Concurrent Execution on Simulink Real-Time

This example uses:

This example shows how to apply explicit partitioning to enhance concurrent execution of a real-time application that you generate by using Simulink® Real-Time™.

Simulink Real-Time supports concurrent execution by using implicit partitioning or explicit partitioning of models. This example shows the relationship between the explicit partitioning of the tasks in the model subsystems and the execution of tasks by using the Simulink Real-Time profiling tool.

Note: You can also use the Simulink® Schedule Editor to partition the model. In the Simulink Editor, click the Modeling tab and select Design > Schedule Editor. For more information, see Create Partitions from a Rate-Based Model.

The example model slrt_ex_mds_and_tasks runs at sample rate of 0.001 second.

To run the model with adjusted sample rate of 0.01 second, change the sample rated before running the example. In the MATLAB® Command Window, type:

Ts = 0.01;

Create Target Object and Connect

Create a Target object for the default target computer and connect to the target computer. In the Command Window, type:

tg = slrealtime;
connect(tg);

Open, Build, and Download the Model

The explicit partitioning in the top-level model occurs in subsystem1.

open_system('slrt_ex_mds_subsystem1');

The explicit partitioning in the top-level model occurs in subsystem2.

open_system('slrt_ex_mds_subsystem2');

Open the model slrt_ex_mds_and_tasks. The model is mapped to seven threads: Model1_R1, Model1_R2, Model1_R3, Model1_R4, Model2_R1, Model2_R3, and Model2_R4.

These threads run at sample rates of Ts, 2*Ts, 3*Ts, 4*Ts, Ts, 3*Ts, and 4*Ts.

model = 'slrt_ex_mds_and_tasks';
open_system(model);
modelSTF = getSTFName(tg);
set_param(model,"SystemTargetFile",modelSTF);
set_param(model,'RTWVerbose','off');
set_param('slrt_ex_mds_subsystem1',"SystemTargetFile",modelSTF);
set_param('slrt_ex_mds_subsystem2',"SystemTargetFile",modelSTF);

To apply explicit partitioning, in the Simulink Editor, on the Real-Time tab, click Hardware Settings, and then select Solver > Configure Tasks. Select the Tasks and Mapping node.

Build, download, and run the model.

evalc('slbuild(model)');
load(tg,model);

Open TET Monitor

slrtTETMonitor;

Start profiler on the target computer

startProfiler(tg);
start(tg);
pause(2);
stop(tg);

Display Profiling Data

The profiling data shows the execution time of each thread on a multi-core target computer.

profData = tg.getProfilerData;
profData.plot;

Processing data on target computer ...
Transferring data from target computer ...
Processing data on host computer ...

View TET Information in TET monitor

View TET Information in the Simulation Data Inspector

Close the Model

bdclose('slrt_ex_mds_subsystem1');
bdclose('slrt_ex_mds_subsystem2');
bdclose(model);