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forge: add patch 13 — quadratic hop delay growth

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bias = hop * step + hop^2 * BOT_HOP_GROW_MILLIS

Bumps hop_step 3000->2000, adds BOT_HOP_GROW_MILLIS=400, raises cap
15000->50000 and TTL 75000->95000. Forces re-default of hop_step on
existing bots via BOT_PREFS_VERSION 5->6.

Gap between adjacent hops now grows with hop count (3200ms at hop 1
all the way to 8000ms at hop 8), so a far bot reliably has time to
hear a near bot's reply through the mesh before its own scheduled
fire time -- previous linear bias kept the gap constant at 3000ms,
which wasn't enough at 6+ hops where reply propagation takes ~5-10s.
This commit is contained in:
cj-vana
2026-05-16 22:18:18 -06:00
parent 949b761195
commit ee1b95cc9e
14 changed files with 116 additions and 16 deletions
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14
tests/firmware_bot/test_firmware_bot.cpp
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@@ -1533,8 +1533,13 @@ static void test_response_coordinator_hop_count_ranking() {
base_delay, jitter, hop_step);
uint32_t d2 = ResponseCoordinator::responseDelayMillis(two_hop, BOT_COMMAND_PING, request, 0x01020304UL, 0, 0,
base_delay, jitter, hop_step);
assert(d1 == d0 + hop_step);
assert(d2 == d0 + (uint32_t)hop_step * 2);
// Linear + quadratic growth: bias(h) = h*step + h*h*grow
assert(d1 == d0 + (uint32_t)hop_step + BOT_HOP_GROW_MILLIS);
assert(d2 == d0 + (uint32_t)hop_step * 2 + 4 * BOT_HOP_GROW_MILLIS);
// Gap between hops widens as hop count rises:
uint32_t gap_0_to_1 = d1 - d0;
uint32_t gap_1_to_2 = d2 - d1;
assert(gap_1_to_2 > gap_0_to_1);
uint32_t alt_step = 2000;
uint32_t d0_alt = ResponseCoordinator::responseDelayMillis(near, BOT_COMMAND_PING, request, 0x01020304UL, 0, 0,
@@ -1542,7 +1547,7 @@ static void test_response_coordinator_hop_count_ranking() {
uint32_t d1_alt = ResponseCoordinator::responseDelayMillis(one_hop, BOT_COMMAND_PING, request, 0x01020304UL, 0, 0,
base_delay, jitter, alt_step);
assert(d0_alt == d0);
assert(d1_alt == d0 + alt_step);
assert(d1_alt == d0 + alt_step + BOT_HOP_GROW_MILLIS);
BotMessage dm = make_message("dm", "!ping");
dm.channel_kind = BOT_CHANNEL_DM;
@@ -1570,7 +1575,8 @@ static void test_response_coordinator_hop_bias_cap() {
uint32_t dmany = ResponseCoordinator::responseDelayMillis(many_hops, BOT_COMMAND_PING, request, 0x01020304UL, 0, 0,
base_delay, jitter, hop_step);
assert(dmany == d0 + BOT_HOP_BIAS_MAX_MILLIS);
assert((uint32_t)many_hops.path_hash_count * hop_step > BOT_HOP_BIAS_MAX_MILLIS);
uint32_t hop_u32 = (uint32_t)many_hops.path_hash_count;
assert(hop_u32 * (uint32_t)hop_step + hop_u32 * hop_u32 * BOT_HOP_GROW_MILLIS > BOT_HOP_BIAS_MAX_MILLIS);
assert(dmany + BOT_RESPONSE_DELAY_JITTER_MILLIS < BOT_RESPONSE_PENDING_TTL_MILLIS);
}