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sending starting positions to agents (not verified on AERPAW yet)

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This commit is contained in:
Kevin Dee
2026-01-29 16:42:19 -08:00
parent fe106f31cd
commit aed1924297
20 changed files with 1398 additions and 155 deletions
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2
aerpaw/basic_demo/handcode/comms.cpp → aerpaw/basic_demo/comms.cpp
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@@ -9,6 +9,8 @@
#define SERVER_PORT 5000
#define SERVER_IP "127.0.0.1"
#define OPCODE_SHUTDOWN 0xFF
// Socket init
void initSockets() {}
void cleanupSockets() {}

10
aerpaw/basic_demo/compile.sh
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@@ -1,7 +1,9 @@
#!/bin/bash
#g++ -I/home/kdee/matlab/R2025a/extern/include controller_main.cpp controller.cpp controller_impl.cpp -o controller_app -lpthread
wd=$(pwd)
cd /home/kdee/Desktop/miSim/aerpaw/codegen
g++ -I/home/kdee/matlab/R2025a/extern/include -I../basic_demo/handcode -I. ../basic_demo/handcode/controller_main.cpp controller.cpp ../basic_demo/handcode/controller_impl.cpp controller_initialize.cpp controller_terminate.cpp -o controller_app -lpthread
cd $wd
#wd=$(pwd)
#cd /home/kdee/Desktop/miSim/aerpaw/codegen
g++ -I/home/kdee/matlab/R2025a/extern/include -I. controller_main.cpp controller.cpp controller_impl.cpp controller_initialize.cpp controller_terminate.cpp -o controller_app -lpthread
#cd $wd
#g++ controller_main.cpp controller.cpp controller_impl.cpp controller_initialize.cpp controller_terminate.cpp

37
aerpaw/basic_demo/controller.cpp
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@@ -15,21 +15,48 @@
// Function Definitions
void controller(int numClients)
{
static const char b_filename[12]{"targets.txt"};
double targets[12];
char filename[12];
// Maximum clients supported
// Allocate targets array (MAX_CLIENTS x 3)
// Load targets from file
// Define filename as null-terminated character array for C compatibility
for (int i{0}; i < 12; i++) {
targets[i] = 0.0;
filename[i] = b_filename[i];
}
// loadTargets fills targets array (row-major: x1,y1,z1,x2,y2,z2,...)
loadTargets(&filename[0], &targets[0], 4);
// Initialize server
initServer();
// Accept clients
for (int i{0}; i < numClients; i++) {
acceptClient(i + 1);
}
// Send messages to clients
// Send target coordinates to each client
for (int i{0}; i < numClients; i++) {
sendMessage(i + 1);
double target[3];
// Get target for this client (1x3 array)
target[0] = targets[i];
target[1] = targets[i + 4];
target[2] = targets[i + 8];
sendTarget(i + 1, &target[0]);
}
// Receive acknowledgements
// Receive TARGET acknowledgments
for (int i{0}; i < numClients; i++) {
receiveAck(i + 1);
receiveTargetAck(i + 1);
}
// Check all ACKs received
// Wait for READY signals (UAVs have reached their targets)
for (int i{0}; i < numClients; i++) {
waitForReady(i + 1);
}
// Check all READY signals received
// Send COMPLETE to all clients before closing
for (int i{0}; i < numClients; i++) {
sendFinished(i + 1);
}
// Digest ACKs
// Close server
closeServer();
}

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aerpaw/basic_demo/controller_app
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20
aerpaw/basic_demo/controller_data.h Normal file
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@@ -0,0 +1,20 @@
//
// 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_data.h
//
// Code generation for function 'controller_data'
//
#ifndef CONTROLLER_DATA_H
#define CONTROLLER_DATA_H
// Include files
#include "rtwtypes.h"
#include <cstddef>
#include <cstdlib>
#endif
// End of code generation (controller_data.h)

160
aerpaw/basic_demo/controller_impl.cpp Normal file
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@@ -0,0 +1,160 @@
#include "controller_impl.h"
#include <iostream>
#include <vector>
#include <cstring>
#include <cstdio>
#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();
}
// Load target coordinates from file
// File format: one line per UAV with "x,y,z" coordinates
// Returns number of targets loaded
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";
return 0;
}
int count = 0;
double x, y, z;
// 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
std::cout << "Loaded target " << (count + 1) << ": " << x << "," << y << "," << z << "\n";
count++;
}
fclose(file);
return count;
}
// Send target coordinates to a client
// target points to 3 doubles: [x, y, z]
void sendTarget(int clientId, const double* target) {
if (clientId <= 0 || clientId > (int)clientSockets.size()) return;
char buffer[256];
snprintf(buffer, sizeof(buffer), "TARGET:%.6f,%.6f,%.6f",
target[0], target[1], target[2]);
send(clientSockets[clientId - 1], buffer, strlen(buffer), 0);
std::cout << "Sent target to client " << clientId << ": " << buffer << "\n";
}
// Receive and validate ACK:TARGET response
// Returns 1 if ACK:TARGET received, 0 otherwise
int receiveTargetAck(int clientId) {
if (clientId <= 0 || clientId > (int)clientSockets.size()) return 0;
char buffer[256];
int len = recv(clientSockets[clientId - 1], buffer, sizeof(buffer) - 1, 0);
if (len <= 0) return 0;
buffer[len] = '\0';
std::cout << "Received from client " << clientId << ": " << buffer << "\n";
if (strncmp(buffer, "ACK:TARGET", 10) == 0) {
return 1;
}
return 0;
}
// Wait for READY signal from client
// Returns 1 if READY received, 0 otherwise
int waitForReady(int clientId) {
if (clientId <= 0 || clientId > (int)clientSockets.size()) return 0;
char buffer[256];
int len = recv(clientSockets[clientId - 1], buffer, sizeof(buffer) - 1, 0);
if (len <= 0) return 0;
buffer[len] = '\0';
std::cout << "Received from client " << clientId << ": " << buffer << "\n";
if (strncmp(buffer, "READY", 5) == 0) {
return 1;
}
return 0;
}
// Send COMPLETE message to signal graceful shutdown
void sendFinished(int clientId) {
if (clientId <= 0 || clientId > (int)clientSockets.size()) return;
const char* msg = "FINISHED";
send(clientSockets[clientId - 1], msg, strlen(msg), 0);
std::cout << "Sent FINISHED to client " << clientId << "\n";
}

7
aerpaw/basic_demo/handcode/controller_impl.h → aerpaw/basic_demo/controller_impl.h
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@@ -11,6 +11,13 @@ void sendMessage(int clientId);
int receiveAck(int clientId);
void closeServer();
// Target location protocol functions
int loadTargets(const char* filename, double* targets, int maxClients);
void sendTarget(int clientId, const double* target);
int receiveTargetAck(int clientId);
int waitForReady(int clientId);
void sendFinished(int clientId);
#ifdef __cplusplus
}
#endif

19
aerpaw/basic_demo/controller_initialize.cpp Normal file
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@@ -0,0 +1,19 @@
//
// 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_initialize.cpp
//
// Code generation for function 'controller_initialize'
//
// Include files
#include "controller_initialize.h"
// Function Definitions
void controller_initialize()
{
}
// End of code generation (controller_initialize.cpp)

23
aerpaw/basic_demo/controller_initialize.h Normal file
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@@ -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_initialize.h
//
// Code generation for function 'controller_initialize'
//
#ifndef CONTROLLER_INITIALIZE_H
#define CONTROLLER_INITIALIZE_H
// Include files
#include "rtwtypes.h"
#include <cstddef>
#include <cstdlib>
// Function Declarations
extern void controller_initialize();
#endif
// End of code generation (controller_initialize.h)

2
aerpaw/basic_demo/handcode/controller_main.cpp → aerpaw/basic_demo/controller_main.cpp
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@@ -13,4 +13,4 @@ int main() {
std::cout << "Server finished.\n";
return 0;
}
}

19
aerpaw/basic_demo/controller_terminate.cpp Normal file
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@@ -0,0 +1,19 @@
//
// 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_terminate.cpp
//
// Code generation for function 'controller_terminate'
//
// Include files
#include "controller_terminate.h"
// Function Definitions
void controller_terminate()
{
}
// End of code generation (controller_terminate.cpp)

23
aerpaw/basic_demo/controller_terminate.h Normal file
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@@ -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_terminate.h
//
// Code generation for function 'controller_terminate'
//
#ifndef CONTROLLER_TERMINATE_H
#define CONTROLLER_TERMINATE_H
// Include files
#include "rtwtypes.h"
#include <cstddef>
#include <cstdlib>
// Function Declarations
extern void controller_terminate();
#endif
// End of code generation (controller_terminate.h)

18
aerpaw/basic_demo/controller_types.h Normal file
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@@ -0,0 +1,18 @@
//
// 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_types.h
//
// Code generation for function 'controller'
//
#ifndef CONTROLLER_TYPES_H
#define CONTROLLER_TYPES_H
// Include files
#include "rtwtypes.h"
#endif
// End of code generation (controller_types.h)

3
aerpaw/basic_demo/copy_codegen.sh Executable file
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@@ -0,0 +1,3 @@
#!/bin/bash
cp ../codegen/*.h .
cp ../codegen/*.cpp .

73
aerpaw/basic_demo/handcode/controller_impl.cpp
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@@ -1,73 +0,0 @@
#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();
}

2
aerpaw/basic_demo/targets.txt Normal file
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@@ -0,0 +1,2 @@
10.5,20.3,45.0
25.0,30.0,30.0

888
aerpaw/basic_demo/tmwtypes.h Normal file
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@@ -0,0 +1,888 @@
/*
* Copyright 1984-2023 The MathWorks, Inc.
*/
#if defined(_MSC_VER)
# pragma once
#endif
#if defined(__GNUC__) && (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ > 3))
# pragma once
#endif
#ifndef tmwtypes_h
#define tmwtypes_h
#ifndef __TMWTYPES__
#define __TMWTYPES__
/*
* File : tmwtypes.h
* Abstract:
* Data types for use with MATLAB/SIMULINK and the Real-Time Workshop.
*
* When compiling stand-alone model code, data types can be overridden
* via compiler switches.
*
* Define NO_FLOATS to eliminate reference to real_T, etc.
*/
#ifdef MW_LIBTOOLING
#include "mwstdint.h"
#endif
#include <limits.h>
/* __STDC_VERSION__ version check below means "check for a C99 compiler".
Visual Studio (checked on versions 2015 and 2017) does
not define __STDC_VERSION__, however it has stdbool.h available,
thus a separate check for _MSC_VER below.
*/
#if defined(__APPLE_CC__) \
|| (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) \
|| (defined(_MSC_VER) && (_MSC_VER >= 1900))
#ifndef tmwtypes_do_not_include_stdbool
#include <stdbool.h>
#endif
#endif
#define LOGICAL_IS_A_TYPE
#define SPARSE_GENERALIZATION
#ifdef NO_FLOATS
# define double double_not_allowed
# define float float_not_allowed
#endif /*NO_FLOATS*/
#ifndef NO_FLOATS
#ifndef __MWERKS__
# ifdef __STDC__
# include <float.h>
# else
# ifndef FLT_MANT_DIG
# define FLT_MANT_DIG 24
# endif
# ifndef DBL_MANT_DIG
# define DBL_MANT_DIG 53
# endif
# endif
#endif
#endif /*NO_FLOATS*/
/*
* The following data types cannot be overridden when building MEX files.
*/
#ifdef MATLAB_MEX_FILE
# undef CHARACTER_T
# undef INTEGER_T
# undef BOOLEAN_T
# undef REAL_T
# undef TIME_T
#endif
/*
* The uchar_T, ushort_T and ulong_T types are needed for compilers which do
* not allow defines to be specified, at the command line, with spaces in them.
*/
typedef unsigned char uchar_T;
typedef unsigned short ushort_T;
typedef unsigned long ulong_T;
#if (defined(_MSC_VER) && _MSC_VER >= 1500) \
|| defined(__x86_64__) || defined(__LP64__) \
|| defined(__LCC64__)
typedef unsigned long long ulonglong_T;
#endif
/*=======================================================================*
* Fixed width word size data types: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
* real32_T, real64_T - 32 and 64 bit floating point numbers *
*=======================================================================*/
/* When used with Real Time Workshop generated code, this
* header file can be used with a variety of compilers.
*
* The compiler could be for an 8 bit embedded processor that
* only had 8 bits per integer and 16 bits per long.
* In that example, a 32 bit integer size is not even available.
* This header file should be robust to that.
*
* For the case of an 8 bit processor, the preprocessor
* may be limited to 16 bit math like its target. That limitation
* would mean that 32 bit comparisons can't be done accurately.
* To increase robustness to this, comparisons are done against
* smaller values first. An inaccurate 32 bit comparison isn't
* attempted if the 16 bit comparison has already succeeded.
*
* Limitations on preprocessor math can also be stricter than
* for the target. There are known cases where a compiler
* targeting processors with 64 bit longs can't do accurate
* preprocessor comparisons on more than 32 bits.
*/
/* Determine the number of bits for int, long, short, and char.
* If one fails to be determined, set the number of bits to -1
*/
#ifndef TMW_BITS_PER_INT
# if INT_MAX == 0x7FL
# define TMW_BITS_PER_INT 8
# elif INT_MAX == 0x7FFFL
# define TMW_BITS_PER_INT 16
# elif INT_MAX == 0x7FFFFFFFL
# define TMW_BITS_PER_INT 32
# else
# define TMW_BITS_PER_INT -1
# endif
#endif
#ifndef TMW_BITS_PER_LONG
# if LONG_MAX == 0x7FL
# define TMW_BITS_PER_LONG 8
# elif LONG_MAX == 0x7FFFL
# define TMW_BITS_PER_LONG 16
# elif LONG_MAX == 0x7FFFFFFFL
# define TMW_BITS_PER_LONG 32
# else
# define TMW_BITS_PER_LONG -1
# endif
#endif
#ifndef TMW_BITS_PER_SHRT
# if SHRT_MAX == 0x7FL
# define TMW_BITS_PER_SHRT 8
# elif SHRT_MAX == 0x7FFFL
# define TMW_BITS_PER_SHRT 16
# elif SHRT_MAX == 0x7FFFFFFFL
# define TMW_BITS_PER_SHRT 32
# else
# define TMW_BITS_PER_SHRT -1
# endif
#endif
#ifndef TMW_BITS_PER_SCHAR
# if SCHAR_MAX == 0x7FL
# define TMW_BITS_PER_SCHAR 8
# elif SCHAR_MAX == 0x7FFFL
# define TMW_BITS_PER_SCHAR 16
# elif SCHAR_MAX == 0x7FFFFFFFL
# define TMW_BITS_PER_SCHAR 32
# else
# define TMW_BITS_PER_SCHAR -1
# endif
#endif
#ifndef TMW_CHAR_SIGNED
# if SCHAR_MAX == CHAR_MAX
# define TMW_CHAR_SIGNED 1
# else
# define TMW_CHAR_SIGNED 0
# endif
#endif
/* It is common for one or more of the integer types
* to be the same size. For example, on many embedded
* processors, both shorts and ints are 16 bits. On
* processors used for workstations, it is quite common
* for both int and long to be 32 bits.
* When there is more than one choice for typdef'ing
* a portable type like int16_T or uint32_T, in
* concept, it should not matter which choice is made.
* However, some style guides and some code checking
* tools do identify and complain about seemingly
* irrelevant differences. For example, a code
* checking tool may complain about an implicit
* conversion from int to short even though both
* are 16 bits. To reduce these types of
* complaints, it is best to make int the
* preferred choice when more than one is available.
*/
#ifndef INT8_T
# if defined(MW_LIBTOOLING)
# define INT8_T int8_t
# elif TMW_BITS_PER_INT == 8
# define INT8_T int
# elif TMW_BITS_PER_LONG == 8
# define INT8_T long
# elif TMW_BITS_PER_SCHAR == 8
# define INT8_T signed char
# elif TMW_BITS_PER_SHRT == 8
# define INT8_T short
# endif
#endif
#ifdef INT8_T
typedef INT8_T int8_T;
#endif
#ifndef UINT8_T
# if defined(MW_LIBTOOLING)
# define UINT8_T uint8_t
# elif TMW_BITS_PER_INT == 8
# define UINT8_T unsigned int
# elif TMW_BITS_PER_LONG == 8
# define UINT8_T unsigned long
# elif TMW_BITS_PER_SCHAR == 8
# define UINT8_T unsigned char
# elif TMW_BITS_PER_SHRT == 8
# define UINT8_T unsigned short
# endif
#endif
#ifdef UINT8_T
typedef UINT8_T uint8_T;
#endif
#ifndef INT16_T
# if defined(MW_LIBTOOLING)
# define INT16_T int16_t
# elif TMW_BITS_PER_INT == 16
# define INT16_T int
# elif TMW_BITS_PER_LONG == 16
# define INT16_T long
# elif TMW_BITS_PER_SCHAR == 16
# define INT16_T signed char
# elif TMW_BITS_PER_SHRT == 16
# define INT16_T short
# endif
#endif
#ifdef INT16_T
typedef INT16_T int16_T;
#endif
#ifndef UINT16_T
# if defined(MW_LIBTOOLING)
# define UINT16_T uint16_t
# elif TMW_BITS_PER_INT == 16
# define UINT16_T unsigned int
# elif TMW_BITS_PER_LONG == 16
# define UINT16_T unsigned long
# elif TMW_BITS_PER_SCHAR == 16
# define UINT16_T unsigned char
# elif TMW_BITS_PER_SHRT == 16
# define UINT16_T unsigned short
# endif
#endif
#ifdef UINT16_T
typedef UINT16_T uint16_T;
#endif
#ifndef INT32_T
# if defined(MW_LIBTOOLING)
# define INT32_T int32_t
# elif TMW_BITS_PER_INT == 32
# define INT32_T int
# elif TMW_BITS_PER_LONG == 32
# define INT32_T long
# elif TMW_BITS_PER_SCHAR == 32
# define INT32_T signed char
# elif TMW_BITS_PER_SHRT == 32
# define INT32_T short
# endif
#endif
#ifdef INT32_T
typedef INT32_T int32_T;
#endif
#ifndef UINT32_T
# if defined(MW_LIBTOOLING)
# define UINT32_T uint32_t
# elif TMW_BITS_PER_INT == 32
# define UINT32_T unsigned int
# elif TMW_BITS_PER_LONG == 32
# define UINT32_T unsigned long
# elif TMW_BITS_PER_SCHAR == 32
# define UINT32_T unsigned char
# elif TMW_BITS_PER_SHRT == 32
# define UINT32_T unsigned short
# endif
#endif
#ifdef UINT32_T
typedef UINT32_T uint32_T;
#endif
/* The following is used to emulate smaller integer types when only
* larger types are available. For example, compilers for TI C3x/C4x DSPs
* define char and short to be 32 bits, so 8 and 16 bits are not directly
* available. This target is commonly used with RTW rapid prototyping.
* Other DSPs define char to be 16 bits, so 8 bits is not directly
* available.
*/
#ifndef INT8_T
# ifdef INT16_T
# define INT8_T INT16_T
typedef INT8_T int8_T;
# else
# ifdef INT32_T
# define INT8_T INT32_T
typedef INT8_T int8_T;
# endif
# endif
#endif
#ifndef UINT8_T
# ifdef UINT16_T
# define UINT8_T UINT16_T
typedef UINT8_T uint8_T;
# else
# ifdef UINT32_T
# define UINT8_T UINT32_T
typedef UINT8_T uint8_T;
# endif
# endif
#endif
#ifndef INT16_T
# ifdef INT32_T
# define INT16_T INT32_T
typedef INT16_T int16_T;
# endif
#endif
#ifndef UINT16_T
# ifdef UINT32_T
# define UINT16_T UINT32_T
typedef UINT16_T uint16_T;
# endif
#endif
#ifndef NO_FLOATS
#ifndef REAL32_T
# ifndef __MWERKS__
# if FLT_MANT_DIG >= 23
# define REAL32_T float
# endif
# else
# define REAL32_T float
# endif
#endif
#ifdef REAL32_T
typedef REAL32_T real32_T;
#endif
#ifndef REAL64_T
# ifndef __MWERKS__
# if DBL_MANT_DIG >= 52
# define REAL64_T double
# endif
# else
# define REAL64_T double
# endif
#endif
#ifdef REAL64_T
typedef REAL64_T real64_T;
#endif
#endif /* NO_FLOATS*/
/*=======================================================================*
* Fixed width word size data types: *
* int64_T - signed 64 bit integers *
* uint64_T - unsigned 64 bit integers *
*=======================================================================*/
# if defined(MW_LIBTOOLING)
# ifdef INT64_T
# undef INT64_T
# endif
# define INT64_T int64_t
# ifdef UINT64_T
# undef UINT64_T
# endif
# define UINT64_T uint64_t
# endif
#if !defined(INT64_T) || !defined(UINT64_T) || !defined(FMT64)
# if defined(__APPLE__) || defined(__clang__)
# ifndef INT64_T
# define INT64_T long long
# endif
# ifndef UINT64_T
# define UINT64_T unsigned long long
# endif
# ifndef FMT64
# define FMT64 "ll"
# endif
# if defined(__LP64__) && !defined(INT_TYPE_64_IS_LONG)
# define INT_TYPE_64_IS_LONG
# endif
# elif (defined(__x86_64__) || defined(__LP64__))&& !defined(__MINGW64__)
# ifndef INT64_T
# define INT64_T long
# endif
# ifndef UINT64_T
# define UINT64_T unsigned long
# endif
# ifndef FMT64
# define FMT64 "l"
# endif
# if !defined(INT_TYPE_64_IS_LONG)
# define INT_TYPE_64_IS_LONG
# endif
# elif defined(_MSC_VER) || (defined(__BORLANDC__) && __BORLANDC__ >= 0x530) \
|| (defined(__WATCOMC__) && __WATCOMC__ >= 1100)
# ifndef INT64_T
# define INT64_T __int64
# endif
# ifndef UINT64_T
# define UINT64_T unsigned __int64
# endif
# ifndef FMT64
# define FMT64 "I64"
# endif
# elif defined(__GNUC__) || defined(TMW_ENABLE_INT64) \
|| defined(__LCC64__)
