From efdaf314c2cf8408dcc537fbde3363de0dd6c35a Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Wed, 7 Apr 2021 20:28:35 +0000
Subject: [PATCH] Fixed modem sim so that it runs without groundtruth and
tick/tock synchronization. Changed a bunch of verbose log messages from info
to debug.
(cherry picked from commit 9ec469be93a5d3536028de73514aec8aef5df4fb)
---
launch/modem_sim_test.launch | 18 ++++++++++--------
src/modem_sim_node.py | 27 ++++++++++++++++++---------
src/platform_location_node.py | 2 +-
src/test_modem_sim_node.py | 5 ++---
4 files changed, 31 insertions(+), 21 deletions(-)
diff --git a/launch/modem_sim_test.launch b/launch/modem_sim_test.launch
index a4536e57..06da2738 100644
--- a/launch/modem_sim_test.launch
+++ b/launch/modem_sim_test.launch
@@ -3,17 +3,19 @@
<group ns="modem0">
<node name="modem_sim_node" pkg="ros_acomms" type="modem_sim_node.py" output="screen" >
- <param name="~center_frequency_hz" value="10000" type="int" />
- <param name="~bandwidth_hz" value="5000" type="int" />
- <param name="~SRC" value="0" type="int" />
+ <param name="center_frequency_hz" value="10000" type="int" />
+ <param name="bandwidth_hz" value="5000" type="int" />
+ <param name="SRC" value="0" type="int" />
+ <param name="modem_location_source" value="local_service" />
</node>
</group>
<group ns="modem1">
<node name="modem_sim_node" pkg="ros_acomms" type="modem_sim_node.py" output="screen" >
- <param name="~center_frequency_hz" value="10000" type="int" />
- <param name="~bandwidth_hz" value="5000" type="int" />
- <param name="~SRC" value="1" type="int" />
+ <param name="center_frequency_hz" value="10000" type="int" />
+ <param name="bandwidth_hz" value="5000" type="int" />
+ <param name="SRC" value="1" type="int" />
+ <param name="modem_location_source" value="local_service" />
</node>
</group>
@@ -22,8 +24,8 @@
<node name="platform_location_node" pkg="ros_acomms" type="platform_location_node.py" output="screen" />
<node name="sim_transmission_loss_node" pkg="ros_acomms" type="sim_transmission_loss_node.py" output="screen" >
- <param name="~water_depth" value="20" type="int" />
- <param name="~bellhop_arrivals" value="false" type="bool" />
+ <param name="water_depth" value="20" type="int" />
+ <param name="bellhop_arrivals" value="false" type="bool" />
</node>
<node name="test_modem_sim_node" pkg="ros_acomms" type="test_modem_sim_node.py" output="screen" />
diff --git a/src/modem_sim_node.py b/src/modem_sim_node.py
index 2655d634..92801b61 100755
--- a/src/modem_sim_node.py
+++ b/src/modem_sim_node.py
@@ -55,8 +55,12 @@ class ModemSimNode(object):
self.ambient_noise = rospy.get_param('~ambient_noise_db', default=60)
use_sim_tick_name = rospy.search_param('use_sim_tick')
- self.use_sim_tick = rospy.get_param(use_sim_tick_name, default=False)
+ if use_sim_tick_name:
+ self.use_sim_tick = rospy.get_param(use_sim_tick_name, default=False)
+ else:
+ self.use_sim_tick = False
rospy.loginfo("use_sim_tick {} ".format(self.use_sim_tick))
+
tick_topic_name_param = rospy.search_param('tick_topic_name')
rospy.loginfo("tick_topic_name {} ".format(tick_topic_name_param))
if tick_topic_name_param:
@@ -148,20 +152,20 @@ class ModemSimNode(object):
else:
current_time = rospy.Time.now()
- rospy.loginfo("Processing timestep.")
+ rospy.logdebug("Processing timestep.")
# Now, check to see if we have items in the queue. We want to consume everything that is ready, but
# not block.
while True:
try:
- rospy.loginfo("Trying to add to inwater queue")
+ rospy.logdebug("Trying to add to inwater queue")
new_packet = self.incoming_packets_queue.get_nowait()
self.packets_in_the_water.append(new_packet)
rospy.loginfo("MODEM %d: Added new packet to inwater queue", self.src)
except Empty:
break
- rospy.loginfo("Processing inwater packets.")
+ rospy.logdebug("Processing inwater packets.")
