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serialqueue: Improve limit on number of in-flight bytes 

Instead of limiting the amount of non-acked messages to 50ms, limit
the amount to one round-trip-time.  This should make it less likely
that the mcu will be overloaded and it should make retransmits faster.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2017-07-23 20:00:48 -04:00
parent a619aacfc6
commit c6231a16e3
1 changed files with 5 additions and 6 deletions
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11
klippy/serialqueue.c
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@ -352,7 +352,7 @@ struct serialqueue {
double srtt, rttvar, rto;
// Pending transmission message queues
struct list_head pending_queues;
int ready_bytes, stalled_bytes;
int ready_bytes, stalled_bytes, need_ack_bytes;
uint64_t need_kick_clock;
// Received messages
struct list_head receive_queue;
@ -372,7 +372,6 @@ struct serialqueue {
#define MIN_RTO 0.025
#define MAX_RTO 5.000
#define MAX_SERIAL_BUFFER 0.050
#define MIN_REQTIME_DELTA 0.250
#define IDLE_QUERY_TIME 1.0
@ -435,6 +434,7 @@ update_receive_seq(struct serialqueue *sq, double eventtime, uint64_t rseq)
sq->last_receive_sent_time = 0.;
break;
}
sq->need_ack_bytes -= sent->len;
list_del(&sent->node);
debug_queue_add(&sq->old_sent, sent);
sent_seq++;
@ -663,6 +663,7 @@ build_and_send_command(struct serialqueue *sq, double eventtime)
if (!sq->rtt_sample_seq)
sq->rtt_sample_seq = sq->send_seq;
sq->send_seq++;
sq->need_ack_bytes += out->len;
list_add_tail(&out->node, &sq->sent_queue);
}
@ -670,10 +671,8 @@ build_and_send_command(struct serialqueue *sq, double eventtime)
static double
check_send_command(struct serialqueue *sq, double eventtime)
{
if (eventtime < sq->idle_time - MAX_SERIAL_BUFFER)
// Serial port already busy
return sq->idle_time - MAX_SERIAL_BUFFER;
if (sq->send_seq - sq->receive_seq >= MESSAGE_SEQ_MASK
if ((sq->send_seq - sq->receive_seq >= MESSAGE_SEQ_MASK
|| (sq->need_ack_bytes - 2*MESSAGE_MAX) * sq->baud_adjust > sq->srtt)
&& sq->receive_seq != (uint64_t)-1)
// Need an ack before more messages can be sent
return PR_NEVER;