# ifndef INT64_T
# define INT64_T long long
# endif
# ifndef UINT64_T
# define UINT64_T unsigned long long
# endif
# ifndef FMT64
# define FMT64 "ll"
# endif
# endif
#endif
#if defined(INT64_T)
# if defined(__GNUC__) && \
((__GNUC__ > 2) || ((__GNUC__ == 2) && (__GNUC_MINOR__ >=9)))
__extension__
# endif
typedef INT64_T int64_T;
#endif
#if defined(_WIN64) || (defined(__APPLE__) && defined(__LP64__)) \
|| defined(__x86_64__) \
|| defined(__LP64__)
# define INT_TYPE_64_IS_SUPPORTED
#endif
#if defined(UINT64_T)
# if defined(__GNUC__) && \
((__GNUC__ > 2) || ((__GNUC__ == 2) && (__GNUC_MINOR__ >=9)))
__extension__
# endif
typedef UINT64_T uint64_T;
#endif
/*===========================================================================*
* Format string modifiers for using size_t variables in printf statements. *
*===========================================================================*/
#ifndef FMT_SIZE_T
# if (defined( __GNUC__ ) || defined(_STDC_C99))&& !defined(__MINGW64__)
# define FMT_SIZE_T "z"
# elif defined (__WATCOMC__)
# define FMT_SIZE_T "l"
# elif defined (_WIN32 )
# define FMT_SIZE_T "I"
# else
# define FMT_SIZE_T "l"
# endif
#endif
#ifndef FMT_PTRDIFF_T
# if defined(__APPLE__)
# define FMT_PTRDIFF_T "l"
# elif defined( __GNUC__ ) || defined(_STDC_C99)
# define FMT_PTRDIFF_T "t"
# elif defined (__WATCOMC__)
# define FMT_PTRDIFF_T "l"
# elif defined (_WIN32 )
# define FMT_PTRDIFF_T "I"
# else
# define FMT_PTRDIFF_T "l"
# endif
#endif
/*===========================================================================*
* General or logical data types where the word size is not guaranteed. *
* real_T - possible settings include real32_T or real64_T *
* time_T - possible settings include real32_T or real64_T *
* boolean_T *
* char_T *
* int_T *
* uint_T *
* byte_T *
*===========================================================================*/
#ifndef NO_FLOATS
#ifndef REAL_T
# ifdef REAL64_T
# define REAL_T real64_T
# else
# ifdef REAL32_T
# define REAL_T real32_T
# endif
# endif
#endif
#ifdef REAL_T
typedef REAL_T real_T;
#endif
#ifndef TIME_T
# ifdef REAL_T
# define TIME_T real_T
# endif
#endif
#ifdef TIME_T
typedef TIME_T time_T;
#endif
#endif /* NO_FLOATS */
#ifndef BOOLEAN_T
# if defined(UINT8_T)
# define BOOLEAN_T UINT8_T
# else
# define BOOLEAN_T unsigned int
# endif
#endif
typedef BOOLEAN_T boolean_T;
#ifndef CHARACTER_T
# define CHARACTER_T char
#endif
typedef CHARACTER_T char_T;
#ifndef INTEGER_T
# define INTEGER_T int
#endif
typedef INTEGER_T int_T;
#ifndef UINTEGER_T
# define UINTEGER_T unsigned
#endif
typedef UINTEGER_T uint_T;
#ifndef BYTE_T
# define BYTE_T unsigned char
#endif
typedef BYTE_T byte_T;
/*===========================================================================*
* Define Complex Structures *
*===========================================================================*/
#ifndef NO_FLOATS
#ifndef CREAL32_T
# ifdef REAL32_T
typedef struct {
real32_T re, im;
} creal32_T;
# define CREAL32_T creal32_T
# endif
#endif
#ifndef CREAL64_T
# ifdef REAL64_T
typedef struct {
real64_T re, im;
} creal64_T;
# define CREAL64_T creal64_T
# endif
#endif
#ifndef CREAL_T
# ifdef REAL_T
typedef struct {
real_T re, im;
} creal_T;
# define CREAL_T creal_T
# endif
#endif
#endif /* NO_FLOATS */
#ifndef CINT8_T
# ifdef INT8_T
typedef struct {
int8_T re, im;
} cint8_T;
# define CINT8_T cint8_T
# endif
#endif
#ifndef CUINT8_T
# ifdef UINT8_T
typedef struct {
uint8_T re, im;
} cuint8_T;
# define CUINT8_T cuint8_T
# endif
#endif
#ifndef CINT16_T
# ifdef INT16_T
typedef struct {
int16_T re, im;
} cint16_T;
# define CINT16_T cint16_T
# endif
#endif
#ifndef CUINT16_T
# ifdef UINT16_T
typedef struct {
uint16_T re, im;
} cuint16_T;
# define CUINT16_T cuint16_T
# endif
#endif
#ifndef CINT32_T
# ifdef INT32_T
typedef struct {
int32_T re, im;
} cint32_T;
# define CINT32_T cint32_T
# endif
#endif
#ifndef CUINT32_T
# ifdef UINT32_T
typedef struct {
uint32_T re, im;
} cuint32_T;
# define CUINT32_T cuint32_T
# endif
#endif
#ifndef CINT64_T
# ifdef INT64_T
typedef struct {
int64_T re, im;
} cint64_T;
# define CINT64_T cint64_T
# endif
#endif
#ifndef CUINT64_T
# ifdef UINT64_T
typedef struct {
uint64_T re, im;
} cuint64_T;
# define CUINT64_T cuint64_T
# endif
#endif
/*=======================================================================*
* Min and Max: *
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
*=======================================================================*/
#define MAX_int8_T ((int8_T)(127)) /* 127 */
#define MIN_int8_T ((int8_T)(-128)) /* -128 */
#define MAX_uint8_T ((uint8_T)(255)) /* 255 */
#define MIN_uint8_T ((uint8_T)(0))
#define MAX_int16_T ((int16_T)(32767)) /* 32767 */
#define MIN_int16_T ((int16_T)(-32768)) /* -32768 */
#define MAX_uint16_T ((uint16_T)(65535)) /* 65535 */
#define MIN_uint16_T ((uint16_T)(0))
#define MAX_int32_T ((int32_T)(2147483647)) /* 2147483647 */
#define MIN_int32_T ((int32_T)(-2147483647-1)) /* -2147483648 */
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU)) /* 4294967295 */
#define MIN_uint32_T ((uint32_T)(0))
#if defined(_MSC_VER) || (defined(__BORLANDC__) && __BORLANDC__ >= 0x530) \
