diff --git a/@miSim/constrainMotion.m b/@miSim/constrainMotion.m index 4676272..0ec6c8d 100644 --- a/@miSim/constrainMotion.m +++ b/@miSim/constrainMotion.m @@ -133,11 +133,22 @@ function [obj] = constrainMotion(obj) for ii = 1:(nAgents - 1) for jj = (ii + 1):nAgents if obj.constraintAdjacencyMatrix(ii, jj) - hComms(ii, jj) = min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius])^2 - norm(obj.agents{ii}.pos - obj.agents{jj}.pos)^2; + paddingFactor = 0.9; % Barrier at 90% of actual range; real comms still work beyond this + r_comms = paddingFactor * min([obj.agents{ii}.commsGeometry.radius, obj.agents{jj}.commsGeometry.radius]); + hComms(ii, jj) = r_comms^2 - norm(obj.agents{ii}.pos - obj.agents{jj}.pos)^2; A(kk, (3 * ii - 2):(3 * ii)) = 2 * (obj.agents{ii}.pos - obj.agents{jj}.pos); A(kk, (3 * jj - 2):(3 * jj)) = -A(kk, (3 * ii - 2):(3 * ii)); - b(kk) = obj.barrierGain * max(0, hComms(ii, jj))^obj.barrierExponent; + + % One-step forward invariance: b = h/dt ensures h cannot + % go negative in a single timestep (linear approximation) + v_max_ij = max(obj.agents{ii}.initialStepSize, obj.agents{jj}.initialStepSize) / obj.timestep; + hMin = -4 * r_comms * v_max_ij * obj.timestep; + if norm(A(kk, :)) < 1e-9 + b(kk) = 0; + else + b(kk) = max(hMin, hComms(ii, jj)) / obj.timestep; + end kk = kk + 1; end diff --git a/aerpaw/config/client1.yaml b/aerpaw/config/client1.yaml index 75180e2..959b72f 100644 --- a/aerpaw/config/client1.yaml +++ b/aerpaw/config/client1.yaml @@ -12,8 +12,8 @@ tdm: # ENU coordinate system origin (AERPAW Lake Wheeler Road Field) origin: - lat: 35.72550610629396 - lon: -78.70019657805574 + lat: 35.72595214250436 + lon: -78.69917609299937 alt: 0.0 # Alt=0 means ENU z directly becomes target altitude above home # Environment-specific settings environments: @@ -32,7 +32,7 @@ environments: mavlink: ip: "192.168.32.26" port: 14550 - # Controller runs on host machine (192.168.122.1 from E-VM perspective) + # Controller runs on host machine (192.168.109.1 from E-VM perspective) controller: - ip: "192.168.122.1" + ip: "192.168.109.1" port: 5000 diff --git a/aerpaw/config/client2.yaml b/aerpaw/config/client2.yaml index 851c0dd..e7a73d4 100644 --- a/aerpaw/config/client2.yaml +++ b/aerpaw/config/client2.yaml @@ -12,8 +12,8 @@ tdm: # ENU coordinate system origin (AERPAW Lake Wheeler Road Field) origin: - lat: 35.72550610629396 - lon: -78.70019657805574 + lat: 35.72595214250436 + lon: -78.69917609299937 alt: 0.0 # Alt=0 means ENU z directly becomes target altitude above home # Environment-specific settings environments: @@ -32,7 +32,7 @@ environments: mavlink: ip: "192.168.32.26" port: 14550 - # Controller runs on host machine (192.168.122.1 from E-VM perspective) + # Controller runs on host machine (192.168.109.1 from E-VM perspective) controller: - ip: "192.168.122.1" + ip: "192.168.109.1" port: 5000 \ No newline at end of file diff --git a/aerpaw/config/client3.yaml b/aerpaw/config/client3.yaml new file mode 100644 index 0000000..8b66a50 --- /dev/null +++ b/aerpaw/config/client3.yaml @@ -0,0 +1,38 @@ +# AERPAW UAV (Client) Configuration + +# Unique 0-indexed UAV identifier (each UAV must have a distinct value) +uav_id: 2 + +# 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: 35.72595214250436 + lon: -78.69917609299937 + 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 (192.168.109.1 from E-VM perspective) + controller: + ip: "192.168.109.1" + port: 5000 \ No newline at end of file diff --git a/aerpaw/config/scenario.csv b/aerpaw/config/scenario.csv index 0de0950..ede2137 100644 --- a/aerpaw/config/scenario.csv +++ b/aerpaw/config/scenario.csv @@ -1,2 +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, 120, 30.0, 0.1, 1.0, 2.0, 100, 3, "3.0, 3.0", "30.0, 30.0", "80.0, 80.0", "0.25, 0.25", "5.0, 5.0", "0.1, 0.1", "0.0, 0.0, 0.0", "50.0, 50.0, 80.0", "35.0, 35.0", "10, 5, 5, 10", 0.15, "5.0, 10.0, 45.0, 15.0, 10.0, 35.0", 1, "2.0, 15.0, 