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moved reader out of miSim, went to event-based guidance

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Kevin Dee
2026-03-03 15:53:22 -08:00
parent 351a9bd16f
commit 252423eb29
8 changed files with 34 additions and 25 deletions
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34
aerpaw/controller.m
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@@ -78,7 +78,7 @@ for w = 1:numWaypoints
target = targets(targetIdx, :);
if coder.target('MATLAB')
disp(['Sending TARGET to client ', num2str(i), ' (waypoint ', num2str(w), '): ', ...
disp([datestr(now, 'HH:MM:SS'), ' Sending TARGET to client ', num2str(i), ' (waypoint ', num2str(w), '): ', ...
num2str(target(1)), ',', num2str(target(2)), ',', num2str(target(3))]);
else
coder.ceval('sendTarget', int32(i), coder.ref(target));
@@ -105,7 +105,6 @@ end
% ---- Phase 2: miSim guidance loop ----------------------------------------
% Guidance parameters (adjust here and recompile as needed)
MAX_GUIDANCE_STEPS = int32(100); % number of guidance iterations
GUIDANCE_RATE_MS = int32(5000); % ms between iterations (0.2 Hz default)
% Enter guidance mode on all clients
if ~coder.target('MATLAB')
@@ -124,36 +123,37 @@ end
guidance_step(positions(1:numClients, :), true, ...
scenarioParams, obstacleMin, obstacleMax, numObstacles);
% Main guidance loop
% Main guidance loop (event-triggered)
for step = 1:MAX_GUIDANCE_STEPS
% Query current GPS positions from all clients
if ~coder.target('MATLAB')
coder.ceval('sendRequestPositions', int32(numClients));
coder.ceval('recvPositions', int32(numClients), coder.ref(positions), int32(MAX_CLIENTS));
end
% Run one guidance step: feed GPS positions in, get targets out
% Run one guidance step: feed current GPS positions in, get targets out
nextPositions = guidance_step(positions(1:numClients, :), false, ...
scenarioParams, obstacleMin, obstacleMax, numObstacles);
% Send target to each client (no ACK/READY expected in guidance mode)
% Send target to each client
for i = 1:numClients
target = nextPositions(i, :);
if ~coder.target('MATLAB')
coder.ceval('sendTarget', int32(i), coder.ref(target));
else
disp(['[guidance] target UAV ', num2str(i), ': ', num2str(target)]);
disp([datestr(now, 'HH:MM:SS'), ' [guidance] target UAV ', num2str(i), ': ', num2str(target)]);
end
end
% Simulation: advance positions to guidance outputs for closed-loop feedback
if coder.target('MATLAB')
positions(1:numClients, :) = nextPositions(1:numClients, :);
% Wait for ACK from all clients (each UAV ACKs when it arrives at its target)
if ~coder.target('MATLAB')
coder.ceval('waitForAllMessageType', int32(numClients), ...
int32(MESSAGE_TYPE.ACK));
else
disp(['[guidance] step ', num2str(step), ': all UAVs arrived']);
end
% Wait for the guidance rate interval before the next iteration
% Request current GPS positions from all clients
if ~coder.target('MATLAB')
coder.ceval('sleepMs', int32(GUIDANCE_RATE_MS));
coder.ceval('sendRequestPositions', int32(numClients));
coder.ceval('recvPositions', int32(numClients), coder.ref(positions), int32(MAX_CLIENTS));
else
% Simulation: advance positions to guidance outputs for closed-loop feedback
positions(1:numClients, :) = nextPositions(1:numClients, :);
end
end