feat(sim): add map and terrain inputs

DISCRETE_EVENT_SIM.md

@@ -9,7 +9,7 @@ To start one simulation with the default configurations, run:
 
 ```python3 loraMesh.py [nr_nodes]```
 
-If no argument is given, you first have to place the nodes on a plot. After you place a node, you can change its [role](https://meshtastic.org/docs/settings/config/device#role), hopLimit, height (elevation) and antenna gain. These settings will automatically save when you place a new node or when you start the simulation.
+If no argument is given, you first have to place the nodes on a plot. After you place a node, you can change its [role](https://meshtastic.org/docs/settings/config/device#role), hopLimit, antenna height above local ground, and antenna gain. These settings will automatically save when you place a new node or when you start the simulation.
 
 ![](/img/configNode.png)
 
@@ -23,6 +23,61 @@ Short deterministic smoke runs can also override the configured duration and mes
 
 ```python3 loraMesh.py 2 --no-gui --simtime-seconds 5 --period-seconds 0.5```
 
+The same headless path can import positioned real-mesh nodes. `--from-map`
+reads a Meshtastic map `/api/v1/nodes` JSON endpoint; the public default is
+`https://meshtastic.liamcottle.net/api/v1/nodes`, but you can pass another
+compatible endpoint URL. These map endpoints usually return a broad node list,
+so pass a local area-of-interest bounding box. `--map-bbox` uses the common
+`min_lat,min_lon,max_lat,max_lon` order that most GIS tools call
+`south,west,north,east`; you can copy those four numbers from OpenStreetMap's
+Export panel, geojson.io's bbox readout, QGIS, or any other tool that shows the
+extent of the map view or selected polygon. Keep the box tight enough for the
+local scenario you want to simulate:
+
+```python3 loraMesh.py --from-map https://meshtastic.liamcottle.net/api/v1/nodes --map-bbox 41.50,41.50,41.82,41.86 --map-limit 50 --no-gui```
+
+You can also import positioned nodes from the NodeDB cached by a local
+Meshtastic device. This uses the Python client `interface.nodesByNum` data that
+backs `meshtastic --nodes`, not the pretty-printed table. Use TCP for a network
+device, or omit `--nodedb-host` to use Meshtastic serial auto-detection. For a
+quick local-device run, pass the device address and cap the imported node count:
+
+```python3 loraMesh.py --from-nodedb --nodedb-host 192.168.1.23 --map-limit 50 --no-gui```
+
+NodeDB often contains old or far-away positions. Add `--map-bbox` when you want
+to restrict the run to one local area:
+
+```python3 loraMesh.py --from-nodedb --nodedb-host 192.168.1.23 --map-bbox 41.50,41.50,41.82,41.86 --map-limit 50 --no-gui```
+
+Imported nodes use the same `HM` antenna height and `hopLimit` defaults as
+generated and file-backed scenarios. Change those config values when the
+position source does not carry the simulation value you want.
+
+Terrain obstruction can be added to map, NodeDB, or origin-backed scenario inputs
+without creating a custom terrain file. `--terrain-srtm` downloads missing SRTM
+HGT tiles from Mapzen Terrain Tiles on AWS into a local cache and feeds the
+terrain grid directly into terrain-aware node geometry:
+
+```python3 loraMesh.py --from-nodedb --nodedb-host 192.168.1.23 --map-limit 50 --terrain-srtm --no-gui```
+
+With an explicit `--map-bbox`, SRTM samples that whole requested rectangle. When
+the terrain bbox is derived from imported or file-backed nodes, Meshtasticator
+keeps the download smaller: it loads tiles around the selected nodes and along
+flat-link candidate paths, instead of downloading every tile in a large
+edge-to-edge rectangle. When publishing screenshots, reports, or derived
+datasets from this terrain source, attribute the terrain data to
+[Mapzen Terrain Tiles on AWS](https://registry.opendata.aws/terrain-tiles/),
+SRTM/NASA, and their underlying open elevation sources:
+
+```python3 loraMesh.py --from-map https://meshtastic.liamcottle.net/api/v1/nodes --map-bbox 41.50,41.50,41.82,41.86 --map-limit 50 --terrain-srtm --no-gui```
+
+Map payload `altitude` values are absolute GPS/MSL altitude, not antenna height,
+so map import keeps using `HM` as the fallback antenna height above local
+ground. When `--terrain-srtm` is enabled, each map node is checked
+against its own SRTM ground sample: plausible positive map altitudes are used as
+absolute node altitude, while missing, below-ground, or implausibly high values
+fall back to `SRTM ground + antenna height` for 3D distance calculations.
+
 If you placed the nodes yourself, after a simulation the number of nodes, their coordinates and configuration are automatically saved and you can rerun the scenario with:
 
