added more radio metrics

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "aerpaw/aerpawlib"]
-	path = aerpaw/aerpawlib
-	url = https://github.com/morzack/aerpawlib-vehicle-control.git

@miSim/constrainMotion.m

@@ -48,13 +48,13 @@ function [obj] = constrainMotion(obj)
             % Correction splits between 2 agents, so |A| = 2*r_sum
             r_sum_ij = obj.agents{ii}.collisionGeometry.radius + obj.agents{jj}.collisionGeometry.radius;
             v_max_ij = max(obj.agents{ii}.initialStepSize, obj.agents{jj}.initialStepSize) / obj.timestep;
-            slack = -(4 * r_sum_ij * v_max_ij / obj.barrierGain)^(1 / obj.barrierExponent);
+            hMin = -(4 * r_sum_ij * v_max_ij / obj.barrierGain)^(1 / obj.barrierExponent);
             if norm(A(kk, :)) < 1e-9
                 % Agents are coincident: A-row is zero, so b < 0 would make
                 % 0 ≤ b unsatisfiable. Fall back to b = 0 (no correction possible).
                 b(kk) = 0;
             else
-                b(kk) = obj.barrierGain * max(slack, h(ii, jj))^obj.barrierExponent;
+                b(kk) = obj.barrierGain * max(hMin, h(ii, jj))^obj.barrierExponent;
             end
             kk = kk + 1;
         end
@@ -73,8 +73,8 @@ function [obj] = constrainMotion(obj)
             % Floor for single-agent constraint: full correction on one agent, |A| = 2*r_i
             r_i = obj.agents{ii}.collisionGeometry.radius;
             v_max_i = obj.agents{ii}.initialStepSize / obj.timestep;
-            h_floor_i = -(2 * r_i * v_max_i / obj.barrierGain)^(1 / obj.barrierExponent);
+            hMin = -(2 * r_i * v_max_i / obj.barrierGain)^(1 / obj.barrierExponent);
-            b(kk) = obj.barrierGain * max(h_floor_i, hObs(ii, jj))^obj.barrierExponent;
+            b(kk) = obj.barrierGain * max(hMin, hObs(ii, jj))^obj.barrierExponent;
 
             kk = kk + 1;
         end
@@ -157,17 +157,24 @@ function [obj] = constrainMotion(obj)
     end
     opt = optimoptions("quadprog", "Display", "off", "Algorithm", "active-set", "UseCodegenSolver", true);
     x0 = zeros(size(H, 1), 1);
-    [vNew, ~, exitflag, m] = quadprog(H, double(f), A, b, [], [], [], [], x0, opt);
+    [vNew, ~, exitflag] = quadprog(H, double(f), A, b, [], [], [], [], x0, opt);
-    if coder.target('MATLAB')
-        assert(exitflag == 1, sprintf("quadprog failure... %s%s", newline, m.message));
-    end
     vNew = reshape(vNew, 3, nAgents)';
 
-    if exitflag <= 0
+    if exitflag < 0
+        % Infeasible or other hard failure: hold all agents at current positions
         if coder.target('MATLAB')
-            warning("QP failed, continuing with unconstrained solution...")
+            warning("QP infeasible (exitflag=%d), holding positions.", int16(exitflag));
+        else
+            fprintf("[constrainMotion] QP infeasible (exitflag=%d), holding positions\n", int16(exitflag));
+        end
+        vNew = zeros(nAgents, 3);
+    elseif exitflag == 0
+        % Max iterations exceeded: use suboptimal solution already in vNew
+        if coder.target('MATLAB')
+            warning("QP max iterations exceeded, using suboptimal solution.");
+        else
+            fprintf("[constrainMotion] QP max iterations exceeded, using suboptimal solution\n");
         end
-        vNew = v;
     end
 
