RFComms Class Reference

A comms model that simulates communication using radio frequency (RF) devices. The model uses a log-distance path loss function. More...

#include <RFComms.hh>

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

A comms model that simulates communication using radio frequency (RF) devices. The model uses a log-distance path loss function.

This communication model has been ported from: https://github.com/osrf/subt .

This system can be configured with the following SDF parameters:

• Optional parameters: <range_config> Element used to capture the range configuration based on a log-normal distribution. This block can contain any of the next parameters:
  • <max_range>: Hard limit on range (meters). No communication will happen beyond this range. Default is 50.
  • <fading_exponent>: Fading exponent used in the normal distribution. Default is 2.5.
  • <l0>: Path loss at the reference distance (1 meter) in dBm. Default is 40.
  • <sigma>: Standard deviation of the normal distribution. Default is 10.

<radio_config> Element used to capture the radio configuration. This block can contain any of the next parameters:

• <capacity>: Capacity of radio in bits-per-second. Default is 54000000 (54 Mbps).
• <tx_power>: Transmitter power in dBm. Default is 27dBm (500mW).
• <noise_floor>: Noise floor in dBm. Default is -90dBm.
• <modulation>: Supported modulations: ["QPSK"]. Default is "QPSK".

Here's an example: <plugin filename="ignition-gazebo-rf-comms-system" name="systems::RFComms"> <range_config> <max_range>500000.0</max_range> <fading_exponent>1.5</fading_exponent> <l0>40</l0> <sigma>10.0</sigma> </range_config> <radio_config> <capacity>1000000</capacity> <tx_power>20</tx_power> <noise_floor>-90</noise_floor> <modulation>QPSK</modulation> </radio_config> </plugin>

Constructor & Destructor Documentation

RFComms()

RFComms ( )

explicit

Constructor.

~RFComms()

~RFComms ( )

overridedefault

Destructor.

Member Function Documentation

Load()

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

overridevirtual

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.

Implements ICommsModel.

Step()

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

overridevirtual

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.

Implements ICommsModel.

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

• RFComms.hh