# Now, run the receive loop for this time tick
self.process_inwater_packets(current_time=current_time)
@@ -175,7 +179,7 @@ class ModemSimNode(object):
header = Header(stamp=stamp)
tock = Tock(header=header, node_name=self.node_name, status=0, step_id=tick.step_id)
self.sim_tock_publisher.publish(tock)
- rospy.loginfo("Published Tock {} for {}.".format(tick.step_id, self.node_name))
+ rospy.logdebug("Published Tock {} for {}.".format(tick.step_id, self.node_name))
else:
# If we aren't using sim ticks, just sleep this thread for a bit
rospy.sleep(0.1)
@@ -226,7 +230,7 @@ class ModemSimNode(object):
def process_inwater_packets(self, current_time) -> None:
rcv_platform_location = self.get_ownship_location()
- rospy.loginfo("MODEM {}: location is {}".format(self.src, rcv_platform_location))
+ rospy.logdebug("MODEM {}: location is {}".format(self.src, rcv_platform_location))
# Look at all the packets in the water and see if any of them are being received right now.
for packet_in_the_water in self.packets_in_the_water:
@@ -234,6 +238,7 @@ class ModemSimNode(object):
if active_packet:
self.packets_in_the_water.remove(packet_in_the_water)
self.active_rx_packets.append(active_packet)
+ rospy.loginfo_throttle(1, "MODEM {}: Incoming packet receive start".format(self.src))
# If there are no active packets, we are done with this cycle.
if not self.active_rx_packets:
@@ -269,7 +274,7 @@ class ModemSimNode(object):
packet_performance_req = SimPacketPerformanceRequest()
packet_performance_req.rx_level_db = finished_packet.receive_level_db
packet_performance_req.noise_level_db = total_noise
- packet_performance_req.packet_rate = finished_packet.sim_packet.packet.packet_rate
+ packet_performance_req.packet_rate = finished_packet.sim_packet.packet.dataframe_rate
packet_performance = self.call_sim_packet_performance(packet_performance_req)
if packet_performance.packet_success is True:
@@ -347,6 +352,10 @@ class ModemSimNode(object):
def call_get_platform_location(self):
try:
rospy.logdebug("Trying to get platform location")
+ if self.modem_location_source == 'local_service':
+ from ros_acomms.srv import GetPlatformLocation as ReadLocation
+ from ros_acomms.srv import GetPlatformLocationRequest as ReadLocationRequest
+ from ros_acomms.srv import GetPlatformLocationResponse as ReadLocationResponse
get_platform_location = rospy.ServiceProxy('/read_location', ReadLocation)
platform_location_req = ReadLocationRequest()
platform_location_req.name = rospy.get_namespace()
@@ -357,10 +366,10 @@ class ModemSimNode(object):
platform_location.latitude,
platform_location.longitude,
platform_location.depth)
- rospy.loginfo(log_str)
+ rospy.logdebug(log_str)
return platform_location
except rospy.ServiceException:
- rospy.loginfo("MODEM %d: Get Platform Location Service call failed", self.src)
+ rospy.logwarn_throttle(1, "MODEM %d: Get Platform Location Service call failed", self.src)
""" Calls SimPacketPerformance Service """
diff --git a/src/platform_location_node.py b/src/platform_location_node.py
index 267b001f..43b9aecc 100755
--- a/src/platform_location_node.py
+++ b/src/platform_location_node.py
@@ -13,7 +13,7 @@ class PlatformLocationNode(object):
platform_location.spin()
def handle_get_platform_location(self, req):
- rospy.loginfo("Getting Platform Location for SRC %s", req.name)
+ rospy.logdebug("Getting Platform Location for SRC %s", req.name)
# Using same setup as test_sim_transmission_loss - don't care about the source
lat = random.randrange(41421580, 41553703) * (10 ** -6)
lon = random.randrange(70726027, 70843443) * -(10 ** -6)
diff --git a/src/test_modem_sim_node.py b/src/test_modem_sim_node.py
index c29210de..743a7174 100755
--- a/src/test_modem_sim_node.py
+++ b/src/test_modem_sim_node.py
@@ -10,9 +10,8 @@ def test_queue_tx_packet_call(packet_counter):
try:
rospy.loginfo("Queuing Packet for TX")
- queue_packet = Packet()
- queue_packet.packet_rate = 1
- queue_packet.dest = packet_counter
+ packet_counter = packet_counter % 255
+ queue_packet = Packet(dest=packet_counter, miniframe_rate=1, dataframe_rate=1)
queue_tx = rospy.ServiceProxy('/modem0/queue_tx_packet', QueueTxPacket)
req = QueueTxPacketRequest(queue=1,
--
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