Commit 1186226c authored by Barcis, Michal's avatar Barcis, Michal
Browse files

adjusted parameters for GLOBECOM publication

parent fb310bf0
...@@ -66,7 +66,7 @@ class CameraStream(Node, MissionExecutor): ...@@ -66,7 +66,7 @@ class CameraStream(Node, MissionExecutor):
qos_profile=CUSTOM_QOS, qos_profile=CUSTOM_QOS,
# qos_profile=QoSPresetProfiles.get_from_short_key('SYSTEM_DEFAULT') # qos_profile=QoSPresetProfiles.get_from_short_key('SYSTEM_DEFAULT')
) )
self.timer_period = 0.25 self.timer_period = 0.5
self.timer = None self.timer = None
self.offset = self.timer_period/8 * int(self.hosts[self.hostname]) self.offset = self.timer_period/8 * int(self.hosts[self.hostname])
self.t_start = datetime.now().timestamp() self.t_start = datetime.now().timestamp()
...@@ -135,7 +135,8 @@ class CameraStream(Node, MissionExecutor): ...@@ -135,7 +135,8 @@ class CameraStream(Node, MissionExecutor):
def start_mission_at_timestamp(self, timestamp): def start_mission_at_timestamp(self, timestamp):
super().start_mission_at_timestamp( super().start_mission_at_timestamp(
timestamp+timedelta( 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() self.t_start = timestamp.timestamp()
...@@ -145,13 +146,18 @@ class CameraStream(Node, MissionExecutor): ...@@ -145,13 +146,18 @@ class CameraStream(Node, MissionExecutor):
self.t_end = timestamp.timestamp() - self.t_start self.t_end = timestamp.timestamp() - self.t_start
self.constraints = { self.constraints = {
'RATE': simplesim.create_rate_constraint_violations( 'RATE': simplesim.create_rate_constraint_violations(
timeslot_length=1., timeslot_length=0.5,
delta=0.6, delta=0.5,
), alpha=12,
'TPUT': simplesim.create_throughput_constraint_violations( eta0=0.0001, # -20
throughput=10.05, coef_init=[[1.37]],
timeslot_length=1., scale=1, # 4
pessymistic_latency=2.5,
), ),
# 'TPUT': simplesim.create_throughput_constraint_violations(
# throughput=50.05,
# timeslot_length=0.3,
# ),
} }
self.agent = EstimatingAgent( self.agent = EstimatingAgent(
...@@ -166,10 +172,10 @@ class CameraStream(Node, MissionExecutor): ...@@ -166,10 +172,10 @@ class CameraStream(Node, MissionExecutor):
now_func=lambda: time.time() - self.t_start, now_func=lambda: time.time() - self.t_start,
agents={'base_station': lambda t: set()}, agents={'base_station': lambda t: set()},
future_messages_num=10, future_messages_num=10,
window_size=0.1, window_size=0.5,
simulations_num=200, simulations_num=200,
constraints=self.constraints, constraints=self.constraints,
limit_history=15, limit_history=10,
) )
def camera_received_callback(self, msg_metadata): def camera_received_callback(self, msg_metadata):
...@@ -189,9 +195,8 @@ class CameraStream(Node, MissionExecutor): ...@@ -189,9 +195,8 @@ class CameraStream(Node, MissionExecutor):
self.agent.received(native_message) self.agent.received(native_message)
def start_mission(self, timestamp): 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.timer = self.create_timer(self.timer_period, self.timer_callback)
self.get_logger().info('Mission started')
# self.movement = threading.Thread( # self.movement = threading.Thread(
# target=self.move # target=self.move
# ) # )
...@@ -221,10 +226,9 @@ class CameraStream(Node, MissionExecutor): ...@@ -221,10 +226,9 @@ class CameraStream(Node, MissionExecutor):
self.timer_period = 1 / float(params.get('fps', 2)) self.timer_period = 1 / float(params.get('fps', 2))
def timer_callback(self): def timer_callback(self):
print("TIMER CALLBACK", datetime.now().timestamp())
if abs( if abs(
(datetime.now().timestamp() - self.t_start - 0.01) (datetime.now().timestamp() - self.t_start + 0.01 - self.offset)
% self.timer_period - self.offset % self.timer_period
) > 0.02: ) > 0.02:
print("WARN: timer callback called out of sync, skipping") print("WARN: timer callback called out of sync, skipping")
return return
......
...@@ -96,6 +96,7 @@ class UtilityVideo(Utility): ...@@ -96,6 +96,7 @@ class UtilityVideo(Utility):
t_l = t_rcv + 0.33 t_l = t_rcv + 0.33
red = m.data.red red = m.data.red
red = 0.9
log_part = 0 log_part = 0
if t_end < t_s or t_start > t_l: if t_end < t_s or t_start > t_l:
......
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