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Merge pull request #8 from axw-pub/mem_opt
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Memory Optimizations
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@Yoooi0
Yoooi0 authored Sep 29, 2023
2 parents 79ae3c4 + 45ae01c commit c6af7ac
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Showing 4 changed files with 53 additions and 40 deletions.
79 changes: 41 additions & 38 deletions src/Device/TCodeDevice.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
using ToySerialController.MotionSource;
using ToySerialController.Device.OutputTarget;
using UnityEngine;
using ToySerialController.Utils;

namespace ToySerialController
{
Expand All @@ -13,15 +14,32 @@ public partial class TCodeDevice : IDevice
protected readonly float[] XCmd, RCmd, ECmd;
protected readonly float[] LastXCmd, LastRCmd, LastECmd;
private readonly StringBuilder _stringBuilder;
private readonly StringBuilder _deviceReportBuilder;

private float? _lastNoCollisionTime;
private bool _lastNoCollisionSmoothingEnabled;
private float _lastCollisionSmoothingT;
private float _lastNoCollisionSmoothingStartTime, _lastNoCollisionSmoothingDuration;
private bool _isLoading;

protected string DeviceReport { get; set; }
public string GetDeviceReport() => DeviceReport;
public string GetDeviceReport()
{
const string format = "{0,5:0.00},\t";

_deviceReportBuilder.Length = 0;
return _deviceReportBuilder.Append(" Target Cmd Output\n")
.Append("L0\t").AppendFormat(format, XTarget[0]).AppendFormat(format, XCmd[0]).AppendTCode("L0", XCmd[0]).AppendLine()
.Append("L1\t").AppendFormat(format, XTarget[1]).AppendFormat(format, XCmd[1]).AppendTCode("L1", XCmd[1]).AppendLine()
.Append("L2\t").AppendFormat(format, XTarget[2]).AppendFormat(format, XCmd[2]).AppendTCode("L2", XCmd[2]).AppendLine()
.Append("R0\t").AppendFormat(format, RTarget[0]).AppendFormat(format, RCmd[0]).AppendTCode("R0", RCmd[0]).AppendLine()
.Append("R1\t").AppendFormat(format, RTarget[1]).AppendFormat(format, RCmd[1]).AppendTCode("R1", RCmd[1]).AppendLine()
.Append("R2\t").AppendFormat(format, RTarget[2]).AppendFormat(format, RCmd[2]).AppendTCode("R2", RCmd[2]).AppendLine()
.Append("V0\t").AppendFormat(format, ETarget[0]).AppendFormat(format, ECmd[0]).AppendTCode("V0", ECmd[0]).AppendLine()
.Append("A0\t").AppendFormat(format, ETarget[1]).AppendFormat(format, ECmd[1]).AppendTCode("A0", ECmd[1]).AppendLine()
.Append("A1\t").AppendFormat(format, ETarget[2]).AppendFormat(format, ECmd[2]).AppendTCode("A1", ECmd[2]).AppendLine()
.Append("A2\t").AppendFormat(format, ETarget[3]).AppendFormat(format, ECmd[3]).AppendTCode("A2", ECmd[3])
.ToString();
}

public TCodeDevice()
{
Expand All @@ -39,17 +57,13 @@ public TCodeDevice()

_lastNoCollisionTime = Time.time;
_stringBuilder = new StringBuilder();
_deviceReportBuilder = new StringBuilder();
}

private string AppendIfChanged(StringBuilder stringBuilder, string axisName, float cmd, ref float lastCmd)
private static void AppendIfChanged(StringBuilder stringBuilder, string axisName, float cmd, float lastCmd)
{
if (!float.IsNaN(lastCmd) && Mathf.Abs(lastCmd - cmd) * 999 < 1)
return string.Empty;

