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tinynets

Jake Read's avatar
Jake Read authored
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tinynets

Protocol Rules

Addressing

- 10-bit address (1024 Unique in System)
- Addresses are assigned in software (Ethernet: Hardware Addresses)
- Can be location-based (e.g. first five MSBs correspond to x, last five correspond to y)

Packet Structure

| Type | 8 Bits | 10 Bits | 6 Bits | 10 Bits | 6 Bits | N Bytes | CRC |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| Standard: | 255 | Dest. | # Edges | Src. | # Bytes | Payload … | CRC |
| ACK: | 254 | Dest. | # Edges | Src. | x | x| CRC |
| Buffer Depth: | [0 - 253] | x | x | x | x | x | x |

Routing Rules

On Packet Received:


if hop count > max:
    kill packet

increment hop count

if packet is standard:
    if LUT does not already have source address:
        add entry to LUT
    if I am destination:
        process data in packet
    else:
        if LUT has destination address:
            send packet to port which minimizes C(hops, buffer) = hops + \lambda*buffer over all ports
        else:
            send packet to all ports as standard flood

elseif packet is ack:
    if LUT does not already have source address:
        add entry to LUT
    if I am destination:
        process acknowledgement, increment window
    else:
        increment hop count
        if LUT has destination address:
            send packet to port which minimizes C(hops, buffer) = hops + \lambda*buffer over all ports
        else:
            send packet to all ports as ack flood

elseif packet is standard flood:
    if LUT does not already have source address:
        add entry to LUT
    if I am destination:
        process data in packet
        open window for duplicate packet elimination
        check previous duplicates
    else:
        if LUT has destination address:
            send packet to port which minimizes C(hops, buffer) = hops + \lambda*buffer over all ports
        else:
            send packet to all ports

elseif packet is ack flood
    if LUT does not already have source address:
        add entry to LUT
    if I am destination:
        process acknowledgement, increment window
        open timer for duplicate ack elimination
        check previous duplicates
    else:
        if LUT has destination address:
            send packet to port which minimizes C(hops, buffer) = hops + \lambda*buffer over all ports
        else:
            send packet to all ports

else:
    write buffer depth to LUT

Routing Table

The routing table (or lookup table, LUT) consists of rows of: Port | Destination | Hopcount | Current port buffer size This is different from standard Ethernet routing tables because it includes the current port buffer size as part of the table entry, allowing for a more robust cost function for use in the path planning algorithm.

Buffer Depth Updates

Send buffer depth on all ports every q seconds, and every time a packet leaves or arrives

Announcements

New arrivals to network do not announce, they simply begin transmitting. Their addresses are recoreded in surrounding switches' tables on their first packet-out.

Withdrawals

Buffer Depth Updates are Periodic as well as event-based (on buffer-depth change). When no BDU is heard within a 250ms (or other setting) window, the node is considered withdrawn.

Hardware

first-board

See /circuit See /embedded

Reading

Networked Control Systems

Ethernet in Networked Control, advantages and drawbacks.
See especially
/litreview/papers/network-control-systems/survey-on-realtime-via-ethernet
/litreview/papers/network-control-systems/the-emergence-of-networked-controls

Robotics

Papers on the particular applications of distributed control in a robotics context

ALA-APA-ATP

Prior work from our lab on networking, aligning hardware with software, etc ...

Farout

Way crazy ideas, esp. self-reproducing-automata