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codegen fixes, bug fixes, gets running on testbed environment

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This commit is contained in:
Kevin Dee
2026-02-24 19:05:54 -08:00
parent fb9feac23d
commit bb97502be5
38 changed files with 1732 additions and 263 deletions
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56
@miSim/run.m
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@@ -6,21 +6,24 @@ function [obj] = run(obj)
obj (1, 1) {mustBeA(obj, "miSim")};
end
% Start video writer
if obj.makeVideo
v = obj.setupVideoWriter();
v.open();
if coder.target('MATLAB')
% Start video writer
if obj.makeVideo
v = obj.setupVideoWriter();
v.open();
end
end
for ii = 1:size(obj.times, 1)
% Display current sim time
obj.t = obj.times(ii);
obj.timestepIndex = ii;
fprintf("Sim Time: %4.2f (%d/%d)\n", obj.t, ii, obj.maxIter + 1);
if coder.target('MATLAB')
fprintf("Sim Time: %4.2f (%d/%d)\n", obj.t, ii, obj.maxIter + 1);
% Before moving
% Validate current simulation configuration
obj.validate();
% Validate current simulation configuration
obj.validate();
end
% Update partitioning before moving (this one is strictly for
% plotting purposes, the real partitioning is done by the agents)
@@ -39,28 +42,31 @@ function [obj] = run(obj)
% CBF constraints solved by QP
obj = constrainMotion(obj);
% After moving
% Update agent position history array
obj.posHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, "UniformOutput", false)), size(obj.agents, 1), 1, 3);
if coder.target('MATLAB')
% Update agent position history array
obj.posHist(1:size(obj.agents, 1), obj.timestepIndex + 1, 1:3) = reshape(cell2mat(cellfun(@(x) x.pos, obj.agents, "UniformOutput", false)), size(obj.agents, 1), 1, 3);
% Update total performance
obj.performance = [obj.performance, sum(cellfun(@(x) x.performance(obj.timestepIndex+1), obj.agents))];
% Update total performance
obj.performance = [obj.performance, sum(cellfun(@(x) x.performance(obj.timestepIndex+1), obj.agents))];
% Update adjacency matrix
obj = obj.updateAdjacency();
% Update adjacency matrix
obj = obj.updateAdjacency();
% Update plots
obj = obj.updatePlots();
% Update plots
obj = obj.updatePlots();
% Write frame in to video
if obj.makeVideo
I = getframe(obj.f);
v.writeVideo(I);
% Write frame in to video
if obj.makeVideo
I = getframe(obj.f);
v.writeVideo(I);
end
end
end
if obj.makeVideo
% Close video file
v.close();
if coder.target('MATLAB')
if obj.makeVideo
% Close video file
v.close();
end
end
end