...

clc
script_directoy = fileparts([mfilename('fullpath') '.m']);
cd(script_directoy)

% Initialize data readers/writers...
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)

General information

Mapping of vehicle IDs

Vehicle IDs are matched to available NUC IPs in an ascending order (IP ...211 → ID 1, IP ...215 → ID 4), depending on the vehicle IDs you have selected.

You cannot simulate more vehicles remotely than NUCs are available - each NUC is always responsible for one vehilce only. Any further vehicle is simulated on your local device.

Using IDL-Datatypes and the cpm library

The location of the cpm library is always set using LD_LIBRARY_PATH in the local terminal - you do not need to take care of this in your program, as long as you have linked the library properly in your build script.

Integrated error checking

IDL-Datatype for error checking

The following data type is used to check for NUC-crashes.

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• source_id: This field can be used to obtain the ID of the NUC that sent the message
• script_running: True if a tmux session for the script is currently running. These sessions are started on the NUC when Deploy Remote is used, after the upload has finished. Usually, when a program crashes, the tmux session is stopped as well, thus this value can be used as an indicator to check if the script crashed.
• middleware_running: True if a tmux session for the middleware is running. Similar to script_running.

Online-indicators for NUCs

The UI indicates how many NUCs are online. The UI shows you how many NUCs are currently online (matching might take up to a minute after the NUCs have been booted and your program has started.) 

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• You are using the wrong domain ID (DDS) for the LCC. If LCC and NUCs are not within the same DDS domain, they cannot discover each other. Please check which ID you need to use.
• Packages are missing on the NUCs. In this case, upload packages are missing on the main PC or the NUCs have not been set up correctly (e.g. the autostart task, see requirements)
• The NUCs or your PC are not connected to the same network
• You are not using the main Lab PC (which is recommended for remote deployment)
• The NUCs crashed

Crash checks for your programs

As soon as you actually deploy your programs, and after the scripts have been uploaded, the LCC also starts checking if their corresponding tmux sessions (middleware and script) are still running.

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