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Radu C. Martin 2021-06-01 20:46:48 +02:00
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commit 344bb9f8e4
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{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"id": "73e650e9-ebe9-4ea4-9eb6-8ea978cf25fa",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"/home/radu/Projects/Master-Project/Simulink\n"
]
}
],
"source": [
"cd ../Simulink"
]
},
{
"cell_type": "code",
"execution_count": 2,
"id": "4fc6f955-8ece-4796-9479-275515ecfef3",
"metadata": {},
"outputs": [],
"source": [
"import matlab.engine"
]
},
{
"cell_type": "code",
"execution_count": 3,
"id": "c13d599d-9b97-4178-876c-f40418cae602",
"metadata": {},
"outputs": [],
"source": [
"import matplotlib.pyplot as plt"
]
},
{
"cell_type": "code",
"execution_count": 23,
"id": "df5fd736-702f-420e-94e1-885e4c1d3f0c",
"metadata": {},
"outputs": [],
"source": [
"class SimulinkPlant:\n",
" def __init__(self,modelName = 'plant'):\n",
" \n",
" self.modelName = modelName #The name of the Simulink Model (To be placed in the same directory as the Python Code) \n",
" #Logging the variables\n",
" self.yHist = 0 \n",
" self.tHist = 0 \n",
" \n",
" def setControlAction(self,u):\n",
" #Helper Function to set value of control action\n",
" self.eng.set_param('{}/u'.format(self.modelName),'value',str(u),nargout=0)\n",
" \n",
" def getHistory(self):\n",
" #Helper Function to get Plant Output and Time History\n",
" return self.eng.eval('out.y'),self.eng.workspace['tout']\n",
" \n",
" def connectToMatlab(self):\n",
" \n",
" print(\"Starting matlab\")\n",
" self.eng = matlab.engine.start_matlab()\n",
" \n",
" print(\"Connected to Matlab\")\n",
" \n",
" #Load the model\n",
" self.eng.eval(\"model = '{}'\".format(self.modelName),nargout=0)\n",
" self.eng.eval(\"load_system(model)\",nargout=0)\n",
" \n",
" #Initialize Control Action to 0\n",
" self.setControlAction(0)\n",
" print(\"Initialized Model\")\n",
" \n",
" #Start Simulation and then Instantly pause\n",
" self.eng.set_param(self.modelName,'SimulationCommand','start','SimulationCommand','pause',nargout=0)\n",
" self.yHist,self.tHist = self.getHistory()\n",
" \n",
" def connectController(self,controller):\n",
" self.controller = controller\n",
" self.controller.initialize()\n",
" \n",
" def simulate(self):\n",
" # Control Loop\n",
" while(self.eng.get_param(self.modelName,'SimulationStatus') != ('stopped' or 'terminating')):\n",
" \n",
" #Generate the Control action based on the past outputs\n",
" u = self.controller.getControlEffort(self.yHist,self.tHist)\n",
" \n",
" #Set that Control Action\n",
" self.setControlAction(u)\n",
" \n",
" #Pause the Simulation for each timestep\n",
" self.eng.set_param(self.modelName,'SimulationCommand','continue','SimulationCommand','pause',nargout=0)\n",
" \n",
" self.yHist,self.tHist = self.getHistory()\n",
" \n",
" def disconnect(self):\n",
" self.eng.set_param(self.modelName,'SimulationCommand','stop',nargout=0)\n",
" self.eng.quit()"
]
},
{
"cell_type": "code",
"execution_count": 24,
"id": "5822db6e-2a7a-41b9-b684-b05804c74406",
"metadata": {},
"outputs": [],
"source": [
"class PIController:\n",
" def __init__(self):\n",
" \n",
" #Maintain a History of Variables\n",
" self.yHist = []\n",
" self.tHist = []\n",
" self.uHist = []\n",
" self.eSum = 0\n",
" \n",
" def initialize(self):\n",
" \n",
" #Initialize the graph\n",
" self.fig, = plt.plot(self.tHist,self.yHist)\n",
" plt.xlim(0,10)\n",
" plt.ylim(0,20)\n",
" plt.ylabel(\"Plant Output\")\n",
" plt.xlabel(\"Time(s)\")\n",
" plt.title(\"Plant Response\")\n",
" \n",
" def updateGraph(self):\n",
" # Update the Graph\n",
" self.fig.set_xdata(self.tHist)\n",
" self.fig.set_ydata(self.yHist)\n",
" plt.pause(0.1)\n",
" plt.show()\n",
" \n",
" \n",
" \n",
" def getControlEffort(self,yHist,tHist):\n",
" \n",
" # Returns control action based on past outputs\n",
" \n",
" self.yHist = yHist\n",
" self.tHist = tHist\n",
" \n",
" self.updateGraph()\n",
" \n",
" \n",
" \n",
" if(type(self.yHist) == float):\n",
" y = self.yHist\n",
" else:\n",
" y = self.yHist[-1][0]\n",
" \n",
" # Set Point is 10\n",
" e = 10-y\n",
" \n",
" self.eSum += e\n",
" u = 1*e + 0.001*self.eSum\n",
" \n",
" print(y)\n",
" self.uHist.append(u)\n",
" return u"
]
},
{
"cell_type": "code",
"execution_count": 25,
"id": "bac4afc7-4cfd-4d58-9563-d60a022c02a6",
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Starting matlab\n",
"Connected to Matlab\n",
"Initialized Model\n"
]
},
{
"ename": "MatlabExecutionError",
"evalue": "\n File /opt/tmw/MATLAB-r2020b/toolbox/matlab/external/engines/engine_api/+matlab/+internal/+engine/getVariable.m, line 27, in getVariable\nUndefined variable 'tout'.\n",
"output_type": "error",
"traceback": [
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[0;31mMatlabExecutionError\u001b[0m Traceback (most recent call last)",
"\u001b[0;32m<ipython-input-25-f6fdbeb35af3>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[0mplant\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mSimulinkPlant\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mmodelName\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m\"polydome_python\"\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 2\u001b[0m \u001b[0;31m#Establishes a Connection\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 3\u001b[0;31m \u001b[0mplant\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mconnectToMatlab\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 4\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[0;31m#Instantiates the controller\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
