Made performance improvements, trippled speed. Named each thread.

Author: KevinPaulsen

src/main/java/com/apw/carcontrol/MrModule.java

@@ -12,22 +12,40 @@
 import java.awt.event.KeyListener;
 
 import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
 import java.util.Map;
 import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.ExecutionException;
+import java.util.concurrent.ExecutorService;
 import java.util.concurrent.Executors;
 import java.util.concurrent.Future;
 import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.ThreadFactory;
 import java.util.concurrent.TimeUnit;
 import javax.swing.JFrame;
+import org.jetbrains.annotations.NotNull;
 
 public class MrModule extends JFrame implements Runnable, KeyListener {
 
+    private ExecutorService steeringExec = Executors.newSingleThreadExecutor(new NamedThreadFactory("steering"));
+    private ExecutorService speedExec = Executors.newSingleThreadExecutor(new NamedThreadFactory("speed"));
+    private ExecutorService imageRGBExec = Executors.newSingleThreadExecutor(new NamedThreadFactory("imageRGB"));
+    private ExecutorService imageBWExec = Executors.newSingleThreadExecutor(new NamedThreadFactory("imageBW"));
+    private ExecutorService imageSimpleExec = Executors.newSingleThreadExecutor(new NamedThreadFactory("imageSimple"));
+    private ExecutorService cameraImageExec = Executors.newSingleThreadExecutor(new NamedThreadFactory("cameraReader"));
     private PWMController driveSys = new ArduinoIO();
-    private ArrayList<Module> modules = new ArrayList<>(); // Contains each module
+    private List<Module> modules = new ArrayList<>(); // Contains each module
+    private final WindowModule windowModule;
+    private final ArduinoModule arduinoModule;
+    private final ImageManagementModule imageManagementModule;
+    private final SpeedControlModule speedControlModule;
+    private final SteeringModule steeringModule;
     private final CarControl carControl; // A CarControl that holds data for each module
     private CarControl speedControl; // A CarControl that holds data specifically for speed
     private CarControl steeringControl; // A CarControl that holds data specifically for steering
+    private long frameNumber = 0L;
+    private long lastTime = 0L;
 
     private boolean initialized = false;
 
@@ -49,7 +67,14 @@ private MrModule(boolean realCam, boolean hasWindow) {
         final int winHeight = carControl.getImageHeight();
         carControl.updateWindowDims(getWidth(), getHeight());
 
-        createModules(hasWindow, winWidth, winHeight);
+        // Create modules
+        windowModule = createWindowModule(hasWindow, winWidth, winHeight);
+        arduinoModule = new ArduinoModule(driveSys);
+        imageManagementModule = new ImageManagementModule(winWidth, winHeight, carControl.getTile());
+        speedControlModule = new SpeedControlModule();
+        steeringModule = new SteeringModule();
+
+        initializeModules(windowModule, arduinoModule, imageManagementModule, speedControlModule, steeringModule);
 
         headlessInit();
     }
@@ -59,7 +84,7 @@ private MrModule(boolean realCam, boolean hasWindow) {
      */
     private void headlessInit() {
         // driveSys = new ArduinoIO();
-        final ScheduledExecutorService executorService = Executors.newSingleThreadScheduledExecutor();
+        final ScheduledExecutorService executorService = Executors.newSingleThreadScheduledExecutor(new NamedThreadFactory("Frame Scheduler"));
         executorService.scheduleAtFixedRate(this, initDelay, Math.round(1000.0 / FPS), TimeUnit.MILLISECONDS);
 
         Future run = executorService.submit(this);
@@ -71,18 +96,8 @@ private void headlessInit() {
         }
     }
 
