def TransmitPosition(self, current_time):
""" Transmit current position """
if self.transmitter is None:
return
gps_position = self.GetOutputPositionLLA()
velocity = self.GetOutputVelocityNED()
msg_data = {
"callsign": "tf" + str(self.vehicleID),
"pos": gps_position,
"vel": velocity,
}
msg = V2Vdata("INTRUDER", msg_data)
self.transmitter.transmit(current_time, gps_position, msg)
def ReceiveV2VData(self):
# Receive messages from distributed sim instances
if self.network is not None:
rcvmsgs = self.network.Receive()
for msg in rcvmsgs:
msg["data"] = V2Vdata(**msg["data"])
self.comm_channel.messages.append(cm.Message(**msg))
# Receive all V2V data
for ic in self.icInstances:
ic.ReceiveV2VData()
for gs in self.gsInstances:
gs.ReceiveV2VData()
# Clear all the messages in the channel for the new cycle
self.comm_channel.flush()
def TransmitPosition(self):
""" Transmit current position """
# Do not broadcast if running SBN
if "SBN" in self.apps:
return
if self.transmitter is None:
return
if not self.missionStarted or self.missionComplete:
return
msg_data = {
"callsign": self.callsign,
"pos": self.position,
"vel": self.velocity,
}
msg = V2Vdata("INTRUDER", msg_data)
self.transmitter.transmit(self.currTime, self.position, msg)
def TransmitMergingData(self):
""" Transmit data to coordinate merges """
# Do not broadcast if running SBN
if self.transmitter is None:
return
if not self.missionStarted or self.missionComplete:
return
out, arrdata = self.core.GetArrivalTimes()
if out:
if self.intersectionID != arrdata['intersectionID']:
self.mergeLogs = {}
self.mergeLogs[arrdata['aircraftID']] = arrdata
self.intersectionID = arrdata['intersectionID']
if self.intersectionID > 0:
msg = V2Vdata('MERGER', arrdata)
self.transmitter.transmit(self.currTime, self.position, msg)
def TransmitPosition(self, current_time):
""" Transmit recorded traffic positions """
if self.transmitter is None:
return
if self.current_time is None:
self.position_updates.index += current_time
self.current_time = current_time
# Transmit all traffic messages up to current time
traffic_messages = self.position_updates[self.current_time:current_time]
for i, traffic_msg in traffic_messages.iterrows():
posLLA = [traffic_msg.lat, traffic_msg.lon, traffic_msg.alt]
velNED = [traffic_msg.vn, traffic_msg.ve, traffic_msg.vd]
msg_data = {
"callsign": "replay_" + traffic_msg.vehicleID,
"pos": posLLA,
"vel": velNED,
}
msg = V2Vdata("INTRUDER", msg_data)
self.transmitter.transmit(current_time, posLLA, msg)
self.current_time = current_time