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.

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.

Public Member Functions inherited from ICommsModel
	ICommsModel ()
	Constructor.

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

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.

Public Member Functions inherited from System
	System ()=default
	Constructor.

virtual	~System ()=default
	Destructor.

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.

Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.

static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

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.