performance Optimizations

VectoCore/VectoCore/Models/SimulationComponent/Impl/DistanceBasedDrivingCycle.cs

@@ -279,13 +279,16 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 				CycleIntervalIterator.LeftSample.RoadGradient);
 		}
 
+		/// <summary>
+		/// Progress of the distance in the driving cycle.
+		/// </summary>
 		public double Progress
 		{
 			get
 			{
 				return _data.Entries.Count > 0
-					? ((CurrentState.Distance - _data.Entries.First().Distance) /
-						(_data.Entries.Last().Distance - _data.Entries.First().Distance)).Value()
+					? (CurrentState.Distance.Value() - _data.Entries.First().Distance.Value()) /
+					(_data.Entries.Last().Distance.Value() - _data.Entries.First().Distance.Value())
 					: 0;
 			}
 		}

VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs

@@ -57,7 +57,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 
 		protected IDriverStrategy DriverStrategy;
 		private Dictionary<string, object> _coastData = new Dictionary<string, object>(20);
-		private string _currentAction = "";
+		public string CurrentAction = "";
 
 		//public MeterPerSquareSecond LookaheadDeceleration { get; protected set; }
 
@@ -155,7 +155,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			IResponse previousResponse = null)
 		{
 			IterationStatistics.Increment(this, "Accelerate");
-			_currentAction = "Accelerate";
+			CurrentAction = "Accelerate";
 			Log.Debug("DrivingAction Accelerate");
 			var operatingPoint = ComputeAcceleration(ds, targetVelocity);
 
@@ -235,7 +235,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 		public IResponse DrivingActionCoast(Second absTime, Meter ds, MeterPerSecond maxVelocity, Radian gradient)
 		{
 			IterationStatistics.Increment(this, "Coast");
-			_currentAction = "Coast";
+			CurrentAction = "Coast";
 			Log.Debug("DrivingAction Coast");
 
 			return CoastOrRollAction(absTime, ds, maxVelocity, gradient, false);
@@ -251,7 +251,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 		/// <returns></returns>
 		public IResponse DrivingActionRoll(Second absTime, Meter ds, MeterPerSecond maxVelocity, Radian gradient)
 		{
-			_currentAction = "Roll";
+			CurrentAction = "Roll";
 			IterationStatistics.Increment(this, "Roll");
 
 			Log.Debug("DrivingAction Roll");
@@ -357,7 +357,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			IResponse previousResponse = null, Meter targetDistance = null)
 		{
 			IterationStatistics.Increment(this, "Brake");
-			_currentAction = "Brake";
+			CurrentAction = "Brake";
 			Log.Debug("DrivingAction Brake");
 
 			IResponse retVal = null;
@@ -765,7 +765,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 		/// <returns></returns>
 		public IResponse DrivingActionHalt(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
 		{
-			_currentAction = "Halt";
+			CurrentAction = "Halt";
 			if (!targetVelocity.IsEqual(0) || !DataBus.VehicleStopped) {
 				Log.Error("TargetVelocity ({0}) and VehicleVelocity ({1}) must be zero when vehicle is halting!", targetVelocity,
 					DataBus.VehicleSpeed);

VectoCore/VectoCore/Utils/DelaunayMap.cs

@@ -36,6 +36,7 @@ using System.Drawing;
 using System.IO;
 using System.Linq;
 using System.Threading;
+using System.Threading.Tasks;
 using System.Windows.Forms.DataVisualization.Charting;
 using TUGraz.VectoCommon.Exceptions;
 using TUGraz.VectoCommon.Models;
@@ -100,19 +101,22 @@ namespace TUGraz.VectoCore.Utils
 			foreach (var point in points) {
 				// If the vertex lies inside the circumcircle of a triangle, the edges of this triangle are 
 				// added to the edge buffer and the triangle is removed from list.
-				var point1 = point;
-				var containerTriangles = triangles.FindAll(t => t.ContainsInCircumcircle(point1));
-				triangles = triangles.Except(containerTriangles).ToList();
-
 				// Remove duplicate edges. This leaves the convex hull of the edges.
 				// The edges in this convex hull are oriented counterclockwise!
-				var allEdges = containerTriangles.SelectMany(t => t.GetEdges()).ToList();
-				var groupedEdges = allEdges.GroupBy(edge => edge).ToList();
-				var convexHullEdges = groupedEdges.Where(group => group.Count() == 1).Select(group => group.Key).ToList();
 
-				var newTriangles = convexHullEdges.Select(edge => new Triangle(edge.P1, edge.P2, point)).ToList();
+				var newTriangles = triangles.Select((t, i) => Tuple.Create(i, t, t.ContainsInCircumcircle(point)))
+					.Where(t => t.Item3)
+					.Reverse()
+					.SelectMany(t => {
+						triangles.RemoveAt(t.Item1);
+						return t.Item2.GetEdges();
+					})
+					.GroupBy(edge => edge)
+					.Where(group => group.Count() == 1)
+					.Select(group => new Triangle(group.Key.P1, group.Key.P2, point)).ToList();
 
 				triangles.AddRange(newTriangles);
+
 				//DrawGraph(pointCount, triangles, superTriangle, xmin, xmax, ymin, ymax, point);
 				pointCount++;
 
@@ -148,18 +152,18 @@ namespace TUGraz.VectoCore.Utils
 			}
 		}
 
-
 		/// <summary>
 		/// Draws the delaunay map (except supertriangle).
 		/// </summary>
 		[Conditional("TRACE")]
-		private static void DrawGraph(int i, List<Triangle> triangles, Triangle superTriangle, Point[] points, Point lastPoint = null)
+		private static void DrawGraph(int i, List<Triangle> triangles, Triangle superTriangle, Point[] points,
+			Point lastPoint = null)
 		{
 			var xmin = points.Min(p => p.X);
 			var xmax = points.Max(p => p.X);
 			var ymin = points.Min(p => p.Y);
 			var ymax = points.Max(p => p.Y);
-			
+
 			using (var chart = new Chart { Width = 1000, Height = 1000 }) {
 				chart.ChartAreas.Add(new ChartArea("main") {
 					AxisX = new Axis { Minimum = Math.Min(xmin, xmin), Maximum = Math.Max(xmax, xmax) },

VectoCore/VectoCore/Utils/VectoCSVFile.cs

@@ -58,6 +58,7 @@ namespace TUGraz.VectoCore.Utils
 	/// </remarks>
 	public class VectoCSVFile : LoggingObject
 	{
+		private static readonly Regex HeaderFilter = new Regex(@"\[.*?\]|\<|\>", RegexOptions.Compiled);
 		private const char Delimiter = ',';
 		private const char Comment = '#';
 
@@ -162,9 +163,7 @@ namespace TUGraz.VectoCore.Utils
 		private static IEnumerable<string> GetColumns(string line, bool fullHeader = false)
 		{
 			if (!fullHeader) {
-				line = Regex.Replace(line, @"\[.*?\]", "");
-				line = line.Replace("<", "");
-				line = line.Replace(">", "");
+				line = HeaderFilter.Replace(line, "");
 			}
 			return line.Split(Delimiter).Select(col => col.Trim());
 		}