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6b5d33962b
...
aerpaw2
| Author | SHA1 | Date | |
|---|---|---|---|
| bdc31ccad5 | |||
| d5c7f4f11f | |||
| 110ff87c57 | |||
| 51e7533369 | |||
| 3fd4462f11 | |||
| 12b6e79f1e | |||
| e801018d9c | |||
| d5307f63e9 | |||
| ac52e0414d | |||
| f140b55a63 |
@@ -48,13 +48,13 @@ function [obj] = constrainMotion(obj)
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% Correction splits between 2 agents, so |A| = 2*r_sum
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r_sum_ij = obj.agents{ii}.collisionGeometry.radius + obj.agents{jj}.collisionGeometry.radius;
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v_max_ij = max(obj.agents{ii}.initialStepSize, obj.agents{jj}.initialStepSize) / obj.timestep;
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slack = -(4 * r_sum_ij * v_max_ij / obj.barrierGain)^(1 / obj.barrierExponent);
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hMin = -(4 * r_sum_ij * v_max_ij / obj.barrierGain)^(1 / obj.barrierExponent);
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if norm(A(kk, :)) < 1e-9
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% Agents are coincident: A-row is zero, so b < 0 would make
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% 0 ≤ b unsatisfiable. Fall back to b = 0 (no correction possible).
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b(kk) = 0;
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else
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b(kk) = obj.barrierGain * max(slack, h(ii, jj))^obj.barrierExponent;
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b(kk) = obj.barrierGain * max(hMin, h(ii, jj))^obj.barrierExponent;
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end
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kk = kk + 1;
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end
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@@ -73,8 +73,8 @@ function [obj] = constrainMotion(obj)
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% Floor for single-agent constraint: full correction on one agent, |A| = 2*r_i
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r_i = obj.agents{ii}.collisionGeometry.radius;
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v_max_i = obj.agents{ii}.initialStepSize / obj.timestep;
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h_floor_i = -(2 * r_i * v_max_i / obj.barrierGain)^(1 / obj.barrierExponent);
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b(kk) = obj.barrierGain * max(h_floor_i, hObs(ii, jj))^obj.barrierExponent;
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hMin = -(2 * r_i * v_max_i / obj.barrierGain)^(1 / obj.barrierExponent);
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b(kk) = obj.barrierGain * max(hMin, hObs(ii, jj))^obj.barrierExponent;
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kk = kk + 1;
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end
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@@ -157,17 +157,24 @@ function [obj] = constrainMotion(obj)
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end
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opt = optimoptions("quadprog", "Display", "off", "Algorithm", "active-set", "UseCodegenSolver", true);
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x0 = zeros(size(H, 1), 1);
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[vNew, ~, exitflag, m] = quadprog(H, double(f), A, b, [], [], [], [], x0, opt);
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if coder.target('MATLAB')
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assert(exitflag == 1, sprintf("quadprog failure... %s%s", newline, m.message));
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end
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[vNew, ~, exitflag] = quadprog(H, double(f), A, b, [], [], [], [], x0, opt);
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vNew = reshape(vNew, 3, nAgents)';
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if exitflag <= 0
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if exitflag < 0
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% Infeasible or other hard failure: hold all agents at current positions
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if coder.target('MATLAB')
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warning("QP failed, continuing with unconstrained solution...")
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warning("QP infeasible (exitflag=%d), holding positions.", int16(exitflag));
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else
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fprintf("[constrainMotion] QP infeasible (exitflag=%d), holding positions\n", int16(exitflag));
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end
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vNew = zeros(nAgents, 3);
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elseif exitflag == 0
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% Max iterations exceeded: use suboptimal solution already in vNew
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if coder.target('MATLAB')
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warning("QP max iterations exceeded, using suboptimal solution.");
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else
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fprintf("[constrainMotion] QP max iterations exceeded, using suboptimal solution\n");
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end
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vNew = v;
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end
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% Update the "next position" that was previously set by unconstrained
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@@ -19,7 +19,10 @@ classdef miSim
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barrierExponent = NaN; % CBF exponent parameter
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minAlt = 0; % minimum allowable altitude (m)
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artifactName = "";
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f; % main plotting tiled layout figure
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fPerf; % performance plot figure
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% Indicies for various plot types in the main tiled layout figure
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spatialPlotIndices = [6, 4, 3, 2];
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end
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properties (Access = private)
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@@ -31,7 +34,6 @@ classdef miSim
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% Plot objects
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makePlots = true; % enable/disable simulation plotting (performance implications)
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makeVideo = true; % enable/disable VideoWriter (performance implications)
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f; % main plotting tiled layout figure
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connectionsPlot; % objects for lines connecting agents in spatial plots
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graphPlot; % objects for abstract network graph plot
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partitionPlot; % objects for partition plot
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@@ -41,7 +43,6 @@ classdef miSim
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trailPlot; % objects for agent trail plot
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% Indicies for various plot types in the main tiled layout figure
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spatialPlotIndices = [6, 4, 3, 2];
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objectivePlotIndices = [6, 4];
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networkGraphIndex = 5;
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partitionGraphIndex = 1;
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@@ -46,8 +46,9 @@ class MessageType(IntEnum):
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POSITION = 8
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AERPAW_DIR = Path(__file__).parent.parent
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CONFIG_FILE = AERPAW_DIR / "config" / "client.yaml"
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AERPAW_DIR = Path('/root/miSim/aerpaw')
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CONFIG_FILE = Path(os.environ.get('AERPAW_CLIENT_CONFIG',
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AERPAW_DIR / "config" / "client.yaml"))
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def load_config():
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@@ -115,8 +116,9 @@ def _gps_log_row(vehicle, line_num, writer):
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async def _gps_log_loop(drone):
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"""Background async task that logs GPS data at 1Hz."""
