From 7a3fcbd4dcd32e9676621e671476a54e2ba22b9d Mon Sep 17 00:00:00 2001 From: Kevin D Date: Wed, 1 Apr 2026 21:27:32 -0700 Subject: [PATCH] two_around_wall experiment refinement --- aerpaw/config/client1.yaml | 6 +- aerpaw/config/client2.yaml | 6 +- aerpaw/config/scenario.csv | 2 +- aerpaw/controller.coderprj | 581 ++++++---------------------------- aerpaw/radio/updateScripts.sh | 3 +- 5 files changed, 104 insertions(+), 494 deletions(-) diff --git a/aerpaw/config/client1.yaml b/aerpaw/config/client1.yaml index 959b72f..636cef5 100644 --- a/aerpaw/config/client1.yaml +++ b/aerpaw/config/client1.yaml @@ -28,11 +28,11 @@ environments: port: 5000 testbed: - # AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP) + # AERPAW testbed: E-VM listens, MAVLink Filter connects to us (UDP) mavlink: ip: "192.168.32.26" port: 14550 - # Controller runs on host machine (192.168.109.1 from E-VM perspective) + # Controller runs on host machine (192.168.X.1, generally) controller: - ip: "192.168.109.1" + ip: "192.168.112.1" port: 5000 diff --git a/aerpaw/config/client2.yaml b/aerpaw/config/client2.yaml index e7a73d4..7d6cfb7 100644 --- a/aerpaw/config/client2.yaml +++ b/aerpaw/config/client2.yaml @@ -28,11 +28,11 @@ environments: port: 5000 testbed: - # AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP) + # AERPAW testbed: E-VM listens, MAVLink Filter connects to us (UDP) mavlink: ip: "192.168.32.26" port: 14550 - # Controller runs on host machine (192.168.109.1 from E-VM perspective) + # Controller runs on host machine (192.168.X.1, generally) controller: - ip: "192.168.109.1" + ip: "192.168.112.1" port: 5000 \ No newline at end of file diff --git a/aerpaw/config/scenario.csv b/aerpaw/config/scenario.csv index 841c99b..a63cab4 100644 --- a/aerpaw/config/scenario.csv +++ b/aerpaw/config/scenario.csv @@ -1,2 +1,2 @@ timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax, useDoubleIntegrator, dampingCoeff, useFixedTopology -1, 170, 30.0, 0.1, 2.0, 1, 1, 1, "5.0, 5.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1 \ No newline at end of file +1, 170, 30.0, 0.1, 2.0, 1, 1, 1, "6.0, 6.0", "25.0, 25.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0", 1, 2.0, 1 \ No newline at end of file diff --git a/aerpaw/controller.coderprj b/aerpaw/controller.coderprj index 7729654..821668c 100644 --- a/aerpaw/controller.coderprj +++ b/aerpaw/controller.coderprj @@ -138,6 +138,11 @@ + + int32 + + + @@ -163,935 +168,539 @@ /home/kdee/Desktop/miSim/aerpaw/codegen - 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- GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xgemv.h - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xgeqp3.cpp - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xgeqp3.h - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xnrm2.cpp - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xnrm2.h - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xrotg.cpp - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xrotg.h - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xzgeqp3.cpp - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xzgeqp3.h - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xzlarf.cpp - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xzlarf.h - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xzlarfg.cpp - - GENERATED_SOURCE - - - - /home/kdee/Desktop/miSim/aerpaw/codegen/xzlarfg.h - - GENERATED_SOURCE - - - - /home/kdee/matlab/R2025a/extern/include/tmwtypes.h - - GENERATED_SOURCE - - /home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.cpp GENERATED_SOURCE - + /home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.h @@ -1099,7 +708,7 @@ true - 2026-03-11T17:11:03 + 2026-04-01T20:44:04 diff --git a/aerpaw/radio/updateScripts.sh b/aerpaw/radio/updateScripts.sh index 74aadb4..1487603 100755 --- a/aerpaw/radio/updateScripts.sh +++ b/aerpaw/radio/updateScripts.sh @@ -12,4 +12,5 @@ cp ../scripts/startRadio.sh /root/Profiles/ProfileScripts/Radio/. cp ../scripts/startVehicle.sh /root/Profiles/ProfileScripts/Vehicle/. echo "REMEMBER! Manually edit startexperiment.sh to point to the correct client.yaml" -echo "REMEMBER! Manually copy startexperiment_controller.sh to startexperiment.sh on the fixed node" \ No newline at end of file +echo "REMEMBER! Manually copy startexperiment_controller.sh to startexperiment.sh on the fixed node" +echo "REMEMBER! Manually copy startVehicle_controller.sh to ~/Profiles/ProfileScripts/Vehicle/startVehicle.sh on the fixed node" \ No newline at end of file