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

@miSim/miSim.m

@@ -68,6 +68,7 @@ classdef miSim
         [obj] = plotH(obj);
         [obj] = updatePlots(obj);
         [obj] = teardown(obj);
+        writeParams(obj);
         validate(obj);
     end
     methods (Access = private)

@miSim/writeInits.m

@@ -0,0 +1,33 @@
+function writeParams(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, "miSim")};
+    end
+    arguments (Output)
+    end
+
+    % Collect agent parameters
+    collisionRadii = cellfun(@(x) x.collisionGeometry.radius, obj.agents);
+    alphaDist = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
+    betaDist = cellfun(@(x) x.sensorModel.betaDist, obj.agents);
+    alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
+    betaTilt = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
+    comRanges = cellfun(@(x) x.commsGeometry.radius, obj.agents);
+    initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
+    pos = cell2mat(cellfun(@(x) x.pos, obj.agents, 'UniformOutput', false));
+
+
+    % Combine with simulation parameters
+    inits = struct("timestep", obj.timestep, "maxIter", obj.maxIter, "minAlt", obj.obstacles{end}.maxCorner(3), ...
+                    "discretizationStep", obj.domain.objective.discretizationStep, "protectedRange", obj.domain.objective.protectedRange, ...
+                    "sensorPerformanceMinimum", obj.domain.objective.sensorPerformanceMinimum, "initialStepSize", initialStepSize, ...
+                    "barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent, "numObstacles", size(obj.obstacles, 1), ...
+                    "numAgents", size(obj.agents, 1), "collisionRadius", collisionRadii, "comRange", comRanges, "alphaDist", alphaDist, ...
+                    "betaDist", betaDist, "alphaTilt", alphaTilt, "betaTilt", betaTilt, ...
+                    ... % ^^^ PARAMETERS ^^^ | vvv STATES vvv
+                    "pos", pos);
+
+    % Save all parameters to output file
+    initsFile = strcat(obj.artifactName, "_miSimInits");
+    initsFile = fullfile(matlab.project.rootProject().RootFolder, "sandbox", initsFile);
+    save(initsFile, "-struct", "inits");
+end

@miSim/writeParams.m

@@ -1,29 +0,0 @@
-function writeParams(obj)
-    arguments (Input)
-        obj (1, 1) {mustBeA(obj, "miSim")};
-    end
-    arguments (Output)
-    end
-
-    % Collect agent parameters
-    collisionRadii = cellfun(@(x) x.collisionGeometry.radius, obj.agents);
-    alphaDist = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
-    betaDist = cellfun(@(x) x.sensorModel.betaDist, obj.agents);
-    alphaTilt = cellfun(@(x) x.sensorModel.alphaTilt, obj.agents);
-    betaTilt = cellfun(@(x) x.sensorModel.alphaDist, obj.agents);
-    comRange = cellfun(@(x) x.commsGeometry.radius, obj.agents);
-    initialStepSize = cellfun(@(x) x.initialStepSize, obj.agents);
-
-    % Combine with simulation parameters
-    params = struct("timestep", obj.timestep, "maxIter", obj.maxIter, "minAlt", obj.obstacles{end}.maxCorner(3), "discretizationStep", obj.domain.objective.discretizationStep, ...
-                    "sensorPerformanceMinimum", obj.domain.objective.sensorPerformanceMinimum, "collisionRadius", collisionRadii, "alphaDist", alphaDist, "betaDist", betaDist, ...
-                    "alphaTilt", alphaTilt, "betaTilt", betaTilt, "comRange", comRange, "initialStepSize", initialStepSize, "barrierGain", obj.barrierGain, "barrierExponent", obj.barrierExponent ...
-                    );
-
-    % TODO add sensorPerformanceMinimum
-
-    % Save all parameters to output file
-    paramsFile = strcat(obj.artifactName, "_miSimParams");
-    paramsFile = fullfile(matlab.project.rootProject().RootFolder, "sandbox", paramsFile);
-    save(paramsFile, "-struct", "params");
-end

