Merge branch '223-simulation-trajectories' into 'master'

Simulation Trajectories Closes #223 See merge request barkhauseninstitut/wicon/hermespy!192
Barkhausen-Institut · Jun 4, 2024 · de87b4f · de87b4f
2 parents 30d63e3 + db6222b
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diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -4,7 +4,7 @@ image: python:3.11
 variables:
   PIP_CACHE_DIR: "$CI_PROJECT_DIR/.cache/pip"
   GIT_SUBMODULE_STRATEGY: recursive
-  HERMES_VERSION: "1.2.0"
+  HERMES_VERSION: "1.3.0"
   HERMES_WHEEL_11: "hermespy-$HERMES_VERSION-cp311-cp311-linux_x86_64.whl"
   HERMES_WHEEL_10: "hermespy-$HERMES_VERSION-cp310-cp310-linux_x86_64.whl"
   HERMES_WHEEL_09: "hermespy-$HERMES_VERSION-cp39-cp39-linux_x86_64.whl"

diff --git a/MANIFEST.in b/MANIFEST.in
diff --git a/README.md b/README.md
@@ -8,7 +8,7 @@ adjacent-channel interference among different communication systems.
 
 ## Features
 
-The current release version 1.1.0 serves as a platform for joint development.
+The current release version 1.3.0 serves as a platform for joint development.
 Its main focus is to provide a software architecture that can be easily extended.
 Detailed core features as well as a release plan can be found in the
 [features](https://hermespy.org/features.html) list.

diff --git a/_examples/library/getting_started_mobility.py b/_examples/library/getting_started_mobility.py
@@ -0,0 +1,58 @@
+import matplotlib.pyplot as plt
+import numpy as np
+
+# Import required HermesPy modules
+from hermespy.core import dB, Transformation
+from hermespy.channel import IndoorOffice, LOSState
+from hermespy.simulation import LinearTrajectory, Simulation, StaticTrajectory, SNR
+from hermespy.modem import BitErrorEvaluator, RootRaisedCosineWaveform, SingleCarrierLeastSquaresChannelEstimation, SingleCarrierZeroForcingChannelEqualization, SimplexLink
+
+# Create a new HermesPy simulation scenario
+simulation = Simulation(seed=42)
+
+# Create two devices representing base station and terminal
+# in a downlink scenario
+cf = 2.4e9
+base_station = simulation.scenario.new_device(carrier_frequency=cf)
+terminal = simulation.scenario.new_device(carrier_frequency=cf)
+
+# Assign a positions / trajectories to the terminal and base station
+base_station.trajectory = StaticTrajectory(
+    Transformation.From_Translation(np.array([0, 0, 2]))
+)
+terminal.trajectory = LinearTrajectory(
+    Transformation.From_Translation(np.array([10, 0, 0])),
+    Transformation.From_Translation(np.array([0, 10, 0])),
+    10,
+)
+
+# Configure a downlink communicating between base station and terminal
+# via a single-carrier waveform
+link = SimplexLink(base_station, terminal)
+link.waveform = RootRaisedCosineWaveform(symbol_rate=1e6, oversampling_factor=8,
+                                         num_preamble_symbols=10, num_data_symbols=100,
+                                         roll_off=.9)
+link.waveform.channel_estimation = SingleCarrierLeastSquaresChannelEstimation()
+link.waveform.channel_equalization = SingleCarrierZeroForcingChannelEqualization()
+
+# Specify the channel model between base station and terminal
+channel = IndoorOffice(expected_state=LOSState.LOS)
+simulation.set_channel(base_station, terminal, channel)
+
+# Specify the hardware noise model
+base_station.noise_level = SNR(dB(100), base_station, channel)
+terminal.noise_level = SNR(dB(100), base_station, channel)
+
+# Evaluate the bit error rate
+ber = BitErrorEvaluator(link, link)
+simulation.add_evaluator(ber)
+
+# Run a simulation generating drops every 1 second
+simulation.drop_interval = 1
+simulation.num_drops = 1000
+
+# Sweep over the receive SNR
+simulation.new_dimension('noise_level', dB(100, 20, 16, 12, 8, 4, 0), terminal)
+result = simulation.run()
+result.plot()
+plt.show()
diff --git a/_examples/paper/fec.py b/_examples/paper/fec.py
@@ -11,7 +11,7 @@
 from hermespy.modem import TransmittingModem, ReceivingModem, OFDMWaveform, GridResource, GridElement, SymbolSection, BitErrorEvaluator, BlockErrorEvaluator, FrameErrorEvaluator, ThroughputEvaluator
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/hardware_effects.py b/_examples/paper/hardware_effects.py
@@ -10,7 +10,7 @@
 from hermespy.core import ConsoleMode
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/interference_alamouti.py b/_examples/paper/interference_alamouti.py
@@ -13,7 +13,7 @@
 from hermespy.precoding import SpaceTimeBlockCoding
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/interference_no.py b/_examples/paper/interference_no.py
@@ -13,7 +13,7 @@
 from hermespy.core import ConsoleMode
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/interference_zf.py b/_examples/paper/interference_zf.py
@@ -13,7 +13,7 @@
 from hermespy.core import ConsoleMode
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/multinode_loop.py b/_examples/paper/multinode_loop.py
@@ -11,7 +11,7 @@
 from hermespy.modem import TransmittingModem, ReceivingModem, RRCWaveform, SCCorrelationSynchronization, SCLeastSquaresChannelEstimation, SCZeroForcingChannelEqualization, BitErrorEvaluator
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/multinode_simulation.py b/_examples/paper/multinode_simulation.py
@@ -10,7 +10,7 @@
 from hermespy.modem import TransmittingModem, ReceivingModem, RRCWaveform, SCCorrelationSynchronization, SCLeastSquaresChannelEstimation, SCZeroForcingChannelEqualization, BitErrorEvaluator
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/pa_characteristics.py b/_examples/paper/pa_characteristics.py
@@ -8,7 +8,7 @@
     ClippingPowerAmplifier
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/radar_sensing.py b/_examples/paper/radar_sensing.py
@@ -15,7 +15,7 @@
 from hermespy.tools import db2lin
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/stopping.py b/_examples/paper/stopping.py
@@ -16,7 +16,7 @@
 from hermespy.core import ConsoleMode
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/sweeping.py b/_examples/paper/sweeping.py
@@ -16,7 +16,7 @@
 from hermespy.core import ConsoleMode
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/theory.py b/_examples/paper/theory.py
@@ -13,7 +13,7 @@
 from hermespy.core import ConsoleMode
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/theory_awgn.py b/_examples/paper/theory_awgn.py
@@ -14,7 +14,7 @@
 from hermespy.core import ConsoleMode
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/theory_rayleigh.py b/_examples/paper/theory_rayleigh.py
@@ -16,7 +16,7 @@
 from hermespy.core import ConsoleMode
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/_examples/paper/theory_theory.py b/_examples/paper/theory_theory.py
@@ -13,7 +13,7 @@
 from hermespy.core import Executable
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.3.0"