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host = platform.node()
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filename = f"/root/Results/GPS_DATA_{host}_{datetime.datetime.now().strftime('%Y-%m-%d_%H:%M:%S')}.csv"
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results_dir = os.environ.get('RESULTS_DIR', '/root/Results')
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log_prefix = os.environ.get('LOG_PREFIX', datetime.datetime.now().strftime('%Y-%m-%d_%H_%M_%S'))
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filename = os.path.join(results_dir, f"{log_prefix}_gps_log.csv")
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print(f"[UAV] GPS logging to {filename}")
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line_num = 1
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try:
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@@ -1,5 +1,15 @@
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# AERPAW UAV (Client) Configuration
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# Unique 0-indexed UAV identifier (each UAV must have a distinct value)
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uav_id: 0
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# TDM (Time-Division Multiplexing) radio settings
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# All UAVs share a common frequency; each transmits only during its time slot.
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# Slot assignment uses wall-clock modular arithmetic (GPS/NTP synced).
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tdm:
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slot_duration: 0.5 # seconds per slot
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guard_interval: 0.05 # seconds of silence at slot boundaries
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# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
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origin:
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lat: 35.72550610629396
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38
aerpaw/config/client2.yaml
Normal file
38
aerpaw/config/client2.yaml
Normal file
@@ -0,0 +1,38 @@
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# AERPAW UAV (Client) Configuration
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# Unique 0-indexed UAV identifier (each UAV must have a distinct value)
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uav_id: 1
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# TDM (Time-Division Multiplexing) radio settings
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# All UAVs share a common frequency; each transmits only during its time slot.
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# Slot assignment uses wall-clock modular arithmetic (GPS/NTP synced).
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tdm:
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slot_duration: 0.5 # seconds per slot
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guard_interval: 0.05 # seconds of silence at slot boundaries
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# ENU coordinate system origin (AERPAW Lake Wheeler Road Field)
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origin:
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lat: 35.72550610629396
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lon: -78.70019657805574
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alt: 0.0 # Alt=0 means ENU z directly becomes target altitude above home
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# Environment-specific settings
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environments:
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local:
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# MAVLink connection for SITL simulation (UDP)
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mavlink:
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ip: "127.0.0.1"
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port: 14550
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# Controller server address
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controller:
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ip: "127.0.0.1"
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port: 5000
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testbed:
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# AERPAW testbed: E-VM listens, MAVLink Filter connects TO us (UDP)
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mavlink:
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ip: "192.168.32.26"
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port: 14550
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# Controller runs on host machine (192.168.122.1 from E-VM perspective)
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controller:
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ip: "192.168.122.1"
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port: 5000
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@@ -1,2 +1,2 @@
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timestep, maxIter, minAlt, discretizationStep, protectedRange, initialStepSize, barrierGain, barrierExponent, collisionRadius, comRange, alphaDist, betaDist, alphaTilt, betaTilt, domainMin, domainMax, objectivePos, objectiveVar, sensorPerformanceMinimum, initialPositions, numObstacles, obstacleMin, obstacleMax
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5, 100, 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"
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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"
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|
@@ -128,6 +128,11 @@
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</Types>
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</Types>
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</coderapp.internal.interface.project.Interface>
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</MF0>
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@@ -519,575 +524,569 @@
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</MF0>
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@@ -135,7 +135,7 @@ if isInit
|
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|
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% --- Build obstacle list from flat arrays ---
|
||||
coder.varsize('obstacleList', [8, 1], [1, 0]);
|
||||
obstacleList = cell(int32(0), 1);
|
||||
obstacleList = repmat({rectangularPrism}, numObstacles, 1);
|
||||
for ii = 1:numObstacles
|
||||
obs = rectangularPrism;
|
||||
obs = obs.initialize([obstacleMin(ii, :); obstacleMax(ii, :)], ...