aerpaw/@scenario/initialize.m

@@ -0,0 +1,30 @@
+function obj = initialize(obj, initsPath)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'scenario')};
+        initsPath (1, 1) string;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'scenario')};
+    end
+
+    obj.inits = load(initsPath);
+
+    % Instantiate the correct number of UAVs
+    obj.uavs = cell(obj.inits.numAgents, 1);
+    [obj.uavs{:}] = deal(uav);
+
+    % Configure ports to broadcast to drones
+    obj.ports = repmat(obj.basePort, [obj.inits.numAgents, 1]) + (1:obj.inits.numAgents)';
+    obj.udp = cell(obj.inits.numAgents, 1);
+    for ii = 1:obj.inits.numAgents
+        obj.udp{ii} = udpport("IPV4", "LocalPort", obj.ports(ii), "Tag", sprintf("UAV %d", ii), "Timeout", obj.timeout);
+    end
+
+    % Initialize UAVs in scenario's knowledge
+    for ii = 1:obj.inits.numAgents
+        obj.uavs{ii} = obj.uavs{ii}.initialize(obj.ports(ii) + obj.portOffset, obj.timeout, sprintf("UAV %d", ii));
+    end
+
+    % Update opMode
+    obj.opMode = OPMODE.INITIALIZED;
+end

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

aerpaw/@scenario/scenario.m

@@ -0,0 +1,28 @@
+classdef scenario
+    properties (Access = public)
+        % Experiment
+        domain = rectangularPrism;
+        inits;
+
+        % State
+        opMode = OPMODE.INVALID;
+
+        % UAVs
+        uavs;
+
+        % Communications
+        timeout = 2; % seconds
+        basePort = 3330;
+        portOffset = 1110;
+        ports;
+        udp;
+
+    end
+
+    methods(Access = public)
+        [obj] = initialize(obj, initsPath);
+        [obj] = run(obj);
+        [obj] = setup(obj);
+        u = sendTarget(u, pos);
+    end
+end

aerpaw/@scenario/sendTarget.m

@@ -0,0 +1,24 @@
+function u = sendTarget(~, u, pos)
+    arguments (Input)
+        ~
+        u (1, 1) {mustBeA(u, 'uav')};
+        pos (1, 3) double;
+    end
+    arguments (Output)
+        u (1, 1) {mustBeA(u, 'uav')};
+    end
+
+    % Branch here depending on environment
+    if coder.target("MATLAB")
+        % Simulation - update target position
+        u.commandPos = pos;
+
+    elseif coder.target("C++")
+        % Codegen - TX starting position to UAV
+        coder.cinclude("udp_comm.h");
+        coder.ceval("sendTarget", coder.rref(pos));
+    end
+
+
+
+end

aerpaw/@scenario/setup.m

@@ -0,0 +1,17 @@
+function obj = setup(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, 'scenario')};
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, 'scenario')};
+    end
+    
+    % Command drones to their starting positions
+    for ii = 1:size(obj.uavs, 1)
+        obj.uavs{ii} = obj.sendTarget(obj.uavs{ii}, obj.inits.pos(ii, 1:3));
+    end
+
+    % Update opMode
+    obj.opMode = OPMODE.SET;
+    
+end

aerpaw/@uav/initialize.m

@@ -0,0 +1,27 @@
+function obj = initialize(obj, port, timeout, label)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, "uav")};
+        port (1, 1) double;
+        timeout (1, 1) double;
+        label (1, 1) string;
+    end
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, "uav")};
+    end
+    obj.label = label;
+    obj.port = port;
+    obj.timeout = timeout;
+
+    % Branch here depending on environment
+    if coder.target("MATLAB")
+        obj.pos = [0, 0, 20] + rand(1, 3) * 10; % just put it somewhere so we can plot it
+        
+    elseif coder.target("C++")
+        % initialize ip/port
+        coder.cinclude('udp_comm.h');
+        coder.ceval('initComs', "ip", obj.port);
+    end
+
+    obj.opMode = OPMODE.INITIALIZED;
+
+end

