%% First make sure the model is open, and we are connected to the
% Speedgoat Machine.

labels = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};

%% Run Multiple Simulations
my_model = 'iff_measure';
tg = slrt;

%% For each strut
for i_dir = 1:6
    %% Get excitation strut
    p = Simulink.Mask.get([my_model, '/Subsystem5']);
    p.Parameters.Value = sprintf('%i', i_dir);
    
    %% Connect
    set_param(my_model,'SimulationCommand','connect')

    %% Run the simulation
    sprintf('Start measurement in %s', labels{i_dir})
    set_param(my_model,'SimulationCommand','start')
    
    %% Wait for the simulation to finish
    pause(1)
    while strcmp(get_param(my_model,'SimulationStatus'), 'external')
        pause(1)
    end
    sprintf('Finished excitation for %s', labels{i_dir})

    %% Disconnect
    set_param(my_model,'SimulationCommand','disconnect')

    %% Save the data
    f = SimulinkRealTime.openFTP(tg);
    mget(f, 'data/data.dat');
    close(f);
    data = SimulinkRealTime.utils.getFileScopeData('data/data.dat').data;

    de = data(:, 1:6);   % Measurment displacement (encoder) [m]
    Vs = data(:, 7:12);  % Force Sensor [V]
    u  = data(:, 13:18); % Control Output [V]
    Va = data(:, 19);    % Excitation Signal [V]
    Rx = data(:, 20:25); % Reference Signal [m/rad]
    t  = data(:, end);   % Time [s]
    
    load('sim_data/data_sim.mat', 'Ts'); % To save Sampling Period
    load('sim_data/Kiff.mat', 'Kiff'); % To save Controller
    load('sim_data/Khac_iff_struts.mat', 'Khac_iff_struts'); % To save Controller
    
    save(sprintf('mat/T_S_meas_%s_2m_hac_svd_iff.mat', labels{i_dir}), ...
        't', 'Ts', 'de', 'Vs', 'u', 'Va', 'Kiff', 'Khac_iff_struts');

    sprintf('Saved Data for strut %s', labels{i_dir})
end