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Merge remote-tracking branch 'origin/wake_remake' into wake_remake

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This commit is contained in:
William Muir
2017-05-01 22:00:15 +12:00
parent 944755fde1 cd78c35bf6
commit 3aa183042f
6 changed files with 216 additions and 67 deletions
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src/main/java/seng302/controllers/CanvasController.java
+47 -19
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@@ -18,11 +18,14 @@ import seng302.models.BoatGroup;
import seng302.models.Colors;
import seng302.models.RaceObject;
import seng302.models.mark.*;
import seng302.models.parsers.StreamPacket;
import seng302.models.parsers.StreamParser;
import seng302.models.parsers.packets.BoatPositionPacket;
import java.sql.Time;
import java.text.DecimalFormat;
import java.util.*;
import java.util.concurrent.PriorityBlockingQueue;
/**
* Created by ptg19 on 15/03/17.
@@ -103,13 +106,8 @@ public class CanvasController {
@Override
public void handle(long now) {
boolean raceFinished = true;
boolean descending;
boolean leftToRight;
int boatIndex = 0;
Mark nextMark;
//fps stuff
long oldFrameTime = frameTimes[frameTimeIndex] ;
frameTimes[frameTimeIndex] = now ;
frameTimeIndex = (frameTimeIndex + 1) % frameTimes.length ;
@@ -123,21 +121,11 @@ public class CanvasController {
Double frameRate = 1_000_000_000.0 / elapsedNanosPerFrame ;
drawFps(frameRate.intValue());
}
// TODO: 1/05/17 cir27 - Make the RaceObjects update on the actual delay.
elapsedNanos = 1000 / 60;
for (RaceObject raceObject : raceObjects) {
raceObject.updatePosition(elapsedNanos);
for (int id : raceObject.getRaceIds()) {
if (StreamParser.getBoatPositions().containsKey((long) id)) {
Point3D p = StreamParser.getBoatPositions().get((long) id);
Point2D p2d = latLonToXY(p.getX(), p.getY());
double speed = StreamParser.getBoatSpeeds().get((long) id);
double heading = 360.0 / 0xffff * p.getZ();
raceObject.setDestination(p2d.getX(), p2d.getY(), heading, speed, id);
}
StreamParser.getBoatPositions().remove((long) id);
}
}
updateRaceObjects();
}
};
for (Mark m : raceViewController.getRace().getCourse()) {
@@ -146,6 +134,46 @@ public class CanvasController {
//timer.start();
}
private void updateRaceObjects(){
for (RaceObject raceObject : raceObjects) {
raceObject.updatePosition(1000 / 60);
// some raceObjects will have multiply ID's (for instance gate marks)
for (long id : raceObject.getRaceIds()) {
//checking if the current "ID" has any updates associated with it
if (StreamParser.boatPositions.containsKey(id)) {
move(id, raceObject);
}
}
}
}
private void move(long id, RaceObject raceObject){
PriorityBlockingQueue<BoatPositionPacket> movementQueue = StreamParser.boatPositions.get(id);
if (movementQueue.size() > 0){
BoatPositionPacket positionPacket = movementQueue.peek();
//this code adds a delay to reading from the movementQueue
//in case things being put into the movement queue are slightly
//out of order
int delayTime = 1000;
int loopTime = delayTime * 10;
long timeDiff = (System.currentTimeMillis()%loopTime - positionPacket.getTimeValid()%loopTime);
if (timeDiff < 0){
timeDiff = loopTime + timeDiff;
}
if (timeDiff > delayTime) {
try {
positionPacket = movementQueue.take();
Point2D p2d = latLonToXY(positionPacket.getLat(), positionPacket.getLon());
double heading = 360.0 / 0xffff * positionPacket.getHeading();
raceObject.setDestination(p2d.getX(), p2d.getY(), heading, positionPacket.getGroundSpeed(), (int) id);
} catch (InterruptedException e){
e.printStackTrace();
}
}
}
}
class ResizableCanvas extends Canvas {
ResizableCanvas() {
src/main/java/seng302/models/parsers/StreamParser.java