aerpaw/@uav/onYourMarks.m

@@ -0,0 +1,20 @@
+function obj = onYourMarks(obj)
+    arguments (Input)
+        obj (1, 1) {mustBeA(obj, "uav")};
+    end
+    
+    arguments (Output)
+        obj (1, 1) {mustBeA(obj, "uav")};
+    end
+
+    % Receive initial position data
+    initialPosition = read(obj.udp, 3, "double");
+
+    % Acknowledge message receipt
+
+    % teleport to desired position
+    obj.pos = initialPosition;
+
+    keyboard
+
+end

aerpaw/@uav/uav.m

@@ -0,0 +1,22 @@
+classdef uav
+    properties
+        label = "";
+
+        % Communications
+        port;
+        timeout;
+
+        % State
+        opMode = OPMODE.INVALID;
+        pos = NaN(1, 3);
+
+        % Commanding (not for codegen)
+        commandOpMode = OPMODE.INVALID;
+        commandPos = NaN(1, 3);
+    end
+
+    methods (Access = public)
+        obj = initialize(obj, port, timeout, label)
+        obj = onYourMarks(obj);
+    end
+end

aerpaw/OPMODE.m

@@ -0,0 +1,10 @@
+classdef OPMODE
+    properties (Constant)
+        INVALID      = uint8(0);
+        INITIALIZED  = uint8(1);
+        SET          = uint8(2);
+        RUNNING      = uint8(3);
+        CONCLUDING   = uint8(4);
+        FINISHED     = uint8(5);
+    end
+end

aerpaw/basic_demo/comms.cpp

@@ -0,0 +1,83 @@
+#include <iostream>
+#include <thread>
+#include <vector>
+#include <cstring>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+
+#define SERVER_PORT 5000
+#define SERVER_IP "127.0.0.1"
+
+// Socket init
+void initSockets() {}
+void cleanupSockets() {}
+
+int serverSocket = -1;
+std::vector<int> clientSockets;
+
+extern "C" {
+
+// Initialize server (call once)
+void initServer() {
+    initSockets();
+    serverSocket = socket(AF_INET, SOCK_STREAM, 0);
+    if(serverSocket < 0) { std::cerr << "Socket creation failed\n"; return; }
+
+    sockaddr_in serverAddr;
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_addr.s_addr = INADDR_ANY;
+    serverAddr.sin_port = htons(SERVER_PORT);
+
+    int opt = 1;
+    setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, (char*)&opt, sizeof(opt));
+
+    if(bind(serverSocket, (sockaddr*)&serverAddr, sizeof(serverAddr)) < 0) {
+        std::cerr << "Bind failed\n"; return;
+    }
+    if(listen(serverSocket, 5) < 0) {
+        std::cerr << "Listen failed\n"; return;
+    }
+
+    std::cout << "Server initialized, waiting for clients...\n";
+}
+
+// Accept client connections (call once per client)
+void acceptClient(int clientId) {
+    sockaddr_in clientAddr;
+    socklen_t addrLen = sizeof(clientAddr);
+    int clientSock = accept(serverSocket, (sockaddr*)&clientAddr, &addrLen);
+    if(clientSock < 0) { std::cerr << "Accept failed for client " << clientId << "\n"; return; }
+    clientSockets.push_back(clientSock);
+    std::cout << "Client " << clientId << " connected\n";
+}
+
+// Send a message to a specific client
+void sendMessage(int clientId) {
+    if(clientId <= 0 || clientId > clientSockets.size()) return;
+    const char* msg = "Hello from server";
+    send(clientSockets[clientId-1], msg, strlen(msg), 0);
+    std::cout << "Sent message to client " << clientId << "\n";
+}
+
+// Receive ACK from a specific client
+int receiveAck(int clientId) {
+    if(clientId <= 0 || clientId > clientSockets.size()) return 0;
+    char buffer[1024];
+    int len = recv(clientSockets[clientId-1], buffer, sizeof(buffer)-1, 0);
+    if(len <= 0) return 0;
+    buffer[len] = '\0';
+    std::cout << "Received ACK from client " << clientId << ": " << buffer << "\n";
+    return 1;
+}
+
+// Cleanup server
+void closeServer() {
+    for(auto sock : clientSockets) {
+        close(sock);
+    }
+    close(serverSocket);
+    cleanupSockets();
+}
+
+}

