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Merged
ufechner7 merged 11 commits into from
Jun 16, 2025
Merged

Use brake for AsyncMachine, add @inbounds #221

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37ad0a2
Do not use brake, add @inbounds
ufechner7 Jun 15, 2025
088bc78
Some progress
ufechner7 Jun 15, 2025
f8cfe9e
Fast now
ufechner7 Jun 16, 2025
3afbaa8
Update comments
ufechner7 Jun 16, 2025
92d3bb6
Update comments
ufechner7 Jun 16, 2025
f3d7fa9
Include mtk_model again
ufechner7 Jun 16, 2025
8a4a107
Some update
ufechner7 Jun 16, 2025
06bccbe
Some progress
ufechner7 Jun 16, 2025
166705d
Cleanup
ufechner7 Jun 16, 2025
c053715
Next try
ufechner7 Jun 16, 2025
e4a0eb0
Merge branch 'main' into perf2
ufechner7 Jun 16, 2025
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2 changes: 1 addition & 1 deletion ext/KiteModelsControlPlotsExt.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -44,4 +44,4 @@ function ControlPlots.plot(s::SymbolicAWEModel, reltime; kwargs...)
plot(s.system_structure, reltime; s.set.l_tether, wing_pos, e_z, kwargs...)
end

end
end
11 changes: 5 additions & 6 deletions src/KPS4.jl
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Expand Up @@ -389,7 +389,7 @@ Output:
height = 0.5 * (pos[p1][3] + pos[p2][3])
rho = calc_rho(s.am, height)
# if height <= -1000.0
# println("Error: height: $height")
# println("Error: height: $height")
# end
@assert height > -1000
if height < 6
Expand Down Expand Up @@ -496,13 +496,12 @@ function residual!(res, yd, y::MVector{S, SimFloat}, s::KPS4, time) where S
if !isnothing(s.sync_speed) && s.sync_speed == 0.0
use_brake = true
end
# if !isnothing(s.sync_speed)
# res[end] = v_reel_outd - calc_acceleration(s.wm, v_reel_out, norm(s.forces[1]), s.sync_speed)
# else
if s.wm isa AsyncMachine
res[end] = v_reel_outd - calc_acceleration(s.wm, s.sync_speed, v_reel_out, norm(s.forces[1]), true)
else
res[end] = v_reel_outd - calc_acceleration(s.wm, v_reel_out, norm(s.forces[1]); set_speed=s.sync_speed,
set_torque=s.set_torque, use_brake)
# end

end
# copy and flatten result
for i in 2:div(T,6)+1
for j in 1:3
Expand Down
2 changes: 1 addition & 1 deletion src/KiteModels.jl
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Expand Up @@ -760,4 +760,4 @@ end

include("precompile.jl")

end
end
11 changes: 6 additions & 5 deletions test/bench4.jl
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Expand Up @@ -130,15 +130,16 @@ msg = String[]
t = @benchmark residual!($res, $yd0, $y0, $kps4, $time)
push!(msg, ("Mean time residual!: $(round(mean(t.times), digits=1)) ns"))
# println("t.memory: ", t.memory)
@test t.memory <= 176
@test t.memory <= 0

# time using Python/ Numba: 8.94 µs, time using Julia 1.7.2: 1.6µs, Julia 1.8.0: 1.244µs
# Julia 1.9 on Ryzen: 816.1 ns
# Julia 1.10 on Ryzen: 787.0 ns 6000 RAM
# Julia 1.10 on Laptop on battery: 1047 ns
# Julia 1.11 on Laptop on power: 1024..1090 ns
# Julia 1.11 on Laptop on battery: 1050..1197 ns
# Julia 1.11 on Desktop on main branch: 835..899 ns on June 15, 2025 after 14:12
# Julia 1.10 on Laptop on battery: 1047ns
# Julia 1.11 on Laptop on battery: 1035ns
# Julia 1.11 on Laptop on battery, branch perf2: 1042ns
# Julia 1.11 on Desktop, branch perf2: 835..899 ns on June 15, 2025 after 13:12

end
printstyled("Benchmark results for KPS4:\n"; bold = true)
for i in eachindex(msg)
Expand Down
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