344 lines
13 KiB
Matlab
344 lines
13 KiB
Matlab
function controller(numClients)
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arguments (Input)
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numClients (1, 1) int32;
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end
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coder.extrinsic('disp', 'readScenarioCsv');
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% Maximum clients supported (one initial position per UAV)
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MAX_CLIENTS = 4;
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% Three waypoints per UAV: one axis-aligned move per dimension (taxicab flyout/flyback)
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MAX_TARGETS = MAX_CLIENTS * 3;
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% Taxicab flyout/flyback only supports exactly 2 UAVs
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if numClients ~= int32(2)
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error('Taxicab flyout/flyback requires exactly 2 UAVs');
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end
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% Allocate targets array (MAX_TARGETS x 3)
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targets = zeros(MAX_TARGETS, 3);
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numWaypoints = int32(0);
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totalLoaded = int32(0); % pre-declare type for coder.ceval %#ok<NASGU>
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% Experiment start positions from scenario CSV (N x 3)
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scenarioPositions = zeros(MAX_CLIENTS, 3);
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% Load experiment start positions from scenario CSV
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if coder.target('MATLAB')
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disp('Loading initial positions from scenario.csv (simulation)...');
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tmpSim = miSim;
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sc = tmpSim.readScenarioCsv('aerpaw/config/scenario.csv');
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flatPos = double(sc.initialPositions); % 1×(3*N) flat vector
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posMatrix = reshape(flatPos, 3, [])'; % N×3
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totalLoaded = int32(size(posMatrix, 1));
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scenarioPositions(1:totalLoaded, :) = posMatrix;
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% MATLAB path: send directly to scenario positions in one waypoint
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targets(1:totalLoaded, :) = posMatrix;
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numWaypoints = int32(1);
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disp(['Loaded ', num2str(double(totalLoaded)), ' initial positions']);
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else
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coder.cinclude('controller_impl.h');
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filename = ['config/scenario.csv', char(0)];
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% Load into targets temporarily; copy to scenarioPositions below
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totalLoaded = coder.ceval('loadInitialPositions', coder.ref(filename), ...
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coder.ref(targets), int32(MAX_TARGETS));
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scenarioPositions(1:totalLoaded, :) = targets(1:totalLoaded, :);
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numWaypoints = int32(3);
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end
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% Load guidance scenario from CSV (parameters for guidance_step)
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NUM_SCENARIO_PARAMS = 55;
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MAX_OBSTACLES_CTRL = int32(8);
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scenarioParams = zeros(1, NUM_SCENARIO_PARAMS);
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obstacleMin = zeros(MAX_OBSTACLES_CTRL, 3);
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obstacleMax = zeros(MAX_OBSTACLES_CTRL, 3);
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numObstacles = int32(0);
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if ~coder.target('MATLAB')
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coder.cinclude('controller_impl.h');
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scenarioFilename = ['config/scenario.csv', char(0)];
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coder.ceval('loadScenario', coder.ref(scenarioFilename), coder.ref(scenarioParams));
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numObstacles = coder.ceval('loadObstacles', coder.ref(scenarioFilename), ...
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coder.ref(obstacleMin), coder.ref(obstacleMax), ...
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int32(MAX_OBSTACLES_CTRL));
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end
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% On MATLAB path, scenarioParams and obstacle arrays are left as zeros.
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% guidance_step's MATLAB path loads parameters directly from scenario.csv
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% via sim.initializeFromCsv and does not use these arrays.
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% Initialize server
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if coder.target('MATLAB')
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disp('Initializing server (simulation)...');
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else
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coder.ceval('initServer');
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end
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% Accept clients
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for i = 1:numClients
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if coder.target('MATLAB')
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disp(['Accepting client ', num2str(i)]);
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else
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coder.ceval('acceptClient', int32(i));
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end
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end
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% Query takeoff-pad GPS positions before sending any waypoints.
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% These are also the flyback targets so each UAV lands where it took off.
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initialPositions = zeros(MAX_CLIENTS, 3);
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if ~coder.target('MATLAB')
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coder.ceval('sendRequestPositions', int32(numClients));
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coder.ceval('recvPositions', int32(numClients), coder.ref(initialPositions), int32(MAX_CLIENTS));
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else
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% Simulation: treat scenario positions as the takeoff locations
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initialPositions(1:totalLoaded, :) = scenarioPositions(1:totalLoaded, :);
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end
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% ---- Build taxicab flyout waypoints ------------------------------------------
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% Determine which UAV has the higher final altitude; it moves Z first so it
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% clears vertical separation before the lower UAV converges on the same X/Y.
