Updated comms model

docker/cloudsim_bridge/Dockerfile

@@ -20,7 +20,9 @@ RUN apt-get update -qq \
         gdb \
         git \
         libbluetooth-dev \
+        libccd-dev \
         libcwiid-dev \
+        libfcl-dev \
         libgoogle-glog-dev \
         libspnav-dev \
         libusb-dev \

docker/cloudsim_sim/Dockerfile

@@ -20,7 +20,9 @@ RUN apt-get update -qq \
         gdb \
         git \
         libbluetooth-dev \
+        libccd-dev \
         libcwiid-dev \
+        libfcl-dev \
         libgoogle-glog-dev \
         libspnav-dev \
         libusb-dev \

docker/subt_shell/Dockerfile

@@ -11,7 +11,9 @@ RUN apt-get update -qq \
         gdb \
         git \
         libbluetooth-dev \
+        libccd-dev \
         libcwiid-dev \
+        libfcl-dev \
         libgoogle-glog-dev \
         libspnav-dev \
         libusb-dev \

docker/subt_sim_entry/Dockerfile

@@ -10,7 +10,9 @@ RUN apt-get update -qq \
         gdb \
         git \
         libbluetooth-dev \
+        libccd-dev \
         libcwiid-dev \
+        libfcl-dev \
         libgoogle-glog-dev \
         libspnav-dev \
         libusb-dev \

docker/subt_team_entry/Dockerfile

@@ -11,7 +11,9 @@ RUN apt-get update -qq \
         gdb \
         git \
         libbluetooth-dev \
+        libccd-dev \
         libcwiid-dev \
+        libfcl-dev \
         libgoogle-glog-dev \
         libspnav-dev \
         libusb-dev \

subt-communication/subt_communication_model/src/subt_communication_model.cpp

@@ -75,8 +75,7 @@ attempt_send(const radio_configuration& radio,
   tx_state.bytes_sent.push_back(std::make_pair(now, num_bytes));
   tx_state.bytes_sent_this_epoch += num_bytes;
 
-  // Get the received power based on TX power and position of each
-  // node
+  // Get the received power based on TX power and position of each node
   auto rx_power_dist = radio.pathloss_f(radio.default_tx_power,
                                         tx_state,
                                         rx_state);

subt-communication/subt_rf_interface/include/subt_rf_interface/subt_rf_model.h

@@ -37,11 +37,15 @@ struct rf_configuration
   double fading_exponent;  ///< Fading exponent
   double L0;               ///< Received power at 1m (in dBm)
   double sigma;            ///< Standard deviation for received power
+  double scaling_factor;   ///< Scaling factor
+  double range_per_hop;    ///< Extra ranged added per breadcrumb
   rf_configuration() :
       max_range(50.0),
       fading_exponent(2.5),
       L0(40),
-      sigma(10)
+      sigma(10),
+      scaling_factor(1.0),
+      range_per_hop(2.0)
   { }
 
   /// Output stream operator
@@ -54,7 +58,9 @@ struct rf_configuration
         << "-- max_range: " << config.max_range << std::endl
         << "-- fading_exponent: " << config.fading_exponent << std::endl
         << "-- L0: " << config.L0 << std::endl
-        << "-- sigma: " << config.sigma << std::endl;
+        << "-- sigma: " << config.sigma << std::endl
+        << "-- scaling_factor: " << config.scaling_factor << std::endl
+        << "-- range_per_hop: " << config.range_per_hop << std::endl;
 
     return oss;
   }
@@ -64,7 +70,7 @@ struct rf_configuration
 ///
 /// Compute the pathloss based on distance between two nodes and
 /// return the received power.
-/// 
+///
 /// @param tx_power Transmit power (dBm)
 /// @param tx_state Transmit state (pose)
 /// @param rx_state Receiver state (pose)
@@ -79,7 +85,7 @@ rf_power distance_based_received_power(const double& tx_power,
 /// Compute the pathloss based on distance between two nodes and
 /// return the received power. Vary return by drawing from normal
 /// distribution.
-/// 
+///
 /// @param tx_power Transmit power (dBm)
 /// @param tx_state Transmit state (pose)
 /// @param rx_state Receiver state (pose)
@@ -88,8 +94,33 @@ rf_power log_normal_received_power(const double& tx_power,
                                    radio_state& tx_state,
                                    radio_state& rx_state,
                                    const rf_configuration& config);
+
+/// Compute received power based on distance.
+///
+/// Compute the pathloss based on distance between two nodes and
+/// return the received power. Vary return by drawing from normal
+/// distribution.
+///
+/// @param tx_power Transmit power (dBm)
+/// @param range Greatest distance in a single hop (m)
+/// @param num_hops Number of breadcrumbs crossed
+/// @param config Physical-layer configuration
+rf_power log_normal_v2_received_power(const double& tx_power,
+                                      const double& range,
+                                      const unsigned int& num_hops,
+                                      const rf_configuration& config);
+
+/// Compute received power based on visibility information only.
+///
+/// Compute the pathloss based on the visibility cost between two nodes and
+/// return the received power.Vary return by drawing from normal
+/// distribution.
+///
+/// @param tx_power Transmit power (dBm)
+/// @param config Physical-layer configuration
+rf_power visibility_only_received_power(const double& tx_power,
+                                        const rf_configuration& config);
 }
 }
 }
 #endif
-

subt-communication/subt_rf_interface/src/subt_rf_model.cpp

@@ -56,7 +56,35 @@ rf_power log_normal_received_power(const double& tx_power,
   }
 
