Import data to app during simulation

Hi,

I'm currently trying to control an robot using a matlab app controlling my simulink simulation.

For implementing the inverse kinematics I want to get the current rotation of the joints into my app. But when I try to use toWorkspace I can't access it via "evalin" or searching for it using "who".

So far I tried tons of approaches but nothing works and it starts making no sense to me.

Does anybody here have any experince in exporting live data from simulink into an app?

Here's the problematic part of my simulation/ code.

Thanks in advance! :)

function GOButtonLPushed(app, event)
            % Get the values directly from the edit fields
            lGoalX = app.rArmGoalXEditField.Value;
            lGoalY = app.rArmGoalYEditField.Value;
            lGoalZ = app.rArmGoalZEditField.Value;
            lGoalXD = 0;
            lGoalYD = 0;
            lGoalZD = 0;
            % Set the values in Simulink
            set_param("base_kin/lArm/lGoalX", "value", num2str(lGoalX));
            set_param("base_kin/lArm/lGoalY", "value", num2str(lGoalY));
            set_param("base_kin/lArm/lGoalZ", "value", num2str(lGoalZ));
            set_param("base_kin/lArm/lGoalXD", "value", num2str(lGoalXD));
            set_param("base_kin/lArm/lGoalYD", "value", num2str(lGoalYD));
            set_param("base_kin/lArm/lGoalZD", "value", num2str(lGoalZD));
            %l
            for i = 1:7
                value = evalin('base', ['out.olJ', num2str(i)]);
                disp(value)
                lastValue = value.Data(end);
                set_param(['base_kin/lArm/lJ', num2str(i)], 'value', num2str(lastValue));
            end
            
            %r
            for i = 1:7
                logsout = evalin('base', 'rJ'+num2str(i));
                signalData = logsout.get(['rJ', num2str(i)]);
                lastValue = signalData.Data(end);  % Last value in the data array
                set_param(['base_kin/rArm/rJ', num2str(i)], 'value', num2str(lastValue));
            end
        end

[Walter Roberson]

Could you confirm that you are invoking sim() in a loop, each time advancing the StopTime parameter? "Logged data is written to the workspace when the simulation pauses or stops."

[Julian]

Currently I'm not calling sim each time. Wouldn't the simulation be extremly laggy if I started and stopped it constantly? As far as my research went it should be possible to get the data during the simulation aswell.

Do you know of any different approach to get live data into the app? :)

Answer 1

[Walter Roberson]

To Workspace only updates when the simulation pauses or stops.

There are no blocks that will update variables in the workspace at run time.

What you can do is to use a MATLAB Function Block to assignin('base').