SPOT 4.1.0 Pre-Release.3

# Pre-Release Notes for Spacecraft Proximity Operation Software

## General Information
This is a **minor** software revision, moving from **SPOT 4.1.0 Pre-Release.2** to **SPOT 4.1.0 Pre-Release.3**. This release includes major improvements to the control mixer, simulations, and data handling. A **critical** bug identified by `Jeremy Peters` has been resolved. Users on previous pre-releases are recommended to upgrade.

## Changes
- **Change 1:** Added a check to highlight that robotic arm simulations may not work below 1000 Hz simulation rates.
- **Change 2:** Data is now handled using vectors instead of scalars, reducing memory usage. Thanks to `Jeremy Peters` for the suggestion.
- **Change 3:** Improved simulation data handling with added noise and downsampling for better realism.
- **Change 4:** Reworked control mixer for compatibility with `quadprog`, improving platform performance.
- **Change 5:** Updated for Ubuntu 22.04 compatibility, with limitations for Windows-based executables.
- **Change 6:** Fixed a major bug in the control mixer; contact [email protected] for fixes in older versions.
- **Change 7:** Renamed "custom controllers" to "default LQR" for clarity and added descriptions for custom controllers.
- **Change 8:** Added a debugger in the GUI for log message reception.
- **Change 9:** Backend fix for thruster force vector creation and GUI backend relocation.
- **Change 10:** Updated GUI color schemes for consistency.
- **Change 11:** Fixed issues processing ExpLog CSV to MAT files when vectors are used in Memory Store Blocks.
- **Change 12:** Experiment time is displayed in real-time, though not yet synchronized with Simulink diagrams.
- **Change 13:** Simplified the plotting tool for usability.
- **Change 14:** Fixed primary dataset filter checkbox functionality.
- **Change 15:** Completed computer vision tab for ZED2 camera streaming, saving, and still image capture.
- **Change 16:** Added dynamic legend option in the plotting tool.
- **Change 17:** Enabled docking cone/port face changes in GUI with limited location options.
- **Change 18:** Added a button for merging RED, BLACK, and BLUE data into a single class.
- **Change 19:** Updated `StreamData.exe` to improve velocity calculations from ground truth data.

## Known Issues
- **Issue 1:** Experiment time in the GUI does not reflect actual experiment time.
- **Issue 2:** Closing the real-time log results in a port error; restart the GUI to resolve.
- **Issue 3:** Simulation overlay during experiments remains unstable.
- **Issue 4:** First-time ZED streaming requires a GUI restart to display video in VLC.
- **Issue 5:** Terminal instances must be closed after stopping ZED camera streams.
- **Issue 6:** Animation artifacts appear under certain conditions with dock/cone locations.

Custom_Library/Resources/IdentifyPlatform/IdentifyPlatform.m

@@ -119,8 +119,8 @@ function releaseImpl(obj) %#ok<MANU>
         function header = getHeaderImpl
             header = matlab.system.display.Header('IdentifyPlatform','Title',...
                 'Determine Identity of Platform','Text',...
-                ['This code is a C++ program that retrieves the hostname of the computer running on the Jetson Xavier device. It compares the retrieved hostname with these specific strings: "spot-red", "spot-black", and "spot-blue", and returns corresponding integer identifiers.' newline newline ...
-                'The getComputerIdentifier() function takes the retrieved hostname as input and compares it with the specified strings using std::strcmp(). If a match is found, the function returns the corresponding identifier (1 for "spot-red", 2 for "spot-black", and 3 for "spot-blue"). If there is no match, the function returns 0 as the default value. ' newline newline...
+                ['This code is a C++ program that retrieves the hostname of the computer running on the Jetson Xavier device. It compares the retrieved hostname with these specific strings: "spot-red", "spot-black", "spot-blue", "spot-spare", and "spot-vision", and returns corresponding integer identifiers.' newline newline ...
+                'The getComputerIdentifier() function takes the retrieved hostname as input and compares it with the specified strings using std::strcmp(). If a match is found, the function returns the corresponding identifier (1 for "spot-red", 2 for "spot-black", 3 for "spot-blue", 4 for "spot-spare", and 5 for "spot-vision"). If there is no match, the function returns 0 as the default value. ' newline newline...
                 'In the whoAmI() function, the code retrieves the hostname using gethostname() and calls getComputerIdentifier() to obtain the identifier based on the matched hostname. The identifier is returned as an integer and is used in identifying the active platform.']);
         end
 

Custom_Library/Resources/IdentifyPlatform/src/resource_functions.cpp

@@ -11,6 +11,10 @@
             return 2;
         } else if (std::strcmp(hostname, "spot-blue") == 0) {
             return 3;
+        } else if (std::strcmp(hostname, "spot-spare") == 0) {
+            return 4;
+        } else if (std::strcmp(hostname, "spot-vision") == 0) {
+            return 5;
         } else {
             return 0;  // No match found
         }

PhaseSpace_Server/.vscode/settings.json

@@ -0,0 +1,55 @@
+{
+    "files.associations": {
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "cctype": "cpp",
+        "chrono": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "map": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "typeinfo": "cpp"
+    }
+}