|| (defined(__WATCOMC__) && __WATCOMC__ >= 1100) \
|| defined(__LCC64__)
# ifdef INT64_T
# define MAX_int64_T ((int64_T)(9223372036854775807LL))
# define MIN_int64_T ((int64_T)(-9223372036854775807LL-1LL))
# endif
# ifdef UINT64_T
# define MAX_uint64_T ((uint64_T)(0xFFFFFFFFFFFFFFFFULL))
# define MIN_uint64_T ((uint64_T)(0))
# endif
#else
# ifdef INT64_T
# ifdef INT_TYPE_64_IS_LONG
# define MAX_int64_T ((int64_T)(9223372036854775807L))
# define MIN_int64_T ((int64_T)(-9223372036854775807L-1L))
# else
# define MAX_int64_T ((int64_T)(9223372036854775807LL))
# define MIN_int64_T ((int64_T)(-9223372036854775807LL-1LL))
# endif
# endif
# ifdef UINT64_T
# ifdef INT_TYPE_64_IS_LONG
# define MAX_uint64_T ((uint64_T)(0xFFFFFFFFFFFFFFFFUL))
# define MIN_uint64_T ((uint64_T)(0))
# else
# define MAX_uint64_T ((uint64_T)(0xFFFFFFFFFFFFFFFFULL))
# define MIN_uint64_T ((uint64_T)(0))
# endif
# endif
#endif
#if (defined(_MSC_VER) && !defined(__clang__))
/* Conversion from unsigned __int64 to double is not implemented in Visual Studio
* and results in a compile error, thus the value must first be cast to
* signed __int64, and then to double.
*
* If the 64 bit int value is greater than 2^63-1, which is the signed int64 max,
* the macro below provides a workaround for casting a uint64 value to a double
* in windows.
*/
# define uint64_to_double(u) ( ((u) > _I64_MAX) ? \
(double)(__int64)((u) - _I64_MAX - 1) + (double)_I64_MAX + 1: \
(double)(__int64)(u) )
/* The following inline function should only be used in the macro double_to_uint64,
* as it only handles the specfic range of double between 2^63 and 2^64-1 */
__forceinline
uint64_T double_to_uint64_helper(double d) {
union double_to_uint64_union_type {
double dd;
uint64_T i64;
} di;
di.dd = d;
return (((di.i64 & 0x000fffffffffffff) | 0x0010000000000000) << 11);
}
/* The largest double value that can be cast to uint64 in windows is the
* signed int64 max, which is 2^63-1. The macro below provides
* a workaround for casting large double values to uint64 in windows.
*/
/* The magic number 18446744073709551616.0 is 2^64 */
/* The magic number 9223372036854775808.0 is 2^63 */
# define double_to_uint64(d) ( ((d) >= 18446744073709551616.0) ? \
0xffffffffffffffffULL : \
((d) >= 0.0) ? \
((d) >= 9223372036854775808.0) ? \
double_to_uint64_helper(d) : \
(unsigned __int64)(d) : \
0ULL )
#else
# define uint64_to_double(u) ((double)(u))
# if defined(__BORLANDC__) || defined(__WATCOMC__) || defined(__TICCSC__)
/* double_to_uint64 defined only for MSVC and UNIX */
# else
# define double_to_uint64(d) ( ((d) >= 18446744073709551616.0) ? \
(unsigned long long) 0xffffffffffffffffULL : \
((d) >= 0) ? (unsigned long long)(d) : (unsigned long long) 0 )
# endif
#endif
#if !defined(__cplusplus) && !defined(__bool_true_false_are_defined)
#ifndef _bool_T
#define _bool_T
typedef boolean_T bool;
#ifndef false
#define false (0)
#endif
#ifndef true
#define true (1)
#endif
#endif /* _bool_T */
#endif /* !__cplusplus */
/*
* This software assumes that the code is being compiled on a target using a
* 2's complement representation for signed integer values.
*/
#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
#error "This code must be compiled using a 2's complement representation for signed integer values"
#endif
/*
* Maximum length of a MATLAB identifier (function/variable/model)
* including the null-termination character.
*/
#define TMW_NAME_LENGTH_MAX 2049
/*
* Maximum values for indices and dimensions
*/
#include <stddef.h>
#ifdef MX_COMPAT_32
typedef int mwSize;
typedef int mwIndex;
typedef int mwSignedIndex;
#else
typedef size_t mwSize; /* unsigned pointer-width integer */
typedef size_t mwIndex; /* unsigned pointer-width integer */
typedef ptrdiff_t mwSignedIndex; /* a signed pointer-width integer */
#endif
/* for the individual dim */
/* If updating SLSize or SLIndex, update defintions in sl_types_def.h
as well. */
#ifndef SLSIZE_SLINDEX
#define SLSIZE_SLINDEX
#ifdef INT_TYPE_64_IS_SUPPORTED
typedef int64_T SLIndex;
typedef int64_T SLSize;
#else
typedef int SLIndex;
typedef int SLSize;
#endif
#endif
/* for the total size */
#define SLIndexType size_t
#define INVALID_SIZET_VALUE (std::numeric_limits<SLIndexType>::max())
#define MAX_VALID_SIZET_VALUE (std::numeric_limits<SLIndexType>::max() -1)
#if (defined(_LP64) || defined(_WIN64)) && !defined(MX_COMPAT_32)
/* Currently 2^48 based on hardware limitations */
# define MWSIZE_MAX 281474976710655UL
# define MWINDEX_MAX 281474976710655UL
# define MWSINDEX_MAX 281474976710655L
# define MWSINDEX_MIN -281474976710655L
#else
# define MWSIZE_MAX 2147483647UL
# define MWINDEX_MAX 2147483647UL
# define MWSINDEX_MAX 2147483647L
# define MWSINDEX_MIN -2147483647L
#endif
#define MWSIZE_MIN 0UL
#define MWINDEX_MIN 0UL
/** UTF-16 character type */
#if (defined(__cplusplus) && (__cplusplus >= 201103L)) || (defined(_HAS_CHAR16_T_LANGUAGE_SUPPORT) && _HAS_CHAR16_T_LANGUAGE_SUPPORT)
typedef char16_t CHAR16_T;
#define U16_STRING_LITERAL_PREFIX u
#elif defined(_MSC_VER)
typedef wchar_t CHAR16_T;
#define U16_STRING_LITERAL_PREFIX L
#else
typedef UINT16_T CHAR16_T;
#endif
#endif /* __TMWTYPES__ */
#endif /* tmwtypes_h */