lastCmd = cmd;
var command = $"{axisName}{Mathf.RoundToInt(Mathf.Clamp01(cmd) * 9999):0000}I{Mathf.RoundToInt(Time.deltaTime * 1000)}";
stringBuilder.Append(command).Append(" ");
return command;
if (float.IsNaN(lastCmd) || Mathf.Abs(lastCmd - cmd) * 999 >= 1)
stringBuilder.AppendTCode(axisName, cmd).Append(" ");
}

public bool Update(IMotionSource motionSource, IOutputTarget outputTarget)
Expand Down Expand Up @@ -96,34 +110,23 @@ public void UpdateValues(IOutputTarget outputTarget)
UpdateA0(); UpdateA1(); UpdateA2();

_stringBuilder.Length = 0;
var l0 = AppendIfChanged(_stringBuilder, "L0", XCmd[0], ref LastXCmd[0]);
var l1 = AppendIfChanged(_stringBuilder, "L1", XCmd[1], ref LastXCmd[1]);
var l2 = AppendIfChanged(_stringBuilder, "L2", XCmd[2], ref LastXCmd[2]);
var r0 = AppendIfChanged(_stringBuilder, "R0", RCmd[0], ref LastRCmd[0]);
var r1 = AppendIfChanged(_stringBuilder, "R1", RCmd[1], ref LastRCmd[1]);
var r2 = AppendIfChanged(_stringBuilder, "R2", RCmd[2], ref LastRCmd[2]);
var v0 = AppendIfChanged(_stringBuilder, "V0", ECmd[0], ref LastECmd[0]);
var a0 = AppendIfChanged(_stringBuilder, "A0", ECmd[1], ref LastECmd[1]);
var a1 = AppendIfChanged(_stringBuilder, "A1", ECmd[2], ref LastECmd[2]);
var a2 = AppendIfChanged(_stringBuilder, "A2", ECmd[3], ref LastECmd[3]);

var data = $"{_stringBuilder}\n";
if (!string.IsNullOrEmpty(data.Trim()))
outputTarget?.Write(data);

_stringBuilder.Length = 0;
_stringBuilder.Append(" Target Cmd Output\n");
_stringBuilder.Append("L0\t").AppendFormat("{0,5:0.00}", XTarget[0]).Append(",\t").AppendFormat("{0,5:0.00}", XCmd[0]).Append(",\t").AppendLine(l0);
_stringBuilder.Append("L1\t").AppendFormat("{0,5:0.00}", XTarget[1]).Append(",\t").AppendFormat("{0,5:0.00}", XCmd[1]).Append(",\t").AppendLine(l1);
_stringBuilder.Append("L2\t").AppendFormat("{0,5:0.00}", XTarget[2]).Append(",\t").AppendFormat("{0,5:0.00}", XCmd[2]).Append(",\t").AppendLine(l2);
_stringBuilder.Append("R0\t").AppendFormat("{0,5:0.00}", RTarget[0]).Append(",\t").AppendFormat("{0,5:0.00}", RCmd[0]).Append(",\t").AppendLine(r0);
_stringBuilder.Append("R1\t").AppendFormat("{0,5:0.00}", RTarget[1]).Append(",\t").AppendFormat("{0,5:0.00}", RCmd[1]).Append(",\t").AppendLine(r1);
_stringBuilder.Append("R2\t").AppendFormat("{0,5:0.00}", RTarget[2]).Append(",\t").AppendFormat("{0,5:0.00}", RCmd[2]).Append(",\t").AppendLine(r2);
_stringBuilder.Append("V0\t").AppendFormat("{0,5:0.00}", ETarget[0]).Append(",\t").AppendFormat("{0,5:0.00}", ECmd[0]).Append(",\t").AppendLine(v0);
_stringBuilder.Append("A0\t").AppendFormat("{0,5:0.00}", ETarget[1]).Append(",\t").AppendFormat("{0,5:0.00}", ECmd[1]).Append(",\t").AppendLine(a0);
_stringBuilder.Append("A1\t").AppendFormat("{0,5:0.00}", ETarget[2]).Append(",\t").AppendFormat("{0,5:0.00}", ECmd[2]).Append(",\t").AppendLine(a1);
_stringBuilder.Append("A2\t").AppendFormat("{0,5:0.00}", ETarget[3]).Append(",\t").AppendFormat("{0,5:0.00}", ECmd[3]).Append(",\t").Append(a2);
DeviceReport = _stringBuilder.ToString();
AppendIfChanged(_stringBuilder, "L0", XCmd[0], LastXCmd[0]);
AppendIfChanged(_stringBuilder, "L1", XCmd[1], LastXCmd[1]);
AppendIfChanged(_stringBuilder, "L2", XCmd[2], LastXCmd[2]);
AppendIfChanged(_stringBuilder, "R0", RCmd[0], LastRCmd[0]);
AppendIfChanged(_stringBuilder, "R1", RCmd[1], LastRCmd[1]);
AppendIfChanged(_stringBuilder, "R2", RCmd[2], LastRCmd[2]);
AppendIfChanged(_stringBuilder, "V0", ECmd[0], LastECmd[0]);
AppendIfChanged(_stringBuilder, "A0", ECmd[1], LastECmd[1]);
AppendIfChanged(_stringBuilder, "A1", ECmd[2], LastECmd[2]);
AppendIfChanged(_stringBuilder, "A2", ECmd[3], LastECmd[3]);

