{
 "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": []
  }
 ],
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