  ```python3 loraMesh.py --from-file```

batchSim.py

@@ -232,7 +232,7 @@ def __init__(self, conf, x, y):
                 x, y = coords[nodeId]
 
                 # We create a NodeConfig object so that MeshNode will use that
-                nodeConfig = NodeConfig(nodeId, Point(x, y, routerTypeConf.HM), routerTypeConf.PERIOD, antenna_gain=routerTypeConf.GL, hop_limit=routerTypeConf.hopLimit)
+                nodeConfig = NodeConfig(nodeId, Point(x, y, routerTypeConf.HM), routerTypeConf.PERIOD, routerTypeConf.PTX, routerTypeConf.FREQ, antenna_gain=routerTypeConf.GL, hop_limit=routerTypeConf.hopLimit)
                 node_configs.append(nodeConfig)
 
             if SHOW_GRAPH:

lib/common.py

@@ -1,11 +1,15 @@
 import random
-import os
 
 import numpy as np
 
 from lib import phy
 from lib.point import Point
 
+
+def node_antenna_height(node):
+    """Return antenna height above ground, falling back to legacy Point.z."""
+    return getattr(node, "antennaHeight", getattr(node, "antenna_height", node.position.z))
+
 def find_random_position(conf, node_configs) -> (float, float):
     """Given a simulation config and list of existing node configs/nodes, find a
     randomly chosen position for the next node such that it is within the
@@ -79,7 +83,7 @@ def setup_asymmetric_links(conf, nodes):
                 nodeA = nodes[a]
                 nodeB = nodes[b]
                 distAB = nodeA.position.euclidean_distance(nodeB.position)
-                pathLossAB = phy.estimate_path_loss(conf, distAB, conf.FREQ, nodeA.position.z, nodeB.position.z)
+                pathLossAB = phy.estimate_path_loss(conf, distAB, conf.FREQ, node_antenna_height(nodeA), node_antenna_height(nodeB))
 
                 offsetAB = conf.LINK_OFFSET[(a, b)]
                 offsetBA = conf.LINK_OFFSET[(b, a)]

lib/config.py

@@ -401,6 +401,29 @@ def __init__(self):
         self.NPREAM = 16   # number of preamble symbols from RadioInterface.h
         ### End of PHY parameters ###
 
+        #################################################
+        ####### TERRAIN OBSTRUCTION MODEL ###############
+        #################################################
+        # Disabled by default. When enabled, TERRAIN_GRID holds an in-memory
+        # grid sampled from SRTM HGT tiles.
+        self.TERRAIN_ENABLED = False
+        self.TERRAIN_GRID = None
+        # "ground": Point.z is antenna height above local ground.
+        # "sea_level": Point.z is absolute antenna altitude after adding
+        # terrain ground elevation.
+        self.NODE_Z_REFERENCE = "ground"
+        self.GEO_ORIGIN_LAT = None
+        self.GEO_ORIGIN_LON = None
+        self.TERRAIN_PROFILE_SAMPLES = 24
+        self.TERRAIN_FRESNEL_CLEARANCE = 0.6
+        # Match the common radio-planning 4/3 Earth-radius approximation. The
+        # terrain model uses it as an earth-bulge term so long coastal and ridge
+        # links do not look unrealistically flat.
+        self.TERRAIN_EFFECTIVE_EARTH_RADIUS_MULTIPLIER = 4.0 / 3.0
+        self.TERRAIN_MIN_ANTENNA_HEIGHT_M = 1.5
+        self.TERRAIN_MAX_LOSS_DB = 35.0
+        self.TERRAIN_LOSS_CACHE_MAX_ENTRIES = 16384
+
         # Misc
         self.SEED = 44  # random seed to use
         # End of misc

lib/geo.py

@@ -0,0 +1,13 @@
+"""Small geographic validation helpers shared by map-oriented inputs."""
+
+import math
+
+
+def valid_lat_lon(lat, lon):
+    """Return whether latitude/longitude are finite WGS84-style coordinates."""
+    return (
+        math.isfinite(lat)
+        and math.isfinite(lon)
+        and -90.0 <= lat <= 90.0
+        and -180.0 <= lon <= 180.0
+    )