addObserver

1. At the MATLAB Command Window, specify the path to your local RoadRunner installation folder. This code snippet uses the default installation path of the RoadRunner application on Windows^®. You can change the path to match the location of your RoadRunner installation folder.

   RRInstallationFolder = "C:\Program Files\RoadRunner " ...
     + matlabRelease.Release + "\bin\win64";

2. Set the project location to the path of your RoadRunner project folder.

   rrProjectLocation = "C:\Observer_proj";
   

3. Create a roadrunner (RoadRunner) object to launch the RoadRunner application, and open the project at the specified project location.

   rrApp = roadrunner(rrProjectLocation,"InstallationFolder",...
     RRInstallationFolder);
   

4. Open the scene FourWaySignal, which is in the Scenes folder of your project.

   openScene(rrApp,"FourWaySignal");
   

5. Open the scenario CutInAndSlow, which is in the Scenarios folder of your project.

   openScenario(rrApp,"CutInAndSlow");
   

6. Connect to the RoadRunner Scenario server to enable cosimulation by using the createSimulation (RoadRunner Scenario) function.

   ss = createSimulation(rrApp);
   

7. Create the class mySysObserver that inherits from matlab.System base class. The file containing mySysObserver must share the same name as the class.

   In the setupImpl method, get the list of actors in the scenario simulation. In the stepImpl method, increment a counter variable to get the number of vehicles driving above the velocity threshold in each time step. In the releaseImpl method, assign the array containing this statistic for all time steps to a workspace variable named NumberofVehiclesOverThreshold.

   classdef mySysObserver < matlab.System
   
       properties(Access=private)
            mScenarioSimObj;
            mScenarioSimActorList = [];
            velThreshold = 15;  % Set threshold velocity
            y = [];
       end
   
       methods(Access = protected)             
          
          function setupImpl(obj)
              obj.mScenarioSimObj = Simulink.ScenarioSimulation.find("ScenarioSimulation", ...
              "SystemObject", obj);
              obj.mScenarioSimActorList = obj.mScenarioSimObj.get("ActorSimulation");
              % Get list of all actors
          end
   
          function stepImpl(obj)
              count = 0;
              for i = 1:length(obj.mScenarioSimActorList)
                  vel = norm(getAttribute(obj.mScenarioSimActorList{i},"Velocity"));
                  if(vel > obj.velThreshold)
                    count = count + 1;  
                    % Number of vehicles driving above threshold velocity
                      in every time step 
                  end 
              end
              obj.y = [obj.y,count]; 
              % Array with count value across all time steps                              
          end
   
          function releaseImpl(obj)
              assignin('base','NumberofVehiclesOverThreshold', obj.y);
              % Final array assigned to workspace variable
          end
       end
   end

8. Add the System object in the file mySysObserver as an observer named velThreshold to the simulation ss.

   observer = addObserver(ss,"velThreshold","mysysObserver")

9. Start the simulation.

   set(ss,"SimulationCommand","Start");
   

10. Check the NumberofVehiclesOverThreshold variable in the base workspace to view the number of vehicles that crossed the velocity threshold across different time steps.

11. After you finish viewing, or working with the variable, delete it from your workspace.

    clearvars NumberofVehiclesOverThreshold;

Explore a Simulink Observer Model

Open the Simulink model Velocity_Threshold.

modelname = "Velocity_Threshold"; 
open_system(modelname);

In the model, a RoadRunner Scenario Reader block is connected to a Queue block. The RoadRunner Scenario Reader block reads actor information dispatched by a simulation through the buses loaded in the workspace by the load model callback function.

In the Block Parameters dialog box of the RoadRunner Scenario Reader block, Topic Category is set to Actor, Actor Type is set to All Types, and Topic is set to Actor Pose. These parameter settings enable the RoadRunner Scenario Reader block to output the Actor ID, Pose, Velocity, and Angular Velocity of vehicles in the scenario.

The Queue block is connected to a MATLAB System block. The Queue block allows you to receive and manage information from multiple vehicles in RoadRunner Scenario in the form of messages.

The MATLAB System block executes the behavior implemented in the MATLAB System object file ReadActorVel. The System object file contains these primary functions:

To configure the velocity threshold from the model, double-click the MATLAB System block to open the Block Parameters dialog box. Enter the desired value in the Velocity Threshold box, and click OK. Save the model.

The connected Scope block then plots a graph of the number of vehicles that drive at a velocity above a certain threshold value, at every time step.

Note: Any Simulink model representing an observer must not have a RoadRunner Scenario Writer block.

Add Simulink Observer Model to Scenario

1. Specify the path to your local RoadRunner installation folder. This code snippet uses the default installation path of the RoadRunner application on Windows. You can change the path to match the location of your RoadRunner installation folder.

RRInstallationFolder = "C:\Program Files\RoadRunner " + matlabRelease.Release + "\bin\win64";

2. Set the project location to the path of your RoadRunner project folder.

rrProjectLocation = "C:\Observer_proj";

3. Create a roadrunner object to launch the RoadRunner application, and open the project at the specified project location.

rrApp = roadrunner(rrProjectLocation,"InstallationFolder",RRInstallationFolder);

4. Open the scene FourWaySignal, which is in the Scenes folder of your project.

openScene(rrApp,"FourWaySignal");

5. Open the scenario CutInAndSlow, which is in the Scenarios folder of your project.

openScenario(rrApp,"CutInAndSlow");

6. Connect to the RoadRunner Scenario server to enable cosimulation by using the createSimulation function.

ss = rrApp.createSimulation();

7. Add the model Velocity_Threshold to the scenario as an observer named sysobs.

addObserver(ss,"sysobs","Velocity_Threshold");

8. Start the simulation.

set(ss,"SimulationCommand","Start");

After the scenario plays, check the Scope block from the opened Simulink model to view the number of vehicles that crossed the velocity threshold across different time steps.

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