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cleanup demo

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kdee committed 2026-03-09 21:23:31 -07:00
1 parent 8abd009aed
commit fa5d63361c
69 files changed
+72 -469
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aerpaw/@scenario/initialize.m
-30
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@@ -1,30 +0,0 @@
function obj = initialize(obj, initsPath)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'scenario')};
initsPath (1, 1) string;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'scenario')};
end
obj.inits = load(initsPath);
% Instantiate the correct number of UAVs
obj.uavs = cell(obj.inits.numAgents, 1);
[obj.uavs{:}] = deal(uav);
% Configure ports to broadcast to drones
obj.ports = repmat(obj.basePort, [obj.inits.numAgents, 1]) + (1:obj.inits.numAgents)';
obj.udp = cell(obj.inits.numAgents, 1);
for ii = 1:obj.inits.numAgents
obj.udp{ii} = udpport("IPV4", "LocalPort", obj.ports(ii), "Tag", sprintf("UAV %d", ii), "Timeout", obj.timeout);
end
% Initialize UAVs in scenario's knowledge
for ii = 1:obj.inits.numAgents
obj.uavs{ii} = obj.uavs{ii}.initialize(obj.ports(ii) + obj.portOffset, obj.timeout, sprintf("UAV %d", ii));
end
% Update opMode
obj.opMode = OPMODE.INITIALIZED;
end
aerpaw/@scenario/run.m
-73
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@@ -1,73 +0,0 @@
function obj = run(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'scenario')};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'scenario')};
end
count = 0;
while true
%% UAV operations (simulated only)
if coder.target("MATLAB")
% Iterate over UAVs
for ii = 1:size(obj.uavs, 1)
% Determine behavior from UAV opMode
if obj.uavs{ii}.opMode == OPMODE.INVALID
error("Invalid UAV opMode");
elseif obj.uavs{ii}.opMode == OPMODE.INITIALIZED
% Waiting for starting position to be sent by the controller
if all(~(isnan(obj.uavs{ii}.commandPos)))
% Teleport to starting position
obj.uavs{ii}.pos = obj.uavs{ii}.commandPos;
% reset to no command
obj.uavs{ii}.commandPos = NaN(1, 3);
% Acknowledge command receipt to controller by reporting a new opMode
obj.uavs{ii}.commandOpMode = OPMODE.SET;
end
else
error("Unexpected UAV opMode");
end
end
elseif coder.target("C++")
coder.cinclude('udp_comm.h');
% Iterate over UAVs
for ii = 1:size(obj.uavs, 1)
mode = uint8(0);
coder.ceval('recvOpMode', coder.wref(mode));
end
end
%% Server operations
% Compute guidance for UAVs and issue commands
if obj.opMode == OPMODE.INVALID
error("Invalid controller opMode");
elseif obj.opMode == OPMODE.INITIALIZED
% On the first iteration, command UAVs to go to their starting positions
commandPos = obj.inits.pos;
elseif obj.opMode == OPMODE.SET
% begin experiment once the controller and UAVs are ready
if unique(cellfun(@(x) x.opMode.id, obj.uavs)) == OPMODE.SET.id
keyboard
end
else
error("Unexpected controller opMode");
end
% Transmit commands
% Command drones to their starting positions
for ii = 1:size(obj.uavs, 1)
obj.uavs{ii} = obj.sendTarget(obj.uavs{ii}, commandPos(ii, 1:3));
end
keyboard
% tally iterations
count = count + 1;
end
end
aerpaw/@scenario/scenario.m
-28
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@@ -1,28 +0,0 @@
classdef scenario
properties (Access = public)
% Experiment
domain = rectangularPrism;
inits;
% State
opMode = OPMODE.INVALID;
% UAVs
uavs;
% Communications
timeout = 2; % seconds
basePort = 3330;
portOffset = 1110;
ports;
udp;
end
methods(Access = public)
[obj] = initialize(obj, initsPath);
[obj] = run(obj);
[obj] = setup(obj);
u = sendTarget(u, pos);
end
end
aerpaw/@scenario/sendTarget.m
-24
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@@ -1,24 +0,0 @@
