radio experiment TDM working

aerpaw/client/uav_runner.py

@@ -46,8 +46,9 @@ class MessageType(IntEnum):
     POSITION         = 8
 
 
-AERPAW_DIR = Path(__file__).parent.parent
-CONFIG_FILE = AERPAW_DIR / "config" / "client.yaml"
+AERPAW_DIR = Path('/root/miSim/aerpaw')
+CONFIG_FILE = Path(os.environ.get('AERPAW_CLIENT_CONFIG',
+                                  AERPAW_DIR / "config" / "client.yaml"))
 
 
 def load_config():

aerpaw/config/client1.yaml

@@ -1,5 +1,15 @@
 # AERPAW UAV (Client) Configuration
 
+# Unique 0-indexed UAV identifier (each UAV must have a distinct value)
+uav_id: 0
+
+# TDM (Time-Division Multiplexing) radio settings
+# All UAVs share a common frequency; each transmits only during its time slot.
+# Slot assignment uses wall-clock modular arithmetic (GPS/NTP synced).
+tdm:
+  slot_duration: 0.5      # seconds per slot
+  guard_interval: 0.05    # seconds of silence at slot boundaries
+
 # ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
 origin:
   lat: 35.72550610629396

aerpaw/config/client2.yaml

@@ -0,0 +1,38 @@
+# AERPAW UAV (Client) Configuration
+
+# Unique 0-indexed UAV identifier (each UAV must have a distinct value)
+uav_id: 1
+
+# TDM (Time-Division Multiplexing) radio settings
+# All UAVs share a common frequency; each transmits only during its time slot.
+# Slot assignment uses wall-clock modular arithmetic (GPS/NTP synced).
+tdm:
+  slot_duration: 0.5      # seconds per slot
+  guard_interval: 0.05    # seconds of silence at slot boundaries
+
+# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
+origin:
+  lat: 35.72550610629396
+  lon: -78.70019657805574
+  alt: 0.0  # Alt=0 means ENU z directly becomes target altitude above home
+# Environment-specific settings
+environments:
+  local:
+    # MAVLink connection for SITL simulation (UDP)
+    mavlink:
+      ip: "127.0.0.1"
+      port: 14550
+    # Controller server address
+    controller:
+      ip: "127.0.0.1"
+      port: 5000
+
+  testbed:
+    # AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
+    mavlink:
+      ip: "192.168.32.26"
+      port: 14550
+    # Controller runs on host machine (192.168.122.1 from E-VM perspective)
+    controller:
+      ip: "192.168.122.1"
+      port: 5000