-    private void createModules(boolean useWindowModule, int winWidth, int winHeight) {
-    	if(useWindowModule) {
-	        WindowModule windowModule = new WindowModule(winWidth, winHeight);
-	        windowModule.addKeyListener(this);
-	        modules.add(windowModule);
-    	}
-
-        modules.add(new ImageManagementModule(winWidth, winHeight, carControl.getTile()));
-        modules.add(new SpeedControlModule());
-        modules.add(new SteeringModule());
-        modules.add(new ArduinoModule(driveSys));
-        //modules.add(new LatencyTestModule());
+    private void initializeModules(Module... moduleArray) {
+        modules = Arrays.asList(moduleArray);
 
         for (Module module : modules) {
             module.initialize(carControl);
@@ -91,6 +106,17 @@ private void createModules(boolean useWindowModule, int winWidth, int winHeight)
         initialized = true;
     }
 
+    private WindowModule createWindowModule(boolean useWindowModule, int winWidth, int winHeight) {
+    	final WindowModule winModule;
+    	if (useWindowModule) {
+	        winModule = new WindowModule(winWidth, winHeight);
+	        winModule.addKeyListener(this);
+    	} else {
+    	    winModule = null;
+        }
+        return winModule;
+    }
+
     /**
      * <p>
      * Update method is called once every FPS.
@@ -99,48 +125,69 @@ private void createModules(boolean useWindowModule, int winWidth, int winHeight)
      * run after ImageManagement process their respective image.
      * </p>
      */
-    private void update() {
+    private void update(long frameNumber) {
         //read the camera image, and update windowModule.
-        carControl.readCameraImage();
-        carControl.setEdges(getInsets());
-        modules.get(0).update(carControl);
-        modules.get(4).update(carControl);
+        CompletableFuture<Void> cameraImage = CompletableFuture
+                .runAsync(() -> {
+                            carControl.readCameraImage();
+                            carControl.setEdges(getInsets());
+                            windowModule.update(carControl);
+                            arduinoModule.update(carControl);
+                        }, cameraImageExec);
 
         // FIXME: Does not print exceptions to console.
-        ImageManagementModule imageModule = (ImageManagementModule) modules.get(1);
+
         // Start Thread to get the RGB image. (for camera)
-        CompletableFuture<CarControl> futureRGBImage = CompletableFuture.supplyAsync(() -> {
-            carControl.setRGBImage(imageModule.getRGBRaster(carControl.getRecentCameraImage()));
-            carControl.setRenderedImage(carControl.getRGBImage());
-            return carControl;
-        });
+        final byte[] recentImage = carControl.getRecentCameraImage();
+
         // Start Thread to get the black and white image (for steering)
-        CompletableFuture<CarControl> futureBWImage = CompletableFuture.supplyAsync(() -> {
-            steeringControl.setRGBImage(imageModule.getBlackWhiteRaster(carControl.getRecentCameraImage()));
-            return steeringControl;
-        });
-        // Start Thread to get the simple image (for speed)
-        CompletableFuture<CarControl> futureSimpleImage = CompletableFuture.supplyAsync(() -> {
-            speedControl.setProcessedImage(imageModule.getSimpleColorRaster(carControl.getRecentCameraImage()));
-            return speedControl;
-        });
-
-        // Call steering Module after futureBWImage is finished
-        CompletableFuture<Void> futureSteering = futureBWImage.thenAcceptAsync(carControl -> modules.get(3).update(carControl));
+        CompletableFuture<Void> futureSteering = cameraImage
+                .thenApplyAsync(v -> setBWImage(recentImage), imageBWExec)
+                // Call steering Module after futureBWImage is finished
+                .thenAcceptAsync(steeringModule::update, steeringExec);
+
+        CompletableFuture<CarControl> futureRGBImage = CompletableFuture.completedFuture(null);
+        if (frameNumber % 2 == 1) {
+            futureRGBImage = cameraImage
+                    .thenApplyAsync(v -> setRGBImage(recentImage), imageRGBExec);
+        }
+
         // Call speed module after futureSimpleImage is finished
-        CompletableFuture<Void> futureSpeed = futureSimpleImage.thenAcceptAsync(carControl -> modules.get(2).update(carControl));
+        CompletableFuture<Void> futureSpeed = CompletableFuture.completedFuture(null);
+        if (frameNumber % 3 == 1) {
+            // Start Thread to get the simple image (for speed)
+            futureSpeed = cameraImage
+                    .thenApplyAsync(v -> setSimpleImage(recentImage), imageSimpleExec)
+                    .thenAcceptAsync(speedControlModule::update, speedExec);
+        }
 
         // Run when all finished.
         CompletableFuture.allOf(futureSpeed, futureSteering, futureRGBImage)
                 .thenAccept(v -> paint())
                 .exceptionally(ex -> {
-                    System.out.println(ex.getMessage());
+                    ex.printStackTrace();
                     return null;
                 })
                 .join();
 
     }
 
+    private CarControl setRGBImage(byte[] recentImage) {
+        carControl.setRGBImage(imageManagementModule.getRGBRaster(recentImage));
+        carControl.setRenderedImage(carControl.getRGBImage());
+        return carControl;
+    }
+
+    private CarControl setBWImage(byte[] recentImage) {
+        steeringControl.setRGBImage(imageManagementModule.getBlackWhiteRaster(recentImage));
+        return steeringControl;
+    }
+
+    private CarControl setSimpleImage(byte[] recentImage) {
+        speedControl.setProcessedImage(imageManagementModule.getSimpleColorRaster(recentImage));
+        return speedControl;
+    }
+
     private void paint() {
         if (!modules.isEmpty()) {
             for (Module module : modules) {
@@ -151,16 +198,24 @@ private void paint() {
 
     @Override
     public void run() {
-        if(!initialized) {
-            return;
+        if (initialized) {
+            //printElapsedTime();
+            try {
+                update(++frameNumber);
+                //paint();
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
         }
+    }
 
-        try {
-            update();
-            //paint();
-        } catch(Exception e) {
-            e.printStackTrace();
+    private void printElapsedTime() {
+        final long curTime = System.currentTimeMillis();
+        if (lastTime == 0) {
+            lastTime = curTime;
         }
+        System.out.println("Time: " + (lastTime - curTime));
+        lastTime = curTime;
     }
 
     public static void main(String[] args) {
@@ -196,4 +251,16 @@ public void keyReleased(KeyEvent e) { }
     @Override
     public void keyTyped(KeyEvent e) { }
 
+    public static class NamedThreadFactory implements ThreadFactory {
+        private final String name;
+
+        public NamedThreadFactory(String name) {
+            this.name = name;
+        }
+
+        @Override
+        public Thread newThread(@NotNull Runnable r) {
+            return new Thread(r, name);
+        }
+    }
 }

src/main/java/com/apw/speedcon/SpeedControlModule.java

@@ -3,18 +3,14 @@
 import com.apw.carcontrol.CamControl;
 import com.apw.carcontrol.CarControl;
 import com.apw.carcontrol.Module;
-import com.apw.imagemanagement.ImageManipulator;
 import com.apw.pedestrians.Constant;
 import com.apw.pedestrians.PedestrianDetector;
 import com.apw.pedestrians.blobtrack.MovingBlob;
 import com.apw.pedestrians.image.Color;
 import com.apw.pedestrians.image.Pixel;
-import com.apw.sbcio.PWMController;
-import com.apw.sbcio.fakefirm.ArduinoIO;
 
 import java.awt.*;
 import java.awt.event.KeyEvent;
-import java.io.IOException;
 import java.util.ArrayList;
 import java.util.List;
 
@@ -98,7 +94,7 @@ public void update(CarControl control) {
 
 		onUpdate(control);
 		control.accelerate(true, (int) Math.min(Constants.MAX_SPEED, getNextSpeed()));
-		System.out.println("getNextSpeed(): " + (int) Math.min(Constants.MAX_SPEED, getNextSpeed()));
+		//System.out.println("getNextSpeed(): " + (int) Math.min(Constants.MAX_SPEED, getNextSpeed()));
 	}
 
 	@Override