|
||||
|
||||
529
aerpaw/radio/CSwSNRRX.py
Normal file
529
aerpaw/radio/CSwSNRRX.py
Normal file
File diff suppressed because one or more lines are too long
336
aerpaw/radio/CSwSNRTX.py
Normal file
336
aerpaw/radio/CSwSNRTX.py
Normal file
@@ -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)
|
||||
|
||||
|
||||
23
aerpaw/radio/startchannelsounderRXGRC.sh
Executable file
23
aerpaw/radio/startchannelsounderRXGRC.sh
Executable file
@@ -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 $SPS
|
||||
23
aerpaw/radio/startchannelsounderTXGRC.sh
Executable file
23
aerpaw/radio/startchannelsounderTXGRC.sh
Executable file
@@ -0,0 +1,23 @@
|
||||
#!/bin/bash
|
||||
GAIN_TX=76
|
||||
OFFSET=250e3
|
||||
SAMP_RATE=2e6
|
||||
SPS=16
|
||||
|
||||
# Custom
|
||||
TX_FREQ=3.32e9
|
||||
|
||||
if [ "$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
|
||||
7
aerpaw/radio/updateScripts.sh
Executable file
7
aerpaw/radio/updateScripts.sh
Executable file
@@ -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/.
|
||||
@@ -1,68 +0,0 @@
|
||||
% Plot setup
|
||||
f = uifigure;
|
||||
gf = geoglobe(f);
|
||||
hold(gf, "on");
|
||||
c = ["g", "b", "m", "c"]; % plotting colors
|
||||
|
||||
% paths
|
||||
scenarioCsv = fullfile("aerpaw", "config", "scenario.csv");
|
||||
|
||||
% configured data
|
||||
params = readScenarioCsv(scenarioCsv);
|
||||
|
||||
% coordinate system constants
|
||||
seaToGroundLevel = 110; % meters, measured approximately from USGS national map viewer
|
||||
|
||||
fID = fopen(fullfile("aerpaw", "config", "client.yaml"), 'r');
|
||||
yaml = fscanf(fID, '%s');
|
||||
fclose(fID);
|
||||
% origin (LLA)
|
||||
lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel];
|
||||
|
||||
% Paths to logs
|
||||
gpsCsvs = dir(fullfile("sandbox", "test10", "*.csv"));
|
||||
|
||||
G = cell(size(gpsCsvs));
|
||||
for ii = 1:size(gpsCsvs, 1)
|
||||
% Read CSV
|
||||
G{ii} = readGpsCsv(fullfile(gpsCsvs(ii).folder, gpsCsvs(ii).name));
|
||||
|
||||
% Find when algorithm begins/ends (using ENU altitude rate change)
|
||||
enuTraj = lla2enu([G{ii}.Latitude, G{ii}.Longitude, G{ii}.Altitude], lla0, 'flat');
|
||||
|
||||
verticalSpeed = movmean(abs(diff(G{ii}.Altitude)), [10, 0]);
|
||||
|
||||
% Automatically detect start/stop of algorithm flight (ignore takeoff, setup, return to liftoff, landing segments of flight)
|
||||
pctThreshold = 60; % pctThreshold may need adjusting depending on your flight
|
||||
startIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'first');
|
||||
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, 'last');
|
||||
|
||||
% % Plot whole flight, including setup/cleanup
|
||||
startIdx = 1;
|
||||
stopIdx = length(verticalSpeed);
|
||||
|
||||
% Plot recorded trajectory over specified range of indices
|
||||
geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);
|
||||
end
|
||||
|
||||
% Plot domain
|
||||
altOffset = 1; % to avoid clipping into the ground when displayed
|
||||
domain = [lla0; enu2lla(params.domainMax, lla0, 'flat')];
|
||||
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
|
||||
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
|
||||
geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
|
||||
geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
|
||||
geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
|
||||
geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
|
||||
|
||||
% Plot floor (minimum altitude constraint)
|
||||
floorAlt = params.minAlt;
|
||||
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + altOffset + floorAlt, 1, 5), 'LineWidth', 3, 'Color', 'r');
|
||||
|
||||
% Plot objective
|
||||
objectivePos = [params.objectivePos, 0];
|
||||
llaObj = enu2lla(objectivePos, lla0, 'flat');
|
||||
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), domain(2, 3)], 'LineWidth', 3, "Color", 'y');
