adjusted parameters for GLOBECOM publication

camera_streaming/camera_stream.py

@@ -66,7 +66,7 @@ class CameraStream(Node, MissionExecutor):
             qos_profile=CUSTOM_QOS,
             # qos_profile=QoSPresetProfiles.get_from_short_key('SYSTEM_DEFAULT')
         )
-        self.timer_period = 0.25
+        self.timer_period = 0.5
         self.timer = None
         self.offset = self.timer_period/8 * int(self.hosts[self.hostname])
         self.t_start = datetime.now().timestamp()
@@ -135,7 +135,8 @@ class CameraStream(Node, MissionExecutor):
     def start_mission_at_timestamp(self, timestamp):
         super().start_mission_at_timestamp(
             timestamp+timedelta(
-                seconds=20*self.timer_period * int(self.hosts[self.hostname])
+                seconds=1*self.timer_period * int(self.hosts[self.hostname])
+                + self.offset
             )
         )
         self.t_start = timestamp.timestamp()
@@ -145,13 +146,18 @@ class CameraStream(Node, MissionExecutor):
         self.t_end = timestamp.timestamp() - self.t_start
         self.constraints = {
             'RATE': simplesim.create_rate_constraint_violations(
-                timeslot_length=1.,
-                delta=0.6,
-            ),
-            'TPUT': simplesim.create_throughput_constraint_violations(
-                throughput=10.05,
-                timeslot_length=1.,
+                timeslot_length=0.5,
+                delta=0.5,
+                alpha=12,
+                eta0=0.0001,  # -20
+                coef_init=[[1.37]],
+                scale=1,  # 4
+                pessymistic_latency=2.5,
             ),
+            # 'TPUT': simplesim.create_throughput_constraint_violations(
+            #     throughput=50.05,
+            #     timeslot_length=0.3,
+            # ),
         }
 
         self.agent = EstimatingAgent(
@@ -166,10 +172,10 @@ class CameraStream(Node, MissionExecutor):
             now_func=lambda: time.time() - self.t_start,
             agents={'base_station': lambda t: set()},
             future_messages_num=10,
-            window_size=0.1,
+            window_size=0.5,
             simulations_num=200,
             constraints=self.constraints,
-            limit_history=15,
+            limit_history=10,
         )
 
     def camera_received_callback(self, msg_metadata):
@@ -189,9 +195,8 @@ class CameraStream(Node, MissionExecutor):
         self.agent.received(native_message)
 
     def start_mission(self, timestamp):
-        self.get_logger().info('Mission started')
-        time.sleep(self.offset)
         self.timer = self.create_timer(self.timer_period, self.timer_callback)
+        self.get_logger().info('Mission started')
         # self.movement = threading.Thread(
         #     target=self.move
         # )
@@ -221,10 +226,9 @@ class CameraStream(Node, MissionExecutor):
         self.timer_period = 1 / float(params.get('fps', 2))
 
     def timer_callback(self):
-        print("TIMER CALLBACK", datetime.now().timestamp())
         if abs(
-            (datetime.now().timestamp() - self.t_start - 0.01)
-            % self.timer_period - self.offset
+            (datetime.now().timestamp() - self.t_start + 0.01 - self.offset)
+            % self.timer_period
         ) > 0.02:
             print("WARN: timer callback called out of sync, skipping")
             return

camera_streaming/utility.py

@@ -96,6 +96,7 @@ class UtilityVideo(Utility):
         t_l = t_rcv + 0.33
 
         red = m.data.red
+        red = 0.9
         log_part = 0
 
         if t_end < t_s or t_start > t_l: