Skip to content

Latest commit

 

History

History
25 lines (21 loc) · 1.9 KB

Run_Experiments.md

File metadata and controls

25 lines (21 loc) · 1.9 KB
Raw

Simulation

  • execute main() and choose "Simulation" as environment

CPM Lab

  • See also CPM documentation
  • MATLAB
    • Build a Config object (e.g., config) with config.environment = Environment.CpmLab
    • Run main(config, vehicle_ids = [<<active vehicle ids>>])
  • Lab Control Center
    • Set middleware period
    • Deploy without script name and with deactivated distributed deployment
    • Wait for middleware to show up (note: sometimes not all NUCs register; experiment might work anyways)
    • Start timer
    • Note: No HLC will show up as online, since we kill the process responsible for the heartbeat on the NUCs

Debug Thread Parallel Computation

Matlab Parallel Computation Toolbox doesn't support debugging. However, you can select the config by executing main.m and activate parallel computation in the UI. The scenario will be written to the disk. Afterwards, you can open a Matlab for every vehicle and execute main_distributed(i_vehicle) within each.

Troubleshooting

  • If you encounter problems like "MATLAB has experienced a low-level graphics error, and may not have drawn correctly.", close Matlab and restart again by using matlab -softwareopengl.
  • If you run into problems with the standard c++ library libstdc++ try one of the ways described here: https://de.mathworks.com/matlabcentral/answers/329796-issue-with-libstdc-so-6 . "1. Renaming the libstdc++.so.6 library file so that MATLAB cannot find it and is forced to use the system's version of the library." worked for me.
  • NUCs do not run as expected?
    • Sometimes lab software is missing on the NUCs. Make sure that the software is built on the main PC. Then execute bash autostart/lab_update.bash in the home directory of the NUC to pull the software to the NUC. Cancel when loop is running.
    • Tip: Monitor execution from NUC 1 (tail -F dev/lcc_script_logs/tmux_script.txt)