sending starting positions to agents (not verified on AERPAW yet)

aerpaw/basic_demo/controller.cpp

@@ -15,21 +15,48 @@
 // Function Definitions
 void controller(int numClients)
 {
+  static const char b_filename[12]{"targets.txt"};
+  double targets[12];
+  char filename[12];
+  //  Maximum clients supported
+  //  Allocate targets array (MAX_CLIENTS x 3)
+  //  Load targets from file
+  //  Define filename as null-terminated character array for C compatibility
+  for (int i{0}; i < 12; i++) {
+    targets[i] = 0.0;
+    filename[i] = b_filename[i];
+  }
+  //  loadTargets fills targets array (row-major: x1,y1,z1,x2,y2,z2,...)
+  loadTargets(&filename[0], &targets[0], 4);
   //  Initialize server
   initServer();
   //  Accept clients
   for (int i{0}; i < numClients; i++) {
     acceptClient(i + 1);
   }
-  //  Send messages to clients
+  //  Send target coordinates to each client
   for (int i{0}; i < numClients; i++) {
-    sendMessage(i + 1);
+    double target[3];
+    //  Get target for this client (1x3 array)
+    target[0] = targets[i];
+    target[1] = targets[i + 4];
+    target[2] = targets[i + 8];
+    sendTarget(i + 1, &target[0]);
   }
-  //  Receive acknowledgements
+  //  Receive TARGET acknowledgments
   for (int i{0}; i < numClients; i++) {
-    receiveAck(i + 1);
+    receiveTargetAck(i + 1);
+  }
+  //  Check all ACKs received
+  //  Wait for READY signals (UAVs have reached their targets)
+  for (int i{0}; i < numClients; i++) {
+    waitForReady(i + 1);
+  }
+  //  Check all READY signals received
+  //  Send COMPLETE to all clients before closing
+  for (int i{0}; i < numClients; i++) {
+    sendFinished(i + 1);
   }
-  //  Digest ACKs
   //  Close server
   closeServer();
 }