|
||||
|
||||
% finish
|
||||
hold(gf, "off");
|
||||
97
aerpaw/results/plotGpsLogs.m
Normal file
97
aerpaw/results/plotGpsLogs.m
Normal file
@@ -0,0 +1,97 @@
|
||||
function [f, G] = plotGpsLogs(logDirs, seaToGroundLevel)
|
||||
arguments (Input)
|
||||
logDirs (1, 1) string;
|
||||
seaToGroundLevel (1, 1) double = 110; % measured approximately from USGS national map viewer for the AERPAW test field
|
||||
end
|
||||
arguments (Output)
|
||||
f (1, 1) matlab.ui.Figure;
|
||||
G cell;
|
||||
end
|
||||
% Plot setup
|
||||
f = uifigure;
|
||||
gf = geoglobe(f);
|
||||
hold(gf, "on");
|
||||
c = ["g", "b", "m", "c"]; % plotting colors
|
||||
|
||||
% paths
|
||||
scenarioCsv = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario.csv");
|
||||
|
||||
% configured data
|
||||
params = readScenarioCsv(scenarioCsv);
|
||||
|
||||
fID = fopen(fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "client1.yaml"), 'r');
|
||||
yaml = fscanf(fID, '%s');
|
||||
fclose(fID);
|
||||
% origin (LLA)
|
||||
lla0 = [str2double(yaml((strfind(yaml, 'lat:') + 4):(strfind(yaml, 'lon:') - 1))), str2double(yaml((strfind(yaml, 'lon:') + 4):(strfind(yaml, 'alt:') - 1))), seaToGroundLevel];
|
||||
|
||||
logDirs = dir(logDirs);
|
||||
logDirs = logDirs(3:end);
|
||||
logDirs = logDirs([logDirs.isdir] == 1);
|
||||
|
||||
G = cell(size(logDirs));
|
||||
for ii = 1:size(logDirs, 1)
|
||||
% Find GPS log CSV
|
||||
gpsCsv = dir(fullfile(logDirs(ii).folder, logDirs(ii).name));
|
||||
gpsCsv = gpsCsv(endsWith({gpsCsv(:).name}, "_gps_log.csv"));
|
||||
gpsCsv = fullfile(gpsCsv.folder, gpsCsv.name);
|
||||
|
||||
% Read GPS log CSV
|
||||
G{ii} = readGpsLogs(gpsCsv);
|
||||
|
||||
% Find when algorithm begins/ends (using ENU altitude rate change)
|
||||
verticalSpeed = movmean(abs(diff(G{ii}.Altitude)), [10, 0]);
|
||||
|
||||
% Automatically detect start/stop of algorithm flight (ignore takeoff, setup, return to liftoff, landing segments of flight)
|
||||
pctThreshold = 60; % pctThreshold may need adjusting depending on your flight
|
||||
startIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, "first");
|
||||
stopIdx = find(verticalSpeed <= prctile(verticalSpeed, pctThreshold), 1, "last");
|
||||
|
||||
% % Plot whole flight, including setup/cleanup
|
||||
% startIdx = 1;
|
||||
% stopIdx = length(verticalSpeed);
|
||||
|
||||
% Convert LLA trajectory data to ENU for external analysis
|
||||
% NaN out entries outside the algorithm flight range so they don't plot
|
||||
enu = NaN(height(G{ii}), 3);
|
||||
enu(startIdx:stopIdx, :) = lla2enu([G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx)], lla0, "flat");
|
||||
enu = array2table(enu, 'VariableNames', ["East", "North", "Up"]);
|
||||
G{ii} = [G{ii}, enu];
|
||||
|
||||
% Plot recorded trajectory over specified range of indices
|
||||
geoplot3(gf, G{ii}.Latitude(startIdx:stopIdx), G{ii}.Longitude(startIdx:stopIdx), G{ii}.Altitude(startIdx:stopIdx) + seaToGroundLevel, c(mod(ii, length(c))), 'LineWidth', 2, "MarkerSize", 5);
|
||||
end
|
||||
|
||||
% Plot domain
|
||||
altOffset = 1; % to avoid clipping into the ground when displayed
|
||||
domain = [lla0; enu2lla(params.domainMax, lla0, "flat")];
|
||||
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
|
||||
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'k');
|
||||
geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
|
||||
geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(1, 2), domain(1, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
|
||||
geoplot3(gf, [domain(1, 1), domain(1, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
|
||||
geoplot3(gf, [domain(2, 1), domain(2, 1)], [domain(2, 2), domain(2, 2)], domain(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'k');
|
||||
|
||||
% Plot floor (minimum altitude constraint)
|
||||
floorAlt = params.minAlt;
|
||||
geoplot3(gf, [domain(1, 1), domain(2, 1), domain(2, 1), domain(1, 1), domain(1, 1)], [domain(1, 2), domain(1, 2), domain(2, 2), domain(2, 2), domain(1, 2)], repmat(domain(1, 3) + altOffset + floorAlt, 1, 5), 'LineWidth', 3, 'Color', 'r');
|
||||
|
||||
% Plot objective
|
||||
objectivePos = [params.objectivePos, 0];
|
||||
llaObj = enu2lla(objectivePos, lla0, "flat");
|
||||
geoplot3(gf, [llaObj(1), llaObj(1)], [llaObj(2), llaObj(2)], [llaObj(3), domain(2, 3)], 'LineWidth', 3, "Color", 'y');
|
||||
|
||||
% Plot obstacles
|
||||
for ii = 1:params.numObstacles
|
||||
obstacle = enu2lla([params.obstacleMin((1 + (ii - 1) * 3):(ii * 3)); params.obstacleMax((1 + (ii - 1) * 3):(ii * 3))], lla0, "flat");
|
||||
geoplot3(gf, [obstacle(1, 1), obstacle(2, 1), obstacle(2, 1), obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2), obstacle(2, 2), obstacle(2, 2), obstacle(1, 2)], repmat(obstacle(1, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'r');
|
||||
geoplot3(gf, [obstacle(1, 1), obstacle(2, 1), obstacle(2, 1), obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2), obstacle(2, 2), obstacle(2, 2), obstacle(1, 2)], repmat(obstacle(2, 3) + altOffset, 1, 5), 'LineWidth', 3, 'Color', 'r');
|
||||
geoplot3(gf, [obstacle(1, 1), obstacle(1, 1)], [obstacle(1, 2), obstacle(1, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
|
||||
geoplot3(gf, [obstacle(2, 1), obstacle(2, 1)], [obstacle(1, 2), obstacle(1, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
|
||||
geoplot3(gf, [obstacle(1, 1), obstacle(1, 1)], [obstacle(2, 2), obstacle(2, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
|
||||
geoplot3(gf, [obstacle(2, 1), obstacle(2, 1)], [obstacle(2, 2), obstacle(2, 2)], obstacle(:, 3) + altOffset, 'LineWidth', 3, 'Color', 'r');
|
||||
end
|
||||
|
||||
% finish
|
||||
hold(gf, "off");
|
||||
end
|
||||
75
aerpaw/results/plotRadioLogs.m
Normal file
75
aerpaw/results/plotRadioLogs.m
Normal file
@@ -0,0 +1,75 @@
|
||||
function [f, R] = plotRadioLogs(resultsPath)
|
||||
arguments (Input)
|
||||
resultsPath (1, 1) string;
|
||||
end
|
||||
arguments (Output)
|
||||
f (1, 1) matlab.ui.Figure;
|
||||
R cell;
|
||||
end
|
||||
|
||||
logDirs = dir(resultsPath);
|
||||
logDirs = logDirs(3:end);
|
||||
logDirs = logDirs([logDirs.isdir] == 1);
|
||||
|
||||
R = cell(size(logDirs));
|
||||
for ii = 1:size(logDirs, 1)
|
||||
R{ii} = readRadioLogs(fullfile(logDirs(ii).folder, logDirs(ii).name));
|
||||
end
|
||||
|
||||
% Discard rows where any non-NaN dB metric is below -200 (sentinel values)
|
||||
for ii = 1:numel(R)
|
||||
snr = R{ii}.SNR;
|
||||
pwr = R{ii}.Power;
|
||||
bad = (snr < -200 & ~isnan(snr)) | (pwr < -200 & ~isnan(pwr));
|
||||
R{ii}(bad, :) = [];
|
||||
end
|
||||
|
||||
% Build legend labels and color map for up to 4 UAVs
|
||||
nUAV = numel(R);
|
||||
colors = lines(nUAV * nUAV);
|
||||
styles = ["-o", "-s", "-^", "-d", "-v", "-p", "-h", "-<", "->", "-+", "-x", "-*"];
|
||||
|
||||
metricNames = ["SNR", "Power", "Quality"];
|
||||
yLabels = ["SNR (dB)", "Power (dB)", "Quality"];
|
||||
|
||||
f = figure;
|
||||
tl = tiledlayout(3, 1, 'TileSpacing', 'compact', 'Padding', 'compact');
|
||||
|
||||
for mi = 1:numel(metricNames)
|
||||
ax = nexttile(tl);
|
||||
hold(ax, 'on');
|
||||
grid(ax, 'on');
|
||||
|
||||
legendEntries = string.empty;
|
||||
ci = 1;
|
||||
for rxIdx = 1:nUAV
|
||||
tbl = R{rxIdx};
|
||||
txIDs = unique(tbl.TxUAVID);
|
||||
for ti = 1:numel(txIDs)
|
||||
txID = txIDs(ti);
|
||||
rows = tbl(tbl.TxUAVID == txID, :);
|
||||
vals = rows.(metricNames(mi));
|
||||
|
||||
% Skip if all NaN for this metric
|
||||
if all(isnan(vals))
|
||||
continue;
|
||||
end
|
||||
|
||||
si = mod(ci - 1, numel(styles)) + 1;
|
||||
plot(ax, rows.Timestamp, vals, styles(si), ...
