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Acoustic comms : Packet collision timeout #1755

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merged 8 commits into from
Nov 4, 2022
Merged

Acoustic comms : Packet collision timeout #1755

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6ccf5c6
Added collision time interval
adityapande-1995 Oct 7, 2022
564314d
Minor bugfix
adityapande-1995 Oct 7, 2022
f044660
Test for packet drop
adityapande-1995 Oct 10, 2022
2613547
Linter
adityapande-1995 Oct 10, 2022
02da940
Packet drop interval is proportional to length of last msg received
adityapande-1995 Oct 28, 2022
25b975a
Additional timeout when packet is dropped
adityapande-1995 Oct 28, 2022
57486e5
Linting
adityapande-1995 Oct 31, 2022
061b93b
Merge branch 'gz-sim7' into aditya/acoustic_comms_collision
adityapande-1995 Nov 4, 2022
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255 changes: 255 additions & 0 deletions examples/worlds/acoustic_comms_packet_collision.sdf
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Original file line number Diff line number Diff line change
@@ -0,0 +1,255 @@
<?xml version="1.0" ?>
<!--
Gazebo acoustic-comms plugin demo.
-->
<sdf version="1.6">
<world name="acoustic_comms">

<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-acoustic-comms-system"
name="gz::sim::systems::AcousticComms">
<max_range>6</max_range>
<speed_of_sound>1400</speed_of_sound>
<collision_time_interval>1</collision_time_interval>
</plugin>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="box1">
<pose>2 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>

<plugin
filename="gz-sim-comms-endpoint-system"
name="gz::sim::systems::CommsEndpoint">
<address>addr1</address>
<topic>addr1/rx</topic>
</plugin>
</model>

<model name="box2">
<pose>-2 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>

<plugin
filename="gz-sim-comms-endpoint-system"
name="gz::sim::systems::CommsEndpoint">
<address>addr2</address>
<topic>addr2/rx</topic>
<broker>
<bind_service>/broker/bind</bind_service>
<unbind_service>/broker/unbind</unbind_service>
</broker>
</plugin>

</model>

<model name="box3">
<pose>5 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>

<plugin
filename="gz-sim-comms-endpoint-system"
name="gz::sim::systems::CommsEndpoint">
<address>addr3</address>
<topic>addr3/rx</topic>
</plugin>
</model>

<model name="box4">
<pose>-5 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>

<plugin
filename="gz-sim-comms-endpoint-system"
name="gz::sim::systems::CommsEndpoint">
<address>addr4</address>
<topic>addr4/rx</topic>
</plugin>
</model>

</world>
</sdf>
50 changes: 49 additions & 1 deletion src/systems/acoustic_comms/AcousticComms.cc
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Expand Up @@ -19,6 +19,7 @@
* Development of this module has been funded by the Monterey Bay Aquarium
* Research Institute (MBARI) and the David and Lucile Packard Foundation
*/
#include <string>
#include <unordered_map>

#include <gz/common/Profiler.hh>
Expand All @@ -42,11 +43,20 @@ class AcousticComms::Implementation
/// \brief Default speed of sound in air in metres/sec.
public: double speedOfSound = 343.0;

/// \brief Default collision time interval in sec.
public: double collisionTimeInterval = 0;

/// \brief Position of the transmitter at the time the message was
/// sent, or first processed.
public: std::unordered_map
<std::shared_ptr<msgs::Dataframe>, math::Vector3d>
poseSrcAtMsgTimestamp;

/// \brief Map that holds data of the address of a receiver, and
/// the timestamp of the last message recevied by it.
public: std::unordered_map
<std::string, std::chrono::duration<double>>
lastMsgReceivedTime;
};

//////////////////////////////////////////////////
Expand All @@ -70,6 +80,11 @@ void AcousticComms::Load(
{
this->dataPtr->speedOfSound = _sdf->Get<double>("speed_of_sound");
}
if (_sdf->HasElement("collision_time_interval"))
{
this->dataPtr->collisionTimeInterval =
_sdf->Get<double>("collision_time_interval");
}

gzmsg << "AcousticComms configured with max range : " <<
this->dataPtr->maxRange << " m and speed of sound : " <<
Expand Down Expand Up @@ -175,8 +190,41 @@ void AcousticComms::Step(
{
if (distanceCoveredByMessage >= distanceToTransmitter)
{
// This message has effectively reached the destination.
bool receivedSuccessfully = false;

// Check for time collision
if (this->dataPtr->lastMsgReceivedTime.count(
msg->dst_address()) == 0)
{
// This is the first message received by this address.
receivedSuccessfully = true;
}
else
{
// A previous msg was already received at this address.
std::chrono::duration<double> timeGap = currTimestamp -
this->dataPtr->lastMsgReceivedTime[msg->dst_address()];

auto dropInterval = std::chrono::duration<double>(
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this->dataPtr->collisionTimeInterval);

if (timeGap >= dropInterval)
receivedSuccessfully = true;
}

// This message needs to be processed.
_newRegistry[msg->dst_address()].inboundMsgs.push_back(msg);
// Push the msg to inbound of the destination if
// receivedSuccessfully is true, else it is dropped.
if (receivedSuccessfully)
{
_newRegistry[msg->dst_address()].inboundMsgs.push_back(msg);
// Update the receive time of the last msg for this address.
this->dataPtr->lastMsgReceivedTime[msg->dst_address()] =
currTimestamp;
}

// Stop keeping track of the position of its source.
this->dataPtr->poseSrcAtMsgTimestamp.erase(msg);
}
else
Expand Down
4 changes: 4 additions & 0 deletions src/systems/acoustic_comms/AcousticComms.hh
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Expand Up @@ -49,13 +49,17 @@ namespace systems
/// happen beyond this range. Default is 1000.
/// * <speed_of_sound>: Speed of sound in the medium (meters/sec).
/// Default is 343.0
/// * <collision_time_interval> : If a subscriber receives multiple
/// messages in this time interval, the later
/// messages will be dropped.
///
/// Here's an example:
/// <plugin
/// filename="gz-sim-acoustic-comms-system"
/// name="gz::sim::systems::AcousticComms">
/// <max_range>6</max_range>
/// <speed_of_sound>1400</speed_of_sound>
/// <collision_time_interval>0.001</collision_time_interval>
/// </plugin>

class AcousticComms:
Expand Down
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