aerpaw/basic_demo/controller.cpp

@@ -0,0 +1,37 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// controller.cpp
+//
+// Code generation for function 'controller'
+//
+
+// Include files
+#include "controller.h"
+#include "controller_impl.h"
+
+// Function Definitions
+void controller(int numClients)
+{
+  //  Initialize server
+  initServer();
+  //  Accept clients
+  for (int i{0}; i < numClients; i++) {
+    acceptClient(i + 1);
+  }
+  //  Send messages to clients
+  for (int i{0}; i < numClients; i++) {
+    sendMessage(i + 1);
+  }
+  //  Receive acknowledgements
+  for (int i{0}; i < numClients; i++) {
+    receiveAck(i + 1);
+  }
+  //  Digest ACKs
+  //  Close server
+  closeServer();
+}
+
+// End of code generation (controller.cpp)

aerpaw/basic_demo/controller.h

@@ -0,0 +1,23 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// controller.h
+//
+// Code generation for function 'controller'
+//
+
+#ifndef CONTROLLER_H
+#define CONTROLLER_H
+
+// Include files
+#include "rtwtypes.h"
+#include <cstddef>
+#include <cstdlib>
+
+// Function Declarations
+extern void controller(int numClients);
+
+#endif
+// End of code generation (controller.h)

aerpaw/basic_demo/controller_impl.cpp

@@ -0,0 +1,73 @@
+#include "controller_impl.h"
+#include <iostream>
+#include <vector>
+#include <cstring>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+
+#define SERVER_PORT 5000
+#define SERVER_IP "127.0.0.1"
+
+static int serverSocket = -1;
+static std::vector<int> clientSockets;
+
+void initSockets() {}
+void cleanupSockets() {}
+
+void initServer() {
+    initSockets();
+    serverSocket = socket(AF_INET, SOCK_STREAM, 0);
+    if(serverSocket < 0) { std::cerr << "Socket creation failed\n"; return; }
+
+    sockaddr_in serverAddr;
+    serverAddr.sin_family = AF_INET;
+    serverAddr.sin_addr.s_addr = INADDR_ANY;
+    serverAddr.sin_port = htons(SERVER_PORT);
+
+    int opt = 1;
+    setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, (char*)&opt, sizeof(opt));
+
+    if(bind(serverSocket, (sockaddr*)&serverAddr, sizeof(serverAddr)) < 0) {
+        std::cerr << "Bind failed\n"; return;
+    }
+    if(listen(serverSocket, 5) < 0) {
+        std::cerr << "Listen failed\n"; return;
+    }
+
+    std::cout << "Server initialized\n";
+}
+
+void acceptClient(int clientId) {
+    sockaddr_in clientAddr;
+    socklen_t addrLen = sizeof(clientAddr);
+    int clientSock = accept(serverSocket, (sockaddr*)&clientAddr, &addrLen);
+    if(clientSock < 0) { std::cerr << "Accept failed for client " << clientId << "\n"; return; }
+    clientSockets.push_back(clientSock);
+    std::cout << "Client " << clientId << " connected\n";
+}
+
+void sendMessage(int clientId) {
+    if(clientId <= 0 || clientId > clientSockets.size()) return;
+    const char* msg = "Hello from server";
+    send(clientSockets[clientId-1], msg, strlen(msg), 0);
+    std::cout << "Sent message to client " << clientId << "\n";
+}
+
+int receiveAck(int clientId) {
+    if(clientId <= 0 || clientId > clientSockets.size()) return 0;
+    char buffer[1024];
+    int len = recv(clientSockets[clientId-1], buffer, sizeof(buffer)-1, 0);
+    if(len <= 0) return 0;
+    buffer[len] = '\0';
+    std::cout << "Received ACK from client " << clientId << ": " << buffer << "\n";
+    return 1;
+}
+
+void closeServer() {
+    for(auto sock : clientSockets) {
+        close(sock);
+    }
+    close(serverSocket);
+    cleanupSockets();
+}