aerpaw/radio/CSwSNRTX.py

@@ -0,0 +1,336 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+#
+# SPDX-License-Identifier: GPL-3.0
+#
+# GNU Radio Python Flow Graph
+# Title: CSwSNRTX
+# Author: Ozgur Ozdemir
+# Description: Channel Sounder Transmitter with offset freq
+# GNU Radio version: v3.8.5.0-6-g57bd109d
+
+from gnuradio import analog
+from gnuradio import blocks
+from gnuradio import digital
+from gnuradio import filter
+from gnuradio.filter import firdes
+from gnuradio import gr
+import sys
+import signal
+import threading
+from argparse import ArgumentParser
+from gnuradio.eng_arg import eng_float, intx
+from gnuradio import eng_notation
+from gnuradio import uhd
+import time
+
+
+def derive_num_uavs_from_csv(csv_path=None):
+    """Derive number of UAVs from scenario.csv by counting initial positions.
+
+    The initialPositions column contains a quoted comma-separated list of
+    x,y,z triples.  num_uavs = len(values) / 3.
+    """
+    import os, csv
+    if csv_path is None:
+        csv_path = '/root/miSim/aerpaw/config/scenario.csv'
+    with open(csv_path, 'r') as f:
+        reader = csv.reader(f, skipinitialspace=True)
+        header = [h.strip() for h in next(reader)]
+        row = next(reader)
+    col = header.index('initialPositions')
+    init_pos = row[col].strip()
+    n_vals = len([v.strip() for v in init_pos.split(',') if v.strip()])
+    if n_vals % 3 != 0:
+        raise ValueError(f"initialPositions has {n_vals} values; expected a multiple of 3")
+    return n_vals // 3
+
+
+class TdmScheduler(threading.Thread):
+    """Daemon thread that mutes/unmutes a GNU Radio mute_cc block on a
+    wall-clock TDM schedule.
+
+    Slot assignment:  current_slot = floor(utc_time / slot_duration) % num_uavs
+    Guard interval:   the first *guard_interval* seconds of every slot are
+                      always muted to avoid TX overlap due to clock skew.
+    """
+
+    def __init__(self, mute_block, uav_id, num_uavs,
+                 slot_duration=0.5, guard_interval=0.05):
+        super().__init__(daemon=True)
+        self.mute_block = mute_block
+        self.uav_id = uav_id
+        self.num_uavs = num_uavs
+        self.slot_duration = slot_duration
+        self.guard_interval = guard_interval
+        self._stop_event = threading.Event()
+
+    def run(self):
+        print(f"[TDM] Scheduler started: uav_id={self.uav_id}, "
+              f"num_uavs={self.num_uavs}, slot={self.slot_duration}s, "
+              f"guard={self.guard_interval}s")
+        while not self._stop_event.is_set():
+            now = time.time()
+            slot_time = now % (self.slot_duration * self.num_uavs)
+            current_slot = int(slot_time / self.slot_duration)
+            time_into_slot = slot_time - current_slot * self.slot_duration
+
+            my_slot = (current_slot == self.uav_id)
+            in_guard = (time_into_slot < self.guard_interval)
+
+            should_mute = (not my_slot) or in_guard
+            self.mute_block.set_mute(should_mute)
+
+            # Sleep ~1 ms for responsive timing without busy-waiting
+            self._stop_event.wait(0.001)
+
+    def stop(self):
+        self._stop_event.set()
+
+
+class CSwSNRTX(gr.top_block):
+
+    def __init__(self, args='', freq=3.32e9, gaintx=76, offset=250e3, samp_rate=2e6, sps=16,
+                 uav_id=0, num_uavs=1, slot_duration=0.5, guard_interval=0.05):
+        gr.top_block.__init__(self, "CSwSNRTX")
+
+        ##################################################
+        # Parameters
+        ##################################################
+        self.args = args
+        self.freq = freq
+        self.gaintx = gaintx
+        self.offset = offset
+        self.samp_rate = samp_rate
+        self.sps = sps
+        self.uav_id = uav_id
+        self.num_uavs = num_uavs
+        self.slot_duration = slot_duration
+        self.guard_interval = guard_interval
+
+        ##################################################
+        # Variables
+        ##################################################
+        self.alpha = alpha = 0.99
+
+        ##################################################
+        # Blocks
