260 lines
9.5 KiB
Matlab
260 lines
9.5 KiB
Matlab
function [f, fDist, R] = plotRadioLogs(resultsPath, G, tLim)
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arguments (Input)
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resultsPath (1, 1) string;
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G cell = {};
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tLim (1, 2) datetime = [datetime(-Inf, 'ConvertFrom', 'datenum'), datetime(Inf, 'ConvertFrom', 'datenum')];
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end
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arguments (Output)
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f (1, 1) matlab.ui.Figure;
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fDist (1, 1) matlab.ui.Figure;
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R cell;
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end
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logDirs = dir(resultsPath);
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logDirs = logDirs(3:end);
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logDirs = logDirs([logDirs.isdir] == 1);
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R = cell(size(logDirs));
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for ii = 1:size(logDirs, 1)
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R{ii} = readRadioLogs(fullfile(logDirs(ii).folder, logDirs(ii).name));
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end
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% Discard rows where any non-NaN dB metric is below -200 (sentinel values)
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for ii = 1:numel(R)
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snr = R{ii}.SNR;
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pwr = R{ii}.Power;
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bad = (snr < -200 & ~isnan(snr)) | (pwr < -200 & ~isnan(pwr));
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R{ii}(bad, :) = [];
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end
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% Compute path loss from Power (post-processing)
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% Power = 20*log10(peak_mag) - rxGain; path loss = txGain - rxGain - Power
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txGain_dB = 76; % from startchannelsounderTXGRC.sh GAIN_TX
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rxGain_dB = 30; % from startchannelsounderRXGRC.sh GAIN_RX
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for ii = 1:numel(R)
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R{ii}.PathLoss = txGain_dB - rxGain_dB - R{ii}.Power;
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R{ii}.FreqOffset = R{ii}.FreqOffset / 1e6; % Hz to MHz
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end
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% Build legend labels and color map for up to 4 UAVs
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nUAV = numel(R);
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colors = lines(nUAV * nUAV);
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styles = ["-o", "-s", "-^", "-d", "-v", "-p", "-h", "-<", "->", "-+", "-x", "-*"];
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metricNames = ["SNR", "Power", "Quality", "PathLoss", "NoiseFloor", "FreqOffset"];
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yLabels = ["SNR (dB)", "Power (dB)", "Quality", "Path Loss (dB)", "Noise Floor (dB)", "Freq Offset (MHz)"];
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nMetrics = numel(metricNames);
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% --- Time-based figure ---
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f = figure;
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tl = tiledlayout(nMetrics + 1, 1, 'TileSpacing', 'compact', 'Padding', 'compact');
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% Distance vs time tile (first)
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ax = nexttile(tl);
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hold(ax, 'on'); grid(ax, 'on');
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legendEntries = string.empty;
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ci = 1;
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if ~isempty(G)
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for rxIdx = 1:nUAV
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tbl = R{rxIdx};
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txIDs = unique(tbl.TxUAVID);
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for ti = 1:numel(txIDs)
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txID = txIDs(ti);
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rows = tbl(tbl.TxUAVID == txID, :);
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rows = rows(rows.Timestamp >= tLim(1) & rows.Timestamp <= tLim(2), :);
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if isempty(rows), continue; end
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[~, ia] = unique(rows.Timestamp);
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[radioPt, dist] = pairDist(rows(ia, :), G);
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if isempty(dist) || all(isnan(dist)), continue; end
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valid = ~isnan(dist);
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si = mod(ci - 1, numel(styles)) + 1;
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plot(ax, datetime(radioPt(valid), 'ConvertFrom', 'posixtime'), dist(valid), ...