     % Update the "next position" that was previously set by unconstrained

@miSim/miSim.m

@@ -19,7 +19,10 @@ classdef miSim
         barrierExponent = NaN; % CBF exponent parameter
         minAlt = 0; % minimum allowable altitude (m)
         artifactName = "";
+        f; % main plotting tiled layout figure
         fPerf; % performance plot figure
+        % Indicies for various plot types in the main tiled layout figure
+        spatialPlotIndices = [6, 4, 3, 2];
     end
 
     properties (Access = private)
@@ -31,7 +34,6 @@ classdef miSim
         % Plot objects
         makePlots = true; % enable/disable simulation plotting (performance implications)
         makeVideo = true; % enable/disable VideoWriter (performance implications)
-        f; % main plotting tiled layout figure
         connectionsPlot; % objects for lines connecting agents in spatial plots
         graphPlot; % objects for abstract network graph plot
         partitionPlot; % objects for partition plot
@@ -41,7 +43,6 @@ classdef miSim
         trailPlot; % objects for agent trail plot
 
         % Indicies for various plot types in the main tiled layout figure
-        spatialPlotIndices = [6, 4, 3, 2];
         objectivePlotIndices = [6, 4];
         networkGraphIndex = 5;
         partitionGraphIndex = 1;

aerpaw/client/uav_runner.py

@@ -46,8 +46,9 @@ class MessageType(IntEnum):
     POSITION         = 8
 
 
-AERPAW_DIR = Path(__file__).parent.parent
+AERPAW_DIR = Path('/root/miSim/aerpaw')
-CONFIG_FILE = AERPAW_DIR / "config" / "client.yaml"
+CONFIG_FILE = Path(os.environ.get('AERPAW_CLIENT_CONFIG',
+                                  AERPAW_DIR / "config" / "client.yaml"))
 
 
 def load_config():
@@ -115,8 +116,9 @@ def _gps_log_row(vehicle, line_num, writer):
 
 async def _gps_log_loop(drone):
     """Background async task that logs GPS data at 1Hz."""
-    host = platform.node()
+    results_dir = os.environ.get('RESULTS_DIR', '/root/Results')
-    filename = f"/root/Results/GPS_DATA_{host}_{datetime.datetime.now().strftime('%Y-%m-%d_%H:%M:%S')}.csv"
+    log_prefix = os.environ.get('LOG_PREFIX', datetime.datetime.now().strftime('%Y-%m-%d_%H_%M_%S'))
+    filename = os.path.join(results_dir, f"{log_prefix}_gps_log.csv")
     print(f"[UAV] GPS logging to {filename}")
     line_num = 1
     try:

aerpaw/config/client1.yaml

@@ -1,5 +1,15 @@
 # AERPAW UAV (Client) Configuration
 
+# Unique 0-indexed UAV identifier (each UAV must have a distinct value)
+uav_id: 0
+
+# 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: 35.72550610629396

aerpaw/config/client2.yaml

@@ -0,0 +1,38 @@
+# AERPAW UAV (Client) Configuration
+
+# Unique 0-indexed UAV identifier (each UAV must have a distinct value)
+uav_id: 1
+
+# 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: 35.72550610629396
+  lon: -78.70019657805574
+  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 (192.168.122.1 from E-VM perspective)
+    controller:
+      ip: "192.168.122.1"
+      port: 5000

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, 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"
+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"

aerpaw/controller.coderprj

@@ -128,6 +128,11 @@
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                   <File type="coderapp.internal.util.mfz.FileSpec">
                     <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.cpp</Path>
                   </File>
                   <Type>GENERATED_SOURCE</Type>
                 </Artifacts>
-                <Artifacts id="160" type="coderapp.internal.build.mfz.CodegenArtifact">
+                <Artifacts id="159" type="coderapp.internal.build.mfz.CodegenArtifact">
                   <File type="coderapp.internal.util.mfz.FileSpec">
                     <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.h</Path>
                   </File>
@@ -1095,7 +1094,7 @@
                 </Artifacts>
                 <BuildFolder type="coderapp.internal.util.mfz.FileSpec"/>
                 <Success>true</Success>
-                <Timestamp>2026-03-03T15:54:20</Timestamp>
+                <Timestamp>2026-03-03T19:58:03</Timestamp>
               </MainBuildResult>
             </coderapp.internal.mlc.mfz.MatlabCoderProjectState>
           </MF0>

aerpaw/guidance_step.m

@@ -135,7 +135,7 @@ if isInit
 
         % --- 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, :)], ...

aerpaw/radio/CSwSNRTX.py

@@ -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)
+
+

aerpaw/radio/startchannelsounderRXGRC.sh

@@ -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

aerpaw/radio/startchannelsounderTXGRC.sh

@@ -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

aerpaw/radio/updateScripts.sh

@@ -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/.