+        ##################################################
+        self.uhd_usrp_sink_0 = uhd.usrp_sink(
+            ",".join(("", args)),
+            uhd.stream_args(
+                cpu_format="fc32",
+                args='',
+                channels=list(range(0,1)),
+            ),
+            '',
+        )
+        self.uhd_usrp_sink_0.set_center_freq(freq, 0)
+        self.uhd_usrp_sink_0.set_gain(gaintx, 0)
+        self.uhd_usrp_sink_0.set_antenna('TX/RX', 0)
+        self.uhd_usrp_sink_0.set_samp_rate(samp_rate)
+        self.uhd_usrp_sink_0.set_time_unknown_pps(uhd.time_spec())
+        self.root_raised_cosine_filter_0 = filter.fir_filter_ccf(
+            1,
+            firdes.root_raised_cosine(
+                sps,
+                samp_rate,
+                samp_rate/sps,
+                alpha,
+                10*sps+1))
+        self.interp_fir_filter_xxx_0 = filter.interp_fir_filter_ccc(sps, [1]+[0]*(sps-1))
+        self.interp_fir_filter_xxx_0.declare_sample_delay(0)
+        self.digital_glfsr_source_x_0 = digital.glfsr_source_b(12, True, 0, 1)
+        self.digital_chunks_to_symbols_xx_0 = digital.chunks_to_symbols_bc((-1,1), 1)
+        self.blocks_multiply_xx_0 = blocks.multiply_vcc(1)
+        self.blocks_multiply_const_vxx_0 = blocks.multiply_const_cc(1/1.58)
+        self.blocks_mute_0 = blocks.mute_cc(True)  # TDM: start muted
+        self.analog_sig_source_x_0 = analog.sig_source_c(samp_rate, analog.GR_COS_WAVE, offset, 1, 0, 0)
+
+
+        ##################################################
+        # Connections
+        ##################################################
+        self.connect((self.analog_sig_source_x_0, 0), (self.blocks_multiply_xx_0, 1))
+        self.connect((self.blocks_multiply_const_vxx_0, 0), (self.blocks_mute_0, 0))
+        self.connect((self.blocks_mute_0, 0), (self.uhd_usrp_sink_0, 0))
+        self.connect((self.blocks_multiply_xx_0, 0), (self.blocks_multiply_const_vxx_0, 0))
+        self.connect((self.digital_chunks_to_symbols_xx_0, 0), (self.interp_fir_filter_xxx_0, 0))
+        self.connect((self.digital_glfsr_source_x_0, 0), (self.digital_chunks_to_symbols_xx_0, 0))
+        self.connect((self.interp_fir_filter_xxx_0, 0), (self.root_raised_cosine_filter_0, 0))
+        self.connect((self.root_raised_cosine_filter_0, 0), (self.blocks_multiply_xx_0, 0))
+
+
+    def get_args(self):
+        return self.args
+
+    def set_args(self, args):
+        self.args = args
+
+    def get_freq(self):
+        return self.freq
+
+    def set_freq(self, freq):
+        self.freq = freq
+        self.uhd_usrp_sink_0.set_center_freq(self.freq, 0)
+
+    def get_gaintx(self):
+        return self.gaintx
+
+    def set_gaintx(self, gaintx):
+        self.gaintx = gaintx
+        self.uhd_usrp_sink_0.set_gain(self.gaintx, 0)
+
+    def get_offset(self):
+        return self.offset
+
+    def set_offset(self, offset):
+        self.offset = offset
+        self.analog_sig_source_x_0.set_frequency(self.offset)
+
+    def get_samp_rate(self):
+        return self.samp_rate
+
+    def set_samp_rate(self, samp_rate):
+        self.samp_rate = samp_rate
+        self.analog_sig_source_x_0.set_sampling_freq(self.samp_rate)
+        self.root_raised_cosine_filter_0.set_taps(firdes.root_raised_cosine(self.sps, self.samp_rate, self.samp_rate/self.sps, self.alpha, 10*self.sps+1))
+        self.uhd_usrp_sink_0.set_samp_rate(self.samp_rate)
+
+    def get_sps(self):
+        return self.sps
+
+    def set_sps(self, sps):
+        self.sps = sps
+        self.interp_fir_filter_xxx_0.set_taps([1]+[0]*(self.sps-1))
+        self.root_raised_cosine_filter_0.set_taps(firdes.root_raised_cosine(self.sps, self.samp_rate, self.samp_rate/self.sps, self.alpha, 10*self.sps+1))
+
+    def get_alpha(self):
+        return self.alpha
+
+    def set_alpha(self, alpha):
+        self.alpha = alpha
+        self.root_raised_cosine_filter_0.set_taps(firdes.root_raised_cosine(self.sps, self.samp_rate, self.samp_rate/self.sps, self.alpha, 10*self.sps+1))
+
+
+def argument_parser():
+    description = 'Channel Sounder Transmitter with offset freq'
+    parser = ArgumentParser(description=description)
