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refactor experiment config

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This commit is contained in:
Kevin Dee
2026-02-01 11:08:04 -08:00
parent a965dff4ca
commit 79b03345ba
12 changed files with 180 additions and 97 deletions
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10
aerpaw/controller.m
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@@ -3,7 +3,7 @@ arguments (Input)
numClients (1, 1) int32;
end
coder.extrinsic('disp', 'readmatrix');
coder.extrinsic('disp', 'loadTargetsFromYaml');
% Maximum clients supported
MAX_CLIENTS = 4;
@@ -11,17 +11,17 @@ MAX_CLIENTS = 4;
% Allocate targets array (MAX_CLIENTS x 3)
targets = zeros(MAX_CLIENTS, 3);
% Load targets from file
% Load targets from YAML config file
if coder.target('MATLAB')
disp('Loading targets from file (simulation)...');
targetsLoaded = readmatrix('aerpaw/config/targets.txt');
disp('Loading targets from config.yaml (simulation)...');
targetsLoaded = loadTargetsFromYaml('aerpaw/config/config.yaml');
numTargets = min(size(targetsLoaded, 1), numClients);
targets(1:numTargets, :) = targetsLoaded(1:numTargets, :);
disp(['Loaded ', num2str(numTargets), ' targets']);
else
coder.cinclude('controller_impl.h');
% Define filename as null-terminated character array for C compatibility
filename = ['config/targets.txt', char(0)];
filename = ['config/config.yaml', char(0)];
% loadTargets fills targets array (column-major for MATLAB compatibility)
coder.ceval('loadTargets', coder.ref(filename), ...
coder.ref(targets), int32(MAX_CLIENTS));