0.0", "25.0, 25.0, 50.0" \ No newline at end of file +5, 150, 30.0, 0.1, 2.0, 3.0, 100, 3, "6.0, 6.0, 6.0", "20.0, 20.0, 20.0", "80.0, 80.0, 80.0", "0.25, 0.25, 0.25", "5.0, 5.0, 5.0", "0.1, 0.1, 0.1", "0.0, 0.0, 0.0", "80.0, 80.0, 80.0", "65.0, 65.0", "40, 25, 25, 40", 0.15, "15.0, 10.0, 40.0, 5.0, 10.0, 45.0, 27.5, 5.0, 45.0", 1, "1.0, 25.0, 0.0", "30.0, 30.0, 50.0" \ No newline at end of file diff --git a/aerpaw/controller.coderprj b/aerpaw/controller.coderprj index e6ef62d..862af73 100644 --- a/aerpaw/controller.coderprj +++ b/aerpaw/controller.coderprj @@ -133,6 +133,11 @@ + + int32 + + + @@ -1094,7 +1099,7 @@ true - 2026-03-03T19:58:03 + 2026-03-11T11:45:17 diff --git a/aerpaw/radio/updateScripts.sh b/aerpaw/radio/updateScripts.sh index 52ef5f0..74aadb4 100755 --- a/aerpaw/radio/updateScripts.sh +++ b/aerpaw/radio/updateScripts.sh @@ -1,7 +1,15 @@ #!/bin/bash +# Drop in replacements for channel sounder scripts 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/. \ No newline at end of file +cp CSwSNRTX.py /root/Profiles/SDR_control/Channel_Sounderv3/. + +# Replace start scripts +cp ../scripts/startexperiment.sh /root/. +cp ../scripts/startRadio.sh /root/Profiles/ProfileScripts/Radio/. +cp ../scripts/startVehicle.sh /root/Profiles/ProfileScripts/Vehicle/. + +echo "REMEMBER! Manually edit startexperiment.sh to point to the correct client.yaml" +echo "REMEMBER! Manually copy startexperiment_controller.sh to startexperiment.sh on the fixed node" \ No newline at end of file diff --git a/aerpaw/scripts/startVehicle_controller.sh b/aerpaw/scripts/startVehicle_controller.sh new file mode 100755 index 0000000..f707894 --- /dev/null +++ b/aerpaw/scripts/startVehicle_controller.sh @@ -0,0 +1,11 @@ +#!/bin/bash + +cd /root/miSim/aerpaw + +# Compile controller +/bin/bash compile.sh + +# Run controller +./build/controller_app + +cd - diff --git a/aerpaw/scripts/startexperiment.sh b/aerpaw/scripts/startexperiment.sh index c77b29d..8cb976f 100755 --- a/aerpaw/scripts/startexperiment.sh +++ b/aerpaw/scripts/startexperiment.sh @@ -40,12 +40,9 @@ export LOG_PREFIX="$(date +%Y-%m-%d_%H_%M_%S)" export TX_FREQ=3.32e9 export RX_FREQ=3.32e9 - export PROFILE_DIR=$AERPAW_REPO"/AHN/E-VM/Profile_software" cd $PROFILE_DIR"/ProfileScripts" - - ./Radio/startRadio.sh #./Traffic/startTraffic.sh ./Vehicle/startVehicle.sh diff --git a/aerpaw/scripts/startexperiment_controller.sh b/aerpaw/scripts/startexperiment_controller.sh new file mode 100755 index 0000000..73137e6 --- /dev/null +++ b/aerpaw/scripts/startexperiment_controller.sh @@ -0,0 +1,47 @@ +#!/bin/bash +/root/stopexperiment.sh + +source /root/.ap-set-experiment-env.sh +source /root/.bashrc + +export AERPAW_REPO=${AERPAW_REPO:-/root/AERPAW-Dev} +export AERPAW_PYTHON=${AERPAW_PYTHON:-python3} +export PYTHONPATH=/usr/local/lib/python3/dist-packages/ +export EXP_NUMBER=${EXP_NUMBER:-1} + +if [ "$AP_EXPENV_THIS_CONTAINER_NODE_VEHICLE" == "vehicle_uav" ]; then + export VEHICLE_TYPE=drone +elif [ "$AP_EXPENV_THIS_CONTAINER_NODE_VEHICLE" == "vehicle_ugv" ]; then + export VEHICLE_TYPE=rover +else + export VEHICLE_TYPE=none +fi + +if [ "$AP_EXPENV_SESSION_ENV" == "Virtual" ]; then + export LAUNCH_MODE=EMULATION +elif [ "$AP_EXPENV_SESSION_ENV" == "Testbed" ]; then + export LAUNCH_MODE=TESTBED +else + export LAUNCH_MODE=none +fi + +# prepare results directory +export RESULTS_DIR_TIMESTAMP=$(date +%Y-%m-%d_%H_%M_%S) +export RESULTS_DIR="/root/Results/controller_${RESULTS_DIR_TIMESTAMP}" +mkdir -p "$RESULTS_DIR" + +export TS_FORMAT="${TS_FORMAT:-'[%Y-%m-%d %H:%M:%.S]'}" +export LOG_PREFIX="$(date +%Y-%m-%d_%H_%M_%S)" + +export TX_FREQ=3.32e9 +export RX_FREQ=3.32e9 + +export PROFILE_DIR=$AERPAW_REPO"/AHN/E-VM/Profile_software" +cd $PROFILE_DIR"/ProfileScripts" + +screen -S controller -dm \ + bash -c "stdbuf -oL -eL ./Vehicle/startVehicle.sh \ + | ts $TS_FORMAT \ + | tee $RESULTS_DIR/$LOG_PREFIX\_controller_log.txt" + +schedule_stop.sh 30