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% Higher UAV order: Z → Y → X
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% Lower UAV order: X → Y → Z
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if ~coder.target('MATLAB')
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if scenarioPositions(1, 3) >= scenarioPositions(2, 3)
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higherIdx = int32(1);
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lowerIdx = int32(2);
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else
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higherIdx = int32(2);
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lowerIdx = int32(1);
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end
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hBase = double(higherIdx - 1) * double(numWaypoints);
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lBase = double(lowerIdx - 1) * double(numWaypoints);
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% Higher UAV: Z first
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targets(hBase + 1, :) = [initialPositions(higherIdx,1), initialPositions(higherIdx,2), scenarioPositions(higherIdx,3)];
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targets(hBase + 2, :) = [initialPositions(higherIdx,1), scenarioPositions(higherIdx,2), scenarioPositions(higherIdx,3)];
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targets(hBase + 3, :) = scenarioPositions(higherIdx, :);
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% Lower UAV: X first
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targets(lBase + 1, :) = [scenarioPositions(lowerIdx,1), initialPositions(lowerIdx,2), initialPositions(lowerIdx,3)];
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targets(lBase + 2, :) = [scenarioPositions(lowerIdx,1), scenarioPositions(lowerIdx,2), initialPositions(lowerIdx,3)];
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targets(lBase + 3, :) = scenarioPositions(lowerIdx, :);
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end
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% ------------------------------------------------------------------------------
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% Waypoint loop: send each waypoint to all clients, wait for all to arrive
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for w = 1:numWaypoints
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% Send TARGET for waypoint w to each client
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for i = 1:numClients
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% Targets are grouped by client: client i's waypoints are at rows
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% (i-1)*numWaypoints+1 through i*numWaypoints
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targetIdx = (i - 1) * numWaypoints + w;
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target = targets(targetIdx, :);
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if coder.target('MATLAB')
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disp(['Sending TARGET to client ', num2str(i), ' (waypoint ', num2str(w), '): ', ...
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num2str(target(1)), ',', num2str(target(2)), ',', num2str(target(3))]);
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else
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coder.ceval('sendTarget', int32(i), coder.ref(target));
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end
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end
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% Wait for ACK from all clients
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if coder.target('MATLAB')
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disp('Waiting for ACK from all clients...');
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else
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coder.ceval('waitForAllMessageType', int32(numClients), ...
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int32(MESSAGE_TYPE.ACK));
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end
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% Wait for READY from all clients (all arrived at waypoint w)
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if coder.target('MATLAB')
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disp(['All UAVs arrived at waypoint ', num2str(w)]);
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else
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coder.ceval('waitForAllMessageType', int32(numClients), ...
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int32(MESSAGE_TYPE.READY));
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end
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end
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% ---- Phase 2: miSim guidance loop ----------------------------------------
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% Number of guidance steps comes from maxIter in scenario.csv (scenarioParams(2))
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% so the controller and the agent step-decay schedule stay in sync.
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if coder.target('MATLAB')
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MAX_GUIDANCE_STEPS = int32(sc.maxIter);
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else
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MAX_GUIDANCE_STEPS = int32(scenarioParams(2));
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end
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% Enter guidance mode on all clients
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if ~coder.target('MATLAB')
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coder.ceval('sendGuidanceToggle', int32(numClients));
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end
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% Request initial GPS positions and initialise guidance algorithm
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positions = zeros(MAX_CLIENTS, 3);
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if ~coder.target('MATLAB')
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coder.ceval('sendRequestPositions', int32(numClients));
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coder.ceval('recvPositions', int32(numClients), coder.ref(positions), int32(MAX_CLIENTS));
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else
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% Simulation: seed positions from scenario positions so agents don't start at origin
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positions(1:totalLoaded, :) = scenarioPositions(1:totalLoaded, :);
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end
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guidance_step(positions(1:numClients, :), true, ...
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scenarioParams, obstacleMin, obstacleMax, numObstacles);
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% Main guidance loop (event-triggered)
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for step = 1:MAX_GUIDANCE_STEPS
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if ~coder.target('MATLAB')
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coder.ceval('setGuidanceStep', int32(step), int32(MAX_GUIDANCE_STEPS));
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end
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% Run one guidance step: feed current GPS positions in, get targets out
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nextPositions = guidance_step(positions(1:numClients, :), false, ...
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scenarioParams, obstacleMin, obstacleMax, numObstacles);
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% Send target to each client
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for i = 1:numClients
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target = nextPositions(i, :);
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if ~coder.target('MATLAB')
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coder.ceval('sendTarget', int32(i), coder.ref(target));
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else
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disp(['[step ', num2str(step), '] target UAV ', num2str(i), ': ', num2str(target)]);
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end
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end
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% Wait for ACK from all clients (each UAV ACKs when it arrives at its target)
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if ~coder.target('MATLAB')
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coder.ceval('waitForAllMessageType', int32(numClients), ...
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int32(MESSAGE_TYPE.ACK));
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else
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disp(['[guidance] step ', num2str(step), ': all UAVs arrived']);
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end
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% Request current GPS positions from all clients
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if ~coder.target('MATLAB')
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coder.ceval('sendRequestPositions', int32(numClients));
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coder.ceval('recvPositions', int32(numClients), coder.ref(positions), int32(MAX_CLIENTS));
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else
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% Simulation: advance positions to guidance outputs for closed-loop feedback
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positions(1:numClients, :) = nextPositions(1:numClients, :);
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end
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end
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% Exit guidance mode on all clients (second toggle)
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if ~coder.target('MATLAB')
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coder.ceval('sendGuidanceToggle', int32(numClients));
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% Wait for ACK from all clients: confirms each client has finished its
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% last guidance navigation and is back in sequential (ACK/READY) mode.
