CommsModel.hh

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/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/


#ifndef __SWARM_COMMS_MODEL_HH__
#define __SWARM_COMMS_MODEL_HH__

#include <map>
#include <string>
#include <utility>
#include <vector>
#include <gazebo/common/Time.hh>
#include <gazebo/physics/PhysicsTypes.hh>
#include <ignition/math.hh>
#include <sdf/sdf.hh>

#include "swarm/SwarmTypes.hh"

namespace swarm
{
  class IGNITION_VISIBLE CommsModel
  {
    public: CommsModel(SwarmMembershipPtr _swarm,
                       gazebo::physics::WorldPtr _world,
                       sdf::ElementPtr _sdf);

    public: virtual ~CommsModel() = default;

    public: void Update();

    private: void UpdateOutages();

    private: void UpdateNeighbors();

    private: void UpdateNeighborList(const std::string &_address);

    private: void UpdateVisibility();

    private: bool LineOfSight(const ignition::math::Pose3d &_p1,
                              const ignition::math::Pose3d &_p2,
                              std::vector<std::string> &_entities);

    private: void LoadParameters(sdf::ElementPtr _sdf);

    private: double neighborDistanceMin = -1.0;

    private: double neighborDistanceMax = -1.0;

    private: double neighborDistancePenaltyTree = 0.0;

    private: double commsDistanceMin = -1.0;

    private: double commsDistanceMax = -1.0;

    private: double commsDistancePenaltyTree = 0.0;

    private: double commsDropProbabilityMin = 0.0;

    private: double commsDropProbabilityMax = 0.0;

    private: double commsOutageProbability = 0.0;

    private: double commsOutageDurationMin = -1.0;

    private: double commsOutageDurationMax = -1.0;

    private: SwarmMembershipPtr swarm;

    private: gazebo::physics::WorldPtr world;

    private: gazebo::common::Time lastUpdateTime;

    // \brief Ray used to test for line of sight between vehicles.
    private: gazebo::physics::RayShapePtr ray;

    private: std::map<std::pair<std::string, std::string>,
               std::vector<std::string>> visibility;
  };
}  // namespace
#endif