96
aerpaw/basic_demo/uav.py
View File

@@ -1,13 +1,97 @@
#!/bin/python3
#!/usr/bin/env python3
"""
UAV Client for AERPAW Target Location Protocol
Protocol:
Server sends: TARGET:x,y,z
Client sends: ACK:TARGET
Client (after moving): READY
"""
import socket
import sys
import time
SERVER_IP = "127.0.0.1"
SERVER_PORT = 5000
for client_id in range(2): # match numClients
def parse_target(message: str) -> tuple:
"""Parse TARGET:x,y,z message and return (x, y, z) coordinates."""
if not message.startswith("TARGET:"):
raise ValueError(f"Invalid message format: {message}")
coords_str = message[7:] # Remove "TARGET:" prefix
parts = coords_str.split(",")
if len(parts) != 3:
raise ValueError(f"Expected 3 coordinates, got {len(parts)}")
x, y, z = float(parts[0]), float(parts[1]), float(parts[2])
return (x, y, z)
def move_to_target(x: float, y: float, z: float):
"""
Placeholder for AERPAW API integration.
In the future, this will command the UAV to move to (x, y, z).
"""
print(f" [PLACEHOLDER] Moving to target: ({x}, {y}, {z})")
# Simulate movement time
time.sleep(1.0)
print(f" [PLACEHOLDER] Arrived at target: ({x}, {y}, {z})")
def run_uav_client(client_id: int):
"""Run a single UAV client."""
print(f"UAV {client_id}: Connecting to {SERVER_IP}:{SERVER_PORT}")
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()
try:
# Receive TARGET command
data = s.recv(1024).decode().strip()
print(f"UAV {client_id}: Received: {data}")
# Parse target coordinates
x, y, z = parse_target(data)
print(f"UAV {client_id}: Parsed target: x={x}, y={y}, z={z}")
# Send acknowledgment
s.sendall(b"ACK:TARGET")
print(f"UAV {client_id}: Sent ACK:TARGET")
# Move to target (placeholder)
move_to_target(x, y, z)
# Signal ready
s.sendall(b"READY")
print(f"UAV {client_id}: Sent READY")
# Wait for FINISHED signal from server
data = s.recv(1024).decode().strip()
if data == "FINISHED":
print(f"UAV {client_id}: Received FINISHED - session ended normally")
else:
print(f"UAV {client_id}: Unexpected message: {data}")
except ValueError as e:
error_msg = f"ERROR:{str(e)}"
s.sendall(error_msg.encode())
print(f"UAV {client_id}: Error - {e}")
finally:
s.close()
print(f"UAV {client_id}: Connection closed")
if __name__ == "__main__":
if len(sys.argv) != 2:
print(f"Usage: {sys.argv[0]} <client_id>")
print(" Run one instance per UAV, e.g.:")
print(" Terminal 1: ./uav.py 1")
print(" Terminal 2: ./uav.py 2")
sys.exit(1)
client_id = int(sys.argv[1])
run_uav_client(client_id)

