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added parallel message receiving for previously implemented messaging where necessary

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Kevin Dee
2026-01-30 18:28:19 -08:00
parent 4cdcb16ee3
commit ee238f239d
4 changed files with 28 additions and 29 deletions
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35
aerpaw/controller.m
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@@ -56,37 +56,20 @@ for i = 1:numClients
end
end
% Receive TARGET acknowledgments
targetAcks = zeros(1, numClients, 'int32');
for i = 1:numClients
if coder.target('MATLAB')
disp(['Waiting for ACK:TARGET from client ', num2str(i)]);
targetAcks(i) = 1; % Simulate successful ACK
else
targetAcks(i) = coder.ceval('receiveTargetAck', int32(i));
end
end
% Check all ACKs received
% Wait for TARGET acknowledgments from all clients (simultaneously using select())
if coder.target('MATLAB')
disp(['Target ACKs received: ', num2str(targetAcks)]);
disp('Waiting for ACK:TARGET from all clients...');
disp('All TARGET acknowledgments received.');
else
coder.ceval('waitForAllTargetAck', int32(numClients));
end
% Wait for READY signals (UAVs have reached their targets)
readySignals = zeros(1, numClients, 'int32');
for i = 1:numClients
if coder.target('MATLAB')
disp(['Waiting for READY from client ', num2str(i)]);
readySignals(i) = 1; % Simulate READY
else
readySignals(i) = coder.ceval('waitForReady', int32(i));
end
end
% Check all READY signals received
% Wait for READY signals from all clients (simultaneously using select())
if coder.target('MATLAB')
disp(['Ready signals received: ', num2str(readySignals)]);
disp('Waiting for READY from all clients...');
disp('All UAVs at target positions.');
else
coder.ceval('waitForAllReady', int32(numClients));
end
% Wait for user input before closing experiment