+    parser.add_argument(
+        "--args", dest="args", type=str, default='',
+        help="Set args [default=%(default)r]")
+    parser.add_argument(
+        "--freq", dest="freq", type=eng_float, default="3.32G",
+        help="Set freq [default=%(default)r]")
+    parser.add_argument(
+        "--gaintx", dest="gaintx", type=eng_float, default="76.0",
+        help="Set gaintx [default=%(default)r]")
+    parser.add_argument(
+        "--offset", dest="offset", type=eng_float, default="250.0k",
+        help="Set offset [default=%(default)r]")
+    parser.add_argument(
+        "--samp-rate", dest="samp_rate", type=eng_float, default="2.0M",
+        help="Set samp_rate [default=%(default)r]")
+    parser.add_argument(
+        "--sps", dest="sps", type=intx, default=16,
+        help="Set sps [default=%(default)r]")
+    parser.add_argument(
+        "--uav-id", dest="uav_id", type=int, default=None,
+        help="TDM slot index for this UAV (0-indexed). "
+             "If omitted, read from config/client.yaml.")
+    parser.add_argument(
+        "--num-uavs", dest="num_uavs", type=int, default=None,
+        help="Total number of UAVs (TDM slots). "
+             "If omitted, derived from config/scenario.csv.")
+    parser.add_argument(
+        "--slot-duration", dest="slot_duration", type=float, default=None,
+        help="TDM slot duration in seconds [default: 0.5 or from client.yaml]")
+    parser.add_argument(
+        "--guard-interval", dest="guard_interval", type=float, default=None,
+        help="TDM guard interval in seconds [default: 0.05 or from client.yaml]")
+    return parser
+
+
+def _resolve_tdm_options(options):
+    """Fill in TDM parameters from client.yaml / scenario.csv when not
+    provided on the command line."""
+    import os, yaml
+    cfg_dir = '/root/miSim/aerpaw/config'
+    env_cfg = os.environ.get('AERPAW_CLIENT_CONFIG', '')
+    if env_cfg:
+        yaml_path = env_cfg if os.path.isabs(env_cfg) else os.path.join('/root/miSim/aerpaw', env_cfg)
+    else:
+        yaml_path = os.path.join(cfg_dir, 'client.yaml')
+
+    cfg = {}
+    if os.path.isfile(yaml_path):
+        with open(yaml_path, 'r') as f:
+            cfg = yaml.safe_load(f) or {}
+
+    tdm_cfg = cfg.get('tdm', {})
+
+    if options.uav_id is None:
+        options.uav_id = int(cfg.get('uav_id', 0))
+    if options.slot_duration is None:
+        options.slot_duration = float(tdm_cfg.get('slot_duration', 0.5))
+    if options.guard_interval is None:
+        options.guard_interval = float(tdm_cfg.get('guard_interval', 0.05))
+    if options.num_uavs is None:
+        try:
+            options.num_uavs = derive_num_uavs_from_csv(
+                '/root/miSim/aerpaw/config/scenario.csv')
+        except Exception as e:
+            print(f"[TDM] Warning: could not derive num_uavs from scenario.csv: {e}")
+            print("[TDM] Defaulting to num_uavs=1 (TDM effectively disabled)")
+            options.num_uavs = 1
+
+    return options
+
+
+def main(top_block_cls=CSwSNRTX, options=None):
+    if options is None:
+        options = argument_parser().parse_args()
+
+    options = _resolve_tdm_options(options)
+
+    tb = top_block_cls(
+        args=options.args, freq=options.freq, gaintx=options.gaintx,
+        offset=options.offset, samp_rate=options.samp_rate, sps=options.sps,
+        uav_id=options.uav_id, num_uavs=options.num_uavs,
+        slot_duration=options.slot_duration,
+        guard_interval=options.guard_interval)
+
+    tdm_sched = TdmScheduler(
+        tb.blocks_mute_0,
+        uav_id=options.uav_id,
+        num_uavs=options.num_uavs,
+        slot_duration=options.slot_duration,
+        guard_interval=options.guard_interval)
+
+    def sig_handler(sig=None, frame=None):
+        tdm_sched.stop()
+        tb.stop()
+        tb.wait()
+        sys.exit(0)
+
+    signal.signal(signal.SIGINT, sig_handler)
+    signal.signal(signal.SIGTERM, sig_handler)
+
+    tb.start()
+    tdm_sched.start()
+
+    try:
+        input('Press Enter to quit: ')
+    except EOFError:
+        pass
+    tdm_sched.stop()
+    tb.stop()
+    tb.wait()
+
+
+if __name__ == '__main__':
+    main()
+(END)
+
+