"\u001b[0;32m<ipython-input-23-3a9dacf5f0ab>\u001b[0m in \u001b[0;36mconnectToMatlab\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m 32\u001b[0m \u001b[0;31m#Start Simulation and then Instantly pause\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 33\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meng\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mset_param\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmodelName\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m'SimulationCommand'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m'start'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m'SimulationCommand'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m'pause'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mnargout\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 34\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0myHist\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtHist\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetHistory\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 35\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 36\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mconnectController\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mcontroller\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
"\u001b[0;32m<ipython-input-23-3a9dacf5f0ab>\u001b[0m in \u001b[0;36mgetHistory\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m 13\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mgetHistory\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 14\u001b[0m \u001b[0;31m#Helper Function to get Plant Output and Time History\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 15\u001b[0;31m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meng\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meval\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'out.y'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meng\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mworkspace\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m'tout'\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 16\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 17\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mconnectToMatlab\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/matlabengine.py\u001b[0m in \u001b[0;36m__getitem__\u001b[0;34m(self, attr)\u001b[0m\n\u001b[1;32m 118\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__validate_identity\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mattr\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 119\u001b[0m \u001b[0m_method\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mMatlabFunc\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_engine\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m\"matlab.internal.engine.getVariable\"\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 120\u001b[0;31m \u001b[0mfuture\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0m_method\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mattr\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 121\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mfuture\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 122\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/matlabengine.py\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m 68\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mFutureResult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_engine\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mfuture\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mnargs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0m_stdout\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0m_stderr\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mfeval\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 69\u001b[0m \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 70\u001b[0;31m return FutureResult(self._engine(), future, nargs, _stdout,\n\u001b[0m\u001b[1;32m 71\u001b[0m _stderr, feval=True).result()\n\u001b[1;32m 72\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/futureresult.py\u001b[0m in \u001b[0;36mresult\u001b[0;34m(self, timeout)\u001b[0m\n\u001b[1;32m 65\u001b[0m \u001b[0;32mraise\u001b[0m \u001b[0mTypeError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetMessage\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'TimeoutCannotBeNegative'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 66\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 67\u001b[0;31m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__future\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mresult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtimeout\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 68\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 69\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mcancel\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/fevalfuture.py\u001b[0m in \u001b[0;36mresult\u001b[0;34m(self, timeout)\u001b[0m\n\u001b[1;32m 80\u001b[0m \u001b[0;32mraise\u001b[0m \u001b[0mTimeoutError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetMessage\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'MatlabFunctionTimeout'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 81\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 82\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_result\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetFEvalResult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_future\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_nargout\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mout\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_out\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0merr\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_err\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 83\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_retrieved\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;32mTrue\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 84\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_result\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