diff --git a/bumpver.toml b/bumpver.toml
@@ -1,6 +1,6 @@
 [bumpver]
 
-current_version = "1.1.0"
+current_version = "1.3.0"
 version_pattern = "MAJOR.MINOR.PATCH"
 commit_message = "Bump to version {new_version}"
 commit = false
@@ -19,20 +19,29 @@ push = false
 "hermespy/beamforming/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/bin/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/channel/*.py" = [ '__version__ = "{version}"' ]
+"hermespy/channel/cdl/*.py" = [ '__version__ = "{version}"' ]
+"hermespy/channel/delay/*.py" = [ '__version__ = "{version}"' ]
+"hermespy/channel/fading/*.py" = [ '__version__ = "{version}"' ]
+"hermespy/channel/quadriga/*.py" = [ '__version__ = "{version}"' ]
+"hermespy/channel/radar/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/core/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/fec/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/hardware_loop/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/hardware_loop/audio/*.py" = [ '__version__ = "{version}"' ]
+"hermespy/hardware_loop/calibration/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/hardware_loop/uhd/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/jcas/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/modem/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/modem/precoding/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/modem/tools/*.py" = [ '__version__ = "{version}"' ]
+"hermespy/modem/waveforms/*.py" = [ '__version__ = "{version}"' ]
+"hermespy/modem/waveforms/orthogonal/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/precoding/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/radar/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/simulation/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/simulation/coupling/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/simulation/isolation/*.py" = [ '__version__ = "{version}"' ]
+"hermespy/simulation/modem/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/simulation/noise/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/simulation/rf_chain/*.py" = [ '__version__ = "{version}"' ]
 "hermespy/tools/*.py" = [ '__version__ = "{version}"' ]
@@ -48,16 +57,21 @@ push = false
 "tests/unit_tests/fec/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/hardware_loop/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/hardware_loop/audio/*.py" = [ '__version__ = "{version}"' ]
+"tests/unit_tests/hardware_loop/calibration/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/hardware_loop/uhd/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/jcas/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/modem/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/modem/precoding/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/modem/tools/*.py" = [ '__version__ = "{version}"' ]
+"tests/unit_tests/modem/waveforms/*.py" = [ '__version__ = "{version}"' ]
+"tests/unit_tests/modem/waveforms/orthogonal/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/precoding/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/radar/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/simulation/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/simulation/coupling/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/simulation/isolation/*.py" = [ '__version__ = "{version}"' ]
+"tests/unit_tests/simulation/modem/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/simulation/noise/*.py" = [ '__version__ = "{version}"' ]
 "tests/unit_tests/simulation/rf_chain/*.py" = [ '__version__ = "{version}"' ]
-"tests/unit_tests/tools/*.py" = [ '__version__ = "{version}"' ]
+"tests/unit_tests/tools/*.py" = [ '__version__ = "{version}"' ]
+"tests/unit_tests/*.py" = [ '__version__ = "{version}"' ]
diff --git a/docssource/api/simulation.animation.rst b/docssource/api/simulation.animation.rst
@@ -2,6 +2,41 @@
 Animation
 ==========
 
