diff --git a/src/sim_transmission_loss_node.py b/src/sim_transmission_loss_node.py
index 6ca53edc67266ca30e893954fedb66a70a30ebfb..83264fde3cd9d686fcfc64fc119822ae848c1880 100755
--- a/src/sim_transmission_loss_node.py
+++ b/src/sim_transmission_loss_node.py
@@ -19,67 +19,72 @@ class SimTransmissionLossNode(object):
rospy.init_node('sim_transmission_loss_node', log_level=rospy.INFO)
rospy.loginfo("Starting sim_transmission_loss_node...")
- # Check that bellhop.exe is available. If it isn't, crash our now rather than waiting until we try to
- # simulate.
- if which('bellhop.exe') is None:
- rospy.logfatal("bellhop.exe was not found on your path (check the ros_acomms README for instructions). "
- "sim_transmission_loss_node terminating.")
- exit()
-
# Get node parameters
self.sound_speed = rospy.get_param('~sound_speed', default=1500)
- self.water_depth = rospy.get_param('~water_depth', default=None)
+ self.water_depth = rospy.get_param('~water_depth', default=1000)
self.plot = rospy.get_param('~plot', default=False)
-
+ self.model = rospy.get_param('~model', default='bellhop')
self.bellhop_env_nbeams = rospy.get_param('~bellhop_env_nbeams', default=3000)
self.bellhop_transmission_loss_mode = rospy.get_param('~bellhop_transmission_loss_mode', default='incoherent')
self.bellhop_arrivals = rospy.get_param('~bellhop_arrivals', default=False)
- # Check node parameters
- # TODO: check validity of the parameters here and output contents to log
-
- self.env = pm.create_env2d(name='SimTransmissionEnvironment',
- bottom_absorption=0.1, # [dB/wavelength]
- bottom_density=1600, # [kg/m^3]
- bottom_roughness=0, # [m (RMS)]
- bottom_soundspeed=1600, # [m/s]
- depth=1000, # [m]
- depth_interp='linear', # [curvilinear/linear]
- frequency=10000, # [Hz] ###### Changes
- max_angle=80, # [deg]
- min_angle=-80, # [deg]
- nbeams=0, # [Number of beams 0 = auto]
- rx_depth=10, # [m] ###### Changes
- rx_range=1000, # [m] ###### Changes
- soundspeed=1500, # [m/s]
- soundspeed_interp='spline', # [spline/linear]
- surface=None, # [surface profile]
- surface_interp='linear', # [curvilinear/linear]
- tx_depth=5, # [m] ###### Changes
- tx_directionality=None, # [(deg, dB)...]
- type='2D' # [2D/3D]
- )
-
-
- if self.sound_speed is not None:
- # TODO: Parse sound speed arrays and pass into environment
- self.env['sound_speed'] = self.sound_speed
-
- if self.water_depth is not None:
- rospy.logdebug("Parameter water_depth: " + str(self.water_depth))
- self.env['depth'] = self.water_depth
-
- if self.bellhop_env_nbeams is not None:
- rospy.logdebug("Parameter bellhop env nbeams: " + str(self.bellhop_env_nbeams))
- self.env['nbeams'] = self.bellhop_env_nbeams
-
- pm.print_env(self.env)
-
- # Check that the environment is sane
- try:
- pm.check_env2d(self.env)
- except ValueError as e:
- rospy.logerr("Error in Bellhop environment: {}\nUsing environment:\n{}".format(e, self.env))
+ if self.model == 'bellhop':
+ # Check that bellhop.exe is available. If it isn't, crash our now rather than waiting until we try to
+ # simulate.
+ if which('bellhop.exe') is None:
+ rospy.logfatal("bellhop.exe was not found on your path (check the ros_acomms README for instructions). "
+ "sim_transmission_loss_node terminating.")
+ exit()
+
+ # Check node parameters
+ # TODO: check validity of the parameters here and output contents to log
+
+ self.env = pm.create_env2d(name='SimTransmissionEnvironment',
+ bottom_absorption=0.1, # [dB/wavelength]
+ bottom_density=1600, # [kg/m^3]
+ bottom_roughness=0, # [m (RMS)]
+ bottom_soundspeed=1600, # [m/s]
+ depth=1000, # [m]
+ depth_interp='linear', # [curvilinear/linear]
+ frequency=10000, # [Hz] ###### Changes
+ max_angle=80, # [deg]
+ min_angle=-80, # [deg]
+ nbeams=0, # [Number of beams 0 = auto]
+ rx_depth=10, # [m] ###### Changes
+ rx_range=1000, # [m] ###### Changes
+ soundspeed=1500, # [m/s]
+ soundspeed_interp='spline', # [spline/linear]
+ surface=None, # [surface profile]
+ surface_interp='linear', # [curvilinear/linear]
+ tx_depth=5, # [m] ###### Changes
+ tx_directionality=None, # [(deg, dB)...]
+ type='2D' # [2D/3D]
+ )
+
+
+ if self.sound_speed is not None:
+ # TODO: Parse sound speed arrays and pass into environment
+ self.env['sound_speed'] = self.sound_speed
+
+ if self.water_depth is not None:
+ rospy.logdebug("Parameter water_depth: " + str(self.water_depth))
+ self.env['depth'] = self.water_depth
+
+ if self.bellhop_env_nbeams is not None:
+ rospy.logdebug("Parameter bellhop env nbeams: " + str(self.bellhop_env_nbeams))
+ self.env['nbeams'] = self.bellhop_env_nbeams
+
+ pm.print_env(self.env)
+
+ # Check that the environment is sane
+ try:
+ pm.check_env2d(self.env)
+ except ValueError as e:
+ rospy.logerr("Error in Bellhop environment: {}\nUsing environment:\n{}".format(e, self.env))
+ else:
+ # unknown model
+ rospy.loginfo("Unknown or default model specified, modeled RL will match TL")
+ pass
# Subscribe to sound speed profile updates, if they are available
self.ssp_subscriber = rospy.Subscriber('sound_speed_profile', SoundSpeedProfile, self.on_ssp_update)
@@ -145,6 +150,13 @@ class SimTransmissionLossNode(object):
return GetOptimalTxDepthResponse(rcv_rx_level_db=best_rl, optimal_tx_depth=best_depth)
def get_receive_level(self, horizontal_range, src_depth, dest_depth, center_frequency=10000, tx_level_db=185):
+ if self.model == 'bellhop':
+ return self.get_receive_level_bellhop(horizontal_range, src_depth, dest_depth,
+ center_frequency, tx_level_db)
+ else:
+ return 185
+
+ def get_receive_level_bellhop(self, horizontal_range, src_depth, dest_depth, center_frequency=10000, tx_level_db=185):
# Modify environment file
self.env['tx_depth'] = src_depth
self.env['rx_depth'] = dest_depth