|
||||
'Color', colors(ci, :), 'MarkerSize', 3, 'LineWidth', 1);
|
||||
legendEntries(end+1) = sprintf("TX %d → RX %d", txID, tbl.RxUAVID(1)); %#ok<AGROW>
|
||||
ci = ci + 1;
|
||||
end
|
||||
end
|
||||
|
||||
ylabel(ax, yLabels(mi));
|
||||
if mi == numel(metricNames)
|
||||
xlabel(ax, 'Time');
|
||||
end
|
||||
legend(ax, legendEntries, 'Location', 'best');
|
||||
hold(ax, 'off');
|
||||
end
|
||||
|
||||
title(tl, 'Radio Channel Metrics');
|
||||
end
|
||||
@@ -1,33 +0,0 @@
|
||||
function [G] = readGpsCsv(csvPath)
|
||||
arguments (Input)
|
||||
csvPath (1, 1) string {isfile(csvPath)};
|
||||
end
|
||||
|
||||
arguments (Output)
|
||||
G (:, 10) table;
|
||||
end
|
||||
|
||||
G = readtable(csvPath, "ReadVariableNames", false);
|
||||
|
||||
% first column is just index, meaningless, toss it
|
||||
G = G(:, 2:end);
|
||||
|
||||
% switch to the correct LLA convention (lat, lon, alt)
|
||||
tmp = G(:, 2);
|
||||
G(:, 2) = G(:, 1);
|
||||
G(:, 1) = tmp;
|
||||
|
||||
% Split pitch, yaw, roll data read in as one string per timestep into separate columns
|
||||
PYR = cell2mat(cellfun(@(x) str2num(strip(strip(x, "left", "("), "right", ")")), table2cell(G(:, 5)), "UniformOutput", false)); %#ok<ST2NM>
|
||||
% Reinsert to original table
|
||||
G = [G(:, 1:3), table(PYR(:, 1), VariableNames="Pitch"), table(PYR(:, 2), VariableNames="Yaw"), table(PYR(:, 3), VariableNames="Roll"), G(:, 6:end)];
|
||||
|
||||
% Clean up datetime entry
|
||||
G = [table(datetime(G{:,8}, "InputFormat","yyyy-MM-dd HH:mm:ss.SSS", "TimeZone","America/New_York")), G(:, [1:7, 9:10])];
|
||||
|
||||
% Fix variable names
|
||||
G.Properties.VariableNames = ["Timestamp", "Latitude", "Longitude", "Altitude", "Pitch", "Yaw", "Roll", "Voltage", "GPS Status", "Satellites"];
|
||||
G.Properties.VariableTypes = ["datetime", "double", "double", "double", "double", "double", "double", "double", "double", "double"];
|
||||
G.Properties.VariableUnits = ["yyyy-MM-dd HH:mm:ss.SSS (UTC+5)", "deg", "deg", "m", "deg", "deg", "deg", "Volts", "", ""];
|
||||
|
||||
end
|
||||
32
aerpaw/results/readGpsLogs.m
Normal file
32
aerpaw/results/readGpsLogs.m
Normal file
@@ -0,0 +1,32 @@
|
||||
function [G] = readGpsLogs(logPath)
|
||||
arguments (Input)
|
||||
logPath (1, 1) string {isfile(logPath)};
|
||||
end
|
||||
|
||||
arguments (Output)
|
||||
G (:, 10) table;
|
||||
end
|
||||
|
||||
G = readtable(logPath, "ReadVariableNames", false);
|
||||
|
||||
% first column is just index, meaningless, toss it
|
||||
G = G(:, 2:end);
|
||||
|
||||
% switch to the correct LLA convention (lat, lon, alt)
|
||||
tmp = G(:, 2);
|
||||
G(:, 2) = G(:, 1);
|
||||
G(:, 1) = tmp;
|
||||
|
||||
% Split pitch, yaw, roll data read in as one string per timestep into separate columns
|
||||
PYR = cell2mat(cellfun(@(x) str2num(strip(strip(x, "left", "("), "right", ")")), table2cell(G(:, 5)), "UniformOutput", false)); %#ok<ST2NM>
|
||||
% Reinsert to original table
|
||||
G = [G(:, 1:3), table(PYR(:, 1), VariableNames="Pitch"), table(PYR(:, 2), VariableNames="Yaw"), table(PYR(:, 3), VariableNames="Roll"), G(:, 6:end)];
|
||||
|
||||
% Clean up datetime entry
|
||||
G = [table(datetime(G{:,8}, "InputFormat","yyyy-MM-dd HH:mm:ss.SSS", "TimeZone","America/New_York")), G(:, [1:7, 9:10])];
|
||||
|
||||
% Fix variable names
|
||||
G.Properties.VariableNames = ["Timestamp", "Latitude", "Longitude", "Altitude", "Pitch", "Yaw", "Roll", "Voltage", "GPS Status", "Satellites"];
|
||||
G.Properties.VariableTypes = ["datetime", "double", "double", "double", "double", "double", "double", "double", "double", "double"];
|
||||
G.Properties.VariableUnits = ["yyyy-MM-dd HH:mm:ss.SSS (UTC+5)", "deg", "deg", "m", "deg", "deg", "deg", "Volts", "", ""];
|
||||
end
|
||||
65
aerpaw/results/readRadioLogs.m
Normal file
65
aerpaw/results/readRadioLogs.m
Normal file
@@ -0,0 +1,65 @@
|
||||
function R = readRadioLogs(logPath)
|
||||
arguments (Input)
|
||||
logPath (1, 1) string {isfolder(logPath)};
|
||||
end
|
||||
|
||||
arguments (Output)
|
||||
R (:, 6) table;
|
||||
end
|
||||
|
||||
% Extract receiving UAV ID from directory name (e.g. "uav0_..." → 0)
|
||||
[~, dirName] = fileparts(logPath);
|
||||
rxID = int32(sscanf(dirName, 'uav%d'));
|
||||
|
||||
metrics = ["quality", "snr", "power"];
|
||||
logs = dir(logPath);
|
||||
logs = logs(endsWith({logs(:).name}, metrics + "_log.txt"));
|
||||
|
||||
R = table(datetime.empty(0,1), zeros(0,1,'int32'), zeros(0,1,'int32'), zeros(0,1), zeros(0,1), zeros(0,1), ...