aerpaw/results/plotGpsCsvs.m

@@ -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");

aerpaw/results/plotGpsLogs.m

@@ -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

aerpaw/results/plotRadioLogs.m

@@ -0,0 +1,84 @@
+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
+
+    % Compute path loss from Power (post-processing)
+    % Power = 20*log10(peak_mag) - rxGain; path loss = txGain - rxGain - Power
+    txGain_dB = 76;   % from startchannelsounderTXGRC.sh GAIN_TX
+    rxGain_dB = 30;   % from startchannelsounderRXGRC.sh GAIN_RX
+    for ii = 1:numel(R)
+        R{ii}.PathLoss = txGain_dB - rxGain_dB - R{ii}.Power;
+        R{ii}.FreqOffset = R{ii}.FreqOffset / 1e6; % Hz to MHz
+    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", "PathLoss", "NoiseFloor", "FreqOffset"];
+    yLabels     = ["SNR (dB)", "Power (dB)", "Quality", "Path Loss (dB)", "Noise Floor (dB)", "Freq Offset (MHz)"];
+
+    f = figure;
+    tl = tiledlayout(numel(metricNames), 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

aerpaw/results/readGpsCsv.m

@@ -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

aerpaw/results/readGpsLogs.m

@@ -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

aerpaw/results/readRadioLogs.m

@@ -0,0 +1,67 @@
+function R = readRadioLogs(logPath)
+    arguments (Input)
+        logPath (1, 1) string {isfolder(logPath)};
+    end
+
+    arguments (Output)
+        R (:, 8) 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", "noisefloor", "freqoffset"];
+    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), zeros(0,1), zeros(0,1), ...
+        'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality", "NoiseFloor", "FreqOffset"]);
+
+    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), NaN(n,1), NaN(n,1), ...
+            'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality", "NoiseFloor", "FreqOffset"]);
+
+        switch metric
+            case "snr",        t.SNR = val;
+            case "power",      t.Power = val;
+            case "quality",    t.Quality = val;
+            case "noisefloor", t.NoiseFloor = val;
+            case "freqoffset", t.FreqOffset = 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

aerpaw/results/resultsAnalysis.m

@@ -0,0 +1,68 @@
+%% Plot AERPAW logs (trajectory, radio)
+resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "t2"); % 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

aerpaw/run_uav.sh

@@ -3,13 +3,13 @@
 # Launches UAV client with environment-specific configuration
 #
 # Usage:
-#   ./run_uav.sh local     # Use local/simulation configuration
+#   ./run_uav.sh local                          # defaults to config/client.yaml
-#   ./run_uav.sh testbed   # Use AERPAW testbed configuration
+#   ./run_uav.sh testbed config/client2.yaml     # use a specific config file
 
 set -e
 
-# Change to script directory
+# Change to aerpaw directory
-cd "$(dirname "$0")"
+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']}\")

aerpaw/scripts/startRadio.sh

@@ -0,0 +1,43 @@
+#!/bin/bash
+#RX
+
+cd $PROFILE_DIR"/ProfileScripts/Radio/Helpers"
+
+screen -S rxGRC -dm \
+       bash -c "stdbuf -oL -eL ./startchannelsounderRXGRC.sh \
+       2>&1 | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_radio_channelsounderrxgrc_log.txt"
+
+screen -S power -dm \
+       bash -c "stdbuf -oL -eL tail -F /root/Power\
+        2>&1 | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_power_log.txt"
+
+screen -S quality -dm \
+       bash -c "stdbuf -oL -eL tail -F /root/Quality\
+        2>&1 | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_quality_log.txt"
+
+screen -S snr -dm \
+       bash -c "stdbuf -oL -eL tail -F /root/SNR\
+        2>&1 | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_snr_log.txt"
+
+screen -S noisefloor -dm \
+      bash -c "stdbuf -oL -eL tail -F /root/NoiseFloor\
+        2>&1 | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_noisefloor_log.txt"
+
+screen -S freqoffset -dm \
+       bash -c "stdbuf -oL -eL tail -F /root/FreqOffset\
+        2>&1 | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_freqoffset_log.txt"
+
+
+#TX
+
+screen -S txGRC -dm \
+       bash -c "stdbuf -oL -eL ./startchannelsounderTXGRC.sh \
+       2>&1 | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_radio_channelsoundertxgrc_log.txt"
+cd -

