一、简介
多无人协同任务分配程序仿真平台
二、源代码
unction GUIMultiUAV(action,Input)
%GUIMultiUAV - function builds the GUI and contains the callback function for it
%
% Inputs:
% (none)
% Outputs:
% (none)
%
% AFRL/VACA
% September 2000 - Created and Debugged - RAS
global g_Debug;
if(~exist('g_Debug')),g_Debug=0;end;
if(g_Debug==1),disp('GUIMultiUAV.m');end;
global g_isMonteCarloStop;
global g_isMonteCarloRun;
global g_OneTimeInitialization;
global g_CommunicationMemory;
if nargin <1,
action = 'DrawFigure';
end
% add button names, callback function names and button colors to the following cell array to add buttons to the GUI
ButtonsStrings = {
{'Xtreme Reinitilization'},{['XtremeReinitialize;']},{['[1.0 1.0 0.0]']}
{'Run Simulation'},{['GUIMultiUAV(''RunSimulation'');']},{['[0.4 0.6 0.4]']}
{'Run MonteCarlo'},{['GUIMultiUAV(''RunMonteCarlo'');']},{['[0.4 0.6 0.4]']}
{'Stop MonteCarlo'},{['GUIMultiUAV(''StopMonteCarlo'');']},{['[0.6 0.4 0.4]']}
{'Plot Vehicle Trajectories'},{['GUIMultiUAV(''PlotResults'');']},{['[0.6 0.6 0.4]']}
{'Print Simulation Settings'},{['PrintSimulationSettings']},{['[0.6 0.6 0.4]']}
{'Plot Comm Avg Data Rate'},{['GUIMultiUAV(''CommPlot'');']},{['[0.6 0.6 0.4]']}
{'Save AVDS Data'},{['GUIMultiUAV(''SaveAVDSData'')']},{['[0.6 0.6 0.4]']}
{'Edit Globals'},{['GUIMultiUAV(''EditInitializeGlobals'');']},{['[0.4 0.6 0.6]']}
{'Edit MonteCarlo'},{['GUIMultiUAV(''EditMonteCarlo'');']},{['[0.4 0.6 0.6]']}
{'Edit Simulation Functions'},{['GUIMultiUAV(''EditSimulationFunctions'');']},{['[0.4 0.6 0.6]']}
{'Edit Create Structure'},{['GUIMultiUAV(''EditCreateStructure'');']},{['[0.4 0.6 0.6]']}
{'Edit GUI'},{['GUIMultiUAV(''EditGUI'');']},{['[0.4 0.6 0.6]']}
{'Run VehicleTest'},{['GUIMultiUAV(''RunVehicleTest'');']},{['[0.4 0.6 0.4]']}
{'Open MultiUAV Main (Simulink)'},{['GUIMultiUAV(''OpenMultiUAV'');']},{['[0.5 0.4 0.6]']}
{'Open MultiUAV Library (Simulink)'},{['GUIMultiUAV(''OpenCooperativeLib'');']},{['[0.5 0.4 0.6]']}
};
for(CountMessages=1:g_CommunicationMemory.NumberMessages),
ButtonsStrings{end+1,1} = {['Messages: ' g_CommunicationMemory.Messages{CountMessages}.Title]};
MessageNumberString = num2str(CountMessages);
ButtonsStrings{end,2} = {['GUIMultiUAV(''ShowMessage'',',MessageNumberString,');']};
ButtonsStrings{end,3} = {['[0.8 0.7 0.5]']};
end; %for(CountMessages=1:g_CommunicationMemory.NumberMessages)
%add some blank buttons for spacing
%ButtonsStrings{end+1,1} = {''}; ButtonsStrings{end,2} = {['']}; ButtonsStrings{end,3} = {['[0.7 0.7 0.7]']};
% moved def here for convenience with adding blank buttons
ButtonsPerColumn = 14;
switch action
case 'ShowMessage',
if(~isempty(g_CommunicationMemory.Messages{Input}.Data)),
fprintf(strcat(g_CommunicationMemory.Messages{Input}.Title,' = \n'));
disp(g_CommunicationMemory.Messages{Input}.Data(:,find(g_CommunicationMemory.Messages{Input}.Data(1,:)~=0)));
else,
fprintf('****** No Messages ******\n');
end;
case 'PlotResults',
PlotOutput('PlotData',0);
case 'CommPlot',
CommPlot(0);
case 'RunSimulation',
g_isMonteCarloRun=0;
[t,x,y] = sim('MultiUAV');%运行simulink
case 'RunVehicleTest',
[t,x,y] = sim('VehicleTest');
case 'SaveAVDSData',
SaveAVDSData;
case 'EditInitializeGlobals',
local_edit('InitializeGlobals.m');
case 'EditCreateStructure',
local_edit('CreateStructure.m');
case 'EditMonteCarlo',
local_edit('MonteCarloRuns.m');
case 'RunMonteCarlo',
disp(sprintf('\n'));
disp('Luke: All right, I''ll give it a try.');
disp('Yoda: No. Try not. Do, or do not. *shakes head* There is no ''try''.');
disp('Luke: I don''t believe it!');
disp('Yoda: That is why you fail.');
disp(sprintf(['Robot Us(es):\n\tEnable by uncommenting ''MonteCarloRuns;''' ...
