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... | |
Additional Inherited Members | |
| Public Types inherited from System | |
| using | PriorityType = int32_t |
| Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases. More... | |
| Static Public Attributes inherited from System | |
| constexpr static PriorityType | kDefaultPriority = {0} |
| Default priority value for execution order of the PreUpdate and Update phases. More... | |
| constexpr static std::string_view | kPriorityElementName |
| Name of the XML element from which the priority value will be parsed. 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="gz-sim-perfect-comms-system" name="systems::PerfectComms"> <step_size>1</step_size> </plugin>
Constructor & Destructor Documentation
◆ ICommsModel()
|
explicit |
Constructor.
Member Function Documentation
◆ Configure()
|
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()
|
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, PerfectComms, and AcousticComms.
◆ PreUpdate()
|
overridevirtual |
Implements ISystemPreUpdate.
◆ Step()
|
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 - Gazebo Sim's ECM.
Implemented in RFComms, PerfectComms, and AcousticComms.
◆ StepImpl()
|
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 - Gazebo Sim's ECM.
The documentation for this class was generated from the following file: