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[wpiutil] Replace LLVM StringMap impl with std::map

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As string_view operations on std::map<std::string> won't be integrated
until C++26, placeholder implementations are used which are less efficient
in a couple of situations (e.g. insert with hint).
This commit is contained in:
Peter Johnson
2024-10-23 21:33:12 -07:00
parent 5f3cf517d3
commit f620141e0d
34 changed files with 944 additions and 2031 deletions
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6
sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
View File

@@ -90,8 +90,8 @@ static void CopyRawData(wpi::StringMap<MotorData>* dataset) {
auto& data = *dataset;
// Loads the Raw Data
for (auto& it : data) {
auto key = it.first();
auto& motorData = it.getValue();
auto& key = it.first;
auto& motorData = it.second;
if (!wpi::contains(key, "raw")) {
data[fmt::format("raw-{}", key)] = motorData;
@@ -126,7 +126,7 @@ void AnalysisManager::PrepareGeneralData() {
WPI_INFO(m_logger, "{}", "Converting raw data to PreparedData struct.");
// Convert data to PreparedData structs
for (auto& it : m_data.motorData) {
auto key = it.first();
auto key = it.first;
preparedData[key] = ConvertToPrepared(m_data.motorData[key]);
WPI_INFO(m_logger, "SAMPLES {}", preparedData[key].size());
}

16
sysid/src/main/native/cpp/analysis/FilteringUtils.cpp
View File

@@ -322,8 +322,8 @@ static units::second_t GetMaxStepTime(
wpi::StringMap<std::vector<PreparedData>>& data) {
auto maxStepTime = 0_s;
for (auto& it : data) {
auto key = it.first();
auto& dataset = it.getValue();
auto& key = it.first;
auto& dataset = it.second;
if (IsRaw(key) && wpi::contains(key, "dynamic")) {
if (!dataset.empty()) {
@@ -351,8 +351,8 @@ void sysid::InitialTrimAndFilter(
// Calculate Velocity Threshold if it hasn't been set yet
if (settings->velocityThreshold == std::numeric_limits<double>::infinity()) {
for (auto& it : preparedData) {
auto key = it.first();
auto& dataset = it.getValue();
auto& key = it.first;
auto& dataset = it.second;
if (wpi::contains(key, "quasistatic")) {
settings->velocityThreshold =
std::min(settings->velocityThreshold,
@@ -363,8 +363,8 @@ void sysid::InitialTrimAndFilter(
}
for (auto& it : preparedData) {
auto key = it.first();
auto& dataset = it.getValue();
auto& key = it.first;
auto& dataset = it.second;
// Trim quasistatic test data to remove all points where voltage is zero or
// velocity < velocity threshold.
@@ -424,7 +424,7 @@ void sysid::AccelFilter(wpi::StringMap<std::vector<PreparedData>>* data) {
// Remove points with acceleration = 0
for (auto& it : preparedData) {
auto& dataset = it.getValue();
auto& dataset = it.second;
for (size_t i = 0; i < dataset.size(); i++) {
if (dataset.at(i).acceleration == 0.0) {
@@ -436,7 +436,7 @@ void sysid::AccelFilter(wpi::StringMap<std::vector<PreparedData>>* data) {
// Confirm there's still data
if (std::any_of(preparedData.begin(), preparedData.end(),
[](const auto& it) { return it.getValue().empty(); })) {
[](const auto& it) { return it.second.empty(); })) {
throw sysid::InvalidDataError(
"Acceleration filtering has removed all data.");
}