aerpaw/scripts/startVehicle.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+
+### Sample GPS logger portion
+# use vehicle type generic to skip the arming requirement
+export VEHICLE_TYPE="${VEHICLE_TYPE:-generic}"
+
+# GPS Logger sample application (this does not move the vehicle)
+
+#cd $PROFILE_DIR"/ProfileScripts/Vehicle/Helpers"
+#
+#screen -S vehicle -dm \
+#       bash -c "stdbuf -oL -eL ./gpsLoggerHelper.sh \
+#       2> >(ts $TS_FORMAT >> $RESULTS_DIR/${LOG_PREFIX}_vehicle_log_err.txt) \
+#       | ts $TS_FORMAT \
+#       | tee $RESULTS_DIR/$LOG_PREFIX\_vehicle_log.txt"
+#
+#cd -
+
+### Actual control portion (custom)
+export VEHICLE_TYPE="${VEHICLE_TYPE:-drone}" # out of rover, drone, generic
+
+cd /root/miSim/aerpaw
+
+# Use screen/ts/tee aerpawism from sample script
+screen -S vehicle -dm \
+       bash -c "stdbuf -oL -eL ./run_uav.sh testbed /root/miSim/aerpaw/config/client1.yaml \
+       | ts $TS_FORMAT \
+       | tee $RESULTS_DIR/$LOG_PREFIX\_vehicle_log.txt"     
+
+cd -

aerpaw/scripts/startexperiment.sh

@@ -0,0 +1,53 @@
+#!/bin/bash
+/root/stopexperiment.sh
+
+source /root/.ap-set-experiment-env.sh
+source /root/.bashrc
+
+# set path to client config YAML
+export AERPAW_CLIENT_CONFIG=/root/miSim/aerpaw/config/client1.yaml
+
+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 [ "$AP_EXPENV_SESSION_ENV" == "Testbed" ]; then
+    export LAUNCH_MODE=TESTBED
+else
+    export LAUNCH_MODE=none
+fi
+
+# prepare results directory
+export UAV_ID=$(python3 -c "import yaml; print(yaml.safe_load(open('$AERPAW_CLIENT_CONFIG'))['uav_id'])")
+export RESULTS_DIR_TIMESTAMP=$(date +%Y-%m-%d_%H_%M_%S)
+export RESULTS_DIR="/root/Results/uav${UAV_ID}_${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"
+
+
+
+./Radio/startRadio.sh
+#./Traffic/startTraffic.sh
+./Vehicle/startVehicle.sh
+
+schedule_stop.sh 30

resources/project/71xh8lboMaPoa5Dmw3ABwzIozfw/bjgcAyD7dxJIgrUo3yHl5f1-iksp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/zg8kHdg7qJZOAHkUkvREvBTzyowd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info Ref="aerpaw/radio" Type="Relative"/>

resources/project/EEtUlUb-dLAdf0KpMVivaUlztwA/zg8kHdg7qJZOAHkUkvREvBTzyowp.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="df3a85ba-fb12-4318-81b9-0233555f7fe7" type="Reference"/>

resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/l4b98Ty5DTEuIA0u1PkN65-E7z0d.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/Gnz6T47dAsmf4YcBHB3EkpeZeYA/l4b98Ty5DTEuIA0u1PkN65-E7z0p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="radio" type="File"/>