aerpaw/basic_demo/controller_impl.h

@@ -0,0 +1,18 @@
+#ifndef CONTROLLER_IMPL_H
+#define CONTROLLER_IMPL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void initServer();
+void acceptClient(int clientId);
+void sendMessage(int clientId);
+int receiveAck(int clientId);
+void closeServer();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // CONTROLLER_IMPL_H

aerpaw/basic_demo/controller_main.cpp

@@ -0,0 +1,16 @@
+#include <iostream>
+#include "controller.h"      // Generated by MATLAB Coder
+#include "controller_impl.h" // Your TCP implementation header
+
+int main() {
+    // Number of clients to handle
+    int numClients = 2;  // Example: change as needed
+
+    std::cout << "Initializing TCP server...\n";
+
+    // Call MATLAB-generated server function
+    controller(numClients);
+
+    std::cout << "Server finished.\n";
+    return 0;
+}

aerpaw/basic_demo/rtwtypes.h

@@ -0,0 +1,44 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// rtwtypes.h
+//
+// Code generation for function 'controller'
+//
+
+#ifndef RTWTYPES_H
+#define RTWTYPES_H
+
+/*=======================================================================*
+ * Fixed width word size data types:                                     *
+ *   int64_T                      - signed 64 bit integers               *
+ *   uint64_T                     - unsigned 64 bit integers             *
+ *=======================================================================*/
+
+#if defined(__APPLE__)
+#ifndef INT64_T
+#define INT64_T long
+#define FMT64 "l"
+#if defined(__LP64__) && !defined(INT_TYPE_64_IS_LONG)
+#define INT_TYPE_64_IS_LONG
+#endif
+#endif
+#endif
+
+#if defined(__APPLE__)
+#ifndef UINT64_T
+#define UINT64_T unsigned long
+#define FMT64 "l"
+#if defined(__LP64__) && !defined(INT_TYPE_64_IS_LONG)
+#define INT_TYPE_64_IS_LONG
+#endif
+#endif
+#endif
+
+// Include files
+#include "tmwtypes.h"
+
+#endif
+// End of code generation (rtwtypes.h)

aerpaw/basic_demo/uav.py

@@ -0,0 +1,13 @@
+#!/bin/python3
+import socket
+
+SERVER_IP = "127.0.0.1"
+SERVER_PORT = 5000
+
+for client_id in range(2):  # match numClients
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    s.connect((SERVER_IP, SERVER_PORT))
+    data = s.recv(1024)  # receive message from server
+    print(f"Client {client_id+1} received: {data.decode()}")
+    s.sendall(b"ACK")    # send acknowledgment
+    s.close()

