Good results with autopilot and GC disabled

examples/autopilot.jl

@@ -5,7 +5,7 @@ if ! ("Plots" ∈ keys(Pkg.project().dependencies))
 end
 using Timers; tic()
 
-using KiteControllers, KiteViewers, KiteModels
+using KiteControllers, KiteViewers, KiteModels, StatsBase
 
 const Model = KPS4
 
@@ -20,7 +20,7 @@ dt = wcs.dt
 
 # the following values can be changed to match your interest
 if ! @isdefined MAX_TIME; MAX_TIME=460; end
-TIME_LAPSE_RATIO = 2
+TIME_LAPSE_RATIO = 4
 SHOW_KITE = true
 # end of user parameter section #
 
@@ -33,13 +33,18 @@ if ! @isdefined viewer; const viewer = Viewer3D(SHOW_KITE); end
 steps = 0
 if ! @isdefined T;       const T = zeros(Int64(MAX_TIME/dt)); end
 if ! @isdefined DELTA_T; const DELTA_T = zeros(Int64(MAX_TIME/dt)); end
+if ! @isdefined STEERING; const STEERING = zeros(Int64(MAX_TIME/dt)); end
 
 function simulate(integrator)
     start_time_ns = time_ns()
     clear_viewer(viewer)
     i=1
     j=0; k=0
     GC.gc()
+    GC.gc()
+    if Sys.total_memory()/1e9 > 24 && MAX_TIME < 500
+        GC.enable(false)
+    end
     max_time = 0
     t_gc_tot = 0
     sys_state = SysState(kps4)
@@ -59,9 +64,11 @@ function simulate(integrator)
         #
         t_sim = @elapsed KiteModels.next_step!(kps4, integrator, v_ro=v_ro, dt=dt)
         sys_state = SysState(kps4)
-        if i <= length(T)
+        if i <= length(T) && i > 10/dt 
             T[i] = dt * i
-            DELTA_T[i] = time_ns() - start_time_ns - 1e9*dt
+            # DELTA_T[i] = (time_ns() - start_time_ns - 1e9*dt)/1e6 + dt*1000
+            DELTA_T[i] = t_sim * 1000
+            STEERING[i] = sys_state.steering
         end
         on_new_systate(ssc, sys_state)
         if mod(i, TIME_LAPSE_RATIO) == 0 
@@ -126,6 +133,16 @@ on(viewer.btn_AUTO.clicks) do c; autopilot(); end
 play()
 stop(viewer)
 
+GC.enable(true)
 include("../test/plot.jl")
-p1   = plot1(T, DELTA_T)
-
+p1   = plot2(T, DELTA_T, STEERING, labels=["t_sim [ms]", "steering [-]"])
+println("Mean    time per timestep: $(mean(DELTA_T)) ms")
+println("Maximum time per timestep: $(maximum(DELTA_T)) ms")
+index=Int64(round(12/dt))
+println("Maximum for t>12s        : $(maximum(DELTA_T[index:end])) ms")
+
+# GC disabled, Ryzen 7950X, 4x realtime
+# Missed the deadline for 0.04 %. Max time: 166.1 ms
+#     Mean    time per timestep: 3.0985575495652173 ms
+#     Maximum time per timestep: 11.14224 ms
+#     Maximum for t>12s        : 11.14224 ms

test/plot.jl

@@ -2,52 +2,54 @@ using Pkg
 if ! ("Plots" ∈ keys(Pkg.project().dependencies))
     using TestEnv; TestEnv.activate()
 end
-import PyPlot; 
+import PyPlot as plt
 
 function plot1(X, Y; label="", width=2, xtickfontsize=12, ytickfontsize=12, legendfontsize=12, fig="")
     if fig != ""
-        PyPlot.figure(fig)
+        plt.figure(fig)
     end
-    p = PyPlot.plot(X, Y; label)
-    PyPlot.grid(true)
+    p = plt.plot(X, Y; label)
+    plt.grid(true)
     p
 end
 
 function plot2(X, Y1, Y2; labels=["", ""], fig="", title="")
-    fig_ = PyPlot.figure(fig, figsize=(8, 6))
-    ax1 = PyPlot.subplot(211) 
-    PyPlot.suptitle(title, fontsize=14) # Super title
-    PyPlot.plot(X, Y1, label=labels[1]); 
-    ylabel(labels[1], fontsize=14);          
-    PyPlot.grid(true)
-    setp(ax1.get_xticklabels(), visible=false)
-    ax2 = PyPlot.subplot(212, sharex = ax1)
-    PyPlot.plot(X, Y2, label=labels[2])
-    PyPlot.grid(true)
-    ylabel(labels[2], fontsize=14);    grid(true)
-    xlabel("time [s]", fontsize=14)
-    xlim(0, X[end])
-    tight_layout()
+    fig_ = plt.figure(fig, figsize=(8, 6))
+    ax1 = plt.subplot(211) 
+    plt.suptitle(title, fontsize=14) # Super title
+    plt.plot(X, Y1, label=labels[1]); 
+    plt.ylabel(labels[1], fontsize=14);        
+    plt.grid(true)
+    plt.setp(ax1.get_xticklabels(), visible=false)
+    ax2 = plt.subplot(212, sharex = ax1)
+    plt.plot(X, Y2, label=labels[2])
+    plt.grid(true)
+    plt.ylabel(labels[2], fontsize=14);    
+    plt.grid(true)
+    plt.xlabel("time [s]", fontsize=14)
+    plt.xlim(0, X[end])
+    plt.tight_layout()
 end
 
 function plot3(X, Y1, Y2, Y3; labels=["", "", ""], fig="", title="")
-    fig_ = PyPlot.figure(fig, figsize=(8, 6))
-    ax1 = PyPlot.subplot(311) 
-    PyPlot.suptitle(title, fontsize=14) # Super title
-    PyPlot.plot(X, Y1, label=labels[1]); 
+    fig_ = plt.figure(fig, figsize=(8, 6))
+    ax1 = plt.subplot(311) 
+    plt.suptitle(title, fontsize=14) # Super title
+    plt.plot(X, Y1, label=labels[1]); 
     ylabel(labels[1], fontsize=14);          
-    PyPlot.grid(true)
-    setp(ax1.get_xticklabels(), visible=false)
-    ax2 = PyPlot.subplot(312, sharex = ax1)
-    PyPlot.plot(X, Y2, label=labels[2])
-    PyPlot.grid(true)
+    plt.grid(true)
+    plt.setp(ax1.get_xticklabels(), visible=false)
+    ax2 = plt.subplot(312, sharex = ax1)
+    plt.plot(X, Y2, label=labels[2])
+    plt.grid(true)
     ylabel(labels[2], fontsize=14);    grid(true)
-    setp(ax2.get_xticklabels(), visible=false)
-    ax3 = PyPlot.subplot(313, sharex = ax1)
-    PyPlot.plot(X, Y3, label=labels[3])
-    PyPlot.grid(true)
-    ylabel(labels[3], fontsize=14);    grid(true)
-    xlabel("time [s]", fontsize=14)
-    xlim(0, X[end])
-    tight_layout()
+    plt.setp(ax2.get_xticklabels(), visible=false)
+    ax3 = plt.subplot(313, sharex = ax1)
+    plt.plot(X, Y3, label=labels[3])
+    plt.grid(true)
+    plt.ylabel(labels[3], fontsize=14);    
+    plt.grid(true)
+    plt.xlabel("time [s]", fontsize=14)
+    plt.xlim(0, X[end])
+    plt.tight_layout()
 end