def AddTraffic(self, idx, home, rng, brng, alt, speed, heading, crate,
transmitter="GroundTruth",delay=0.0):
"""
Add a simulated virtual traffic vehicle to the simulation environment
:param idx: traffic vehicle id
:param home: home position (lat [deg], lon [deg], alt [m])
:param rng: starting distance from home position [m]
:param brng: starting bearing from home position [deg], 0 is North
:param alt: starting altitude [m]
:param speed: traffic speed [m/s]
:param heading: traffic heading [deg], 0 is North
:param crate: traffic climbrate [m/s]
:param transmitter: A Transmitter to send V2V position data,
ex: "ADS-B" or "GroundTruth", or None for no Transmitter
"""
tx = rng*np.sin(brng*np.pi/180)
ty = rng*np.cos(brng*np.pi/180)
tz = alt
tvx = speed*np.sin(heading*np.pi/180)
tvy = speed*np.cos(heading*np.pi/180)
tvz = crate
traffic = UamVtolSim(idx, home, tx, ty, tz, tvx, tvy, tvz)
traffic.InputCommand(heading, speed, crate)
traffic.delay = delay
self.tfList.append(traffic)
# Create a transmitter for V2V communications
traffic.transmitter = get_transmitter(transmitter, idx, self.comm_channel)
return traffic
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)
def __init__(self, logfile, channel, delay=0):
"""
Initialize traffic log replay
:param logfile: filename for csv traffic log containing columns for:
time, vehicleID, lat, lon, alt, vN, vE, vD, [position uncertainty, velocity uncertainty]
Properly formatted csv traffic logs can be generated from tlog, json, or daa
log files using the read_traffic.py tool in SIRIUS
:param channel: communication channel to replay traffic messages on
:param delay: number of seconds to wait before starting log replay
"""
self.delay = delay
self.transmitter = get_transmitter("GroundTruth", "TrafficReplay", channel)
# Read position updates from csv file
self.position_updates = pd.read_csv(logfile, index_col="time")
self.position_updates.sort_index(inplace=True)
self.position_updates.index -= self.position_updates.index[0]
self.current_time = None
