kdee/miSim
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

refactor experiment config

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

78
aerpaw/client/uav_runner.py
View File

@@ -22,40 +22,41 @@ Protocol:
"""
from pathlib import Path
import asyncio
import os
import socket
import yaml
from aerpawlib.runner import BasicRunner, entrypoint
from aerpawlib.util import Coordinate, VectorNED
from aerpawlib.vehicle import Drone
AERPAW_DIR = Path(__file__).parent.parent
CONFIG_DIR = AERPAW_DIR / "config"
CONFIG_FILE = AERPAW_DIR / "config" / "config.yaml"
def load_origin(path: Path):
"""Load ENU origin from config file. Returns (lat, lon, alt)."""
with open(path, 'r') as f:
for line in f:
line = line.strip()
if not line or line.startswith('#'):
continue
parts = line.split(',')
if len(parts) == 3:
return float(parts[0]), float(parts[1]), float(parts[2])
raise ValueError(f"No valid origin found in {path}")
def load_config():
"""Load configuration from YAML file."""
with open(CONFIG_FILE, 'r') as f:
return yaml.safe_load(f)
def load_server(path: Path):
"""Load server address from config file. Returns (ip, port)."""
with open(path, 'r') as f:
for line in f:
line = line.strip()
if not line or line.startswith('#'):
continue
parts = line.split(',')
if len(parts) == 2:
return parts[0].strip(), int(parts[1].strip())
raise ValueError(f"No valid server address found in {path}")
def detect_environment():
"""Detect whether we're on the AERPAW testbed or running locally."""
# Check for AERPAW_ENV environment variable first
env = os.environ.get('AERPAW_ENV')
if env in ('local', 'testbed'):
return env
# Auto-detect based on network (testbed uses 192.168.122.x)
import subprocess
try:
result = subprocess.run(['ip', 'addr'], capture_output=True, text=True, timeout=5)
if '192.168.122' in result.stdout:
return 'testbed'
except Exception:
pass
return 'local'
def parse_target(message: str):
@@ -71,26 +72,21 @@ def parse_target(message: str):
class UAVRunner(BasicRunner):
def initialize_args(self, extra_args):
"""Load configuration from config files."""
"""Load configuration from YAML config file."""
config = load_config()
env = detect_environment()
print(f"[UAV] Environment: {env}")
# Load origin
origin_lat, origin_lon, origin_alt = load_origin(CONFIG_DIR / "origin.txt")
self.origin = Coordinate(origin_lat, origin_lon, origin_alt)
print(f"[UAV] Origin: {origin_lat}, {origin_lon}, {origin_alt}")
origin = config['origin']
self.origin = Coordinate(origin['lat'], origin['lon'], origin['alt'])
print(f"[UAV] Origin: {origin['lat']}, {origin['lon']}, {origin['alt']}")
# Load server address - try testbed first, fall back to local
testbed_path = CONFIG_DIR / "server_testbed.txt"
local_path = CONFIG_DIR / "server.txt"
if testbed_path.exists():
try:
self.server_ip, self.server_port = load_server(testbed_path)
print(f"[UAV] Loaded testbed server config: {self.server_ip}:{self.server_port}")
except ValueError:
self.server_ip, self.server_port = load_server(local_path)
print(f"[UAV] Loaded local server config: {self.server_ip}:{self.server_port}")
else:
self.server_ip, self.server_port = load_server(local_path)
print(f"[UAV] Loaded local server config: {self.server_ip}:{self.server_port}")
# Load controller address for this environment
env_config = config['environments'][env]
self.server_ip = env_config['controller']['ip']
self.server_port = env_config['controller']['port']
print(f"[UAV] Controller: {self.server_ip}:{self.server_port}")
@entrypoint
async def run_mission(self, drone: Drone):

