Fix examples

examples/basic_1p.jl

@@ -1,5 +1,5 @@
 using KiteViewers, KiteUtils
-viewer=Viewer3D(true);
+viewer::Viewer3D = Viewer3D(true);
 segments=6
 state=demo_state(segments+1)
 update_system(viewer, state)

examples/basic_4p.jl

@@ -1,5 +1,5 @@
 using KiteViewers, KiteUtils
-viewer=Viewer3D(true);
+viewer::Viewer3D = Viewer3D(true);
 segments=6
 state=demo_state_4p(segments+1)
 update_system(viewer, state, kite_scale=0.25)

examples/depower.jl

@@ -5,10 +5,6 @@ end
 
 using KiteViewers, KiteModels, KitePodModels, Rotations
 
-# example program that shows
-# a. how to create a video
-# b. how to create a performance plot (simulation speed vs time)
-
 kcu::KCU = KCU(se())
 kps4::KPS4 = KPS4(kcu)
 
@@ -24,7 +20,7 @@ SAVE_PNG  = false
 PLOT_PERFORMANCE = false
 # end of user parameter section #
 
-if ! @isdefined time_vec; const time_vec = zeros(div(STEPS, TIME_LAPSE_RATIO)); end
+time_vec::Vector{Float64} = zeros(div(STEPS, TIME_LAPSE_RATIO))
 viewer::Viewer3D = Viewer3D(SHOW_KITE)
 
 # ffmpeg -r:v 20 -i "video%06d.png" -codec:v libx264 -preset veryslow -pix_fmt yuv420p -crf 10 -an "video.mp4"

examples/depower_bench_video.jl

@@ -8,14 +8,13 @@ using KiteViewers, KiteModels, KitePodModels, Rotations
 # example program that shows
 # a. how to create a video
 # b. how to create a performance plot (simulation speed vs time)
-const Model = KPS4
 
-if ! @isdefined kcu;  const kcu = KCU(se());   end
-if ! @isdefined kps4; const kps4 = Model(kcu); end
+kcu::KCU = KCU(se())
+kps4::KPS4 = KPS4(kcu)
 
 # the following values can be changed to match your interest
-dt = 0.05
-TIME = 50
+dt::Float64 = 0.05
+TIME = 35
 TIME_LAPSE_RATIO = 10
 STEPS = Int64(round(TIME/dt))
 STATISTIC = false
@@ -25,7 +24,7 @@ SAVE_PNG  = false
 PLOT_PERFORMANCE = false
 # end of user parameter section #
 
-if ! @isdefined time_vec; const time_vec = zeros(div(STEPS, TIME_LAPSE_RATIO)); end
+time_vec::Vector{Float64} = zeros(div(STEPS, TIME_LAPSE_RATIO))
 viewer::Viewer3D = Viewer3D(SHOW_KITE)
 
 # ffmpeg -r:v 20 -i "video%06d.png" -codec:v libx264 -preset veryslow -pix_fmt yuv420p -crf 10 -an "video.mp4"
@@ -47,7 +46,7 @@ function simulate(integrator, steps; log=false)
         elseif i == 640
             set_depower_steering(kps4.kcu, 0.35, 0.0)    
         end
-        KiteModels.next_step!(kps4, integrator, dt=dt)     
+        KiteModels.next_step!(kps4, integrator; set_speed=0, dt=dt)     
         reltime = i*dt
         if mod(i, TIME_LAPSE_RATIO) == 0 || i == steps
             if SHOW_VIEWER update_system2(kps4) end
@@ -66,7 +65,7 @@ function simulate(integrator, steps; log=false)
     (integrator.p.iter - start) / steps
 end
 
-integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.04, prn=STATISTIC)
+integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
 
 av_steps = simulate(integrator, STEPS, log=SAVE_PNG)
 if PLOT_PERFORMANCE

examples/depower_simple.jl

@@ -6,34 +6,33 @@ end
 
 using KiteViewers, KiteModels, KitePodModels, Rotations
 
-const Model = KPS4
-
-if ! @isdefined kcu;  const kcu = KCU(se());   end
-if ! @isdefined kps4; const kps4 = Model(kcu); end
+kcu::KCU = KCU(se())
+kps4::KPS4 = KPS4(kcu)
 
 # the following values can be changed to match your interest
 dt::Float64 = 0.05
-const TIME = 50
-const TIME_LAPSE_RATIO = 5
-const STEPS = Int64(round(TIME/dt))
+TIME = 35
+TIME_LAPSE_RATIO = 5
+STEPS = Int64(round(TIME/dt))
 STATISTIC = false
+SHOW_VIEWER = true
 SHOW_KITE = true
 PLOT_PERFORMANCE = true
 # end of user parameter section #
 
