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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>
<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success>
<Timestamp>2026-03-11T11:45:17</Timestamp>
<Timestamp>2026-03-11T12:22:00</Timestamp>
</MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0>

13
aerpaw/impl/controller_main.cpp
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@@ -3,10 +3,15 @@
#include "controller_impl.h" // TCP implementation header
int main() {
// Number of clients to handle
int numClients = 2; // for now
std::cout << "Initializing TCP server...\n";
// Derive numClients from initialPositions in scenario.csv
double targets[MAX_CLIENTS_PER_PARAM * 3];
int numClients = loadInitialPositions("config/scenario.csv",
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
controller(numClients);

4
aerpaw/results/resultsAnalysis.m
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@@ -1,5 +1,5 @@
%% 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)
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 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);
% Visualization settings

4
aerpaw/run_uav.sh
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@@ -32,8 +32,8 @@ else
exit 1
fi
# Client config file (optional 2nd argument)
CONFIG_FILE="${2:-config/client.yaml}"
# Client config file: 2nd argument > AERPAW_CLIENT_CONFIG env var > default
CONFIG_FILE="${2:-${AERPAW_CLIENT_CONFIG:-config/client.yaml}}"
if [ ! -f "$CONFIG_FILE" ]; then
echo "Error: Config file not found: $CONFIG_FILE"
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
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 \
| 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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@@ -0,0 +1,2 @@
<?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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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="scenario_2uavs.csv" type="File"/>