aerpaw/controller.coderprj

@@ -0,0 +1,190 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<coderProject client="MatlabCoder" containerVersion="1" createdBy="R2025a" modifiedBy="R2025a">
+  <layers>
+    <layer id="core" version="R2025a">
+      <parts>
+        <part role="testRepository">
+          <MF0 packageUris="http://schema.mathworks.com/mf0/coderapp_core_proj_dm/R2025a http://schema.mathworks.com/mf0/coderapp_core_rt_dm/R2022b http://schema.mathworks.com/mf0/coderapp_matlabcoder_proj_dm/R2025a http://schema.mathworks.com/mf0/coderapp_matlabcoder_rt_dm/R2022b http://schema.mathworks.com/mf0/coderapp_types_project_datamodel/R2025a http://schema.mathworks.com/mf0/coderapp_types_runtime_datamodel/R2022b" version="1.1">
+            <coderapp.internal.core.mfz.TestRepositoryState id="1" type="coderapp.internal.core.mfz.TestRepositoryState"/>
+          </MF0>
+        </part>
+      </parts>
+    </layer>
+    <layer id="interface" version="R2025a">
+      <parts>
+        <part role="mainInterface">
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+                  <Inputs id="4" type="coderapp.internal.interface.project.Input">
+                    <IsUserSpecified>false</IsUserSpecified>
+                    <Name>numClients</Name>
+                    <Type id="5" type="coderapp.internal.codertype.PrimitiveType"/>
+                  </Inputs>
+                </Signatures>
+                <UseProgrammaticTypes>true</UseProgrammaticTypes>
+                <File type="coderapp.internal.util.mfz.FileSpec">
+                  <Path>controller.m</Path>
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+                <Name>controller</Name>
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+                <Value type="coderapp.internal.interface.project.SizeConstraintsValue"/>
+              </SizeConstraints>
+              <Types id="7" type="coderapp.internal.codertype.TypeStore">
+                <Types id="5" 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>
+        </part>
+      </parts>
+    </layer>
+    <layer id="matlabCoder" version="R2025a">
+      <parts>
+        <part role="matlabCoder">
+          <MF0 packageUris="http://schema.mathworks.com/mf0/coderapp_config_datamodel/R2021a.001 http://schema.mathworks.com/mf0/coderapp_core_proj_dm/R2025a http://schema.mathworks.com/mf0/coderapp_core_rt_dm/R2022b http://schema.mathworks.com/mf0/coderapp_form_datamodel/R2020a http://schema.mathworks.com/mf0/coderapp_matlabcoder_proj_dm/R2025a http://schema.mathworks.com/mf0/coderapp_matlabcoder_rt_dm/R2022b http://schema.mathworks.com/mf0/coderapp_types_project_datamodel/R2025a http://schema.mathworks.com/mf0/coderapp_types_runtime_datamodel/R2022b http://schema.mathworks.com/mf0/coderapp_utils_datamodel/R2020a" version="1.1">
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+                <Compile>NOT_PLANNED</Compile>
+                <Generate>SUCCESS</Generate>
+                <TargetHardware>MATLAB Host Computer</TargetHardware>
+                <TargetLanguage>C++</TargetLanguage>
+                <WorkflowTarget>LIB</WorkflowTarget>
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+              </Activity>
+              <MainBuildResult id="3" type="coderapp.internal.mlc.mfz.MatlabCoderCodegenResult">
+                <WorkflowTarget>LIB</WorkflowTarget>
+                <LogDirectory>/home/kdee/Desktop/miSim/aerpaw/codegen/lib/controller</LogDirectory>
+                <MainReport id="4" type="coderapp.internal.build.mfz.CodegenArtifact"/>
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+                  <File type="coderapp.internal.util.mfz.FileSpec">
+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/lib/controller/html/report.mldatx</Path>
+                  </File>
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+                  </File>
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+                  </File>
+                  <Type>GENERATED_SOURCE</Type>
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+                  </File>
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+                  </File>
+                  <Type>GENERATED_SOURCE</Type>
+                </Artifacts>
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+                  </File>
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+                  </File>
+                  <Type>GENERATED_SOURCE</Type>
+                </Artifacts>
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+                  <File type="coderapp.internal.util.mfz.FileSpec">
+                    <Path>/home/kdee/Desktop/miSim/aerpaw/comms.cpp</Path>
+                  </File>
+                  <Type>GENERATED_SOURCE</Type>
+                </Artifacts>
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+                  </File>
+                  <Type>GENERATED_SOURCE</Type>
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+                  <Type>GENERATED_SOURCE</Type>
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+                <BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
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+                <Timestamp>2026-01-28T21:28:33</Timestamp>
+              </MainBuildResult>
+            </coderapp.internal.mlc.mfz.MatlabCoderProjectState>
+          </MF0>
+        </part>
+        <part role="standaloneConfig">
+          <MF0 packageUris="http://schema.mathworks.com/mf0/coderapp_config_datamodel/R2021a.001 http://schema.mathworks.com/mf0/coderapp_core_proj_dm/R2025a http://schema.mathworks.com/mf0/coderapp_core_rt_dm/R2022b http://schema.mathworks.com/mf0/coderapp_form_datamodel/R2020a http://schema.mathworks.com/mf0/coderapp_matlabcoder_proj_dm/R2025a http://schema.mathworks.com/mf0/coderapp_matlabcoder_rt_dm/R2022b http://schema.mathworks.com/mf0/coderapp_types_project_datamodel/R2025a http://schema.mathworks.com/mf0/coderapp_types_runtime_datamodel/R2022b http://schema.mathworks.com/mf0/coderapp_utils_datamodel/R2020a" version="1.1">
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+                <Key>customSource</Key>
+                <Data id="3" type="coderapp.internal.config.data.FileArrayParamData">
+                  <Value>/home/kdee/Desktop/miSim/aerpaw/comms.cpp</Value>
+                  <Help type="coderapp.internal.util.DocRef"/>
+                </Data>
+              </Values>
+              <Values id="4" type="coderapp.internal.ext.ConfigEntry">
+                <Key>targetLang</Key>
+                <Data id="5" type="coderapp.internal.config.data.EnumParamData">
+                  <Value>C++</Value>
+                  <Help type="coderapp.internal.util.DocRef"/>
+                </Data>
+              </Values>
+            </coderapp.internal.ext.ConfigStore>
+          </MF0>
+        </part>
+        <part role="mexConfig">
+          <MF0 packageUris="http://schema.mathworks.com/mf0/coderapp_config_datamodel/R2021a.001 http://schema.mathworks.com/mf0/coderapp_core_proj_dm/R2025a http://schema.mathworks.com/mf0/coderapp_core_rt_dm/R2022b http://schema.mathworks.com/mf0/coderapp_form_datamodel/R2020a http://schema.mathworks.com/mf0/coderapp_matlabcoder_proj_dm/R2025a http://schema.mathworks.com/mf0/coderapp_matlabcoder_rt_dm/R2022b http://schema.mathworks.com/mf0/coderapp_types_project_datamodel/R2025a http://schema.mathworks.com/mf0/coderapp_types_runtime_datamodel/R2022b http://schema.mathworks.com/mf0/coderapp_utils_datamodel/R2020a" version="1.1">
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+        </part>
+      </parts>
+    </layer>
+  </layers>
+</coderProject>

