60 lines
2.0 KiB
C
60 lines
2.0 KiB
C
#ifndef CONTROLLER_IMPL_H
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#define CONTROLLER_IMPL_H
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// Server lifecycle
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void initServer();
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void acceptClient(int clientId);
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void closeServer();
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// Configuration
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int loadTargets(const char* filename, double* targets, int maxClients);
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// Scenario loading (scenario.csv)
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// Number of elements in the flat params array passed to guidance_step.
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// Indices: 0-13 scalars, 14-16 domainMin, 17-19 domainMax, 20-21 objectivePos,
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// 22-25 objectiveVar (2x2 col-major: [v11,v12,v21,v22]), 26 sensorPerformanceMinimum.
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#define NUM_SCENARIO_PARAMS 27
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// Maximum number of obstacles (upper bound for pre-allocated arrays).
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#define MAX_OBSTACLES 8
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// Load guidance parameters from scenario.csv into flat params[NUM_SCENARIO_PARAMS].
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// Returns 1 on success, 0 on failure.
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int loadScenario(const char* filename, double* params);
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// Load initial UAV positions from scenario.csv (initialPositions column).
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// targets is a column-major [maxClients x 3] array (same layout as loadTargets).
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// Returns number of positions loaded.
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int loadInitialPositions(const char* filename, double* targets, int maxClients);
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// Load obstacle bounding-box corners from scenario.csv.
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// obstacleMin and obstacleMax are column-major [maxObstacles x 3] arrays
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// (same layout convention as loadTargets / recvPositions).
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// Returns the number of obstacles loaded.
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int loadObstacles(const char* filename,
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double* obstacleMin,
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double* obstacleMax,
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int maxObstacles);
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// Binary protocol operations
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int sendMessageType(int clientId, int msgType);
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int sendTarget(int clientId, const double* coords);
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int waitForAllMessageType(int numClients, int expectedType);
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// Guidance loop operations
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void sendGuidanceToggle(int numClients);
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int sendRequestPositions(int numClients);
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int recvPositions(int numClients, double* positions, int maxClients); // column-major maxClients x 3
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void sleepMs(int ms);
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#ifdef __cplusplus
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}
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#endif
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#endif // CONTROLLER_IMPL_H
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