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styles(si), 'Color', colors(ci, :), 'MarkerSize', 3, 'LineWidth', 0.5);
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legendEntries(end+1) = sprintf("TX %d → RX %d", txID, rows.RxUAVID(1)); %#ok<AGROW>
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ci = ci + 1;
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end
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end
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end
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ylabel(ax, 'Distance (m)');
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xlabel(ax, 'Time');
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legend(ax, legendEntries, 'Location', 'best');
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hold(ax, 'off');
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for mi = 1:nMetrics
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ax = nexttile(tl);
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hold(ax, 'on');
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grid(ax, 'on');
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legendEntries = string.empty;
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ci = 1;
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for rxIdx = 1:nUAV
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tbl = R{rxIdx};
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txIDs = unique(tbl.TxUAVID);
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for ti = 1:numel(txIDs)
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txID = txIDs(ti);
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rows = tbl(tbl.TxUAVID == txID, :);
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rows = rows(rows.Timestamp >= tLim(1) & rows.Timestamp <= tLim(2), :);
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vals = rows.(metricNames(mi));
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valid = ~isnan(vals);
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rows = rows(valid, :);
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vals = vals(valid);
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if isempty(rows)
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continue;
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end
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si = mod(ci - 1, numel(styles)) + 1;
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plot(ax, rows.Timestamp, vals, styles(si), ...
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'Color', colors(ci, :), 'MarkerSize', 3, 'LineWidth', 0.5);
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legendEntries(end+1) = sprintf("TX %d → RX %d", txID, tbl.RxUAVID(1)); %#ok<AGROW>
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% Median per 1/3-second time bin
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[t_med, v_med] = timeBinMedian(posixtime(rows.Timestamp), vals, 1/3);
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plot(ax, datetime(t_med, 'ConvertFrom', 'posixtime'), v_med, '-', ...
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'Color', 'r', 'LineWidth', 2);
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legendEntries(end+1) = sprintf("TX %d → RX %d (median)", txID, tbl.RxUAVID(1)); %#ok<AGROW>
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ci = ci + 1;
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end
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end
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ylabel(ax, yLabels(mi));
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if mi == nMetrics
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xlabel(ax, 'Time');
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end
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legend(ax, legendEntries, 'Location', 'best');
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hold(ax, 'off');
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end
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title(tl, 'Radio Channel Metrics');
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% --- Distance-based figure ---
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fDist = figure;
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if isempty(G)
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return;
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end
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tl2 = tiledlayout(nMetrics + 1, 1, 'TileSpacing', 'compact', 'Padding', 'compact');
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% Distance vs time tile (first)
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ax = nexttile(tl2);
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hold(ax, 'on'); grid(ax, 'on');
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legendEntries = string.empty;
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ci = 1;
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for rxIdx = 1:nUAV
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tbl = R{rxIdx};
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txIDs = unique(tbl.TxUAVID);
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for ti = 1:numel(txIDs)
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txID = txIDs(ti);
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rows = tbl(tbl.TxUAVID == txID, :);
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rows = rows(rows.Timestamp >= tLim(1) & rows.Timestamp <= tLim(2), :);
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if isempty(rows), continue; end
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[~, ia] = unique(rows.Timestamp);
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[radioPt, dist] = pairDist(rows(ia, :), G);
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if isempty(dist) || all(isnan(dist)), continue; end
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valid = ~isnan(dist);
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si = mod(ci - 1, numel(styles)) + 1;
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plot(ax, datetime(radioPt(valid), 'ConvertFrom', 'posixtime'), dist(valid), ...