"\u001b[0;31mMatlabExecutionError\u001b[0m: \n File /opt/tmw/MATLAB-r2020b/toolbox/matlab/external/engines/engine_api/+matlab/+internal/+engine/getVariable.m, line 27, in getVariable\nUndefined variable 'tout'.\n"
]
}
],
"source": [
"plant = SimulinkPlant(modelName=\"polydome_python\")\n",
"#Establishes a Connection\n",
"plant.connectToMatlab()\n",
"\n",
"#Instantiates the controller\n",
"controller = PIController()\n",
"plant.connectController(controller)\n",
"\n",
"#Control Loop\n",
"plant.simulate()\n",
"\n",
"#Closes Connection to MATLAB\n",
"plant.disconnect()"
]
},
{
"cell_type": "code",
"execution_count": 28,
"id": "478001a0-5e15-405e-9b91-1761ef137f4a",
"metadata": {},
"outputs": [
{
"ename": "MatlabExecutionError",
"evalue": "Attempt to execute SCRIPT ans as a function:\n/opt/tmw/MATLAB-r2020b/toolbox/matlab/lang/ans.m\n",
"output_type": "error",
"traceback": [
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[0;31mMatlabExecutionError\u001b[0m Traceback (most recent call last)",
"\u001b[0;32m<ipython-input-28-03a3d9f7ade5>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mplant\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meng\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meval\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'ans'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/matlabengine.py\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, *args, **kwargs)\u001b[0m\n\u001b[1;32m 68\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mFutureResult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_engine\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mfuture\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mnargs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0m_stdout\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0m_stderr\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mfeval\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 69\u001b[0m \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 70\u001b[0;31m return FutureResult(self._engine(), future, nargs, _stdout,\n\u001b[0m\u001b[1;32m 71\u001b[0m _stderr, feval=True).result()\n\u001b[1;32m 72\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/futureresult.py\u001b[0m in \u001b[0;36mresult\u001b[0;34m(self, timeout)\u001b[0m\n\u001b[1;32m 65\u001b[0m \u001b[0;32mraise\u001b[0m \u001b[0mTypeError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetMessage\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'TimeoutCannotBeNegative'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 66\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 67\u001b[0;31m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m__future\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mresult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtimeout\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 68\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 69\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mcancel\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
"\u001b[0;32m/usr/lib/python3.9/site-packages/matlab/engine/fevalfuture.py\u001b[0m in \u001b[0;36mresult\u001b[0;34m(self, timeout)\u001b[0m\n\u001b[1;32m 80\u001b[0m \u001b[0;32mraise\u001b[0m \u001b[0mTimeoutError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetMessage\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'MatlabFunctionTimeout'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 81\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 82\u001b[0;31m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_result\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mpythonengine\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetFEvalResult\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_future\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_nargout\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mout\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_out\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0merr\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_err\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 83\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_retrieved\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;32mTrue\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 84\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_result\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
"\u001b[0;31mMatlabExecutionError\u001b[0m: Attempt to execute SCRIPT ans as a function:\n/opt/tmw/MATLAB-r2020b/toolbox/matlab/lang/ans.m\n"
]
}
],
"source": [
"plant.eng.eval('ans')"
]
},
{
"cell_type": "code",
"execution_count": 21,
"id": "dfaa3294-60bf-4086-9ec4-e9794f8adf0d",
"metadata": {},
"outputs": [],
"source": [
"plant.eng.workspace['y'] = 14"
]
},
{
"cell_type": "code",
"execution_count": 22,
"id": "d9f4ca79-f401-43ef-bdcb-deb8152aeaad",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"14"
]
},
"execution_count": 22,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"plant.eng.workspace['y']"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "d6034609-2a8c-4b90-a8bd-8502f5cf6e76",
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 3",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.9.4"
}
},
"nbformat": 4,
"nbformat_minor": 5
}