function u = sendTarget(~, u, pos)
arguments (Input)
~
u (1, 1) {mustBeA(u, 'uav')};
pos (1, 3) double;
end
arguments (Output)
u (1, 1) {mustBeA(u, 'uav')};
end
% Branch here depending on environment
if coder.target("MATLAB")
% Simulation - update target position
u.commandPos = pos;
elseif coder.target("C++")
% Codegen - TX starting position to UAV
coder.cinclude("udp_comm.h");
coder.ceval("sendTarget", coder.rref(pos));
end
end
aerpaw/@scenario/setup.m
-17
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@@ -1,17 +0,0 @@
function obj = setup(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, 'scenario')};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, 'scenario')};
end
% Command drones to their starting positions
for ii = 1:size(obj.uavs, 1)
obj.uavs{ii} = obj.sendTarget(obj.uavs{ii}, obj.inits.pos(ii, 1:3));
end
% Update opMode
obj.opMode = OPMODE.SET;
end
aerpaw/@uav/initialize.m
-27
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@@ -1,27 +0,0 @@
function obj = initialize(obj, port, timeout, label)
arguments (Input)
obj (1, 1) {mustBeA(obj, "uav")};
port (1, 1) double;
timeout (1, 1) double;
label (1, 1) string;
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "uav")};
end
obj.label = label;
obj.port = port;
obj.timeout = timeout;
% Branch here depending on environment
if coder.target("MATLAB")
obj.pos = [0, 0, 20] + rand(1, 3) * 10; % just put it somewhere so we can plot it
elseif coder.target("C++")
% initialize ip/port
coder.cinclude('udp_comm.h');
coder.ceval('initComs', "ip", obj.port);
end
obj.opMode = OPMODE.INITIALIZED;
end
aerpaw/@uav/onYourMarks.m
-20
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@@ -1,20 +0,0 @@
function obj = onYourMarks(obj)
arguments (Input)
obj (1, 1) {mustBeA(obj, "uav")};
end
arguments (Output)
obj (1, 1) {mustBeA(obj, "uav")};
end
% Receive initial position data
initialPosition = read(obj.udp, 3, "double");
% Acknowledge message receipt
% teleport to desired position
obj.pos = initialPosition;
keyboard
end
aerpaw/@uav/uav.m
-22
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@@ -1,22 +0,0 @@
classdef uav
properties
label = "";
% Communications
port;
timeout;
% State
opMode = OPMODE.INVALID;
pos = NaN(1, 3);
% Commanding (not for codegen)
commandOpMode = OPMODE.INVALID;
commandPos = NaN(1, 3);
end
methods (Access = public)
obj = initialize(obj, port, timeout, label)
obj = onYourMarks(obj);
end
end
aerpaw/OPMODE.m
-10
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@@ -1,10 +0,0 @@
classdef OPMODE
properties (Constant)
INVALID = uint8(0);
INITIALIZED = uint8(1);
SET = uint8(2);
RUNNING = uint8(3);
CONCLUDING = uint8(4);
FINISHED = uint8(5);
end
end
aerpaw/basic_demo/compile.sh
Executable
+7
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@@ -0,0 +1,7 @@
#!/bin/bash
#g++ -I/home/kdee/matlab/R2025a/extern/include controller_main.cpp controller.cpp controller_impl.cpp -o controller_app -lpthread
wd=$(pwd)
cd /home/kdee/Desktop/miSim/aerpaw/codegen
g++ -I/home/kdee/matlab/R2025a/extern/include -I../basic_demo/handcode -I. ../basic_demo/handcode/controller_main.cpp controller.cpp ../basic_demo/handcode/controller_impl.cpp controller_initialize.cpp controller_terminate.cpp -o controller_app -lpthread
cd $wd
aerpaw/basic_demo/comms.cpp → aerpaw/basic_demo/handcode/comms.cpp
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File renamed without changes.
aerpaw/basic_demo/controller_impl.cpp → aerpaw/basic_demo/handcode/controller_impl.cpp
View File
File renamed without changes.
aerpaw/basic_demo/controller_impl.h → aerpaw/basic_demo/handcode/controller_impl.h
View File
File renamed without changes.