aerpaw/controller.m

@@ -0,0 +1,59 @@
+function controller(numClients)
+arguments (Input)
+    numClients (1, 1) int32;
+end
+
+coder.extrinsic('disp');
+
+% Initialize server
+if coder.target('MATLAB')
+    disp('Initializing server (simulation)...');
+else
+    coder.cinclude('controller_impl.h');
+    coder.ceval('initServer');
+end
+
+
+% Accept clients
+for i = 1:numClients
+    if coder.target('MATLAB')
+        disp(['Accepting client ', num2str(i)]);
+    else
+        coder.ceval('acceptClient', int32(i));
+    end
+end
+
+
+% Send messages to clients
+for i = 1:numClients
+    if coder.target('MATLAB')
+        disp(['Sending message to client ', num2str(i)]);
+    else
+        coder.ceval('sendMessage', int32(i));
+    end
+end
+
+% Receive acknowledgements
+acksReceived = zeros(1, numClients, 'int32');
+for i = 1:numClients
+    if coder.target('MATLAB')
+        disp(['Receiving ACK from client ', num2str(i)]);
+        acksReceived(i) = 1;  % Simulate successful ACK
+    else
+        acksReceived(i) = coder.ceval('receiveAck', int32(i));
+    end
+end
+
+
+% Digest ACKs
+if coder.target('MATLAB')
+    disp(['All ACKs received: ', num2str(acksReceived)]);
+end
+
+
+% Close server
+if ~coder.target('MATLAB')
+    coder.ceval('closeServer');
+end
+
+end

aerpaw/cpp/udp_comm.cpp

@@ -0,0 +1,32 @@
+#include "udp_comm.h"
+#include <arpa/inet.h>
+#include <sys/socket.h>
+#include <unistd.h>
+#include <cstring>
+
+static int sock = -1;
+static sockaddr_in remote_addr;
+
+void initComms(const char* ip, uint16_t port)
+{
+    if (sock != -1) return;
+
+    sock = socket(AF_INET, SOCK_DGRAM, 0);
+
+    memset(&remote_addr, 0, sizeof(remote_addr));
+    remote_addr.sin_family = AF_INET;
+    remote_addr.sin_port = htons(port);
+    inet_pton(AF_INET, ip, &remote_addr.sin_addr);
+}
+
+void sendTarget(const double* pos)
+{
+    sendto(sock, pos, 3*sizeof(double), 0,
+           (sockaddr*)&remote_addr, sizeof(remote_addr));
+}
+
+void recvOpMode(uint8_t* mode)
+{
+    recvfrom(sock, mode, sizeof(uint8_t), MSG_DONTWAIT,
+             nullptr, nullptr);
+}