+.. inheritance-diagram:: hermespy.simulation.animation.Trajectory hermespy.simulation.animation.StaticTrajectory hermespy.simulation.animation.LinearTrajectory
+   :parts: 1
+
+Movements of devices and other objects within simulations may be described by :class:`Trajectories<hermespy.simulation.animation.Trajectory>`,
+which model the veloctiy, position and orientation of the object as a function of time.
+Generally, objects that may be animated within a simulation should inherit from the :class:`Moveable<hermespy.simulation.animation.Moveable>` class,
+which exposes the :meth:`trajectory<hermespy.simulation.animation.Moveable.trajectory>` property.
+The currently available trajectory types are:
+
+.. list-table:: Trajectory Types
+    :header-rows: 1
+
+    * - Type
+      - Description
+    * - :class:`StaticTrajectory<hermespy.simulation.animation.StaticTrajectory>`
+      - A trajectory that does not change over time.
+    * - :class:`LinearTrajectory<hermespy.simulation.animation.LinearTrajectory>`
+      - A trajectory that moves in a straight line at a constant velocity.
+
+The following example demonstrates how to assign a linear trajectory to a device
+within a simulation and plot the scenario:
+
+.. literalinclude:: ../scripts/examples/simulation_animation.py
+    :language: python
+    :linenos:
+    :lines: 10-29
+
+.. autoclass:: hermespy.simulation.animation.Trajectory
+
+.. autoclass:: hermespy.simulation.animation.StaticTrajectory
+
+.. autoclass:: hermespy.simulation.animation.LinearTrajectory
+
 .. autoclass:: hermespy.simulation.animation.Moveable
 
+.. autoclass:: hermespy.simulation.animation.TrajectorySample
+
 .. footbibliography::
diff --git a/docssource/scripts/examples/channel_radar_single.py b/docssource/scripts/examples/channel_radar_single.py
@@ -9,7 +9,7 @@
 from hermespy.simulation import Simulation
 
 # Initialize a single device operating at 78.5 GHz
-simulation = Simulation()
+simulation = Simulation(seed=42)
 device = simulation.new_device(carrier_frequency=78.5e9)
 
 # Create a radar channel modeling a single target at 10m distance

diff --git a/docssource/scripts/examples/simulation_animation.py b/docssource/scripts/examples/simulation_animation.py
@@ -0,0 +1,29 @@
+# -*- coding: utf-8 -*-
+
+import matplotlib.pyplot as plt
+import numpy as np
+
+from hermespy.core import Transformation
+from hermespy.simulation import Simulation, LinearTrajectory
+
+
+# Create a new simulation featuring two devices
+simulation = Simulation()
+device_alpha = simulation.new_device()
+device_beta = simulation.new_device()
+
+# Assign each device a linear trajectory
+device_alpha.trajectory = LinearTrajectory(
+    initial_pose=Transformation.From_Translation(np.array([0, 0, 20])),
+    final_pose=Transformation.From_Translation(np.array([0, 100, 5])),
+    duration=60,
+)
+device_beta.trajectory = LinearTrajectory(
+    initial_pose=Transformation.From_Translation(np.array([100, 100, 0])),
+    final_pose=Transformation.From_Translation(np.array([0, 0, 0])),
+    duration=60,
+)
+
+# Visualize the trajectories
+simulation.scenario.visualize()
+plt.show()
diff --git a/docssource/scripts/plot_antenna_gains.py b/docssource/scripts/plot_antenna_gains.py
@@ -6,7 +6,7 @@
 from hermespy.simulation.antenna import Antenna, IdealAntenna, PatchAntenna, Dipole
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.2.7"

diff --git a/docssource/scripts/plot_pa_characteristics.py b/docssource/scripts/plot_pa_characteristics.py
@@ -7,7 +7,7 @@
     ClippingPowerAmplifier
 
 __author__ = "Jan Adler"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.2.7"

diff --git a/docssource/scripts/plot_quantizer.py b/docssource/scripts/plot_quantizer.py
@@ -7,7 +7,7 @@
 from hermespy.simulation import AnalogDigitalConverter, QuantizerType
 
 __author__ = "Andre Noll Barreto"
-__copyright__ = "Copyright 2023, Barkhausen Institut gGmbH"
+__copyright__ = "Copyright 2024, Barkhausen Institut gGmbH"
 __credits__ = ["Andre Noll Barreto", "Jan Adler"]
 __license__ = "AGPLv3"
 __version__ = "0.2.7"