function main_vehicle_ids(varargin)
% 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'); |