basic implementation of client/server for AERPAW, whole lot of mess included

aerpaw/@scenario/run.m

@@ -0,0 +1,73 @@
+function obj = run(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'scenario')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'scenario')};
+    end
+    
+    count = 0;
+
+    while true
+        %% UAV operations (simulated only)
+        if coder.target("MATLAB")
+            % Iterate over UAVs
+            for ii = 1:size(obj.uavs, 1)
+                % Determine behavior from UAV opMode
+                if obj.uavs{ii}.opMode == OPMODE.INVALID
+                    error("Invalid UAV opMode");
+                elseif obj.uavs{ii}.opMode == OPMODE.INITIALIZED
+                    % Waiting for starting position to be sent by the controller
+                    if all(~(isnan(obj.uavs{ii}.commandPos)))
+                        % Teleport to starting position
+                        obj.uavs{ii}.pos = obj.uavs{ii}.commandPos;
+
+                        % reset to no command
+                        obj.uavs{ii}.commandPos = NaN(1, 3);
+
+                        % Acknowledge command receipt to controller by reporting a new opMode
+                        obj.uavs{ii}.commandOpMode = OPMODE.SET;
+                    end
+                else
+                    error("Unexpected UAV opMode");
+                end
+            end
+        elseif coder.target("C++")
+            coder.cinclude('udp_comm.h');
+            % Iterate over UAVs
+            for ii = 1:size(obj.uavs, 1)
+                mode = uint8(0);
+                coder.ceval('recvOpMode', coder.wref(mode));
+            end
+        end
+
+
+        %% Server operations
+        % Compute guidance for UAVs and issue commands
+        if obj.opMode == OPMODE.INVALID
+            error("Invalid controller opMode");
+        elseif obj.opMode == OPMODE.INITIALIZED
+            % On the first iteration, command UAVs to go to their starting positions
+            commandPos = obj.inits.pos;
+        elseif obj.opMode == OPMODE.SET
+            % begin experiment once the controller and UAVs are ready
+            if unique(cellfun(@(x) x.opMode.id, obj.uavs)) == OPMODE.SET.id
+                keyboard
+            end
+        else
+            error("Unexpected controller opMode");
+        end
+
+        % Transmit commands
+        % Command drones to their starting positions
+        for ii = 1:size(obj.uavs, 1)
+            obj.uavs{ii} = obj.sendTarget(obj.uavs{ii}, commandPos(ii, 1:3));
+        end
+        keyboard
+            
+
+
+        % tally iterations
+        count = count + 1;
+    end
+end