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styles(si), 'Color', colors(ci, :), 'MarkerSize', 3, 'LineWidth', 0.5);
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legendEntries(end+1) = sprintf("TX %d → RX %d", txID, rows.RxUAVID(1)); %#ok<AGROW>
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ci = ci + 1;
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end
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end
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ylabel(ax, 'Distance (m)');
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xlabel(ax, 'Time');
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legend(ax, legendEntries, 'Location', 'best');
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hold(ax, 'off');
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for mi = 1:nMetrics
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ax = nexttile(tl2);
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hold(ax, 'on');
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grid(ax, 'on');
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legendEntries = string.empty;
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ci = 1;
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for rxIdx = 1:nUAV
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tbl = R{rxIdx};
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txIDs = unique(tbl.TxUAVID);
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for ti = 1:numel(txIDs)
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txID = txIDs(ti);
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rows = tbl(tbl.TxUAVID == txID, :);
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if isempty(rows)
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continue;
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end
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rows = rows(rows.Timestamp >= tLim(1) & rows.Timestamp <= tLim(2), :);
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if isempty(rows)
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continue;
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end
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vals = rows.(metricNames(mi));
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valid = ~isnan(vals);
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rows = rows(valid, :);
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vals = vals(valid);
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if isempty(rows)
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continue;
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end
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[radioPt, dist] = pairDist(rows, G);
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if isempty(dist) || all(isnan(dist)), continue; end
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% Drop points where GPS interpolation returned NaN
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validDist = ~isnan(dist);
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rowTs = radioPt(validDist);
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dist = dist(validDist);
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vals = vals(validDist);
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si = mod(ci - 1, numel(styles)) + 1;
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scatter(ax, dist, vals, 9, colors(ci, :), strrep(styles(si), "-", ""), 'filled');
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legendEntries(end+1) = sprintf("TX %d → RX %d", txID, rows.RxUAVID(1)); %#ok<AGROW>
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% Median per 1/3-second time bin, plotted against median distance
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[~, dv_med] = timeBinMedian(rowTs, [dist, vals], 1/3);
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[d_med, si_sort] = sort(dv_med(:, 1));
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v_med = dv_med(si_sort, 2);
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plot(ax, d_med, v_med, '-', 'Color', 'r', 'LineWidth', 2);
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legendEntries(end+1) = sprintf("TX %d → RX %d (median)", txID, rows.RxUAVID(1)); %#ok<AGROW>
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ci = ci + 1;
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end
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end
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ylabel(ax, yLabels(mi));
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if mi == nMetrics
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xlabel(ax, 'Distance (m)');
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end
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legend(ax, legendEntries, 'Location', 'best');
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hold(ax, 'off');
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end
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title(tl2, 'Radio Channel Metrics vs Distance');
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end
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function [radioPt, dist] = pairDist(rows, G)
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% Interpolate GPS-based inter-UAV distance at each row's timestamp.
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radioPt = []; dist = [];
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txGpsIdx = double(rows.TxUAVID(1)) + 1;
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rxGpsIdx = double(rows.RxUAVID(1)) + 1;
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if txGpsIdx > numel(G) || rxGpsIdx > numel(G), return; end
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Gtx = G{txGpsIdx};
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Grx = G{rxGpsIdx};
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if ~ismember('East', Gtx.Properties.VariableNames) || ...
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~ismember('East', Grx.Properties.VariableNames), return; end
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txTs = Gtx.Timestamp; txTs.TimeZone = '';
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rxTs = Grx.Timestamp; rxTs.TimeZone = '';
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txPt = posixtime(txTs);
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rxPt = posixtime(rxTs);
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radioPt = posixtime(rows.Timestamp);
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validTx = ~isnan(Gtx.East);
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validRx = ~isnan(Grx.East);
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txE = interp1(txPt(validTx), Gtx.East(validTx), radioPt, 'linear', NaN);
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txN = interp1(txPt(validTx), Gtx.North(validTx), radioPt, 'linear', NaN);
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txU = interp1(txPt(validTx), Gtx.Up(validTx), radioPt, 'linear', NaN);
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rxE = interp1(rxPt(validRx), Grx.East(validRx), radioPt, 'linear', NaN);
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rxN = interp1(rxPt(validRx), Grx.North(validRx), radioPt, 'linear', NaN);
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rxU = interp1(rxPt(validRx), Grx.Up(validRx), radioPt, 'linear', NaN);
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dist = vecnorm([txE - rxE, txN - rxN, txU - rxU], 2, 2);
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end
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