aerpaw/cpp/udp_comm.h

@@ -0,0 +1,15 @@
+#ifndef UDP_COMM_H
+#define UDP_COMM_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void initComms(const char* ip, uint16_t port);
+void sendTarget(const double* pos);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

aerpaw/experiment.m

@@ -1,3 +0,0 @@
-classdef experiment
-
-end

aerpaw/experiments.m

@@ -0,0 +1,16 @@
+classdef experiments < matlab.unittest.TestCase
+    methods (Test)
+        function Test1(tc)
+            s = scenario;
+
+            % TODO - define test case in simulation in here and generate the inits on the fly as needed
+            s = s.initialize("2026_01_28_16_11_39_miSimInits.mat");
+
+            s = s.run();
+
+            
+            
+        end
+    end
+
+end

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/2At36Gb0jC6HQmgXbAN4ShlbqAgd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/2At36Gb0jC6HQmgXbAN4ShlbqAgp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/DT1kUQeJY6fcqPoFwxbXgNUS8lIp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="controller.cpp" type="File"/>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/KtdYjPriN9I6DGnwvLHvl_xju8cd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/KtdYjPriN9I6DGnwvLHvl_xju8cp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="rtwtypes.h" type="File"/>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/PQMatyuPaDoQ3G5VI3BFyjZnrs8d.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/PQMatyuPaDoQ3G5VI3BFyjZnrs8p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="controller_impl.cpp" type="File"/>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/SKpQU057yTGLn9b7Hh4v5-10P0gd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/SKpQU057yTGLn9b7Hh4v5-10P0gp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="controller_main.cpp" type="File"/>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/W_Z6-ElH4gIbv9BScRTmQUQJ9Dkd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/W_Z6-ElH4gIbv9BScRTmQUQJ9Dkp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="comms.cpp" type="File"/>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/jgOJohqRy86fwKjFIbPiQBzesd0d.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/jgOJohqRy86fwKjFIbPiQBzesd0p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="controller.h" type="File"/>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/uqjVJgVIW1gykl7rcImcpGWqgpkd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/uqjVJgVIW1gykl7rcImcpGWqgpkp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="uav.py" type="File"/>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/wBj8Oz_Uyr5PhZoBdLum-5Y72pwd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/wBj8Oz_Uyr5PhZoBdLum-5Y72pwp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="controller_impl.h" type="File"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/g51F4J1JIzbS5d3g380Sl55RzeUd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="aerpaw/cpp" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/g51F4J1JIzbS5d3g380Sl55RzeUp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="ffd75785-8b8f-4006-add6-f7b276c0cf6a" type="Reference"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/vvkdLmboxiWCk6Hhn0GbursF9fUd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="aerpaw/basic_demo" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/vvkdLmboxiWCk6Hhn0GbursF9fUp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="35fde29d-17b6-4432-a3a6-2d363f1c0267" type="Reference"/>

resources/project/FI0gxbH-PhwjE_riDQGHPyYMHks/_Ys1ic_sNZf0m_ccxSjoiz6J7JUd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/FI0gxbH-PhwjE_riDQGHPyYMHks/_Ys1ic_sNZf0m_ccxSjoiz6J7JUp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="testIterations.csv" type="File"/>

resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/4XBBbvgKHLBtx6tMwElTfwSe284d.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/4XBBbvgKHLBtx6tMwElTfwSe284p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="basic_demo" type="File"/>

resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/8r7PXt-CEJX2YvR04X9eMkzrlZQd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/8r7PXt-CEJX2YvR04X9eMkzrlZQp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="controller.coderprj" type="File"/>

resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/DCnJpF90C2dRw1sMuzFvVjgI3Xkd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="test"/>
+    </Category>
+</Info>

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