|
||||
'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality"]);
|
||||
|
||||
for ii = 1:numel(logs)
|
||||
filepath = fullfile(logs(ii).folder, logs(ii).name);
|
||||
|
||||
% Determine which metric this file contains
|
||||
metric = "";
|
||||
for m = 1:numel(metrics)
|
||||
if endsWith(logs(ii).name, metrics(m) + "_log.txt")
|
||||
metric = metrics(m);
|
||||
break;
|
||||
end
|
||||
end
|
||||
|
||||
fid = fopen(filepath, 'r');
|
||||
% Skip 3 lines: 2 junk (tail errors) + 1 header (tx_uav_id,value)
|
||||
for k = 1:3
|
||||
fgetl(fid);
|
||||
end
|
||||
data = textscan(fid, '[%26c] %d,%f');
|
||||
fclose(fid);
|
||||
|
||||
ts = datetime(data{1}, 'InputFormat', 'yyyy-MM-dd HH:mm:ss.SSSSSS');
|
||||
txId = int32(data{2});
|
||||
val = data{3};
|
||||
|
||||
n = numel(ts);
|
||||
t = table(ts, txId, repmat(rxID, n, 1), NaN(n,1), NaN(n,1), NaN(n,1), ...
|
||||
'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality"]);
|
||||
|
||||
switch metric
|
||||
case "snr", t.SNR = val;
|
||||
case "power", t.Power = val;
|
||||
case "quality", t.Quality = val;
|
||||
end
|
||||
|
||||
R = [R; t]; %#ok<AGROW>
|
||||
end
|
||||
|
||||
R = sortrows(R, "Timestamp");
|
||||
|
||||
% Remove rows during defined guard period between TDM shifts
|
||||
R(R.TxUAVID == -1, :) = [];
|
||||
|
||||
% Remove self-reception rows (TX == RX)
|
||||
R(R.TxUAVID == R.RxUAVID, :) = [];
|
||||
end
|
||||
68
aerpaw/results/resultsAnalysis.m
Normal file
68
aerpaw/results/resultsAnalysis.m
Normal file
@@ -0,0 +1,68 @@
|
||||
%% Plot AERPAW logs (trajectory, radio)
|
||||
resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "t1"); % Define path to results copied from AERPAW platform
|
||||
|
||||
% Plot GPS logged data and scenario information (domain, objective, obstacles)
|
||||
seaToGroundLevel = 110; % measured approximately from USGS national map viewer
|
||||
[fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel);
|
||||
|
||||
% Plot radio statistics
|
||||
[fRadio, R] = plotRadioLogs(resultsPath);
|
||||
|
||||
%% Run simulation
|
||||
% Run miSim using same AERPAW scenario definition CSV
|
||||
csvPath = fullfile(matlab.project.rootProject().RootFolder, "aerpaw", "config", "scenario.csv");
|
||||
params = readScenarioCsv(csvPath);
|
||||
|
||||
% Visualization settings
|
||||
plotCommsGeometry = false;
|
||||
makePlots = true;
|
||||
makeVideo = true;
|
||||
|
||||
% Define scenario according to CSV specification
|
||||
domain = rectangularPrism;
|
||||
domain = domain.initialize([params.domainMin; params.domainMax], REGION_TYPE.DOMAIN, "Domain");
|
||||
domain.objective = domain.objective.initialize(objectiveFunctionWrapper(params.objectivePos, reshape(params.objectiveVar, [2 2])), domain, params.discretizationStep, params.protectedRange, params.sensorPerformanceMinimum);
|
||||
|
||||
agents = cell(size(params.initialPositions, 2) / 3, 1);
|
||||
for ii = 1:size(agents, 1)
|
||||
agents{ii} = agent;
|
||||
|
||||
sensorModel = sigmoidSensor;
|
||||
sensorModel = sensorModel.initialize(params.alphaDist(ii), params.betaDist(ii), params.alphaTilt(ii), params.betaTilt(ii));
|
||||
|
||||
collisionGeometry = spherical;
|
||||
collisionGeometry = collisionGeometry.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), params.collisionRadius(ii), REGION_TYPE.COLLISION, sprintf("Agent %d collision geometry", ii));
|
||||
|
||||
agents{ii} = agents{ii}.initialize(params.initialPositions((((ii - 1) * 3) + 1):(ii * 3)), collisionGeometry, sensorModel, params.comRange(ii), params.maxIter, params.initialStepSize, sprintf("Agent %d", ii), plotCommsGeometry);
|
||||
end
|
||||
|
||||
% Create obstacles
|
||||
obstacles = cell(params.numObstacles, 1);
|
||||
for ii = 1:size(obstacles, 1)
|
||||
obstacles{ii} = rectangularPrism;
|
||||
obstacles{ii} = obstacles{ii}.initialize([params.obstacleMin((((ii - 1) * 3) + 1):(ii * 3)); params.obstacleMax((((ii - 1) * 3) + 1):(ii * 3))], "OBSTACLE", sprintf("Obstacle %d", ii));
|
||||
end
|
||||
|
||||
% Set up simulation
|
||||
sim = miSim;
|
||||