36
aerpaw/config/config.yaml Normal file
View File

@@ -0,0 +1,36 @@
# AERPAW UAV Guidance System Configuration
# This file contains all settings for both simulation and testbed environments
# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
origin:
lat: 35.727436
lon: -78.696471
alt: 0.0 # Alt=0 means ENU z directly becomes target altitude above home
# Target positions in ENU coordinates (meters)
# Each target is assigned to a client in order: client 1 gets targets[0], etc.
targets:
- [10.5, 20.3, 45.0] # Client 1: east, north, up
- [25.0, 30.0, 30.0] # Client 2: east, north, up
# Environment-specific settings
environments:
local:
# MAVLink connection for SITL simulation (UDP)
mavlink:
ip: "127.0.0.1"
port: 14550
# Controller server address
controller:
ip: "127.0.0.1"
port: 5000
testbed:
# AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
mavlink:
ip: "192.168.32.26"
port: 14550
# Controller runs on host machine (192.168.122.1 from E-VM perspective)
controller:
ip: "192.168.122.1"
port: 5000

7
aerpaw/config/connection.txt
View File

@@ -1,7 +0,0 @@
# Drone connection string for aerpawlib/dronekit
# Examples:
# tcp:127.0.0.1:5760 - SITL TCP
# udp:127.0.0.1:14550 - SITL UDP (default MAVProxy output)
# /dev/ttyUSB0 - Serial connection
# /dev/ttyACM0 - Serial connection (Pixhawk USB)
udp:127.0.0.1:14550

2
aerpaw/config/connection_testbed.txt
View File

@@ -1,2 +0,0 @@
# AERPAW testbed - connect to MAVLink filter on E-VM
192.168.32.26:14550

4
aerpaw/config/origin.txt
View File

@@ -1,4 +0,0 @@
# Origin for ENU coordinate system (AERPAW Lake Wheeler Road Field)
# Format: lat,lon,alt (degrees, degrees, meters)
# Alt=0 means ENU z directly becomes the target altitude above home
35.727436,-78.696471,0.0

3
aerpaw/config/server.txt
View File

@@ -1,3 +0,0 @@
# Local/fallback controller server address
# Format: ip,port
127.0.0.1,5000

3
aerpaw/config/server_testbed.txt
View File

@@ -1,3 +0,0 @@
# AERPAW testbed controller server address
# Format: ip,port
192.168.122.1,5000

2
aerpaw/config/targets.txt
View File

@@ -1,2 +0,0 @@
10.5,20.3,45.0
25.0,30.0,30.0

10
aerpaw/controller.m
View File

@@ -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));

35
aerpaw/impl/controller_impl.cpp
View File

@@ -82,23 +82,48 @@ void closeServer() {
int loadTargets(const char* filename, double* targets, int maxClients) {
FILE* file = fopen(filename, "r");
if (!file) {
std::cerr << "Failed to open targets file: " << filename << "\n";
std::cerr << "Failed to open config file: " << filename << "\n";
return 0;
}
int count = 0;
char line[256];
bool inTargets = false;
// Simple YAML parser for targets section
// Expects format:
// targets:
// - [x, y, z]
// - [x, y, z]
while (fgets(line, sizeof(line), file) && count < maxClients) {
// Check if we've entered the targets section
if (strstr(line, "targets:") != nullptr) {
inTargets = true;
continue;
}
// If we hit another top-level key (no leading whitespace), exit targets section
if (inTargets && line[0] != ' ' && line[0] != '\t' && line[0] != '\n' && line[0] != '#') {
break;
}
// Parse target entries: " - [x, y, z]"
if (inTargets) {
double x, y, z;
// Try to match the array format
if (sscanf(line, " - [%lf, %lf, %lf]", &x, &y, &z) == 3) {
// MATLAB uses column-major order, so for a maxClients x 3 matrix:
// Column 1 (x): indices 0, 1, 2, ...
// Column 2 (y): indices maxClients, maxClients+1, ...
// Column 3 (z): indices 2*maxClients, 2*maxClients+1, ...
while (count < maxClients && fscanf(file, "%lf,%lf,%lf", &x, &y, &z) == 3) {
targets[count + 0 * maxClients] = x; // Column 1
targets[count + 1 * maxClients] = y; // Column 2
targets[count + 2 * maxClients] = z; // Column 3
targets[count + 0 * maxClients] = x;
targets[count + 1 * maxClients] = y;
targets[count + 2 * maxClients] = z;
std::cout << "Loaded target " << (count + 1) << ": " << x << "," << y << "," << z << "\n";
count++;
}
}
}
fclose(file);
return count;

