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small testbed convenience fixes

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This commit is contained in:
Kevin Dee
2026-03-11 12:30:36 -07:00
parent fdd9b49e34
commit e5fa2fa827
12 changed files with 30 additions and 11 deletions
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2
aerpaw/config/scenario_2uavs.csv Normal file
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@@ -0,0 +1,2 @@
timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
5, 100, 30.0, 0.1, 2.0, 3.0, 100, 3, "6.0, 6.0", "20.0, 20.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0", "80.0, 80.0", "55.0, 55.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0"
1 timestep maxIter minAlt discretizationStep protectedRange initialStepSize barrierGain barrierExponent collisionRadius comRange alphaDist betaDist alphaTilt betaTilt domainMin domainMax objectivePos objectiveVar sensorPerformanceMinimum initialPositions numObstacles obstacleMin obstacleMax
2 5 100 30.0 0.1 2.0 3.0 100 3 6.0, 6.0 20.0, 20.0 80.0, 80.0 0.25, 0.25 5.0, 5.0 0.1, 0.1 0.0, 0.0 80.0, 80.0 55.0, 55.0 40, 25, 25, 40 0.15 15.0, 10.0, 40.0, 5.0, 10.0, 45.0 1 1.0, 25.0, 0.0 30.0, 30.0, 50.0

2
aerpaw/controller.coderprj
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@@ -1099,7 +1099,7 @@
</Artifacts> </Artifacts>
<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/> <BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success> <Success>true</Success>
<Timestamp>2026-03-11T11:45:17</Timestamp> <Timestamp>2026-03-11T12:22:00</Timestamp>
</MainBuildResult> </MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState> </coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0> </MF0>

15
aerpaw/impl/controller_main.cpp
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@@ -1,12 +1,17 @@
#include <iostream> #include <iostream>
#include "controller.h" #include "controller.h"
#include "controller_impl.h" // TCP implementation header #include "controller_impl.h" // TCP implementation header
int main() { int main() {
// Number of clients to handle // Derive numClients from initialPositions in scenario.csv
int numClients = 2; // for now double targets[MAX_CLIENTS_PER_PARAM * 3];
int numClients = loadInitialPositions("config/scenario.csv",
std::cout << "Initializing TCP server...\n"; targets, MAX_CLIENTS_PER_PARAM);
if (numClients < 1) {
std::cerr << "Failed to parse numClients from scenario.csv\n";
return 1;
}
std::cout << "Parsed " << numClients << " UAV(s) from scenario.csv\n";
// Call MATLAB-generated server function // Call MATLAB-generated server function
controller(numClients); controller(numClients);

4
aerpaw/results/resultsAnalysis.m
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@@ -1,5 +1,5 @@
%% Plot AERPAW logs (trajectory, radio) %% Plot AERPAW logs (trajectory, radio)
resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "t2"); % Define path to results copied from AERPAW platform resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "three_around_wall_2uavs"); % Define path to results copied from AERPAW platform
% Plot GPS logged data and scenario information (domain, objective, obstacles) % Plot GPS logged data and scenario information (domain, objective, obstacles)
seaToGroundLevel = 110; % measured approximately from USGS national map viewer seaToGroundLevel = 110; % measured approximately from USGS national map viewer
@@ -10,7 +10,7 @@ seaToGroundLevel = 110; % measured approximately from USGS national map viewer
%% Run simulation %% Run simulation
% Run miSim using same AERPAW scenario definition CSV % Run miSim using same AERPAW scenario definition CSV
csvPath = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario.csv"); csvPath = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario_2uavs.csv");
params = readScenarioCsv(csvPath); params = readScenarioCsv(csvPath);
% Visualization settings % Visualization settings

4
aerpaw/run_uav.sh
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@@ -32,8 +32,8 @@ else
exit 1 exit 1
fi fi
# Client config file (optional 2nd argument) # Client config file: 2nd argument > AERPAW_CLIENT_CONFIG env var > default
CONFIG_FILE="${2:-config/client.yaml}" CONFIG_FILE="${2:-${AERPAW_CLIENT_CONFIG:-config/client.yaml}}"
if [ ! -f "$CONFIG_FILE" ]; then if [ ! -f "$CONFIG_FILE" ]; then
echo "Error: Config file not found: $CONFIG_FILE" echo "Error: Config file not found: $CONFIG_FILE"
exit 1 exit 1

2
aerpaw/scripts/startVehicle.sh
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@@ -23,7 +23,7 @@ cd /root/miSim/aerpaw
# Use screen/ts/tee aerpawism from sample script # Use screen/ts/tee aerpawism from sample script
screen -S vehicle -dm \ screen -S vehicle -dm \
bash -c "stdbuf -oL -eL ./run_uav.sh testbed /root/miSim/aerpaw/config/client1.yaml \ bash -c "stdbuf -oL -eL ./run_uav.sh testbed \
| ts $TS_FORMAT \ | ts $TS_FORMAT \
| tee $RESULTS_DIR/$LOG_PREFIX\_vehicle_log.txt" | tee $RESULTS_DIR/$LOG_PREFIX\_vehicle_log.txt"

2
resources/project/erFP4mR9aK32bO4kZAlU-FeDikA/mvGRiPTuORJmVPdRh4fiJMWoTJAd.xml Normal file
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/erFP4mR9aK32bO4kZAlU-FeDikA/mvGRiPTuORJmVPdRh4fiJMWoTJAp.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="1" type="DIR_SIGNIFIER"/>

2
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/erFP4mR9aK32bO4kZAlU-FeDikAd.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/erFP4mR9aK32bO4kZAlU-FeDikAp.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="three_around_wall_2uavs" type="File"/>

2
resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/s1FGL5Sd2djlHMPxH7Uz8GEn55cd.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info/>

2
resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/s1FGL5Sd2djlHMPxH7Uz8GEn55cp.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<Info location="scenario_2uavs.csv" type="File"/>