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Merge pull request #10 from relinc/reducer-modifier
General Performance Improvements
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137 changes: 137 additions & 0 deletions
137
Libraries/src/net/relinc/libraries/dev/TaskMonitor.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,137 @@ | ||
| package net.relinc.libraries.dev; | ||
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| import java.time.Duration; | ||
| import java.time.Instant; | ||
| import java.util.ArrayList; | ||
| import java.util.Collections; | ||
| import java.util.HashMap; | ||
| import java.util.List; | ||
| import java.util.Map; | ||
| import java.util.Optional; | ||
| import java.util.stream.Collectors; | ||
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| public class TaskMonitor { | ||
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| private static List<Task> tasks = new ArrayList<Task>(); | ||
| private static int taskCount = 0; | ||
| public static int start(String taskName) { | ||
| tasks.add(new Task(taskName, ++taskCount)); | ||
| return taskCount; | ||
| } | ||
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| public static void end(int taskId) { | ||
| Task endTask = tasks.stream().filter(t -> t.getId() == taskId).findFirst().get(); | ||
| endTask.end(); | ||
| } | ||
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| public static void printTasks(String orderBy) { | ||
| System.out.println("=================================================================="); | ||
| System.out.println("Tasks: " + taskCount + " ordered by: " + orderBy); | ||
| List<Task> sortedTasks = Collections.emptyList(); | ||
| switch(orderBy) { | ||
| case "duration": | ||
| sortedTasks = tasks.stream().sorted((a, b) -> a.getDuration().compareTo(b.getDuration())).collect(Collectors.toList()); | ||
| break; | ||
| case "start": | ||
| sortedTasks = tasks.stream().sorted((a, b) -> a.getStartTime().get().compareTo(b.getStartTime().get())).collect(Collectors.toList()); | ||
| break; | ||
| default: | ||
| throw new RuntimeException("orderBy: " + orderBy + " is not supported!"); | ||
| } | ||
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| sortedTasks.stream().forEach(task -> { | ||
| System.out.println(task); | ||
| }); | ||
| System.out.println("=================================================================="); | ||
| } | ||
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| public static void printTimeline() { | ||
| Map<Instant, Task> allInstants = new HashMap<Instant, Task>(); | ||
| tasks.stream().forEach(task -> { | ||
| allInstants.put(task.getStartTime().get(), task); | ||
| allInstants.put(task.getEndTime().get(), task); | ||
| }); | ||
| allInstants.entrySet().stream().sorted((a,b) -> a.getKey().compareTo(b.getKey())).forEach(entry -> { | ||
| Task task = entry.getValue(); | ||
| if(entry.getKey().equals(task.getStartTime().get())) { | ||
| System.out.println(String.format("Start task=%s, id=%d", task.getName(), task.getId())); | ||
| } else { | ||
| System.out.println(String.format("End task=%s id=%d duration=%.1f", task.getName(), task.getId(), task.getDuration().toMillis() * .001)); | ||
| } | ||
| }); | ||
| } | ||
| } | ||
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| class Task { | ||
| private Optional<Instant> startTime = Optional.empty(); // using `null` is for noobs | ||
| private Optional<Instant> endTime = Optional.empty(); | ||
| private String name = ""; | ||
| private int id = -1; | ||
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| public Task(String name, int id) { | ||
| this.name = name; | ||
| this.id = id; | ||
| this.start(); | ||
| } | ||
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| public void start() { | ||
| this.setStartTime(java.time.Instant.now()); | ||
| } | ||
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| public void end() { | ||
| this.setEndTime(java.time.Instant.now()); | ||
| } | ||
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| public Optional<Instant> getStartTime() { | ||
| return startTime; | ||
| } | ||
| public void setStartTime(Instant startTime) { | ||
| this.startTime = Optional.of(startTime); | ||
| } | ||
| public Optional<Instant> getEndTime() { | ||
| return endTime; | ||