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coder.ceval('waitForAllMessageType', int32(numClients), ...
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int32(MESSAGE_TYPE.ACK));
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% Reset step counter so post-guidance logging carries no step prefix.
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coder.ceval('setGuidanceStep', int32(0), int32(MAX_GUIDANCE_STEPS));
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end
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% --------------------------------------------------------------------------
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% ---- Taxicab flyback: return each UAV to its takeoff-pad position ---------
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% The UAV that ended guidance at the higher altitude moves Z last (X → Y → Z)
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% so it stays high while the lower UAV descends first, maintaining separation
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% as both converge back on their respective home X/Y positions.
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NUM_RETURN_WP = int32(3);
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returnTargets = zeros(MAX_TARGETS, 3);
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if ~coder.target('MATLAB')
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if positions(1, 3) >= positions(2, 3)
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higherRetIdx = int32(1);
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lowerRetIdx = int32(2);
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else
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higherRetIdx = int32(2);
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lowerRetIdx = int32(1);
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end
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hRetBase = double(higherRetIdx - 1) * double(NUM_RETURN_WP);
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lRetBase = double(lowerRetIdx - 1) * double(NUM_RETURN_WP);
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% Higher post-guidance UAV: X → Y → Z (descend last)
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returnTargets(hRetBase + 1, :) = [initialPositions(higherRetIdx,1), positions(higherRetIdx,2), positions(higherRetIdx,3)];
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returnTargets(hRetBase + 2, :) = [initialPositions(higherRetIdx,1), initialPositions(higherRetIdx,2), positions(higherRetIdx,3)];
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returnTargets(hRetBase + 3, :) = initialPositions(higherRetIdx, :);
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% Lower post-guidance UAV: Z → Y → X (descend first)
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returnTargets(lRetBase + 1, :) = [positions(lowerRetIdx,1), positions(lowerRetIdx,2), initialPositions(lowerRetIdx,3)];
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returnTargets(lRetBase + 2, :) = [positions(lowerRetIdx,1), initialPositions(lowerRetIdx,2), initialPositions(lowerRetIdx,3)];
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returnTargets(lRetBase + 3, :) = initialPositions(lowerRetIdx, :);
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for w = 1:NUM_RETURN_WP
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for i = 1:numClients
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retIdx = double(i - 1) * double(NUM_RETURN_WP) + w;
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retTarget = returnTargets(retIdx, :);
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coder.ceval('sendTarget', int32(i), coder.ref(retTarget));
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end
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coder.ceval('waitForAllMessageType', int32(numClients), int32(MESSAGE_TYPE.ACK));
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coder.ceval('waitForAllMessageType', int32(numClients), int32(MESSAGE_TYPE.READY));
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end
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else
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disp('Taxicab return (simulation): UAVs commanded back to takeoff positions.');
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end
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% --------------------------------------------------------------------------
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% Send RTL command to all clients
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for i = 1:numClients
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if coder.target('MATLAB')
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disp(['Sending RTL to client ', num2str(i)]);
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else
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coder.ceval('sendMessageType', int32(i), int32(MESSAGE_TYPE.RTL));
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end
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end
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% Wait for ACK from all clients
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if coder.target('MATLAB')
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disp('Waiting for ACK from all clients...');
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else
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coder.ceval('waitForAllMessageType', int32(numClients), ...
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int32(MESSAGE_TYPE.ACK));
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end
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% Wait for READY from all clients (returned to home)
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if coder.target('MATLAB')
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disp('All UAVs returned to home.');
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else
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coder.ceval('waitForAllMessageType', int32(numClients), ...
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int32(MESSAGE_TYPE.READY));
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end
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% Send LAND command to all clients
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for i = 1:numClients
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if coder.target('MATLAB')
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disp(['Sending LAND to client ', num2str(i)]);
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else
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coder.ceval('sendMessageType', int32(i), int32(MESSAGE_TYPE.LAND));
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end
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end
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% Wait for ACK from all clients
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if coder.target('MATLAB')
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disp('Waiting for ACK from all clients...');
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else
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coder.ceval('waitForAllMessageType', int32(numClients), ...
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int32(MESSAGE_TYPE.ACK));
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end
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% Wait for READY from all clients (landed and disarmed)
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if coder.target('MATLAB')
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disp('All UAVs landed and disarmed.');
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else
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coder.ceval('waitForAllMessageType', int32(numClients), ...
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int32(MESSAGE_TYPE.READY));
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end
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% Send READY to all clients to signal mission complete
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for i = 1:numClients
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if coder.target('MATLAB')
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disp(['Sending READY to client ', num2str(i)]);
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else
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coder.ceval('sendMessageType', int32(i), int32(MESSAGE_TYPE.READY));
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end
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end
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% Close server
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if ~coder.target('MATLAB')
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coder.ceval('closeServer');
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end
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disp('Experiment complete.');
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end
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