new SINR threshold comms CBF constraint

@miSim/plotGraph.m

@@ -9,20 +9,44 @@ function obj = plotGraph(obj)
     % Form graph from adjacency matrix
     G = graph(obj.constraintAdjacencyMatrix, "omitselfloops");
 
-    % Plot graph object
+    % Resolve the target axes for the network graph tile
     if isnan(obj.networkGraphIndex)
-        hold(obj.f.CurrentAxes, "on");
-        o = plot(obj.f.CurrentAxes, G, "LineStyle", "--", "EdgeColor", "g", "NodeColor", "k", "LineWidth", 2);
-        hold(obj.f.CurrentAxes, "off");
+        ax = obj.f.CurrentAxes;
     else
-        hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), "on");
-        o = plot(obj.f.Children(1).Children(obj.networkGraphIndex(1)), G, "LineStyle", "--", "EdgeColor", "g", "NodeColor", "k", "LineWidth", 2);
-        hold(obj.f.Children(1).Children(obj.networkGraphIndex(1)), "off");
-        if size(obj.networkGraphIndex, 2) > 1
-            for ii = 2:size(ind, 2)
-                o = [o; copyobj(o(1), obj.f.Children(1).Children(obj.networkGraphIndex(ii)))];
-            end
+        ax = obj.f.Children(1).Children(obj.networkGraphIndex(1));
+    end
+
+    % Plot graph object
+    hold(ax, "on");
+    o = plot(ax, G, "LineStyle", "--", "EdgeColor", "g", "NodeColor", "k", "LineWidth", 2);
+    hold(ax, "off");
+    if ~isnan(obj.networkGraphIndex) && size(obj.networkGraphIndex, 2) > 1
+        for ii = 2:size(obj.networkGraphIndex, 2)
+            o = [o; copyobj(o(1), obj.f.Children(1).Children(obj.networkGraphIndex(ii)))];
         end
     end
+
+    % In SINR comms mode, label each edge with the connection's SINR (dB) and
+    % report the connectivity threshold as a subtitle on the tile. The
+    % fixed-radius model is left unchanged (no edge labels, no subtitle).
+    if obj.useSinrComms
+        endNodes = G.Edges.EndNodes;   % each row [lo hi]; graph stores lo < hi
+        nAgents = size(obj.agents, 1);
+        positions = zeros(nAgents, 3);
+        for kk = 1:nAgents
+            positions(kk, :) = obj.agents{kk}.pos;
+        end
+        % Directional convention (matches updateAdjacency/constrainMotion):
+        % the lower-index node is the receiver, the higher-index node the
+        % transmitter, with interference from all other agents at the receiver.
+        edgeLabels = strings(size(endNodes, 1), 1);
+        for ee = 1:size(endNodes, 1)
+            sinrLin = obj.sinrLink(positions, endNodes(ee, 1), endNodes(ee, 2));
+            edgeLabels(ee) = sprintf("%.1f dB", 10 * log10(sinrLin));
+        end
+        o(1).EdgeLabel = edgeLabels;
+        subtitle(ax, sprintf("SINR threshold: %.1f dB", obj.sinrThreshold));
+    end
+
     obj.graphPlot = o;
-end
+end