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);
}
