Simulink与Python之间的UDP通讯

解决问题

在当前项目中同时使用python和Matlab/Simulink，两个软件之间的不可避免的需要数据交互。使用UDP通讯可以满足二者的互相发送和接收数据。本文python程序参考 https://blog.csdn.net/qq_41871826/article/details/104172653

软件版本

Matlab 2021b
python 3.7

Simulink设置

从Simulink模块库中拖出UDP Send 模块和Byte packing模块，连接六路数据通道。(数据从simulink发送到python )

Byte packing设置如下

UDP send 设置如下

从Simulink模块库中拖出UDP Receive 模块和Byte unpacking模块，连接六路数据接收通道。(接收从python发送到simulink的数据 )

UDP receive 设置如下

Byte unpacking设置如下
上述的IP地址视需要而定

Python数据发送程序

该程序对应simulink的UDP接收模块

#!/usr/bin/env python
# -*- coding: utf-8 -*

import socket, struct, os
from time import sleep
import numpy as np
import matplotlib.pyplot as plt


def main():
    # -------------------------------- Initializing --------------------------------------------
    # Create a socket
    udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    serveraddr = ("172.22.51.198", 9202)
    count = 0
    # Create an increment for while loop
    while count < 10:
        send_msg_code = struct.pack("6d", 1.1,1.2, 1.3,1.4,1.5,1.6) #对应Simulin的六路数据接收
        udp_socket.sendto(send_msg_code, serveraddr)
        count += 1
        print(send_msg_code)
        sleep(1)
    # Close the udp socket.
    udp_socket.close()


if __name__ == "__main__":
    main()

Python数据接收程序

该程序对应simulink的UDP数据发送模块

#!/usr/bin/env python
# -*- coding: utf-8 -*

import socket, struct, os
import numpy as np
import matplotlib.pyplot as plt


def main():
	# -------------------------------- Initializing --------------------------------------------
	# Create a socket
	udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
	# Bind the IP address and port.
	localaddr = ("172.22.51.198", 8087)
	udp_socket.bind(localaddr)
	# Create an increment for while loop
	count = 0
	# Create a list to restor the data from simulink.
	data_collect = []
	# Create a path to save figure:
	path1 = 'D:/TJU/HansRobot_Control/Motion_Control_V01'

	print("Please open the Simulink file under the current working directory")
	print("The program is waiting until you run the Simulink file.")

	#----------------------------------- Data Receiving ----------------------------------------
	# Using a loop to receive data from Simulink
	while count < 10: # Can be modified by (simulationTime/sampleTime).
		# Start to receive data from Simulink.
		recv_data = udp_socket.recvfrom(1024)
		# recv_data will return tuple, the first element is DATA, and the second is address information
		recv_msg = recv_data[0]
		send_addr = recv_data[1]
		# Decode the data from Simulink whose type is double and return a tuple
		#recv_msg_decode = struct.unpack("d", recv_msg)[0]
		print(send_addr,recv_msg)
		recv_msg_decode = struct.unpack("6d", recv_msg)[1]
		print(struct.unpack("dddddd", recv_msg),recv_msg_decode)
		# Restore the data to a list:
		data_collect.append(recv_msg_decode)
		# Set the condition to jump out of this loop ???
		# Print the address information and the received data
		print("Number from MATLAB %s is : %s" % (str(send_addr), recv_msg_decode))
		count += 1
	# Close the udp socket.
	udp_socket.close()

	# ------------------------------------ Visualization -----------------------------------------------
	# Set the time axis, 10 is the simulation end time that can be modified by user.
	index = list(np.linspace(0, 10, (len(data_collect))))
	plt.plot(index, data_collect)
	plt.title("Signal Received from Simulink")
	plt.xlabel("Time")
	plt.ylabel("Received Data")
	plt.savefig(os.path.join(path1, 'data_figure.png'), dpi=600)
	print("Close the figure to restart.")
	plt.show()

if __name__ == "__main__":
	main()

Simulink文件链接：

https://pan.baidu.com/s/1YGmFIq3jd8RWQo45E6L75g

提取码：y2ok
2023/2/2