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Your function head may differ, but you must use varargin as your last parameter to pass vehicle IDs to your script. This allows you to define, for your script, which vehicle(s) it should be responsible for. Any previous parameters you define are your own 'custom' parameters and need to be specified as additional parameters in the Lab Control Centers' UI before starting your script (if you wish to start it using the UI).

function main(middleware_domain_id, varargin)
...
vehicle_ids = varargin;

Info
The parameter middleware_domain_id only exists in the eprosima branch and will not be added to the RTI Branch anymore! Don't use this parameter if you use RTI DDS. Furthermore, the examples below use the RTI DDS syntax. eProsima syntax can be found here.

In other words: If your function head looks like this

function main(some, params, varargin)

then you need to pass some, params as additional parameters in the LCC's UI (ignore the script path in the screenshot):

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middleware_domain_id, varargin)

then you need to pass some, params as additional parameters in the LCC's UI (ignore the script path in the screenshot):

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Varargin covers the vehicle IDs that your script should be responsible for. The DDS Domain ID to communicate with the Middleware only via shared memory is middleware_domain_id, its default value is 1. To be compatible with the LCC, which expects these two parameters to be available on calling your script, you should always put them as the last two parameters in your function head as specified above.

What your HLC scripts need to include

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title	Code Sample

Code Block

linenumbers	true

function main_vehicle_ids(middleware_domain_id, varargin) % middleware_domain_id only for eProsima + Matlab
	% Set the matlab domain ID for communicating with the middleware (which is always 1)
    matlabDomainID = 1;

	% Clear command window, store path of current script, go to that path
    clc
    script_directoy = fileparts([mfilename('fullpath') '.m']);
    cd(script_directoy)

    % Set the path of the init script relative to the path of your script (or absolute), assert that it exists, add it to the path so that it can be found and than call it
	% Then go back to the script directory
    init_script_path = fullfile('../', '/init_script.m');
    assert(isfile(init_script_path), 'Missing file "%s".', init_script_path);
    addpath(fileparts(init_script_path));
    [matlabParticipant, stateReader, trajectoryWriter, systemTriggerReader, readyStatusWriter, trigger_stop] = init_script(matlabDomainID);
    cd(script_directoy)

	% Remember the set vehicle IDs in a new variable
    vehicle_ids = varargin;

    %% Use a waitset for the reader of vehicle states, which is later used to indicate if a new computation should be started
	% The waitset makes sure that take() or read() from the reader's storage does not return if no new data is available (until the timeout is reached, here 10 seconds
	% so that one can still check for a stop signal regularly)
    stateReader.WaitSet = true;
    stateReader.WaitSetTimeout = 10;

    %% Do not display figures
    set(0,'DefaultFigureVisible','off');

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What your HLC scripts need to include