addObserver

Add observer to scenario simulation

Since R2022a

Syntax

observer = addObserver(ScenarioSim,'ObserverName',sysObj)

Description

observer = addObserver(ScenarioSim,'ObserverName',sysObj) adds an observer named ObserverName, represented by System object™ sysObj, to the scenario simulation ScenarioSim.

Examples

Add Observer to Read Simulation Pace and List of Actors

Create ScenarioSim, a Simulink.ScenarioSimulation object.

rrApp = roadrunner('C:\Project\TestRoute')
openScenario(rrApp,'TrajectoryCutIn');
ScenarioSim = createSimulation(rrApp);

Create the class mySysObserver, which inherits from matlab.System base class. In the stepImpl method, get the list of actors, and the simulation pace of an existing simulation. Use the resetImpl method to reset values of the required variables.

classdef mySysObserver < matlab.System

    properties(Access=private)
         mScenarioSimObj;
         mScenarioSimActorList;
         mSimulationPace;
         mIsPacingTurnedOff;
    end

    methods
       % Constructor for the System object
       function obj = mySysObserver()
       end
    end

    methods(Access = protected)        
       % Reset the values
       function resetImpl(obj)
         obj.mScenarioSimObj = Simulink.ScenarioSimulation.find('ScenarioSimulation', 'SystemObject', obj);
         obj.mScenarioSimActorList = [];
         obj.mIsPacingTurnedOff = false;
       end

       % Get the required parameter values
       function stepImpl(obj)
         mSimulationPace = obj.mScenarioSimObj.get('SimulationPace');
         mScenarioSimActorList = obj.mScenarioSimObj.get('ActorSimulation')
       end

       % Release the object and its resources
       function releaseImpl(~)
       end
    end
end

The System object represented by mySysObserver is added as an observer named ReadPaceandActors to the simulation ScenarioSim.

observer = addObserver(ScenarioSim,'ReadPaceandActors', mysysObserver)

Input Arguments

ScenarioSim — RoadRunner Scenario simulation

Simulink.ScenarioSimulation object

RoadRunner Scenario simulation, specified as a Simulink.ScenarioSimulation object.

Example: observer = addObserver(ScenarioSim,'RedCarObserver',Obj)

ObserverName — Name of observation actor

string | character vector

Name of observation actor, specified as a string or character vector.

Example: 'RedCarObserver'

sysObj — Observer

System object

Observer to add to the simulation, specified as a MATLAB^® System object. You must inherit the code implementation of System object sysObj from the matlab.System base class.

Output Arguments

observer — Flag to indicate result of addition of observer

1 | 0

Flag to indicate result of addition of observer, returned as 0 or 1. If the observer is not added successfully, the value returned is 0.

Version History

Introduced in R2022a