ICommsModel Class Reference

Abstract interface to define how the environment should handle communication simulation. As an example, this class could be responsible for handling dropouts, decay and packet collisions. More...

#include <ICommsModel.hh>

Public Member Functions
	ICommsModel ()
	Constructor. More...
void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system. More...
virtual void	Load (const Entity &_entity, std::shared_ptr< const sdf::Element > _sdf, EntityComponentManager &_ecm, EventManager &_eventMgr)=0
	This method is called when the system is being configured override this to load any additional params for the comms model. More...
void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override
virtual void	Step (const UpdateInfo &_info, const Registry &_currentRegistry, Registry &_newRegistry, EntityComponentManager &_ecm)=0
	This method is called when there is a timestep in the simulator override this to update your data structures as needed. More...
virtual void	StepImpl (const UpdateInfo &_info, EntityComponentManager &_ecm)
	This method is called when there is a timestep in the simulator. More...
Public Member Functions inherited from System
	System ()=default
	Constructor. More...
virtual	~System ()=default
	Destructor. More...

Detailed Description

Abstract interface to define how the environment should handle communication simulation. As an example, this class could be responsible for handling dropouts, decay and packet collisions.

The derived comms models can be configured with the following SDF parameters:

• Optional parameters: <step_size> If defined this will allow the comms model to run at a higher frequency than the physics engine. This is useful when dealing with ranging. If the <step_size> is set larger than the physics engine dt then the comms model step size will default to dt. Note: for consistency it is adviced that the dt is a multiple of timestep. Units are in seconds.

Here's an example: <physics name="1ms" type="ignored"> <max_step_size>2</max_step_size> <real_time_factor>1.0</real_time_factor> </physics> <plugin filename="ignition-gazebo-perfect-comms-system" name="systems::PerfectComms"> <step_size>1</step_size> </plugin>

Constructor & Destructor Documentation

ICommsModel()

ICommsModel ( )

explicit

Constructor.

Member Function Documentation

Configure()

void Configure ( const Entity &  _entity, const std::shared_ptr< const sdf::Element > &  _sdf, EntityComponentManager &  _ecm, EventManager &  _eventMgr  )

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.

Implements ISystemConfigure.

Load()

virtual void Load ( const Entity &  _entity, std::shared_ptr< const sdf::Element >  _sdf, EntityComponentManager &  _ecm, EventManager &  _eventMgr  )

pure virtual

This method is called when the system is being configured override this to load any additional params for the comms model.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.

Implemented in RFComms, and PerfectComms.

PreUpdate()

void PreUpdate ( const UpdateInfo &  _info, EntityComponentManager &  _ecm  )

overridevirtual

Implements ISystemPreUpdate.

Step()

virtual void Step ( const UpdateInfo &  _info, const Registry &  _currentRegistry, Registry &  _newRegistry, EntityComponentManager &  _ecm  )

pure virtual

This method is called when there is a timestep in the simulator override this to update your data structures as needed.

Note: this is an experimental interface and might change in the future.

Parameters

[in]	_info	Simulator information about the current timestep.
[in]	_currentRegistry	The current registry.
[out]	_newRegistry	The new registry. When Step() is finished this will become the new registry.
[in]	_ecm	- Ignition's ECM.

Implemented in RFComms, and PerfectComms.

StepImpl()

virtual void StepImpl ( const UpdateInfo &  _info, EntityComponentManager &  _ecm  )

virtual

This method is called when there is a timestep in the simulator.

Parameters

[in]	_info	Simulator information about the current timestep. will become the new registry.
[in]	_ecm	- Ignition's ECM.

---

The documentation for this class was generated from the following file:

• ICommsModel.hh