-if Model==KPS3 SHOW_KITE = true end
-
 if ! @isdefined time_vec_gc; const time_vec_gc = zeros(STEPS); end
 if ! @isdefined time_vec_sim; const time_vec_sim = zeros(STEPS); end
 if ! @isdefined time_vec_tot; const time_vec_tot = zeros(div(STEPS, TIME_LAPSE_RATIO)); end
 viewer::Viewer3D = Viewer3D(SHOW_KITE)
 
 function simulate(integrator, steps)
+    println("Start simulation for $steps steps")
     start = integrator.p.iter
     start_time_ns = time_ns()
     j=0; k=0
     KiteViewers.clear_viewer(viewer)
     GC.gc()
+    GC.enable(false)
     max_time = 0
     for i in 1:steps
         if i == 300
@@ -68,21 +67,22 @@ function simulate(integrator, steps)
             end
             time_tot = end_time_ns - start_time_ns
             start_time_ns = time_ns()
-            time_vec_tot[div(i, TIME_LAPSE_RATIO)] = time_tot/1e9/dt*1000*dt
+            time_vec_tot[div(i, TIME_LAPSE_RATIO)] = time_tot/1e9*1000 # calculate time in ms
         end
 
         time_vec_gc[i]=t_gc/dt*100.0
         time_vec_sim[i]=t_sim/dt*100.0
-        if viewer.stop break end
+        # if viewer.stop break end
     end
     misses=j/k * 100
     println("\nMissed the deadline for $(round(misses, digits=2)) %. Max time: $(round((max_time*1e-6), digits=1)) ms")
     (integrator.p.iter - start) / steps
 end
 
 function play()
-    integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.04, prn=STATISTIC)
+    integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
     simulate(integrator, STEPS)
+    GC.enable(true)
 end
 
 on(viewer.btn_PLAY.clicks) do c

examples/joystick.jl

@@ -5,11 +5,8 @@ end
 
 using KiteViewers, KiteModels, KitePodModels, Joysticks
 
-# change this to KPS3 or KPS4
-const Model = KPS4
-
-if ! @isdefined kcu;    const kcu = KCU(se());   end
-if ! @isdefined kps4;   const kps4 = Model(kcu); end
+kcu::KCU = KCU(se())
+kps4::KPS4 = KPS4(kcu)
 if ! @isdefined js;
     const js = open_joystick();
     const jsaxes = JSState(); 
@@ -38,7 +35,7 @@ end
 function simulate(integrator)
     start = integrator.p.iter
     start_time_ns = time_ns()
-    clear_viewer(viewer)
+    clear_viewer(viewer; stop=false)
     i=1
     j=0; k=0
     GC.gc()
@@ -89,7 +86,7 @@ end
 
 function play()
     global steps
-    integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.04)
+    integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5)
     steps = simulate(integrator)
     GC.enable(true)
 end

examples/reelout.jl

@@ -6,12 +6,10 @@ end
 using KiteViewers, KiteModels, KitePodModels, Rotations
 
 # example program that shows
-# a. how to create a video
-# b. how to create a performance plot (simulation speed vs time)
-const Model = KPS4
+# a. how to create a performance plot (simulation speed vs time)
 
-if ! @isdefined kcu;  const kcu = KCU(se());   end
-if ! @isdefined kps4; const kps4 = Model(kcu); end
+kcu::KCU = KCU(se())
+kps4::KPS4 = KPS4(kcu)
 
 # the following values can be changed to match your interest
 dt::Float64 = 0.05
@@ -25,7 +23,7 @@ SAVE_PNG  = false
 PLOT_PERFORMANCE = true
 # end of user parameter section #
 
-if ! @isdefined time_vec; const time_vec = zeros(div(STEPS, TIME_LAPSE_RATIO)); end
+time_vec::Vector{Float64} = zeros(div(STEPS, TIME_LAPSE_RATIO))
 viewer::Viewer3D = Viewer3D(SHOW_KITE)
 