aerpaw/basic_demo/controller_main.cpp → aerpaw/basic_demo/handcode/controller_main.cpp
+3 -3
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@@ -1,10 +1,10 @@
#include <iostream>
#include "controller.h" // Generated by MATLAB Coder
#include "controller_impl.h" // Your TCP implementation header
#include "controller.h"
#include "controller_impl.h" // TCP implementation header
int main() {
// Number of clients to handle
int numClients = 2; // Example: change as needed
int numClients = 2; // for now
std::cout << "Initializing TCP server...\n";
aerpaw/controller.coderprj
+59 -25
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@@ -49,88 +49,87 @@
<part role="matlabCoder">
<MF0 packageUris="http://schema.mathworks.com/mf0/coderapp_config_datamodel/R2021a.001 http://schema.mathworks.com/mf0/coderapp_core_proj_dm/R2025a http://schema.mathworks.com/mf0/coderapp_core_rt_dm/R2022b http://schema.mathworks.com/mf0/coderapp_form_datamodel/R2020a http://schema.mathworks.com/mf0/coderapp_matlabcoder_proj_dm/R2025a http://schema.mathworks.com/mf0/coderapp_matlabcoder_rt_dm/R2022b http://schema.mathworks.com/mf0/coderapp_types_project_datamodel/R2025a http://schema.mathworks.com/mf0/coderapp_types_runtime_datamodel/R2022b http://schema.mathworks.com/mf0/coderapp_utils_datamodel/R2020a" version="1.1">
<coderapp.internal.mlc.mfz.MatlabCoderProjectState id="1" type="coderapp.internal.mlc.mfz.MatlabCoderProjectState">
<WorkflowTarget>EXE</WorkflowTarget>
<Activity id="2" type="coderapp.internal.mlc.mfz.MainBuildActivity">
<Compile>NOT_PLANNED</Compile>
<Generate>SUCCESS</Generate>
<TargetHardware>MATLAB Host Computer</TargetHardware>
<TargetLanguage>C++</TargetLanguage>
<WorkflowTarget>LIB</WorkflowTarget>
<WorkflowTarget>EXE</WorkflowTarget>
<Result id="3" type="coderapp.internal.mlc.mfz.MatlabCoderCodegenResult"/>
</Activity>
<MainBuildResult id="3" type="coderapp.internal.mlc.mfz.MatlabCoderCodegenResult">
<WorkflowTarget>LIB</WorkflowTarget>
<LogDirectory>/home/kdee/Desktop/miSim/aerpaw/codegen/lib/controller</LogDirectory>
<MainReport id="4" type="coderapp.internal.build.mfz.CodegenArtifact"/>
<WorkflowTarget>EXE</WorkflowTarget>
<LogDirectory>/home/kdee/Desktop/miSim/aerpaw/codegen</LogDirectory>
<Artifacts id="4" type="coderapp.internal.build.mfz.CodegenArtifact">
<SubType>CODEGEN_REPORT</SubType>
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<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/lib/controller/html/report.mldatx</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/basic_demo/handcode/comms.cpp</Path>
</File>
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</File>
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<Path>/home/kdee/Desktop/miSim/aerpaw/basic_demo/handcode/controller_impl.h</Path>
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<Type>GENERATED_SOURCE</Type>
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<Type>GENERATED_SOURCE</Type>
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<Type>GENERATED_SOURCE</Type>
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<Type>GENERATED_SOURCE</Type>
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<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_terminate.cpp</Path>
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<Type>GENERATED_SOURCE</Type>
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<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/lib/controller/controller_types.h</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_terminate.h</Path>
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<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/lib/controller/rtwtypes.h</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/controller_types.h</Path>
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<Type>GENERATED_SOURCE</Type>
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<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/rtwtypes.h</Path>
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<Type>GENERATED_SOURCE</Type>
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@@ -142,19 +141,19 @@
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<Artifacts id="17" type="coderapp.internal.build.mfz.CodegenArtifact">
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<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/lib/controller/examples/main.cpp</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.cpp</Path>
</File>
