Incorporate delay-sensitivity into simulations

[arani89]

Currently, the simulation is not "aware" of the amount of delay that occurs due to the data going to and from the network. We need to bring in such awareness to make the simulation more realistic.

[arani89]

Resolving this requires understanding how to incorporate this into scipy's odeint, or substituting it by a different function.

[molguin92]

What do you mean? Wouldn't it be enough to store pairs of send and receive timestamps, and calculate a delta-T?

[arani89]

We do calculate delta-T currently, so this is not the main problem. The main problem is that the odeint function currently takes the timestamps statically (in advance), so when we wait for the control command to arrive over the wireless network, the simulation goes out of sync. The issue is discussed here in detail.