' under ''case RunMonteCarlo''\n\tin GUIMultiUAV.m.']));
%MonteCarloRuns;
case 'StopMonteCarlo',
disp('**************************************************************************************************')
disp('*********** Monte Carlo simulation will stop at the end of the current simulation run. ***********')
disp('**************************************************************************************************')
g_isMonteCarloStop = 1;
case 'EditSimulationFunctions',
local_edit('SimulationFunctions.m');
case 'OpenMultiUAV',
open 'MultiUAV.mdl';
case 'OpenCooperativeLib',
open 'cooperative.mdl';
case 'EditGUI',
local_edit('GUIMultiUAV.m');
case 'DrawFigure',
[NumberButtons,dummy]=size(ButtonsStrings);
NumberColumns = fix((NumberButtons-1)/ButtonsPerColumn) + 1;
ButtonWidth = 1/NumberColumns;
if(NumberButtons > ButtonsPerColumn),
ButtonHeight = 1/ButtonsPerColumn;
else,
ButtonHeight = 1/NumberButtons;
end;
GUIHeightIncrement = 0.025;
GUIWidthIncrement = 0.15;
if(NumberButtons > ButtonsPerColumn),
GUIHeight = GUIHeightIncrement * ButtonsPerColumn;
else,
GUIHeight = GUIHeightIncrement * NumberButtons;
end;
GUIWidth = GUIWidthIncrement * NumberColumns;
GUIPositionX = 0;
GUIPositionY = 1 - (GUIHeight + GUIHeightIncrement);
h0 = figure(32);
clf;
set(h0,'Color',[0.8 0.8 0.8], ...
'Name','MultiUAV Simulation', ...
'Units','normalized', ...
'Position', [GUIPositionX GUIPositionY GUIWidth GUIHeight], ...
'Tag','MultiUAVFig', ...
'NumberTitle','off', ...
'MenuBar','none', ...
'ToolBar','none', ...
'DefaultaxesCreateFcn','plotedit(gcbf,''promoteoverlay''); ');
ButtonPositionX = 0;
ButtonPositionY = 1 - ButtonHeight;
CountColumnButtons = 1;
for(CountButtons = 1:NumberButtons),
h=uicontrol('Style', 'pushbutton', ...
'Units','normalized', ...
'Position', [ButtonPositionX ButtonPositionY ButtonWidth ButtonHeight], ...
'String', ButtonsStrings{CountButtons,1},...
'Callback',char(ButtonsStrings{CountButtons,2}), ...
'BackgroundColor',str2num(char(ButtonsStrings{CountButtons,3})) ...
);
if(CountColumnButtons >= ButtonsPerColumn),
CountColumnButtons = 1;
ButtonPositionY = 1 - ButtonHeight;
ButtonPositionX = ButtonPositionX + ButtonWidth;
else,
ButtonPositionY = ButtonPositionY - ButtonHeight;
CountColumnButtons = CountColumnButtons + 1;
end;
end; %for(CountButtons = 1:NumberButtons),
end
三、运行结果
四、备注
2014a