sim = sim.initialize(domain, agents, params.barrierGain, params.barrierExponent, params.minAlt, params.timestep, params.maxIter, obstacles, makePlots, makeVideo);
|
||||
|
||||
% Save simulation parameters to output file
|
||||
sim.writeInits();
|
||||
|
||||
% Run
|
||||
sim = sim.run();
|
||||
|
||||
%% Plot AERPAW trajectory logs onto simulated result for comparison
|
||||
% Duplicate plot to overlay with logged trajectories
|
||||
comparison = figure;
|
||||
copyobj(sim.f.Children, comparison);
|
||||
|
||||
% Plot trajectories on top
|
||||
for ii = 1:size(G, 1)
|
||||
for jj = 1:size(sim.spatialPlotIndices, 2)
|
||||
hold(comparison.Children.Children(sim.spatialPlotIndices(jj)), "on");
|
||||
plot3(comparison.Children(1).Children(sim.spatialPlotIndices(jj)), G{ii}.East, G{ii}.North, G{ii}.Up + seaToGroundLevel, 'Color', 'r', 'LineWidth', 1);
|
||||
hold(comparison.Children.Children(sim.spatialPlotIndices(jj)), "off");
|
||||
end
|
||||
end
|
||||
@@ -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']}\")
|
||||
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="1" type="DIR_SIGNIFIER"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info Ref="aerpaw/radio" Type="Relative"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="df3a85ba-fb12-4318-81b9-0233555f7fe7" type="Reference"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="radio" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="1" type="DIR_SIGNIFIER"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="1" type="DIR_SIGNIFIER"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="plotGpsLogs.m" type="File"/>
|
||||
@@ -1,2 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="plotGpsCsvs.m" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="readRadioLogs.m" type="File"/>
|
||||
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info>
|
||||
<Category UUID="FileClassCategory">
|
||||
<Label UUID="design"/>
|
||||
</Category>
|
||||
</Info>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="readGpsLogs.m" type="File"/>
|
||||
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info>
|
||||
<Category UUID="FileClassCategory">
|
||||
<Label UUID="design"/>
|
||||
</Category>
|
||||
</Info>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="plotRadioLogs.m" type="File"/>
|
||||
@@ -1,2 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="readGpsCsv.m" type="File"/>
|
||||
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info>
|
||||
<Category UUID="FileClassCategory">
|
||||
<Label UUID="design"/>
|
||||
</Category>
|
||||
</Info>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="resultsAnalysis.m" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="1" type="DIR_SIGNIFIER"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="startchannelsounderTXGRC.sh" type="File"/>
|
||||
@@ -0,0 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info>
|
||||
<Category UUID="FileClassCategory">
|
||||
<Label UUID="design"/>
|
||||
</Category>
|
||||
</Info>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="startchannelsounderRXGRC.sh" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="CSwSNRTX.py" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="CSwSNRRX.py" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="updateScripts.sh" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="test13" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="t1" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="test14" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="test12" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="t1.zip" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="client1.yaml" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="client2.yaml" type="File"/>
|
||||
@@ -1,2 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="client.yaml" type="File"/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info/>
|
||||
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<Info location="1" type="DIR_SIGNIFIER"/>
|
||||
Reference in New Issue
Block a user