   double PL = config.L0 + 10 * config.fading_exponent * log10(range);
-
+
+  return {tx_power - PL, config.sigma};
+}
+
+/////////////////////////////////////////////
+rf_power log_normal_v2_received_power(const double& tx_power,
+                                      const double& range,
+                                      const unsigned int& num_hops,
+                                      const rf_configuration& config)
+{
+  if(config.max_range > 0.0 &&
+     range > config.max_range) {
+    return {-std::numeric_limits<double>::infinity(), 0.0};
+  }
+
+  double adjusted_range = config.scaling_factor *
+    (range + num_hops * config.range_per_hop);
+
+  double PL = config.L0 + 10 * config.fading_exponent * log10(adjusted_range);
+
+  return {tx_power - PL, config.sigma};
+}
+
+/////////////////////////////////////////////
+rf_power visibility_only_received_power(const double& tx_power,
+                                        const rf_configuration& config)
+{
+  double PL = config.L0 + 10 * config.fading_exponent;
+
   return {tx_power - PL, config.sigma};
 }
 

subt_ign/CMakeLists.txt

@@ -36,6 +36,12 @@ find_package(ignition-launch1 REQUIRED)
 find_package(sdformat8 REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(LIBFCL_PC REQUIRED fcl)
+# find *absolute* paths to LIBFCL_INCLUDE_DIRS and LIBFCL_LIBRARIES
+find_path(LIBFCL_INCLUDE_DIRS fcl/config.h HINTS ${LIBFCL_PC_INCLUDE_DIR} ${LIBFCL_PC_INCLUDE_DIRS})
+find_library(LIBFCL_LIBRARIES fcl HINTS ${LIBFCL_PC_LIBRARY_DIRS})
+
 ###########
 ## Build ##
 ###########
@@ -47,6 +53,8 @@ include_directories(
   ${CATKIN_DEVEL_PREFIX}/include
 )
 
+message(STATUS ${LIBFCL_INCLUDE_DIRS})
+
 link_directories()
 
 catkin_package(
@@ -179,14 +187,43 @@ install(TARGETS validate_connections
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
+add_library(Visibility
+  STATIC
+  src/ign_to_fcl.cc
+  src/SimpleDOTParser.cc
+  src/VisibilityRfModel.cc
+  src/VisibilityTable.cc
+)
+target_include_directories(Visibility
+  PUBLIC
+  ${catkin_INCLUDE_DIRS}
+  ${LIBFCL_INCLUDE_DIRS}
+)
+target_link_libraries(
+  Visibility
+  PUBLIC
+  ignition-gazebo${IGN_GAZEBO_VER}::core
+  ignition-common3::ignition-common3
+  ignition-common3::graphics
+  ${LIBFCL_LIBRARIES}
+  ${catkin_LIBRARIES}
+)
+
+add_executable(validate_visibility_table
+  src/validate_visibility_table.cc)
+target_link_libraries(validate_visibility_table
+  PRIVATE 
+  Visibility
+)
+install(TARGETS validate_visibility_table
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
 # Create the libCommsBrokerPlugin.so library.
 set(comms_broker_plugin_name CommsBrokerPlugin)
 add_library(${comms_broker_plugin_name}
   src/CommsBrokerPlugin.cc
-  src/VisibilityRfModel.cc
-  src/VisibilityTable.cc
-  src/SimpleDOTParser.cc
 )
 target_include_directories(${comms_broker_plugin_name}
   PRIVATE ${CATKIN_DEVEL_PREFIX}/include)
@@ -200,7 +237,7 @@ target_link_libraries(${comms_broker_plugin_name}
   ignition-transport7::ignition-transport7
   sdformat8::sdformat8
   ${protobuf_lib_name}
-  ${catkin_LIBRARIES}
+  Visibility
 )
 install(TARGETS ${comms_broker_plugin_name}
   ARCHIVE DESTINATION lib
@@ -211,14 +248,9 @@ install(TARGETS ${comms_broker_plugin_name}
 set(visibility_plugin_name VisibilityPlugin)
 add_library(${visibility_plugin_name} SHARED
   src/VisibilityPlugin.cc
-  src/VisibilityTable.cc
-  src/SimpleDOTParser.cc
 )
-target_include_directories(${visibility_plugin_name}
-  PRIVATE ${CATKIN_DEVEL_PREFIX}/include)
 target_link_libraries(${visibility_plugin_name}
   PRIVATE
-  ignition-gazebo${IGN_GAZEBO_VER}::core
   ignition-common3::ignition-common3
   ignition-math6::ignition-math6
   ignition-msgs4::ignition-msgs4
@@ -227,7 +259,7 @@ target_link_libraries(${visibility_plugin_name}
   ignition-transport7::ignition-transport7
   sdformat8::sdformat8
   ${protobuf_lib_name}
-  ${catkin_LIBRARIES}
+  Visibility
 )
 install(TARGETS ${visibility_plugin_name}
   ARCHIVE DESTINATION lib

subt_ign/include/subt_ign/CommonTypes.hh

@@ -22,6 +22,7 @@
 #include <string>
 #include <utility>
 #include <ignition/math/graph/Graph.hh>
+#include <subt_ign/VisibilityTypes.hh>
 
 namespace subt
 {
@@ -41,7 +42,7 @@ namespace subt
   using VisibilityInfo =
     std::map<std::pair<ignition::math::graph::VertexId,
                        ignition::math::graph::VertexId>,
-             double>;
+             VisibilityCost>;
 
   /// \brief Class used to store information about a member of the team.
   class TeamMember