 # ffmpeg -r:v 20 -i "video%06d.png" -codec:v libx264 -preset veryslow -pix_fmt yuv420p -crf 10 -an "video.mp4"
@@ -41,7 +39,7 @@ function simulate(integrator, steps; log=false)
     time_ = 0.0
     v_ro = 0.0
     acc = 0.1
-    clear_viewer(viewer)
+    clear_viewer(viewer; stop=false)
     for i in 1:steps
         iter = kps4.iter
         if i > 300

examples/steering_4p.jl

@@ -5,11 +5,8 @@ end
 
 using KiteViewers, KiteModels, KitePodModels, Rotations
 
-# change this to KPS3 or KPS4
-const Model = KPS4
-
-if ! @isdefined kcu;  const kcu = KCU(se());   end
-if ! @isdefined kps4; const kps4 = Model(kcu); end
+kcu::KCU = KCU(se())
+kps4::KPS4 = KPS4(kcu)
 
 # the following values can be changed to match your interest
 dt::Float64 = 0.05
@@ -30,7 +27,7 @@ end
 function simulate(integrator, steps)
     start = integrator.p.iter
     start_time_ns = time_ns()
-    clear_viewer(viewer)
+    clear_viewer(viewer; stop=false)
     for i in 1:steps
         if i == 300
             set_depower_steering(kps4.kcu, 0.25, 0.2)
@@ -53,7 +50,7 @@ function simulate(integrator, steps)
     (integrator.p.iter - start) / steps
 end
 
-integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.04, prn=STATISTIC)
+integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
 
 av_steps = simulate(integrator, STEPS)
 nothing

examples/steering_bench_video.jl

@@ -8,10 +8,9 @@ using KiteViewers, KiteModels, KitePodModels, Rotations
 # example program that shows
 # a. how to create a video
 # b. how to create a performance plot (simulation speed vs time)
-const Model = KPS4
 
-if ! @isdefined kcu;  const kcu = KCU(se());   end
-if ! @isdefined kps4; const kps4 = Model(kcu); end
+kcu::KCU = KCU(se())
+kps4::KPS4 = KPS4(kcu)
 
 # the following values can be changed to match your interest
 dt::Float64 = 0.05
@@ -24,7 +23,7 @@ SAVE_PNG  = false
 PLOT_PERFORMANCE = false
 # end of user parameter section #
 
-if ! @isdefined time_vec; const time_vec = zeros(div(STEPS, TIME_LAPSE_RATIO)); end
+time_vec::Vector{Float64} = zeros(div(STEPS, TIME_LAPSE_RATIO))
 viewer::Viewer3D = Viewer3D(SHOW_KITE)
 
 # ffmpeg -r:v 20 -i "video%06d.png" -codec:v libx264 -preset veryslow -pix_fmt yuv420p -crf 10 -an "video.mp4"
@@ -39,7 +38,7 @@ function simulate(integrator, steps; log=false)
     start = integrator.p.iter
     start_time_ns = time_ns()
     time_ = 0.0
-    clear_viewer(viewer)
+    clear_viewer(viewer; stop=false)
     for i in 1:steps
         iter = kps4.iter
         if i == 300
@@ -70,7 +69,7 @@ function simulate(integrator, steps; log=false)
     (integrator.p.iter - start) / steps
 end
 
-integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.04, prn=STATISTIC)
+integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
 
 av_steps = simulate(integrator, STEPS, log=SAVE_PNG)
 if PLOT_PERFORMANCE

mwes/mwe_01.jl

@@ -27,7 +27,7 @@ PLOT_PERFORMANCE = false
 
 SHOW_KITE = false
 
-if ! @isdefined time_vec; const time_vec = zeros(div(STEPS, TIME_LAPSE_RATIO)); end
+time_vec::Vector{Float64} = zeros(div(STEPS, TIME_LAPSE_RATIO))
 viewer::Viewer3D = Viewer3D(SHOW_KITE)
 
 # viewer=Viewer3D(true);

src/viewer3D.jl

@@ -100,10 +100,12 @@ mutable struct Viewer3D <: AKV
     stop::Bool
 end
 
-function clear_viewer(kv::AKV)
+function clear_viewer(kv::AKV; stop=true)
     kv.step = 1
     kv.energy = 0
-    stop(kv)
+    if stop
+        stop(kv)
+    end
 end
 
 function stop(kv::AKV)

test/test_for_precompile.jl

@@ -45,7 +45,7 @@ let
         (integrator.p.iter - start) / steps
     end
 
-    integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.04, prn=STATISTIC)
+    integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
 
     av_steps = simulate(integrator, STEPS)
     plot(1:10)

test/test_steering.jl

@@ -51,7 +51,7 @@ function simulate(integrator, steps)
     (integrator.p.iter - start) / steps
 end
 
-integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.04, prn=STATISTIC)
+integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
 
 av_steps = simulate(integrator, STEPS)
 nothing