public static double GetDoubleFromWorkspace(string doubleName)
{
object O = null;
#if MATLAB
MATLAB.GetWorkspaceData(doubleName, "base", out O);
#endif
return((double)O);
}
public object[] getQ(MLApp.MLApp matlab)
{
object qUL;
object qL;
object f_center;
object s21;
matlab.GetWorkspaceData("Q_L", "base", out qL);
matlab.GetWorkspaceData("Q_UL", "base", out qUL);
matlab.GetWorkspaceData("f_center", "base", out f_center);
matlab.GetWorkspaceData("s21", "base", out s21);
object[] result = { qL, qUL, f_center, s21 };
return(result);
}
public object[] getMLData(MLApp.MLApp matlab)
{
object manual_means;
object manual_stdevs;
object auto_means;
object auto_stdevs;
object sections;
object indices;
object a;
matlab.GetWorkspaceData("manual_means", "base", out manual_means);
matlab.GetWorkspaceData("manual_stdevs", "base", out manual_stdevs);
matlab.GetWorkspaceData("auto_means", "base", out auto_means);
matlab.GetWorkspaceData("auto_stdevs", "base", out auto_stdevs);
matlab.GetWorkspaceData("sections", "base", out sections);
matlab.GetWorkspaceData("indices", "base", out indices);
matlab.GetWorkspaceData("a", "base", out a);
object[] result = { manual_means, manual_stdevs, auto_means, auto_stdevs, sections, indices, a };
return(result);
}
public static double[,] GetMatrix(string matlabname, string workspacename = WORKSPACENAME)
{
ML.GetWorkspaceData(matlabname, workspacename, out object r);
return((double[, ])r);
}
/// <summary>
/// Grab data from the workspace.
/// </summary>
/// <param name="name"> the name of the variable in the Matlab workspace.</param>
/// <param name="workspace"> the workspace name, (generally "base")</param>
/// <param name="val"> out the object from Matlab.</param>
public static void GetWorkspaceData(string name, string workspace, out object val)
{
matlab.GetWorkspaceData(name, workspace, out val);
}
static void Main(string[] args)
{
// create pipe client to receive data from unity server
NamedPipeClientStream pipeclient =
new NamedPipeClientStream(".", "testpipe", PipeDirection.InOut);
Console.WriteLine("Connecting to server ......");
pipeclient.Connect();
Console.WriteLine("Server connected");
// use COM interface to invoke Matlab function
MLApp.MLApp matlab = new MLApp.MLApp();
int width, height;
/*
* width = pipeclient.ReadByte() * 256;
* width += pipeclient.ReadByte();
* height = pipeclient.ReadByte() * 256;
* height += pipeclient.ReadByte();
*/
width = 1280;// Here we use default screen size
height = 600;
// Get background data from preload workspace data
object background = null;
matlab.Execute("load('background.mat');");
matlab.GetWorkspaceData("bb2", "base", out background);
// Start transfer
while (pipeclient.IsConnected)
{
int result = 0;// save distance result
Thread.Sleep(500);
int size = width * height;
byte[] imageRed = new byte[size];
byte[] imageGreen = new byte[size];
byte[] imageBlue = new byte[size];
pipeclient.Read(imageRed, 0, size);
pipeclient.Read(imageGreen, 0, size);
pipeclient.Read(imageBlue, 0, size);
// when transfer data is null end transfer
for (int i = 0; i < 100; i++)
{
if (imageRed[i] == 0)
{
result++;
}
}
if (imageRed == null || imageRed.Length == 0 || result == 100)
{
break;
}
// Get transfer data use Matlab to calculate distance
object resultOfMatlab = null;
matlab.Feval("getdistance", 1, out resultOfMatlab, imageRed, imageGreen, imageBlue, height, width, background);
object[] res = resultOfMatlab as object[];
int distance = Convert.ToInt32(res[0]);
Console.WriteLine("result = " + distance);
// Transfer back the distance to Unity server
pipeclient.WriteByte((byte)(distance / 256));
pipeclient.WriteByte((byte)(distance & 255));
pipeclient.Flush();
}
pipeclient.Close();
}
public object GetVariable(string varName)
{
_mlapp.GetWorkspaceData(varName, "base", out var data);
return(data);
}
