partway through fixing boat movement to be updated from the data valid timestamp rather than the data sent timestamp #story[820]

src/main/java/seng302/models/BoatGroup.java

@@ -146,21 +146,23 @@ public class BoatGroup extends RaceObject{
     }
 
     public void setDestination (double newXValue, double newYValue, double rotation, int... raceIds) {
-        destinationSet = true;
+        moveGroupBy(newXValue - boatPoly.getLayoutX(), newYValue - boatPoly.getLayoutY(), rotation);
-        boat.setVelocity(StreamParser.boatSpeeds.get((long)boat.getId()));
+
-        if (hasRaceId(raceIds)) {
+//        destinationSet = true;
-            this.pixelVelocityX = (newXValue - boatPoly.getLayoutX()) / expectedUpdateInterval;
+//        boat.setVelocity(StreamParser.boatSpeeds.get((long)boat.getId()));
-            this.pixelVelocityY = (newYValue - boatPoly.getLayoutY()) / expectedUpdateInterval;
+//        if (hasRaceId(raceIds)) {
-            this.rotationalGoal = rotation;
+//            this.pixelVelocityX = (newXValue - boatPoly.getLayoutX()) / expectedUpdateInterval;
-            calculateRotationalVelocity();
+//            this.pixelVelocityY = (newYValue - boatPoly.getLayoutY()) / expectedUpdateInterval;
-            rotateTo(rotation);
+//            this.rotationalGoal = rotation;
-            if (wakeGenerationDelay > 0) {
+//            calculateRotationalVelocity();
-                wake.rotate(rotationalGoal);
+//            rotateTo(rotation);
-                wakeGenerationDelay--;
+//            if (wakeGenerationDelay > 0) {
-            } else {
+//                wake.rotate(rotationalGoal);
-                wake.setRotationalVelocity(rotationalVelocity, rotationalGoal, pixelVelocityX, pixelVelocityY);
+//                wakeGenerationDelay--;
-            }
+//            } else {
-        }
+//                wake.setRotationalVelocity(rotationalVelocity, rotationalGoal, pixelVelocityX, pixelVelocityY);
+//            }
+//        }
     }
 
     public void setDestination (double newXValue, double newYValue, int... raceIDs) {

src/main/java/seng302/models/parsers/StreamParser.java

@@ -5,6 +5,8 @@ import javafx.geometry.Point3D;
 import org.w3c.dom.Document;
 import org.xml.sax.InputSource;
 import org.xml.sax.SAXException;
+import seng302.models.parsers.packets.BoatPositionPacket;
+import seng302.models.parsers.packets.StreamPacket;
 
 import javax.xml.parsers.DocumentBuilder;
 import javax.xml.parsers.DocumentBuilderFactory;
@@ -12,12 +14,11 @@ import javax.xml.parsers.ParserConfigurationException;
 import java.io.ByteArrayInputStream;
 import java.io.IOException;
 import java.io.StringReader;
-import java.nio.ByteBuffer;
-import java.nio.ByteOrder;
 import java.text.DateFormat;
 import java.text.SimpleDateFormat;
 import java.util.*;
 import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.PriorityBlockingQueue;
 
 /**
  * The purpose of this class is to take in the stream of divided packets so they can be read
@@ -27,14 +28,17 @@ import java.util.concurrent.ConcurrentHashMap;
  */
 public class StreamParser extends Thread{
 
-     public static ConcurrentHashMap<Long,Point3D> boatPositions = new ConcurrentHashMap<>();
+     public static ConcurrentHashMap<Long, PriorityBlockingQueue<BoatPositionPacket>> boatPositions = new ConcurrentHashMap<>();
-     public static ConcurrentHashMap<Long,Double> boatSpeeds = new ConcurrentHashMap<>();
      private String threadName;
      private Thread t;
      private static boolean raceStarted = false;
 
+
+
+
+
      public StreamParser(String threadName){
-        this.threadName = threadName;
+         this.threadName = threadName;
      }
 
     /**
@@ -313,28 +317,31 @@ public class StreamParser extends Thread{
         byte[] headingBytes = Arrays.copyOfRange(payload,28,30);
         byte[] groundSpeedBytes = Arrays.copyOfRange(payload,38,40);
 
-        long timeStamp = extractTimeStamp(Arrays.copyOfRange(payload,1,7), 6);
+        long timeValid = extractTimeStamp(Arrays.copyOfRange(payload,1,7), 6);
 //        int boatSeq =  ByteBuffer.wrap(seqBytes).getInt();
         long seq = bytesToLong(seqBytes);
         long boatId = bytesToLong(boatIdBytes);
-        long lat = bytesToLong(latBytes);
+        long rawLat = bytesToLong(latBytes);
-        long lon = bytesToLong(lonBytes);
+        long rawLon = bytesToLong(lonBytes);
+        double lat = ((180d * (double)rawLat)/Math.pow(2,31));
+        double lon = ((180d *(double)rawLon)/Math.pow(2,31));
         long heading = bytesToLong(headingBytes);
 //        long speed = extractTimeStamp(speedBytes, 2);
         double groundSpeed = bytesToLong(groundSpeedBytes)/1000.0;
         short s = (short) ((groundSpeedBytes[1] & 0xFF) << 8 | (groundSpeedBytes[0] & 0xFF));
-        if ((int)deviceType == 1 || (int)deviceType == 4){
+        if ((int)deviceType == 1){
-//            System.out.println("boatId = " + boatId);
+
-//            System.out.println("deviceType = " + (long)deviceType);
+            BoatPositionPacket boatPacket = new BoatPositionPacket(boatId, timeValid, lat, lon, heading, groundSpeed);
-//            System.out.println("seq = " + seq);
+
-            //needs to be validated
+            if (!boatPositions.containsKey(boatId)){
-            Point3D point = new Point3D(((180d * (double)lat)/Math.pow(2,31)),((180d *(double)lon)/Math.pow(2,31)),(double)heading);
+                boatPositions.put(boatId, new PriorityBlockingQueue<BoatPositionPacket>(256, new Comparator<BoatPositionPacket>() {
-            boatPositions.put(boatId, point);
+                    @Override
-            boatSpeeds.put(boatId, groundSpeed);
+                    public int compare(BoatPositionPacket p1, BoatPositionPacket p2) {
-//            boatPositions.replace(boatId, point);
+                        return (int) (p1.getTimeValid() - p2.getTimeValid());
-//            boatSpeeds.replace(boatId, groundSpeed);
+                    }
-//            System.out.println("lon = " + ((180d * (double)lon)/Math.pow(2,31)));
+                }));
-//            System.out.println("lat = " +  ((180d *(double)lat)/Math.pow(2,31)));
+            }
+            boatPositions.get(boatId).put(boatPacket);
         }
     }
 

src/main/java/seng302/models/parsers/StreamReceiver.java

@@ -1,5 +1,7 @@
 package seng302.models.parsers;
 
+import seng302.models.parsers.packets.StreamPacket;
+
 import java.io.ByteArrayOutputStream;
 import java.io.IOException;
 import java.io.InputStream;

src/main/java/seng302/models/parsers/packets/BoatPositionPacket.java

@@ -0,0 +1,23 @@
+package seng302.models.parsers.packets;
+
+public class BoatPositionPacket {
+    private long boatId;
+    private long timeValid;
+    private double lat;
+    private double lon;
+    private double heading;
+    private double groundSpeed;
+
+    public BoatPositionPacket(long boatId, long timeValid, double lat, double lon, double heading, double groundSpeed) {
+        this.boatId = boatId;
+        this.timeValid = timeValid;
+        this.lat = lat;
+        this.lon = lon;
+        this.heading = heading;
+        this.groundSpeed = groundSpeed;
+    }
+
+    public long getTimeValid() {
+        return timeValid;
+    }
+}

src/main/java/seng302/models/parsers/packets/PacketType.java

@@ -0,0 +1,53 @@
+package seng302.models.parsers.packets;
+
+/**
+ * Created by Kusal on 4/24/2017.
+ */
+public enum PacketType {
+    HEARTBEAT,
+    RACE_STATUS,
+    DISPLAY_TEXT_MESSAGE,
+    XML_MESSAGE,
+    RACE_START_STATUS,
+    YACHT_EVENT_CODE,
+    YACHT_ACTION_CODE,
+    CHATTER_TEXT,
+    BOAT_LOCATION,
+    MARK_ROUNDING,
+    COURSE_WIND,
+    AVG_WIND,
+    OTHER;
+
+    public static PacketType assignPacketType(int packetType){
+        switch(packetType){
+            case 1:
+                return HEARTBEAT;
+            case 12:
+                return RACE_STATUS;
+            case 20:
+                return DISPLAY_TEXT_MESSAGE;
+            case 26:
+                return XML_MESSAGE;
+            case 27:
+                return RACE_START_STATUS;
+            case 29:
+                return YACHT_EVENT_CODE;
+            case 31:
+                return YACHT_ACTION_CODE;
+            case 36:
+                return CHATTER_TEXT;
+            case 37:
+                return BOAT_LOCATION;
+            case 38:
+                return MARK_ROUNDING;
+            case 44:
+                return COURSE_WIND;
+            case 47:
+                return AVG_WIND;
+            default:
+        }
+        return OTHER;
+    }
+
+
+}

src/main/java/seng302/models/parsers/packets/StreamPacket.java

@@ -0,0 +1,44 @@
+package seng302.models.parsers.packets;
+
+/**
+ * Created by kre39 on 23/04/17.
+ */
+public class StreamPacket {
+
+    //Change int to an ENUM for the type
+    private PacketType type;
+
+    private long messageLength;
+    private long timeStamp;
+    private byte[] payload;
+
+    StreamPacket(int type, long messageLength, long timeStamp, byte[] payload) {
+        this.type = PacketType.assignPacketType(type);
+        this.messageLength = messageLength;
+        this.timeStamp = timeStamp;
+        this.payload = payload;
+//        System.out.println("type = " + this.type.toString());
+        //switch the packet type to deal with what ever specific packet you want to deal with
+//        if (this.type == PacketType.XML_MESSAGE){
+//            //System.out.println("--------");
+//            System.out.println(new String(payload));
+//            StreamParser.parsePacket(this);
+//        }
+    }
+
+    public PacketType getType() {
+        return type;
+    }
+
+    public long getMessageLength() {
+        return messageLength;
+    }
+
+    public byte[] getPayload() {
+        return payload;
+    }
+
+    public long getTimeStamp() {
+        return timeStamp;
+    }
+}