resources/project/Hp7WImb16Wc_c7gK28oUydAFVts/EhSD3dO3mU2KP9IqbTVz7g60j5Ad.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/Hp7WImb16Wc_c7gK28oUydAFVts/EhSD3dO3mU2KP9IqbTVz7g60j5Ap.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/QVXvsR5cXQzGBi9QgRUFaflegRY/SltMFP7zr3UZsLPdRi9OyWAN7pMd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/QVXvsR5cXQzGBi9QgRUFaflegRY/SltMFP7zr3UZsLPdRi9OyWAN7pMp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/U6yuhsJzy1y01Id_FHBdh6-Wh98p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="plotGpsLogs.m" type="File"/>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/VQA73A5I9n57L4m10R0W_HvB5B8p.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="plotGpsCsvs.m" type="File"/>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/dljZQ5YHY2_T2iWu2VowH_XgI4Ap.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="readRadioLogs.m" type="File"/>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/hqbg3xkhvnRxVgnoBPI2Mu7VLywd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/hqbg3xkhvnRxVgnoBPI2Mu7VLywp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="readGpsLogs.m" type="File"/>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/jHU3HZaZTakBPCuKf9-5gCOOeRMd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/jHU3HZaZTakBPCuKf9-5gCOOeRMp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="plotRadioLogs.m" type="File"/>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/mg5eJpOYB1hlTDACGJ_eQItsjQsp.xml

@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Info location="readGpsCsv.m" type="File"/>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/qpxmhcwIacwqdjVXqua3hmJxvJYd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/cCclYJTOop6jkdZsItlf7iNuov4/qpxmhcwIacwqdjVXqua3hmJxvJYp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="resultsAnalysis.m" type="File"/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/2q8QkTf7Be84-j7NLQYQXRr2mh0d.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/2q8QkTf7Be84-j7NLQYQXRr2mh0p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="1" type="DIR_SIGNIFIER"/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/7Qn4v8hXxpt38jHfMvWUU7qISP0d.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/7Qn4v8hXxpt38jHfMvWUU7qISP0p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startchannelsounderTXGRC.sh" type="File"/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/CMF2fLjeNlVht3jclP9mYfFr76kd.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info>
+    <Category UUID="FileClassCategory">
+        <Label UUID="design"/>
+    </Category>
+</Info>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/CMF2fLjeNlVht3jclP9mYfFr76kp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="startchannelsounderRXGRC.sh" type="File"/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/CnkeWRrKEXdfl5pQ_jhX9KVUx0sd.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/CnkeWRrKEXdfl5pQ_jhX9KVUx0sp.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="CSwSNRTX.py" type="File"/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/fOCCdRscWgypu6LG-RAgt7BPt14d.xml

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+<Info/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/fOCCdRscWgypu6LG-RAgt7BPt14p.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="CSwSNRRX.py" type="File"/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/oDJkXIe5Vr4ngmWKGA9D0NvLBfAd.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<Info/>

resources/project/l4b98Ty5DTEuIA0u1PkN65-E7z0/oDJkXIe5Vr4ngmWKGA9D0NvLBfAp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="updateScripts.sh" type="File"/>

resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/71xh8lboMaPoa5Dmw3ABwzIozfwd.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/71xh8lboMaPoa5Dmw3ABwzIozfwp.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/Hp7WImb16Wc_c7gK28oUydAFVtsd.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/Hp7WImb16Wc_c7gK28oUydAFVtsp.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/QVXvsR5cXQzGBi9QgRUFaflegRYd.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/QVXvsR5cXQzGBi9QgRUFaflegRYp.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/yqgj8VLvTZ-pn09SsztajkpKW1Ed.xml

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resources/project/q138eJA8Ym4eSfM3RFMVvg63QtU/yqgj8VLvTZ-pn09SsztajkpKW1Ep.xml

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resources/project/qaw0eS1zuuY1ar9TdPn1GMfrjbQ/hUjTM8Yelb7ggxXFg7nBPm4NKQop.xml

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resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/KeON0uDA94030c9sv4Mgl9zKhQEd.xml

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resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/KeON0uDA94030c9sv4Mgl9zKhQEp.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Info location="client1.yaml" type="File"/>

resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/eym6FtnTDtwDn4qufwXrm9H2vXod.xml

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resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/eym6FtnTDtwDn4qufwXrm9H2vXop.xml

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resources/project/vmVRNnXTZxyEiUtNp09z8POG4ww/gbk0CHypoeHZQfYKLic_g_RhMewp.xml

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-<Info location="client.yaml" type="File"/>

resources/project/yqgj8VLvTZ-pn09SsztajkpKW1E/68s6SYUbIV2lonVX55ZsTcaPe_4d.xml

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+<Info/>

resources/project/yqgj8VLvTZ-pn09SsztajkpKW1E/68s6SYUbIV2lonVX55ZsTcaPe_4p.xml

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