CPM Lab

Simulated Setup

1. Start the LCC.
2. On the right, go to the 'Setup' tab tab
3. Simulate some vehicles (e.g., vehicles 1, 4, 7, and 10).
4. In the script path, select the HLC <repo>/high_level_controller/examples/cpp/central_routing/build/central_routing  (substitute <repo>  with the path to the CPM Lab repository).
5. Click "Deploy".
6. On the right, go to the 'Timer' tab
7. Wait for the timer with the ID middleware to show up.
8. Click "Start.
9. Check that the simulation runs smoothly.
10. Click "Stop".
11. On the right, go to the 'Setup' tab
12. Click "Kill".

Physical Setup

2. Run the HLC

Physical Setup

This test is designed to test most of the lab's infrastructure, including the Indoor Positioning System, the Lab Control Center and the Trajectory Tracking Controller on the Raspberry Pi. Repeat the test above but with real vehicles. Consult the guide for doing Physical Experiments.

MATLAB with the CPM Lab

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MATLAB can be tested with an example HLC.

1. Start the LCC.
2. On the right, go to the Setup tab
3. Simulate a vehicle (e.g., vehicle 7).
4. In the MATLAB file explorer, navigate to script path, select the HLC <repo>/high_level_controller/examples/matlab/01_direct_control  (substitute <repo>  with the path to the CPM Lab repository).
5. In the LCC, simulate only vehicle 1.
6. Follow this guide to start the HLC (with the command main(1))Run the HLC