added more radio metrics

aerpaw/radio/CSwSNRRX.py

@@ -267,6 +267,10 @@ class CSwSNRRX(gr.top_block):
             '/root/Quality', num_uavs, slot_duration, guard_interval)
         self.blocks_file_sink_0 = TdmTaggedFileSink(
             '/root/Power', num_uavs, slot_duration, guard_interval)
+        self.blocks_file_sink_noisefloor = TdmTaggedFileSink(
+            '/root/NoiseFloor', num_uavs, slot_duration, guard_interval)
+        self._freqoffset_file = open('/root/FreqOffset', 'w')
+        self._freqoffset_file.write('tx_uav_id,value\n')
         self.blocks_divide_xx_0 = blocks.divide_ff(1)
         self.blocks_complex_to_real_0_0 = blocks.complex_to_real(1)
         self.blocks_complex_to_real_0 = blocks.complex_to_real(1)
@@ -310,6 +314,7 @@ class CSwSNRRX(gr.top_block):
         self.connect((self.blocks_nlog10_ff_0_0, 0), (self.blocks_add_const_vxx_0, 0))
         self.connect((self.blocks_nlog10_ff_0_0, 0), (self.blocks_sub_xx_0, 0))
         self.connect((self.blocks_nlog10_ff_0_0_0, 0), (self.blocks_sub_xx_0, 1))
+        self.connect((self.blocks_nlog10_ff_0_0_0, 0), (self.blocks_file_sink_noisefloor, 0))
         self.connect((self.blocks_stream_to_vector_0_0, 0), (self.epy_block_0, 0))
         self.connect((self.blocks_sub_xx_0, 0), (self.blocks_file_sink_0_0_0, 0))
         self.connect((self.blocks_vector_to_stream_0_0, 0), (self.blocks_keep_m_in_n_0, 0))
@@ -321,6 +326,26 @@ class CSwSNRRX(gr.top_block):
         self.connect((self.freq_xlating_fft_filter_ccc_0_0, 0), (self.blocks_stream_to_vector_0_0, 0))
         self.connect((self.uhd_usrp_source_0, 0), (self.blocks_multiply_xx_0, 0))
 
+        ##################################################
+        # Frequency offset polling thread
+        ##################################################
+        def _freq_offset_probe():
+            frame_dur = slot_duration * num_uavs
+            while True:
+                val = self.digital_fll_band_edge_cc_0_0.get_frequency()
+                freq_hz = val * samp_rate / (2 * math.pi)
+                now = time.time()
+                slot_time = now % frame_dur
+                current_slot = int(slot_time / slot_duration)
+                time_into_slot = slot_time - current_slot * slot_duration
+                tx_id = -1 if time_into_slot < guard_interval else current_slot
+                self._freqoffset_file.write(f'{tx_id},{freq_hz}\n')
+                self._freqoffset_file.flush()
+                time.sleep(0.01)
+        _freq_offset_thread = threading.Thread(target=_freq_offset_probe)
+        _freq_offset_thread.daemon = True
+        _freq_offset_thread.start()
+
 
     def get_args(self):
         return self.args

aerpaw/results/plotRadioLogs.m

@@ -24,16 +24,25 @@ function [f, R] = plotRadioLogs(resultsPath)
         R{ii}(bad, :) = [];
     end
 
+    % Compute path loss from Power (post-processing)
+    % Power = 20*log10(peak_mag) - rxGain; path loss = txGain - rxGain - Power
+    txGain_dB = 76;   % from startchannelsounderTXGRC.sh GAIN_TX
+    rxGain_dB = 30;   % from startchannelsounderRXGRC.sh GAIN_RX
+    for ii = 1:numel(R)
+        R{ii}.PathLoss = txGain_dB - rxGain_dB - R{ii}.Power;
+        R{ii}.FreqOffset = R{ii}.FreqOffset / 1e6; % Hz to MHz
+    end
+
     % Build legend labels and color map for up to 4 UAVs
     nUAV = numel(R);
     colors = lines(nUAV * nUAV);
     styles = ["-o", "-s", "-^", "-d", "-v", "-p", "-h", "-<", "->", "-+", "-x", "-*"];
 
