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## Addressing
- 10-bit address
- Assigned in software (not baked in)
- Can be location-based (e.g. first five MSBs correspond to x, last 5 correspond to y)
## Packet Structure
Standard: | 255 | Dest. | # Edges | Src. | # Bytes | Payload … | CRC |
ACK: | 254 | Dest. | # Edges | Src. | CRC
Buffer Depth: | Empty buffer space [0, 253] |
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On Packet Received:
```swift
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:
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 standard flood
elseif packet is ack:
if LUT does not already have source address:
add entry to LUT
if I am destination:
process acknowledgement
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
else:
if I have seen this packet before:
return
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
elseif packet is ack flood
if LUT does not already have source address:
add entry to LUT
if I am destination:
process acknowledgement
else:
if I have seen this packet before:
return
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
else:
write buffer depth to LUT
```
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
# Hardware
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