeInfo.parent));
+            beaconMsg->etx = routeInfo.etx + call LinkEstimator.getLinkQuality(routeInfo.parent);
         }
 
         dbg("TreeRouting", "%s parent: %d etx: %d\n",
@@ -547,8 +536,7 @@ implementation {
        if (state_is_root == 1) {
          *etx = 0;
        } else {
-         // path etx = etx(parent) + etx(link to the parent)
-         *etx = routeInfo.etx + evaluateEtx(call LinkEstimator.getLinkQuality(routeInfo.parent));
+         *etx = routeInfo.etx + call LinkEstimator.getLinkQuality(routeInfo.parent);
        }
         return SUCCESS;
     }
@@ -631,26 +619,20 @@ implementation {
     }
 
 
-  /* This should see if the node should be inserted in the table.
-   * If the white_bit is set, this means the LL believes this is a good
-   * first hop link. 
-   * The link will be recommended for insertion if it is better* than some
+  /* The link will be recommended for insertion if it is better* than some
    * link in the routing table that is not our parent.
    * We are comparing the path quality up to the node, and ignoring the link
    * quality from us to the node. This is because of a couple of things:
-   *   1. because of the white bit, we assume that the 1-hop to the candidate
-   *      link is good (say, etx=1)
+   *   1. we expect this call only for links with white bit set
    *   2. we are being optimistic to the nodes in the table, by ignoring the
    *      1-hop quality to them (which means we are assuming it's 1 as well)
    *      This actually sets the bar a little higher for replacement
    *   3. this is faster
-   *   4. it doesn't require the link estimator to have stabilized on a link
    */
-    event bool CompareBit.shouldInsert(message_t *msg, void* payload, uint8_t len, bool white_bit) {
+    event bool CompareBit.shouldInsert(message_t *msg, void* payload, uint8_t len) {
         
         bool found = FALSE;
         uint16_t pathEtx;
-        //uint16_t linkEtx = evaluateEtx(0);
         uint16_t neighEtx;
         int i;
         routing_table_entry* entry;
@@ -679,7 +661,6 @@ implementation {
             if (entry->neighbor == routeInfo.parent)
                 continue;
             neighEtx = entry->info.etx;
-            //neighEtx = evaluateEtx(call LinkEstimator.getLinkQuality(entry->neighbor));
             found |= (pathEtx < neighEtx); 
         }
         return found;
@@ -718,7 +699,7 @@ implementation {
     error_t routingTableUpdateEntry(am_addr_t from, am_addr_t parent, uint16_t etx)    {
         uint8_t idx;
         uint16_t  linkEtx;
-        linkEtx = evaluateEtx(call LinkEstimator.getLinkQuality(from));
+        linkEtx = call LinkEstimator.getLinkQuality(from);
 
         idx = routingTableFind(from);
         if (idx == routingTableSize) {
@@ -818,7 +799,7 @@ implementation {
     command uint16_t      CtpRoutingPacket.getEtx(message_t* msg) {
       return getHeader(msg)->etx;
     }
-    command void          CtpRoutingPacket.setEtx(message_t* msg, uint8_t etx) {
+    command void          CtpRoutingPacket.setEtx(message_t* msg, uint16_t etx) {
       getHeader(msg)->etx = etx;
     }