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.

	~RFComms () override=default
	Destructor.

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 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 .

System Parameters

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".

Example

Here's an example:

<plugin
  filename="gz-sim-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
	)