def AddIcarousInstance(self, ic, delay=0, time_limit=1000,
transmitter="GroundTruth", receiver="GroundTruth"):
"""
Add an Icarous instance to the simulation environment
:param ic: An Icarous instance
:param delay: Time to delay before starting mission (s)
:param time_limit: Time limit to fly before shutting vehicle down (s)
:param transmitter: A Transmitter to send V2V position data,
ex: "ADS-B" or "GroundTruth", or None for no transmitter
:param receiver: A Receiver to get V2V position data,
ex: "ADS-B" or "GroundTruth", or None for no receiver
"""
self.icInstances.append(ic)
self.icStartDelay.append(delay)
self.icTimeLimit.append(time_limit)
# Create a transmitter and receiver for V2V communications
ic.transmitter = get_transmitter(transmitter, ic.vehicleID, self.comm_channel)
ic.receiver = get_receiver(receiver, ic.vehicleID, self.comm_channel)
# Set simulation home position
if self.home_gps == [0, 0, 0]:
self.home_gps = ic.home_pos
if self.verbose > 0:
print(ic.callsign)
print("\ttransmitter:", ic.transmitter.description)
print("\treceiver:", ic.receiver.description)
def AddGroundSystem(self, gs, transmitter="GroundTruth", receiver="GroundTruth"):
"""
Add a GroundSystem instance to the simulation environment
(A ground-based system that interacts with vehicles by transmitting/receiving messages)
:param gs: A GroundSystem instance
:param transmitter: A Transmitter to send V2V position data,
ex: "ADS-B" or "GroundTruth", or None for no transmitter
:param receiver: A Receiver to get V2V position data,
ex: "ADS-B" or "GroundTruth", or None for no receiver
"""
self.gsInstances.append(gs)
# Create a transmitter and receiver for V2V communications
gs.transmitter = get_transmitter(transmitter, gs.id, self.comm_channel)
gs.receiver = get_receiver(receiver, gs.id, self.comm_channel)