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https://github.com/Colorado-Mesh/meshcore-bot-firmware.git
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ee1b95cc9e
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.
93 lines
4.4 KiB
Diff
93 lines
4.4 KiB
Diff
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
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From: cj-vana <cj@depth23.online>
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Date: Sat, 16 May 2026 20:05:19 -0600
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Subject: [PATCH 09/13] Widen hop-step + drop "ack " prefix from test response
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Two changes:
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1. Coordination timing: bump BOT_HOP_STEP_MILLIS_DEFAULT 1500 -> 2500,
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BOT_HOP_BIAS_MAX_MILLIS 8000 -> 12000, BOT_RESPONSE_PENDING_TTL_MILLIS
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45000 -> 60000. Bumps BOT_PREFS_VERSION 3 -> 4 so existing bots
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re-derive defaults instead of carrying the old 1500 ms hop step.
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Why: a far bot (4 hops from request) was firing at ~7-10 s while a
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near bot (1 hop) fired at ~3-6 s. Across 4-5 mesh hops, the near
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bot's response took ~5-10 s of airtime+queueing to reach the far
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bot, frequently arriving AFTER the far bot's scheduled fire time.
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With 2500 ms/hop, the far bot now schedules at ~12 s, giving ~5-8 s
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of margin for the near bot's response to arrive and trigger
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token-based suppression.
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2. Test command response: drop the literal "ack " prefix from
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writeAckResponse and BotCommands::executeTest. Responses now start
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directly with "@[sender] ..." which keeps the user mention and
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metadata but matches user preference for less noise.
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---
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examples/companion_radio/BotCommands.cpp | 4 ++--
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examples/companion_radio/BotTypes.h | 8 ++++----
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examples/companion_radio/FirmwareBot.cpp | 2 +-
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3 files changed, 7 insertions(+), 7 deletions(-)
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diff --git a/examples/companion_radio/BotCommands.cpp b/examples/companion_radio/BotCommands.cpp
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index 44357a99..1aa4406d 100644
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--- a/examples/companion_radio/BotCommands.cpp
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+++ b/examples/companion_radio/BotCommands.cpp
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@@ -536,9 +536,9 @@ BotCommandResult executeTest(const BotCommand& command, const BotCommandContext&
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char received_at[9];
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formatSecondsHms(context.uptime_seconds, received_at, sizeof(received_at));
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if (command.args_len == 0) {
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- return writeFormatted(output, output_len, "ack @[%s] local | recv %s", name, received_at);
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+ return writeFormatted(output, output_len, "@[%s] local | recv %s", name, received_at);
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}
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- return writeFormatted(output, output_len, "ack @[%s] local | recv %s | %s", name, received_at, command.args);
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+ return writeFormatted(output, output_len, "@[%s] local | recv %s | %s", name, received_at, command.args);
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}
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}
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diff --git a/examples/companion_radio/BotTypes.h b/examples/companion_radio/BotTypes.h
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index ad249300..5a953639 100644
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--- a/examples/companion_radio/BotTypes.h
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+++ b/examples/companion_radio/BotTypes.h
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@@ -30,14 +30,14 @@
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#define BOT_NEIGHBOR_RECENT_MILLIS (60UL * 60UL * 1000UL)
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#define BOT_RESPONSE_DELAY_BASE_MILLIS 1200UL
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#define BOT_RESPONSE_DELAY_JITTER_MILLIS 1800UL
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-#define BOT_RESPONSE_PENDING_TTL_MILLIS 45000UL
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+#define BOT_RESPONSE_PENDING_TTL_MILLIS 60000UL
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#define BOT_RESPONSE_RECENT_TTL_MILLIS 30000UL
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#define BOT_KNOWN_BOT_FLAG_SUPPRESS_NORMAL 0x01
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#define BOT_SENDER_KEY_PREFIX_LEN 6
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#define BOT_MIN_AUTH_SENDER_KEY_PREFIX_LEN 4
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#define BOT_KNOWN_BOT_LABEL_LEN 12
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#define BOT_PREFS_MAGIC 0x31504642UL
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-#define BOT_PREFS_VERSION 3
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+#define BOT_PREFS_VERSION 4
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#define BOT_PREFS_DEFAULT_LOCAL_ADVERT_MILLIS (24UL * 60UL * 60UL * 1000UL)
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#define BOT_PREFS_DEFAULT_FLOOD_ADVERT_MILLIS (24UL * 60UL * 60UL * 1000UL)
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#define BOT_PREFS_INITIAL_LOCAL_ADVERT_MILLIS 60000UL
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@@ -45,9 +45,9 @@
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#define BOT_PREFS_MAX_DELAY_MILLIS 60000U
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#define BOT_PREFS_MAX_ADVERT_MILLIS (7UL * 24UL * 60UL * 60UL * 1000UL)
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#define BOT_PREFS_SERIALIZED_SIZE 296
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-#define BOT_HOP_STEP_MILLIS_DEFAULT 1500U
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+#define BOT_HOP_STEP_MILLIS_DEFAULT 2500U
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#define BOT_HOP_STEP_MILLIS_MAX 30000U
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-#define BOT_HOP_BIAS_MAX_MILLIS 8000UL
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+#define BOT_HOP_BIAS_MAX_MILLIS 12000UL
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enum BotChannelKind : uint8_t {
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BOT_CHANNEL_DM = 0,
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diff --git a/examples/companion_radio/FirmwareBot.cpp b/examples/companion_radio/FirmwareBot.cpp
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index 3c310173..e228b7c8 100644
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--- a/examples/companion_radio/FirmwareBot.cpp
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+++ b/examples/companion_radio/FirmwareBot.cpp
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@@ -322,7 +322,7 @@ BotWriteResult writeAckResponse(const BotMessage& message, const BotCommand& com
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const char* connection = message.channel_kind == BOT_CHANNEL_DM
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? "direct"
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: (message.channel_name[0] ? message.channel_name : "channel");
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- int n = snprintf(output, output_len, "ack @[%s] %s", sender, connection);
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+ int n = snprintf(output, output_len, "@[%s] %s", sender, connection);
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if (n < 0) {
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output[0] = 0;
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return BOT_WRITE_NO_SPACE;
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