plot script fixes

.gitmodules

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

aerpaw/radio/CSwSNRRX.py

@@ -267,10 +267,6 @@ class CSwSNRRX(gr.top_block):
             '/root/Quality', num_uavs, slot_duration, guard_interval)
         self.blocks_file_sink_0 = TdmTaggedFileSink(
             '/root/Power', num_uavs, slot_duration, guard_interval)
-        self.blocks_file_sink_noisefloor = TdmTaggedFileSink(
-            '/root/NoiseFloor', num_uavs, slot_duration, guard_interval)
-        self._freqoffset_file = open('/root/FreqOffset', 'w')
-        self._freqoffset_file.write('tx_uav_id,value\n')
         self.blocks_divide_xx_0 = blocks.divide_ff(1)
         self.blocks_complex_to_real_0_0 = blocks.complex_to_real(1)
         self.blocks_complex_to_real_0 = blocks.complex_to_real(1)
@@ -314,7 +310,6 @@ class CSwSNRRX(gr.top_block):
         self.connect((self.blocks_nlog10_ff_0_0, 0), (self.blocks_add_const_vxx_0, 0))
         self.connect((self.blocks_nlog10_ff_0_0, 0), (self.blocks_sub_xx_0, 0))
         self.connect((self.blocks_nlog10_ff_0_0_0, 0), (self.blocks_sub_xx_0, 1))
-        self.connect((self.blocks_nlog10_ff_0_0_0, 0), (self.blocks_file_sink_noisefloor, 0))
         self.connect((self.blocks_stream_to_vector_0_0, 0), (self.epy_block_0, 0))
         self.connect((self.blocks_sub_xx_0, 0), (self.blocks_file_sink_0_0_0, 0))
         self.connect((self.blocks_vector_to_stream_0_0, 0), (self.blocks_keep_m_in_n_0, 0))
@@ -326,26 +321,6 @@ class CSwSNRRX(gr.top_block):
         self.connect((self.freq_xlating_fft_filter_ccc_0_0, 0), (self.blocks_stream_to_vector_0_0, 0))
         self.connect((self.uhd_usrp_source_0, 0), (self.blocks_multiply_xx_0, 0))
 
-        ##################################################
-        # Frequency offset polling thread
-        ##################################################
-        def _freq_offset_probe():
-            frame_dur = slot_duration * num_uavs
-            while True:
-                val = self.digital_fll_band_edge_cc_0_0.get_frequency()
-                freq_hz = val * samp_rate / (2 * math.pi)
-                now = time.time()
-                slot_time = now % frame_dur
-                current_slot = int(slot_time / slot_duration)
-                time_into_slot = slot_time - current_slot * slot_duration
-                tx_id = -1 if time_into_slot < guard_interval else current_slot
-                self._freqoffset_file.write(f'{tx_id},{freq_hz}\n')
-                self._freqoffset_file.flush()
-                time.sleep(0.01)
-        _freq_offset_thread = threading.Thread(target=_freq_offset_probe)
-        _freq_offset_thread.daemon = True
-        _freq_offset_thread.start()
-
 
     def get_args(self):
         return self.args

aerpaw/results/plotRadioLogs.m

@@ -24,25 +24,16 @@ function [f, R] = plotRadioLogs(resultsPath)
         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"];
+    metricNames = ["SNR", "Power", "Quality"];
-    yLabels     = ["SNR (dB)", "Power (dB)", "Quality", "Path Loss (dB)", "Noise Floor (dB)", "Freq Offset (MHz)"];
+    yLabels     = ["SNR (dB)", "Power (dB)", "Quality"];
 
     f = figure;
-    tl = tiledlayout(numel(metricNames), 1, 'TileSpacing', 'compact', 'Padding', 'compact');
+    tl = tiledlayout(3, 1, 'TileSpacing', 'compact', 'Padding', 'compact');
 
     for mi = 1:numel(metricNames)
         ax = nexttile(tl);

aerpaw/results/readRadioLogs.m

@@ -4,19 +4,19 @@ function R = readRadioLogs(logPath)
     end
 
     arguments (Output)
-        R (:, 8) table;
+        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", "noisefloor", "freqoffset"];
+    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), zeros(0,1), zeros(0,1), ...
+    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", "NoiseFloor", "FreqOffset"]);
+        'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality"]);
 
     for ii = 1:numel(logs)
         filepath = fullfile(logs(ii).folder, logs(ii).name);
@@ -43,15 +43,13 @@ function R = readRadioLogs(logPath)
         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), ...
+        t = table(ts, txId, repmat(rxID, n, 1), NaN(n,1), NaN(n,1), NaN(n,1), ...
-            'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality", "NoiseFloor", "FreqOffset"]);
+            'VariableNames', ["Timestamp", "TxUAVID", "RxUAVID", "SNR", "Power", "Quality"]);
 
         switch metric
-            case "snr",        t.SNR = val;
+            case "snr",     t.SNR = val;
-            case "power",      t.Power = val;
+            case "power",   t.Power = val;
-            case "quality",    t.Quality = val;
+            case "quality", t.Quality = val;
-            case "noisefloor", t.NoiseFloor = val;
-            case "freqoffset", t.FreqOffset = val;
         end
 
         R = [R; t]; %#ok<AGROW>

aerpaw/results/resultsAnalysis.m

@@ -1,5 +1,5 @@
 %% Plot AERPAW logs (trajectory, radio)
-resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "t2"); % Define path to results copied from AERPAW platform
+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

aerpaw/scripts/startRadio.sh

@@ -1,43 +0,0 @@
-#!/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

@@ -1,30 +0,0 @@
-#!/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

@@ -1,53 +0,0 @@
-#!/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