Added PID logic to better home in on a needed addjustment to sync min…

…utes between leaders

engine/timer.go

@@ -5,8 +5,6 @@
 package engine
 
 import (
-	"fmt"
-	"os"
 	"time"
 
 	"github.com/FactomProject/factomd/state"
@@ -52,14 +50,8 @@ func Timer(si interfaces.IState) {
 
 			// Delay some number of milliseconds.
 			time.Sleep(s.GetTimeOffset())
-			last := s.SyncTick
 			s.SyncTick = time.Now()
 
-			_, _ = fmt.Fprintf(os.Stderr, "%20s Time : %s  diff %10.2f\n",
-				s.FactomNodeName,
-				s.SyncTick.String(),
-				float64(s.SyncTick.Sub(last)/1000000000))
-
 			s.TickerQueue() <- i
 
 			period = int64(s.GetDirectoryBlockInSeconds()) * billion

state/state.go

@@ -172,9 +172,13 @@ type State struct {
 	timerMsgQueue chan interfaces.IMsg
 	TimeOffset    time.Duration
 	MaxTimeOffset interfaces.Timestamp
+
+	SyncError     time.Duration
+	SyncIntegral  time.Duration
 	SyncStart     time.Time
 	SyncEnd       time.Time
 	SyncTick      time.Time
+	SyncEOMIssue  time.Time
 	SyncExtraTick int
 
 	networkOutMsgQueue     NetOutMsgQueue

state/stateConsensus.go

@@ -1500,6 +1500,8 @@ func (s *State) LeaderExecuteEOM(m interfaces.IMsg) {
 	ack := s.NewAck(m, nil).(*messages.Ack) // LeaderExecuteEOM()
 	eom.SetLocal(false)
 
+	s.SyncEOMIssue = time.Now()
+
 	if fix {
 		s.LogMessage("executeMsg", "fixed EOM", eom)
 		s.LogMessage("executeMsg", "matching ACK", ack)
@@ -1963,8 +1965,19 @@ func (s *State) ProcessEOM(dbheight uint32, msg interfaces.IMsg) bool {
 
 			s.SyncEnd = time.Now()
 
-			took := s.SyncTick.Sub(s.SyncStart)
-			s.TimeOffset = time.Duration(took.Nanoseconds() / 4)
+			KP := .20
+			KI := .01
+			KD := .80
+
+			//
+			SError := -s.SyncEnd.Sub(s.SyncStart)
+
+			s.SyncIntegral = s.SyncIntegral + SError
+			derivative := SError - s.SyncError
+			output := KP*float64(SError) + KI*float64(s.SyncIntegral) + KD*float64(derivative) + float64(time.Duration(100*time.Millisecond))
+			s.SyncError = SError
+
+			s.TimeOffset = time.Duration(output)
 
 			s.SendHeartBeat() // Only do this once per minute
 			s.LogPrintf("dbsig-eom", "ProcessEOM complete for %d", e.Minute)