| } | ||
| public void setEndTime(Instant endTime) { | ||
| this.endTime = Optional.of(endTime); | ||
| } | ||
| public String getName() { | ||
| return name; | ||
| } | ||
| public void setName(String name) { | ||
| this.name = name; | ||
| } | ||
| public int getId() { | ||
| return id; | ||
| } | ||
| public void setId(int id) { | ||
| this.id = id; | ||
| } | ||
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| public void checkStartEndPresent() { | ||
| if(!(this.getStartTime().isPresent() && this.getEndTime().isPresent())) | ||
| throw new RuntimeException("Cannot getDuration if end or start is not set"); | ||
| } | ||
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| public Duration getDuration() { | ||
| checkStartEndPresent(); | ||
| return Duration.between(this.getStartTime().get(), this.getEndTime().get()); | ||
| } | ||
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| @Override | ||
| public String toString() { | ||
| String res = "Task\n"; | ||
| res += String.format("id=%d\n", this.getId()); | ||
| res += String.format("name=%s\n", this.getName()); | ||
| boolean startPresent = this.getStartTime().isPresent(); | ||
| boolean endPresent = this.getEndTime().isPresent(); | ||
| if(startPresent && endPresent) | ||
| res += String.format("duration (s)=%.1f\n", this.getDuration().toMillis() * .001); | ||
| if(startPresent) | ||
| res += String.format("start=%s\n", this.getStartTime().get().toEpochMilli()); | ||
| if(endPresent) | ||
| res += String.format("end=%s\n", this.getEndTime().get().toEpochMilli()); | ||
| res += "\n"; | ||
| return res; | ||
| } | ||
|
|
||
| } |
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27 changes: 15 additions & 12 deletions
27
Libraries/src/net/relinc/libraries/staticClasses/TriangularLowPassFilter.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,37 +1,40 @@ | ||
| package net.relinc.libraries.staticClasses; | ||
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| import java.util.stream.IntStream; | ||
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| public final class TriangularLowPassFilter { | ||
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| private static double findTriangularMovingAverage(double[] data, double f_t, int idx) { | ||
| int range = (int) (.25 / f_t); | ||
| private static double findTriangularMovingAverage(double[] data, int range, int idx) { | ||
| double value = 0; | ||
| for (int idxFilter = -range; idxFilter < range; idxFilter++) { | ||
| double weight = range - Math.abs(idxFilter); | ||
| if (idx + idxFilter <= 0) { | ||
| value += data[0] * (range - Math.abs(idxFilter)); | ||
| value += data[0] * weight; | ||
| } else if (idx + idxFilter >= data.length - 1) { | ||
| value += data[data.length - 1] * (range - Math.abs(idxFilter)); | ||
| value += data[data.length - 1] * weight; | ||
| } else { | ||
| value += data[idx + idxFilter] * (range - Math.abs(idxFilter)); | ||
| value += data[idx + idxFilter] * weight; | ||
| } | ||
| } | ||
| return value; | ||
| } | ||
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| public static double[] triangularLowPass(double[] data, double f_t) { | ||
| public static double[] triangularLowPass(double[] data, double lowpassToFrequencyRatio) { | ||
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| double[] filtered_data = new double[data.length]; | ||
| int range = (int) (.25 / f_t); | ||
| int range = (int) (.25 / lowpassToFrequencyRatio); | ||
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| double total = 0; | ||
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| for (int idxFilter = -range; idxFilter < range; idxFilter++) { | ||
| total += range - Math.abs(idxFilter); | ||
| } | ||
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| for (int idx = 0; idx < data.length; idx++) { | ||
| filtered_data[idx] = findTriangularMovingAverage(data, f_t, idx) / total; | ||
| } | ||
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| final double totalFinal = total; | ||
| filtered_data = IntStream.range(0, data.length) | ||
| .parallel() // empirically, 4-5X faster. | ||
| .mapToDouble(idx -> findTriangularMovingAverage(data, range, idx) / totalFinal).toArray(); | ||
| return filtered_data; | ||
| } | ||
| } |
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