From 789aecc560d35d2df1a7dc7ddb12d016cbe22806 Mon Sep 17 00:00:00 2001
From: Kevin D <krdee1@gmail.com>
Date: Sun, 5 Apr 2026 14:24:10 -0700
Subject: [PATCH] experiment 1 obstacle collision fixes completed

---
 aerpaw/client/uav_runner.py      |   2 +-
 aerpaw/controller.coderprj       | 628 ++++++++++++++++++++++++++-----
 aerpaw/results/resultsAnalysis.m |   2 +-
 3 files changed, 540 insertions(+), 92 deletions(-)

diff --git a/aerpaw/client/uav_runner.py b/aerpaw/client/uav_runner.py
index db4dcef..2581102 100644
--- a/aerpaw/client/uav_runner.py
+++ b/aerpaw/client/uav_runner.py
@@ -164,7 +164,7 @@ class UAVRunner(BasicRunner):
 
         # Retry connection up to 10 times (~30 seconds total)
         reader, writer = None, None
-        for attempt in range(10):
+        for attempt in range(100):
             try:
                 reader, writer = await asyncio.wait_for(
                     asyncio.open_connection(self.server_ip, self.server_port),
diff --git a/aerpaw/controller.coderprj b/aerpaw/controller.coderprj
index 023a9ed..c822aab 100644
--- a/aerpaw/controller.coderprj
+++ b/aerpaw/controller.coderprj
@@ -148,6 +148,16 @@
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                   <Size type="coderapp.internal.codertype.Dimension"/>
                 </Types>
+                <Types id="30" type="coderapp.internal.codertype.PrimitiveType">
+                  <ClassName>int32</ClassName>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                </Types>
+                <Types id="31" type="coderapp.internal.codertype.PrimitiveType">
+                  <ClassName>int32</ClassName>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                </Types>
               </Types>
             </coderapp.internal.interface.project.Interface>
           </MF0>
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diff --git a/aerpaw/results/resultsAnalysis.m b/aerpaw/results/resultsAnalysis.m
index 0d425d2..ec58317 100644
--- a/aerpaw/results/resultsAnalysis.m
+++ b/aerpaw/results/resultsAnalysis.m
@@ -4,7 +4,7 @@ resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "two_
 % Plot GPS logged data and scenario information (domain, objective, obstacles)
 seaToGroundLevel = 110; % measured approximately from USGS national map viewer
 plotWholeFlight = true; % do not attempt to automatically trim initial and final positioning and landing from flight plot (buggy)
-[fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel, true);
+% [fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel, true);
 
 % Plot radio statistics
 [fRadio, R] = plotRadioLogs(resultsPath);