Add skeletal logic for multi-UAV simulation

.gitignore

@@ -1,47 +1 @@
-# Windows image file caches
-Thumbs.db
-ehthumbs.db
-
-# Folder config file
-Desktop.ini
-
-# Recycle Bin used on file shares
-$RECYCLE.BIN/
-
-# Windows Installer files
-*.cab
-*.msi
-*.msm
-*.msp
-
-# Windows shortcuts
-*.lnk
-
-# =========================
-# Operating System Files
-# =========================
-
-# OSX
-# =========================
-
-.DS_Store
-.AppleDouble
-.LSOverride
-
-# Thumbnails
-._*
-
-# Files that might appear in the root of a volume
-.DocumentRevisions-V100
-.fseventsd
-.Spotlight-V100
-.TemporaryItems
-.Trashes
-.VolumeIcon.icns
-
-# Directories potentially created on remote AFP share
-.AppleDB
-.AppleDesktop
-Network Trash Folder
-Temporary Items
-.apdisk
+*.asv

UavBody.m

@@ -53,6 +53,10 @@ function setTurnRate(uavBody, newTurnRate)
         function conc = sensorReading(uavBody, cloud, t)
             conc = cloudsamp(cloud, uavBody.pos(1), uavBody.pos(2), t);
         end
+
+        function plot(uavBody)
+            plot(uavBody.pos(1),uavBody.pos(2),'o');
+        end
     end
 
 end

UavBrain.m

@@ -23,7 +23,7 @@
             uavBrain.conc = 0;
         end
 
-        function decisionStep(uavBrain, cloud, t, dt)
+        function decisionStep(uavBrain, cloud, t, dt, messages)
             switch uavBrain.currentState
                 case UavState.CalibrationState
                     nextState = calibration(uavBrain, cloud, t, dt);
@@ -43,6 +43,14 @@ function decisionStep(uavBrain, cloud, t, dt)
                                        (uavBrain.nextTurnRate * uavBrain.nextVelocity * dt));
         end
 
+        function message = getMessage(uavBrain)
+            message = zeros(1,4);
+            message(1) = uavBrain.posEstimate(1);
+            message(2) = uavBrain.posEstimate(2);
+            message(3) = uavBrain.bearingEstimate;
+            message(4) = uavBrain.conc;
+        end
+
         function nextState = calibration(uavBrain, cloud, t, dt)
             % Update bearing estimate
             newPosEstimate = uavBrain.uavBody.getGpsPos();

sim_start.m

@@ -14,44 +14,57 @@
 t = 0;
 dt = 1.0;
 
-uavBody = UavBody;
-uavBrain = UavBrain(uavBody);
+% number of UAVs
+num = 1;
+
+uavBodies(num,1) = UavBody();
+uavBrains = UavBrain.empty(num,0);
+for i = 1:num
+    uavBrains(i) = UavBrain(uavBodies(i));
+end
+
+% i-th message is sent from the i-th uav, and is formatted as:
+% [x y bearing concentration]
+if dt ~= 1.0
+    error(['Message logic has not been set to deal with timesteps '...
+           'other than 1.0']);
+end
+uavMessages = zeros(num,4);
 
 % open new figure window
 figure
 hold on % so each plot doesn't wipte the predecessor
 
 % main simulation loop
 for kk=1:1000,
-
+    %% Decision step
     % Make decisions from time [t -> t + dt]
-    uavBrain.decisionStep(cloud, t, dt);
+    for i = 1:num
+        uavBrains(i).decisionStep(cloud, t, dt, uavMessages);
+    end
 
+    %% Physical timestep
     % Timestep [t -> t + dt]
     t = t + dt;
-    uavBody.move(dt);
+    for i = 1:num
+        uavBodies(i).move(dt);
+        uavMessages(i,:) = uavBrains(i).getMessage();
+    end
 
-
-    % Get measurements for display
-    p = uavBody.sensorReading(cloud, t);
-    x = uavBody.pos;
-    y = uavBrain.targetPos;
-    b = uavBrain.bearingEstimate;
+    %% Display
 
     % clear the axes for fresh plotting
     cla
-
     % put information in the title
-    title(sprintf('t=%.1f secs pos=(%.1f, %.1f)  Concentration=%.2f  estHead=%.2f',t, x(1),x(2),p,b))
-
+    title(sprintf('t=%.1f secs',t))
     % plot robot location
-    plot(x(1),x(2),'o')
-    plot(y(1),y(2),'x')
-
+    for i = 1:num
+        uavBodies(i).plot();
+    end
     % plot the cloud contours
     cloudplot(cloud,t)
 
     % pause ensures that the plots update
     pause(0.1)
 
-end
+end