//Methods:
public async void asyncModelFit(enumModelType selModel_para, List<mrft_point> mrft_results_para)
{
double[,] mrft_results=new double[mrft_results_para.Count,3];
for (int i = 0; i < mrft_results_para.Count; i++)
{
mrft_results[i, 0] = mrft_results_para[i].Beta;
mrft_results[i, 1] = mrft_results_para[i].get_last_bag().Amp;
mrft_results[i, 2] = mrft_results_para[i].get_last_bag().Duration;
}
await ModelFit(MLModelFitDone,selModel_para, mrft_results);
}
private async Task ModelFit(Action<double[], double[], double[], double[]> callback, enumModelType selModel_para, double[,] MRFT_points_para)
{
matlab.Execute(@"cd 'C:\Users\msa\Downloads\Quadcopter development\Codings\MATLAB\external\'");
System.Array rMRFTdata = new double[MRFT_points_para.GetUpperBound(0)+1,3];
System.Array cMRFTdata = new double[MRFT_points_para.GetUpperBound(0) + 1, 3];
MRFT_points_para.CopyTo(rMRFTdata, MRFT_points_para.Length);
MRFT_points_para.CopyTo(cMRFTdata, MRFT_points_para.Length);
matlab.Execute("opt_qr");
bool IsDone = false;
while (!IsDone)
{
string chkFilePath = @"C:\Users\msa\Downloads\Quadcopter development\Codings\MATLAB\external\doneModelFit.txt";
IsDone = File.Exists(chkFilePath);
System.Threading.Thread.Sleep(100);
}
System.Array Model_parameters = new double[4];
System.Array cModel_parameters = new double[4];
System.Array w_plot = new double[500];
System.Array cw_plot = new double[500];
System.Array mag_plot = new double[500];
System.Array cmag_plot = new double[500];
System.Array phase_plot = new double[500];
System.Array cphase_plot = new double[500];
matlab.GetFullMatrix("w_plot", "global", ref w_plot, ref cw_plot);
matlab.GetFullMatrix("mag_plot", "global", ref mag_plot, ref cmag_plot);
matlab.GetFullMatrix("phase_plot", "global", ref phase_plot, ref cphase_plot);
matlab.GetFullMatrix("Model_parameters", "global", ref Model_parameters, ref cModel_parameters);
double[] _Model_parameters = new double[4];
double[] _w_plot = new double[500];
double[] _mag_plot = new double[500];
double[] _phase_plot = new double[500];
w_plot.CopyTo(_w_plot, 0);
mag_plot.CopyTo(_mag_plot, 0);
phase_plot.CopyTo(_phase_plot, 0);
Model_parameters.CopyTo(_Model_parameters, 0);
// Invoke the callback method asynchronously.
await Task.Run(() => MLModelFitDone(_Model_parameters,_w_plot, _mag_plot, _phase_plot));
}
private async Task PIDParametricTune(Action<double[]> callback, double[] _rModelPara,
enumPIDOptimType PIDOptimIndex_para, enumModelType modelType_para)
{
matlab.Execute(@"cd 'C:\Users\msa\Downloads\Quadcopter development\Codings\MATLAB\external\'");
double[] _cModelPara = new double[4];
System.Array rModelPara = new double[4];
System.Array cModelPara = new double[4];
_rModelPara.CopyTo(rModelPara, 0);
_cModelPara.CopyTo(cModelPara, 0);
try
{
matlab.PutFullMatrix("Model_parameters", "base", rModelPara, cModelPara);
}
catch (System.Runtime.InteropServices.COMException err) { }
try
{
matlab.PutWorkspaceData("ModelTypeIndex", "base", (int)modelType_para);
}
catch (System.Runtime.InteropServices.COMException err) { }
try
{
matlab.PutWorkspaceData("FitTypeIndex", "base", (int)PIDOptimIndex_para);
}
catch (System.Runtime.InteropServices.COMException err) { }
matlab.Execute("PIDOptim");
bool IsDone = false;
while (!IsDone)
{
string chkFilePath = @"C:\Users\msa\Downloads\Quadcopter development\Codings\MATLAB\external\donePIDOptim.txt";
IsDone = File.Exists(chkFilePath);
System.Threading.Thread.Sleep(100);
}
System.Array rPIDvals = new double[3];
System.Array cPIDvals = new double[3];
matlab.GetFullMatrix("results", "global", ref rPIDvals, ref cPIDvals);
double[] _rPIDvals = new double[3];
double[] _cPIDvals = new double[3];
rPIDvals.CopyTo(_rPIDvals, 0);
rPIDvals.CopyTo(_cPIDvals, 0);
// Invoke the callback method asynchronously.
await Task.Run(() => MLPIDCalculationDone(_rPIDvals));
}
public async void asyncPIDParametricTune(double[] _rModelPara, enumPIDOptimType PIDOptimIndex_para, enumModelType modelType_para)
{
await PIDParametricTune(MLPIDCalculationDone, _rModelPara, PIDOptimIndex_para, modelType_para);
}
