Gazebo Gazebo

API Reference

6.16.0
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 ignition::gazebo::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 ignition::gazebo::UpdateInfo &_info, ignition::gazebo::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="ignition::gazebo::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]_entityThe entity this plugin is attached to.
[in]_sdfThe SDF Element associated with this system plugin.
[in]_ecmThe EntityComponentManager of the given simulation instance.
[in]_eventMgrThe EventManager of the given simulation instance.

Implements ICommsModel.

◆ Step()

void Step ( const ignition::gazebo::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]_infoSimulator information about the current timestep.
[in]_currentRegistryThe current registry.
[out]_newRegistryThe new registry. When Step() is finished this will become the new registry.
[in]_ecm- Ignition's ECM.

Implements ICommsModel.


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