42
aerpaw/loadTargetsFromYaml.m Normal file
View File

@@ -0,0 +1,42 @@
function targets = loadTargetsFromYaml(filename)
%LOADTARGETSFROMYAML Load target coordinates from YAML config file
% targets = loadTargetsFromYaml(filename) reads the targets section
% from a YAML config file and returns an Nx3 matrix of [x, y, z] coordinates.
targets = [];
fid = fopen(filename, 'r');
if fid == -1
error('Could not open file: %s', filename);
end
inTargets = false;
while ~feof(fid)
line = fgetl(fid);
if ~ischar(line)
break;
end
% Check if we've entered the targets section
if contains(line, 'targets:')
inTargets = true;
continue;
end
% If we hit another top-level key, exit targets section
if inTargets && ~isempty(line) && line(1) ~= ' ' && line(1) ~= '#'
break;
end
% Parse target entries: " - [x, y, z]"
if inTargets
% Extract numbers from array format
match = regexp(line, '\[\s*([-\d.]+)\s*,\s*([-\d.]+)\s*,\s*([-\d.]+)\s*\]', 'tokens');
if ~isempty(match)
coords = str2double(match{1});
targets = [targets; coords]; %#ok<AGROW>
end
end
end
fclose(fid);
end

41
aerpaw/run_uav.sh
View File

@@ -17,39 +17,44 @@ if [ -d "venv" ]; then
source venv/bin/activate
fi
# Connection strings
# AERPAW testbed: E-VM LISTENS on port 14550, MAVLink Filter connects TO us
# See: https://sites.google.com/ncsu.edu/aerpaw-user-manual/6-sample-experiments-repository/6-2-vehicle-control-software/vcs1-preplanned-trajectory
# "the IP address corresponds to the E-VM IP address and the port is where
# the MAVLink filter expects to find the vehicle control script"
TESTBED_CONN="udp:0.0.0.0:14550"
LOCAL_CONN="udp:127.0.0.1:14550"
# Function to check if we're in testbed environment
check_testbed() {
# Check if we're on the AERPAW testbed network (192.168.122.X)
ip addr | grep -q "192.168.122"
return $?
}
# Determine connection based on argument or auto-detection
# Determine environment based on argument or auto-detection
if [ "$1" = "testbed" ]; then
CONN="$TESTBED_CONN"
echo "[run_uav] Forced testbed mode: $CONN"
ENV="testbed"
echo "[run_uav] Forced testbed mode"
elif [ "$1" = "local" ]; then
CONN="$LOCAL_CONN"
echo "[run_uav] Forced local mode: $CONN"
ENV="local"
echo "[run_uav] Forced local mode"
else
echo "[run_uav] Auto-detecting environment..."
if check_testbed; then
CONN="$TESTBED_CONN"
echo "[run_uav] Testbed detected, using: $CONN"
ENV="testbed"
echo "[run_uav] Testbed detected"
else
CONN="$LOCAL_CONN"
echo "[run_uav] Local mode (testbed not reachable), using: $CONN"
ENV="local"
echo "[run_uav] Local mode"
fi
fi
# Export environment for Python to use
export AERPAW_ENV="$ENV"
# Read MAVLink connection from config.yaml using Python
CONN=$(python3 -c "
import yaml
with open('config/config.yaml') as f:
cfg = yaml.safe_load(f)
env = cfg['environments']['$ENV']['mavlink']
print(f\"udp:{env['ip']}:{env['port']}\")
")
echo "[run_uav] MAVLink connection: $CONN"
# Run via aerpawlib
echo "[run_uav] Starting UAV runner..."
python3 -m aerpawlib \