<Type>GENERATED_SOURCE</Type>
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<Artifacts id="18" type="coderapp.internal.build.mfz.CodegenArtifact">
<File type="coderapp.internal.util.mfz.FileSpec">
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/lib/controller/examples/main.h</Path>
<Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.h</Path>
</File>
<Type>GENERATED_SOURCE</Type>
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<BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
<Success>true</Success>
<Timestamp>2026-01-28T21:28:33</Timestamp>
<Timestamp>2026-01-28T23:10:50</Timestamp>
</MainBuildResult>
</coderapp.internal.mlc.mfz.MatlabCoderProjectState>
</MF0>
@@ -163,15 +162,50 @@
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<Key>customSource</Key>
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<Value>/home/kdee/Desktop/miSim/aerpaw/comms.cpp</Value>
<Key>buildFolderPath</Key>
<Data id="3" type="coderapp.internal.config.data.FileParamData">
<Value>/home/kdee/Desktop/miSim/aerpaw/codegen</Value>
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<Key>buildFolderType</Key>
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aerpaw/cpp/udp_comm.cpp
-32
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@@ -1,32 +0,0 @@
#include "udp_comm.h"
#include <arpa/inet.h>
#include <sys/socket.h>
#include <unistd.h>
#include <cstring>
static int sock = -1;
static sockaddr_in remote_addr;
void initComms(const char* ip, uint16_t port)
{
if (sock != -1) return;
sock = socket(AF_INET, SOCK_DGRAM, 0);
memset(&remote_addr, 0, sizeof(remote_addr));
remote_addr.sin_family = AF_INET;
remote_addr.sin_port = htons(port);
inet_pton(AF_INET, ip, &remote_addr.sin_addr);
}
void sendTarget(const double* pos)
{
sendto(sock, pos, 3*sizeof(double), 0,
(sockaddr*)&remote_addr, sizeof(remote_addr));
}
void recvOpMode(uint8_t* mode)
{
recvfrom(sock, mode, sizeof(uint8_t), MSG_DONTWAIT,
nullptr, nullptr);
}
aerpaw/cpp/udp_comm.h
-15
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@@ -1,15 +0,0 @@
#ifndef UDP_COMM_H
#define UDP_COMM_H
#ifdef __cplusplus
extern "C" {
#endif
void initComms(const char* ip, uint16_t port);
void sendTarget(const double* pos);
#ifdef __cplusplus
}
#endif
#endif
aerpaw/experiments.m
-16
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@@ -1,16 +0,0 @@
classdef experiments < matlab.unittest.TestCase
methods (Test)
function Test1(tc)
s = scenario;
% TODO - define test case in simulation in here and generate the inits on the fly as needed
s = s.initialize("2026_01_28_16_11_39_miSimInits.mat");
s = s.run();
end
end
end
resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/8r7PXt-CEJX2YvR04X9eMkzrlZQd.xml → resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/KKBV-7KuZ8BHvHksNu5JJFcUe4od.xml
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File renamed without changes.
resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/KKBV-7KuZ8BHvHksNu5JJFcUe4op.xml
+2
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@@ -0,0 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="compile.sh" type="File"/>
resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/IJIwz-tE73_VBQ8ICY5avibK2S0d.xml → resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/yqzx3eu-5BBs0TaADSKy2J7RAA8d.xml
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File renamed without changes.
resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/qyPEe0esGV4zUGuHoZBBbbGIM5od.xml → resources/project/4XBBbvgKHLBtx6tMwElTfwSe284/yqzx3eu-5BBs0TaADSKy2J7RAA8p.xml
+1 -1
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@@ -1,2 +1,2 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info/>
<Info location="handcode" type="File"/>
resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/g51F4J1JIzbS5d3g380Sl55RzeUd.xml
-2
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@@ -1,2 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info Ref="aerpaw/cpp" Type="Relative"/>
resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/g51F4J1JIzbS5d3g380Sl55RzeUp.xml
-2
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@@ -1,2 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<Info location="ffd75785-8b8f-4006-add6-f7b276c0cf6a" type="Reference"/>
resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/8r7PXt-CEJX2YvR04X9eMkzrlZQp.xml
-2
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@@ -1,2 +0,0 @@
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