aerpaw/radio/startchannelsounderRXGRC.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+GAIN_RX=30
+OFFSET=250e3
+SAMP_RATE=2e6
+SPS=16
+
+# Custom
+RX_FREQ=3.32e9
+
+if [ "$LAUNCH_MODE" == "TESTBED" ]; then
+  #To select a specific device
+  #ARGS="serial=31E74A9"
+  ARGS=NULL
+elif [ "$LAUNCH_MODE" == "EMULATION" ]; then
+  #ARGS='type=zmq'
+  ARGS=NULL
+else
+  echo "Warning: LAUNCH_MODE not set (got '${LAUNCH_MODE}'). Defaulting to TESTBED."
+  ARGS=NULL
+fi
+
+cd $PROFILE_DIR"/SDR_control/Channel_Sounderv3"
+python3 CSwSNRRX.py --freq $RX_FREQ --gainrx $GAIN_RX --noise 0 --args $ARGS --offset $OFFSET --samp-rate $SAMP_RATE --sps $SPS

aerpaw/radio/startchannelsounderTXGRC.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+GAIN_TX=76
+OFFSET=250e3
+SAMP_RATE=2e6
+SPS=16
+
+# Custom
+TX_FREQ=3.32e9
+
+if [ "$LAUNCH_MODE" == "TESTBED" ]; then
+  #To select a specific device
+  #ARGS="serial=31E74A9"
+  ARGS=NULL
+elif [ "$LAUNCH_MODE" == "EMULATION" ]; then
+  #ARGS='type=zmq'
+  ARGS=NULL
+else
+  echo "Warning: LAUNCH_MODE not set (got '${LAUNCH_MODE}'). Defaulting to TESTBED."
+  ARGS=NULL
+fi
+
+cd $PROFILE_DIR"/SDR_control/Channel_Sounderv3"
+python3 CSwSNRTX.py --freq $TX_FREQ --gaintx $GAIN_TX --args $ARGS --offset $OFFSET --samp-rate $SAMP_RATE --sps $SPS

aerpaw/radio/updateScripts.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+cp startchannelsounderRXGRC.sh /root/Profiles/ProfileScripts/Radio/Helpers/.
+cp startchannelsounderTXGRC.sh /root/Profiles/ProfileScripts/Radio/Helpers/.
+
+cp CSwSNRRX.py /root/Profiles/SDR_control/Channel_Sounderv3/.
+cp CSwSNRTX.py /root/Profiles/SDR_control/Channel_Sounderv3/.

aerpaw/run_uav.sh

@@ -3,13 +3,13 @@
 # Launches UAV client with environment-specific configuration
 #
 # Usage:
-#   ./run_uav.sh local     # Use local/simulation configuration
-#   ./run_uav.sh testbed   # Use AERPAW testbed configuration
+#   ./run_uav.sh local                          # defaults to config/client.yaml
+#   ./run_uav.sh testbed config/client2.yaml     # use a specific config file
 
 set -e
 
-# Change to script directory
-cd "$(dirname "$0")"
+# Change to aerpaw directory
+cd /root/miSim/aerpaw
 
 # Activate venv if it exists
 if [ -d "venv" ]; then
@@ -23,22 +23,33 @@ elif [ "$1" = "local" ]; then
     ENV="local"
 else
     echo "Error: Environment not specified."
-    echo "Usage: $0 [local|testbed]"
+    echo "Usage: $0 [local|testbed] [config_file]"
     echo ""
     echo "  local   - Use local/simulation configuration"
     echo "  testbed - Use AERPAW testbed configuration"
+    echo ""
+    echo "  config_file - Path to client YAML (default: config/client.yaml)"
+    exit 1
+fi
+
+# Client config file (optional 2nd argument)
+CONFIG_FILE="${2:-config/client.yaml}"
+if [ ! -f "$CONFIG_FILE" ]; then
+    echo "Error: Config file not found: $CONFIG_FILE"
     exit 1
 fi
 
 echo "[run_uav] Environment: $ENV"
+echo "[run_uav] Config file: $CONFIG_FILE"
 
-# Export environment for Python to use
+# Export for Python scripts to use
 export AERPAW_ENV="$ENV"
+export AERPAW_CLIENT_CONFIG="$(realpath "$CONFIG_FILE")"
 
-# Read MAVLink connection from config.yaml using Python
+# Read MAVLink connection from config file using Python
 CONN=$(python3 -c "
 import yaml
-with open('config/client.yaml') as f:
+with open('$CONFIG_FILE') as f:
     cfg = yaml.safe_load(f)
 env = cfg['environments']['$ENV']['mavlink']
 print(f\"udp:{env['ip']}:{env['port']}\")