74
aerpaw/controller.coderprj
View File

@@ -4,7 +4,7 @@
<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">
<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">
<coderapp.internal.core.mfz.TestRepositoryState id="1" type="coderapp.internal.core.mfz.TestRepositoryState"/>
</MF0>
</part>
@@ -38,6 +38,11 @@
<Size type="coderapp.internal.codertype.Dimension"/>
<Size type="coderapp.internal.codertype.Dimension"/>
</Types>
<Types id="8" 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>
@@ -63,89 +68,71 @@
<LogDirectory>/home/kdee/Desktop/miSim/aerpaw/codegen</LogDirectory>
<Artifacts id="4" type="coderapp.internal.build.mfz.CodegenArtifact">
<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/basic_demo/handcode/comms.cpp</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller.cpp</Path>
</File>
<Type>GENERATED_SOURCE</Type>
</Artifacts>
<Artifacts id="5" type="coderapp.internal.build.mfz.CodegenArtifact">
<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/basic_demo/handcode/controller_impl.cpp</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller.h</Path>
</File>
<Type>GENERATED_SOURCE</Type>
</Artifacts>
<Artifacts id="6" type="coderapp.internal.build.mfz.CodegenArtifact">
<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/basic_demo/handcode/controller_impl.h</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_data.h</Path>
</File>
<Type>GENERATED_SOURCE</Type>
</Artifacts>
<Artifacts id="7" type="coderapp.internal.build.mfz.CodegenArtifact">
<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller.cpp</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_initialize.cpp</Path>
</File>
<Type>GENERATED_SOURCE</Type>
</Artifacts>
<Artifacts id="8" type="coderapp.internal.build.mfz.CodegenArtifact">
<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller.h</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_initialize.h</Path>
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<Type>GENERATED_SOURCE</Type>
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<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_data.h</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_terminate.cpp</Path>
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<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_initialize.h</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_types.h</Path>
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<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_terminate.cpp</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/rtwtypes.h</Path>
</File>
<Type>GENERATED_SOURCE</Type>
</Artifacts>
<Artifacts id="13" type="coderapp.internal.build.mfz.CodegenArtifact">
<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_terminate.h</Path>
<Path>/home/kdee/matlab/R2025a/extern/include/tmwtypes.h</Path>
</File>
<Type>GENERATED_SOURCE</Type>
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<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_types.h</Path>
</File>
<Type>GENERATED_SOURCE</Type>
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<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/rtwtypes.h</Path>
</File>
<Type>GENERATED_SOURCE</Type>
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<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/matlab/R2025a/extern/include/tmwtypes.h</Path>
</File>
<Type>GENERATED_SOURCE</Type>
</Artifacts>
<Artifacts id="17" type="coderapp.internal.build.mfz.CodegenArtifact">
<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.cpp</Path>
</File>
<Type>GENERATED_SOURCE</Type>
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<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.h</Path>
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@@ -153,7 +140,7 @@
</Artifacts>
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<Success>true</Success>
<Timestamp>2026-01-28T23:10:50</Timestamp>
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</coderapp.internal.mlc.mfz.MatlabCoderProjectState>
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@@ -176,36 +163,21 @@
</Data>
</Values>
<Values id="6" type="coderapp.internal.ext.ConfigEntry">
<Key>customInclude</Key>
<Data id="7" type="coderapp.internal.config.data.FileArrayParamData">
<Value>/home/kdee/Desktop/miSim/aerpaw/basic_demo/handcode</Value>
<Help type="coderapp.internal.util.DocRef"/>
</Data>
</Values>
<Values id="8" type="coderapp.internal.ext.ConfigEntry">
<Key>customSource</Key>
<Data id="9" type="coderapp.internal.config.data.FileArrayParamData">
<Value>/home/kdee/Desktop/miSim/aerpaw/basic_demo/handcode/comms.cpp</Value>
<Value>/home/kdee/Desktop/miSim/aerpaw/basic_demo/handcode/controller_impl.cpp</Value>
<Help type="coderapp.internal.util.DocRef"/>
</Data>
</Values>
<Values id="10" type="coderapp.internal.ext.ConfigEntry">
<Key>genCodeOnly</Key>
<Data id="11" type="coderapp.internal.config.data.BooleanParamData">
<Data id="7" type="coderapp.internal.config.data.BooleanParamData">
<Value>true</Value>
<Help type="coderapp.internal.util.DocRef"/>
</Data>
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<Values id="8" type="coderapp.internal.ext.ConfigEntry">
<Key>generateReport</Key>
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<Data id="9" type="coderapp.internal.config.data.BooleanParamData">
<Help type="coderapp.internal.util.DocRef"/>
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<Values id="10" type="coderapp.internal.ext.ConfigEntry">
<Key>targetLang</Key>
<Data id="15" type="coderapp.internal.config.data.EnumParamData">
<Data id="11" type="coderapp.internal.config.data.EnumParamData">
<Value>C++</Value>
<Help type="coderapp.internal.util.DocRef"/>
</Data>

77
aerpaw/controller.m
View File

@@ -3,17 +3,37 @@ arguments (Input)
numClients (1, 1) int32;
end
coder.extrinsic('disp');
coder.extrinsic('disp', 'readmatrix');
% Maximum clients supported
MAX_CLIENTS = 4;
% Allocate targets array (MAX_CLIENTS x 3)
targets = zeros(MAX_CLIENTS, 3);
% Load targets from file
if coder.target('MATLAB')
disp('Loading targets from file (simulation)...');
targetsLoaded = readmatrix('targets.txt');
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 = ['targets.txt', char(0)];
% loadTargets fills targets array (row-major: x1,y1,z1,x2,y2,z2,...)
coder.ceval('loadTargets', coder.ref(filename), ...
coder.ref(targets), int32(MAX_CLIENTS));
end
% 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')
@@ -23,33 +43,60 @@ for i = 1:numClients
end
end
% Send messages to clients
% Send target coordinates to each client
for i = 1:numClients
% Get target for this client (1x3 array)
target = targets(i, :);
if coder.target('MATLAB')
disp(['Sending message to client ', num2str(i)]);
disp(['Sending TARGET to client ', num2str(i), ': ', ...
num2str(target(1)), ',', num2str(target(2)), ',', num2str(target(3))]);
else
coder.ceval('sendMessage', int32(i));
coder.ceval('sendTarget', int32(i), coder.ref(target));
end
end
% Receive acknowledgements
acksReceived = zeros(1, numClients, 'int32');
% Receive TARGET acknowledgments
targetAcks = 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
disp(['Waiting for ACK:TARGET from client ', num2str(i)]);
targetAcks(i) = 1; % Simulate successful ACK
else
acksReceived(i) = coder.ceval('receiveAck', int32(i));
targetAcks(i) = coder.ceval('receiveTargetAck', int32(i));
end
end
% Digest ACKs
% Check all ACKs received
if coder.target('MATLAB')
disp(['All ACKs received: ', num2str(acksReceived)]);
disp(['Target ACKs received: ', num2str(targetAcks)]);
end
% Wait for READY signals (UAVs have reached their targets)
readySignals = zeros(1, numClients, 'int32');
for i = 1:numClients
if coder.target('MATLAB')
disp(['Waiting for READY from client ', num2str(i)]);
readySignals(i) = 1; % Simulate READY
else
readySignals(i) = coder.ceval('waitForReady', int32(i));
end
end
% Check all READY signals received
if coder.target('MATLAB')
disp(['Ready signals received: ', num2str(readySignals)]);
disp('All UAVs at target positions.');
end
% Send COMPLETE to all clients before closing
for i = 1:numClients
if coder.target('MATLAB')
disp(['Sending COMPLETE to client ', num2str(i)]);
else
coder.ceval('sendFinished', int32(i));
end
end
% Close server
if ~coder.target('MATLAB')