What is the best way to observe signals of Simulink Embedded Coder Application in Matlab, running in real-time on target?

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Hello, We use Simulink/Embedded Coder to generate deployable code, running on embedded target in hard real-time (2-10ms cycle). These are Simulink and Stateflow-based algorithms. I know, that Matlab provides real-time debugging features allowing to visualize current signal values or Stateflow states - so my question to community what would be the best way to connect to my target for such debugging? I would like to have minimum changes to my model, at the best it should be possible to just connect to my device anytime and see the variables, while it running. From possible debug interfaces I have Ethernet, CAN, USB, RS232.

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