-    metricNames = ["SNR", "Power", "Quality"];
+    metricNames = ["SNR", "Power", "Quality", "PathLoss", "NoiseFloor", "FreqOffset"];
-    yLabels     = ["SNR (dB)", "Power (dB)", "Quality"];
+    yLabels     = ["SNR (dB)", "Power (dB)", "Quality", "Path Loss (dB)", "Noise Floor (dB)", "Freq Offset (MHz)"];
 
     f = figure;
-    tl = tiledlayout(3, 1, 'TileSpacing', 'compact', 'Padding', 'compact');
+    tl = tiledlayout(numel(metricNames), 1, 'TileSpacing', 'compact', 'Padding', 'compact');
 
     for mi = 1:numel(metricNames)
         ax = nexttile(tl);

aerpaw/results/readRadioLogs.m

@@ -4,19 +4,19 @@ function R = readRadioLogs(logPath)
     end
 
     arguments (Output)
-        R (:, 6) table;
+        R (:, 8) table;
     end
 
     % Extract receiving UAV ID from directory name (e.g. "uav0_..." → 0)
     [~, dirName] = fileparts(logPath);
     rxID = int32(sscanf(dirName, 'uav%d'));
 
-    metrics = ["quality", "snr", "power"];
+    metrics = ["quality", "snr", "power", "noisefloor", "freqoffset"];
     logs = dir(logPath);
     logs = logs(endsWith({logs(:).name}, metrics + "_log.txt"));
 
-    R = table(datetime.empty(0,1), zeros(0,1,'int32'), zeros(0,1,'int32'), zeros(0,1), zeros(0,1), zeros(0,1), ...
+    R = table(datetime.empty(0,1), zeros(0,1,'int32'), zeros(0,1,'int32'), zeros(0,1), zeros(0,1), zeros(0,1), zeros(0,1), zeros(0,1), ...
-        'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality"]);
+        'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality", "NoiseFloor", "FreqOffset"]);
 
     for ii = 1:numel(logs)
         filepath = fullfile(logs(ii).folder, logs(ii).name);
@@ -43,13 +43,15 @@ function R = readRadioLogs(logPath)
         val = data{3};
 
         n = numel(ts);
-        t = table(ts, txId, repmat(rxID, n, 1), NaN(n,1), NaN(n,1), NaN(n,1), ...
+        t = table(ts, txId, repmat(rxID, n, 1), NaN(n,1), NaN(n,1), NaN(n,1), NaN(n,1), NaN(n,1), ...
-            'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality"]);
+            'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality", "NoiseFloor", "FreqOffset"]);
 
         switch metric
-            case "snr",     t.SNR = val;
+            case "snr",        t.SNR = val;
-            case "power",   t.Power = val;
+            case "power",      t.Power = val;
-            case "quality", t.Quality = val;
+            case "quality",    t.Quality = val;
+            case "noisefloor", t.NoiseFloor = val;
+            case "freqoffset", t.FreqOffset = val;
         end
 
         R = [R; t]; %#ok<AGROW>

aerpaw/results/resultsAnalysis.m

@@ -1,5 +1,5 @@
 %% Plot AERPAW logs (trajectory, radio)
-resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "t1"); % Define path to results copied from AERPAW platform
+resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "t2"); % Define path to results copied from AERPAW platform
 
 % Plot GPS logged data and scenario information (domain, objective, obstacles)
 seaToGroundLevel = 110; % measured approximately from USGS national map viewer

aerpaw/scripts/startRadio.sh

@@ -8,18 +8,32 @@ screen -S rxGRC -dm \
        2>&1 | ts $TS_FORMAT \
        | tee $RESULTS_DIR/$LOG_PREFIX\_radio_channelsounderrxgrc_log.txt"
 
-screen -S power -dm        bash -c "stdbuf -oL -eL tail -F /root/Power\
+screen -S power -dm \
+       bash -c "stdbuf -oL -eL tail -F /root/Power\
         2>&1 | ts $TS_FORMAT \
        | tee $RESULTS_DIR/$LOG_PREFIX\_power_log.txt"
 
-screen -S quality -dm        bash -c "stdbuf -oL -eL tail -F /root/Quality\
+screen -S quality -dm \
+       bash -c "stdbuf -oL -eL tail -F /root/Quality\
         2>&1 | ts $TS_FORMAT \
        | tee $RESULTS_DIR/$LOG_PREFIX\_quality_log.txt"
 
-screen -S snr -dm        bash -c "stdbuf -oL -eL tail -F /root/SNR\
+screen -S snr -dm \
+       bash -c "stdbuf -oL -eL tail -F /root/SNR\
         2>&1 | ts $TS_FORMAT \
        | tee $RESULTS_DIR/$LOG_PREFIX\_snr_log.txt"
 
+screen -S noisefloor -dm \
+      bash -c "stdbuf -oL -eL tail -F /root/NoiseFloor\
+        2>&1 | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_noisefloor_log.txt"
+
+screen -S freqoffset -dm \
+       bash -c "stdbuf -oL -eL tail -F /root/FreqOffset\
+        2>&1 | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_freqoffset_log.txt"
+
+
 #TX
 
 screen -S txGRC -dm \