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message type updates

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This commit is contained in:
Kevin Dee
2026-02-01 16:02:18 -08:00
parent f6e1f13bb5
commit 330c1e5d54
10 changed files with 202 additions and 498 deletions
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66
aerpaw/controller.m
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@@ -49,27 +49,29 @@ for i = 1:numClients
target = targets(i, :);
if coder.target('MATLAB')
disp(['Sending TARGET to client ', num2str(i), ': ', ...
disp(['Sending ', char(MESSAGE_TYPE.TARGET), ' to client ', num2str(i), ': ', ...
num2str(target(1)), ',', num2str(target(2)), ',', num2str(target(3))]);
else
coder.ceval('sendTarget', int32(i), coder.ref(target));
end
end
% Wait for TARGET acknowledgments from all clients (simultaneously using select())
% Wait for ACK from all clients
if coder.target('MATLAB')
disp('Waiting for ACK:TARGET from all clients...');
disp('All TARGET acknowledgments received.');
disp(['Waiting for ', char(MESSAGE_TYPE.ACK), ' from all clients...']);
disp('All acknowledgments received.');
else
coder.ceval('waitForAllTargetAck', int32(numClients));
coder.ceval('waitForAllMessageType', int32(numClients), ...
int32(MESSAGE_TYPE.ACK));
end
% Wait for READY signals from all clients (simultaneously using select())
% Wait for READY signals from all clients
if coder.target('MATLAB')
disp('Waiting for READY from all clients...');
disp(['Waiting for ', char(MESSAGE_TYPE.READY), ' from all clients...']);
disp('All UAVs at target positions.');
else
coder.ceval('waitForAllReady', int32(numClients));
coder.ceval('waitForAllMessageType', int32(numClients), ...
int32(MESSAGE_TYPE.READY));
end
% Wait for user input before closing experiment
@@ -82,43 +84,61 @@ end
% Send RTL command to all clients
for i = 1:numClients
if coder.target('MATLAB')
disp(['Sending RTL to client ', num2str(i)]);
disp(['Sending ', char(MESSAGE_TYPE.RTL), ' to client ', num2str(i)]);
else
coder.ceval('sendRTL', int32(i));
coder.ceval('sendMessageType', int32(i), int32(MESSAGE_TYPE.RTL));
end
end
% Wait for RTL_COMPLETE from all clients (simultaneously using select())
% Wait for ACK from all clients
if coder.target('MATLAB')
disp('Waiting for RTL_COMPLETE from all clients...');
disp(['Waiting for ', char(MESSAGE_TYPE.ACK), ' from all clients...']);
else
coder.ceval('waitForAllMessageType', int32(numClients), ...
int32(MESSAGE_TYPE.ACK));
end
% Wait for READY from all clients (returned to home)
if coder.target('MATLAB')
disp(['Waiting for ', char(MESSAGE_TYPE.READY), ' from all clients...']);
disp('All UAVs returned to home.');
else
coder.ceval('waitForAllRTLComplete', int32(numClients));
coder.ceval('waitForAllMessageType', int32(numClients), ...
int32(MESSAGE_TYPE.READY));
end
% Send LAND command to all clients
for i = 1:numClients
if coder.target('MATLAB')
disp(['Sending LAND to client ', num2str(i)]);
disp(['Sending ', char(MESSAGE_TYPE.LAND), ' to client ', num2str(i)]);
else
coder.ceval('sendLAND', int32(i));
coder.ceval('sendMessageType', int32(i), int32(MESSAGE_TYPE.LAND));
end
end
% Wait for LAND_COMPLETE from all clients (simultaneously using select())
% Wait for ACK from all clients
if coder.target('MATLAB')
disp('Waiting for LAND_COMPLETE from all clients...');
disp('All UAVs landed and disarmed.');
disp(['Waiting for ', char(MESSAGE_TYPE.ACK), ' from all clients...']);
else
coder.ceval('waitForAllLANDComplete', int32(numClients));
coder.ceval('waitForAllMessageType', int32(numClients), ...
int32(MESSAGE_TYPE.ACK));
end
% Send FINISHED to all clients before closing
% Wait for READY from all clients (landed and disarmed)
if coder.target('MATLAB')
disp(['Waiting for ', char(MESSAGE_TYPE.READY), ' from all clients...']);
disp('All UAVs landed and disarmed.');
else
coder.ceval('waitForAllMessageType', int32(numClients), ...
int32(MESSAGE_TYPE.READY));
end
% Send READY to all clients to signal mission complete
for i = 1:numClients
if coder.target('MATLAB')
disp(['Sending FINISHED to client ', num2str(i)]);
disp(['Sending ', char(MESSAGE_TYPE.READY), ' to client ', num2str(i)]);
else
coder.ceval('sendFinished', int32(i));
coder.ceval('sendMessageType', int32(i), int32(MESSAGE_TYPE.READY));
end
end
@@ -129,4 +149,4 @@ end
disp('Experiment complete.');
end
end