XCmd.CopyTo(LastXCmd, 0);
RCmd.CopyTo(LastRCmd, 0);
ECmd.CopyTo(LastECmd, 0);

if (_stringBuilder.Length > 0)
outputTarget?.Write(_stringBuilder.AppendLine().ToString());
}

public void UpdateL0()
Expand Down
2 changes: 1 addition & 1 deletion src/Plugin.UI.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ public void CreateUI()
var visible = false;
DebugTitle = _group.CreateButton("Debug", () => debugGroup.SetVisible(visible = !visible), new Color(0.3f, 0.3f, 0.3f), Color.white);

DebugDrawEnableToggle = debugGroup.CreateToggle("Plugin:DebugDrawEnable", "Enable Debug", false);
DebugDrawEnableToggle = debugGroup.CreateToggle("Plugin:DebugDrawEnable", "Enable Debug", false, _ => DeviceReportText.val = string.Empty);
DeviceReportText = debugGroup.CreateTextField("Device Report", "", 320);
DeviceReportText.text.font = Font.CreateDynamicFontFromOSFont("Consolas", 24);
DeviceReportText.text.fontSize = 24;
Expand Down
6 changes: 5 additions & 1 deletion src/Plugin.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,11 @@ private void UpdateDevice()
{
var motionValid = _motionSource?.Update() == true;
_device?.Update(motionValid ? _motionSource : null, _outputTarget);
DeviceReportText.val = _device?.GetDeviceReport() ?? string.Empty;

if (DebugDrawEnableToggle.val)
{
DeviceReportText.val = _device?.GetDeviceReport() ?? string.Empty;
}
}
catch (Exception e)
{
Expand Down
6 changes: 6 additions & 0 deletions src/Utils/Extensions.cs
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
using SimpleJSON;
using System.Linq;
using System.Text;
using UnityEngine;

namespace ToySerialController.Utils
Expand Down Expand Up @@ -52,5 +53,10 @@ public static void Restore(this JSONNode config, JSONStorableParam storable)
storable.RestoreFromJSON(dummyNode);
storable.name = oldName;
}

public static StringBuilder AppendTCode(this StringBuilder stringBuilder, string axisName, float cmd)
=> stringBuilder
.Append(axisName).AppendFormat("{0:0000}", Mathf.RoundToInt(Mathf.Clamp01(cmd) * 9999))
.Append('I').Append(Mathf.RoundToInt(Time.deltaTime * 1000));
}
}

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