AcousticComms Class Reference

A comms model that simulates communication using acoustic devices. The model uses simple distance based acoustics model. More...

#include <AcousticComms.hh>

Public Member Functions
	AcousticComms ()
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 acoustic devices. The model uses simple distance based acoustics model.

This system can be configured with the following SDF parameters:

• Optional parameters:
  • <max_range>: Hard limit on range (meters). No communication will happen beyond this range. Default is 1000.
  • <speed_of_sound>: Speed of sound in the medium (meters/sec). Default is 343.0
  • <collision_time_per_byte> : If a subscriber receives a message 'b' bytes long at time 't0', it won't receive and other message till time : 't0 + b * collision_time_per_byte'. Defaults to zero.
  • <collision_time_packet_drop> : If a packet is dropped at time t0, the next packet won't be received until time t0 + collision_time_packet_drop. Defaults to zero.
  • <propagation_model> : Enables the use of propagation model. Disabled by default.
    • <source_power> : Source power at the transmitter in Watts. Defaults to 2 kW.
    • <noise_level> : Ratio of the noise intensity at the receiver to the same reference intensity used for source level. Defaults to 1.
    • <spectral_efficiency> : Information rate that can be transmitted over a given bandwidth in a specific communication system, in (bits/sec)/Hz. Defaults to 7 bits/sec/Hz.
    • <seed> : Seed value to be used for random sampling.

Here's an example: <plugin filename="gz-sim-acoustic-comms-system" name="systems::AcousticComms">

<max_range>500</max_range> <speed_of_sound>1400</speed_of_sound>

<collision_time_per_byte>0.001</collision_time_per_byte> <collision_time_packet_drop>0.001</collision_time_packet_drop>

<propagation_model> <source_power>2000</source_power> <noise_level>1</noise_level> <spectral_efficiency>7</spectral_efficiency> </propagation_model>

</plugin>

Constructor & Destructor Documentation

AcousticComms()

AcousticComms ( )

explicit

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	- Gazebo Sim's ECM.

Implements ICommsModel.

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

• AcousticComms.hh