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

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This commit is contained in:
Kevin Dee
2026-01-28 22:29:17 -08:00
parent b444e44d33
commit 8c5c315380
101 changed files with 1129 additions and 36 deletions
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1
@miSim/miSim.m
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@@ -68,6 +68,7 @@ classdef miSim
[obj] = plotH(obj);
[obj] = updatePlots(obj);
[obj] = teardown(obj);
writeParams(obj);
validate(obj);
end
methods (Access = private)

33
@miSim/writeInits.m Normal file
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@@ -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

29
@miSim/writeParams.m
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@@ -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