+37 -44
View File
@@ -6,6 +6,8 @@ import org.w3c.dom.Document;
import org.xml.sax.InputSource;
import org.xml.sax.SAXException;
import seng302.models.Boat;
import seng302.models.parsers.packets.BoatPositionPacket;
import seng302.models.parsers.packets.StreamPacket;
import javax.xml.parsers.DocumentBuilder;
import javax.xml.parsers.DocumentBuilderFactory;
@@ -13,12 +15,11 @@ 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
@@ -28,8 +29,7 @@ import java.util.concurrent.ConcurrentHashMap;
*/
public class StreamParser extends Thread{
private static ConcurrentHashMap<Long,Point3D> boatPositions = new ConcurrentHashMap<>();
private static ConcurrentHashMap<Long,Double> boatSpeeds = new ConcurrentHashMap<>();
public static ConcurrentHashMap<Long, PriorityBlockingQueue<BoatPositionPacket>> boatPositions = new ConcurrentHashMap<>();
private String threadName;
private Thread t;
private static boolean raceStarted = false;
@@ -40,7 +40,7 @@ public class StreamParser extends Thread{
private static List<Boat> boats = new ArrayList<>();
public StreamParser(String threadName){
this.threadName = threadName;
this.threadName = threadName;
}
/**
@@ -55,28 +55,27 @@ public class StreamParser extends Thread{
while (StreamReceiver.packetBuffer == null || StreamReceiver.packetBuffer.size() < 1) {
Thread.sleep(1);
}
while (StreamReceiver.packetBuffer.peek() != null){
// StreamPacket packet = StreamReceiver.packetBuffer.peek();
// int delayTime = 1000;
// int loopTime = delayTime + 1000;
// long sleepTime = 0;
// long transitTime = (System.currentTimeMillis()%loopTime - packet.getTimeStamp()%loopTime);
// if (transitTime < 0){
// transitTime = loopTime + delayTime;
// }
// if (transitTime < delayTime) {
// sleepTime = delayTime - (transitTime);
// Thread.sleep(sleepTime);
// }
// System.out.println(sleepTime);
StreamPacket packet = StreamReceiver.packetBuffer.take();
while (true){
StreamPacket packet = StreamReceiver.packetBuffer.peek();
//this code adds a delay to reading from the packetBuffer so
//out of order packets have time to order themselves in the queue
int delayTime = 1000;
int loopTime = delayTime * 10;
long transitTime = (System.currentTimeMillis()%loopTime - packet.getTimeStamp()%loopTime);
if (transitTime < 0){
transitTime = loopTime + transitTime;
}
if (transitTime < delayTime) {
long sleepTime = delayTime - (transitTime);
Thread.sleep(sleepTime);
}
packet = StreamReceiver.packetBuffer.take();
parsePacket(packet);
Thread.sleep(1);
while (StreamReceiver.packetBuffer.peek() == null) {
Thread.sleep(1);
}
}
System.out.println("END OF STREAM");
} catch (Exception e){
e.printStackTrace();
}
@@ -311,28 +310,30 @@ public class StreamParser extends Thread{
byte[] headingBytes = Arrays.copyOfRange(payload,28,30);
byte[] groundSpeedBytes = Arrays.copyOfRange(payload,38,40);
long timeStamp = bytesToLong(Arrays.copyOfRange(payload,1,7));
long timeValid = bytesToLong(Arrays.copyOfRange(payload,1,7));
// int boatSeq = ByteBuffer.wrap(seqBytes).getInt();
long seq = bytesToLong(seqBytes);
long boatId = bytesToLong(boatIdBytes);
long lat = bytesToLong(latBytes);
long lon = bytesToLong(lonBytes);
long rawLat = bytesToLong(latBytes);
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 = bytesToLong(speedBytes);
double groundSpeed = bytesToLong(groundSpeedBytes)/1000.0;
short s = (short) ((groundSpeedBytes[1] & 0xFF) << 8 | (groundSpeedBytes[0] & 0xFF));
if ((int)deviceType == 1 || (int)deviceType == 3){
// System.out.println("boatId = " + boatId);
// System.out.println("deviceType = " + (long)deviceType);
// System.out.println("seq = " + seq);
//needs to be validated
Point3D point = new Point3D(((180d * (double)lat)/Math.pow(2,31)),((180d *(double)lon)/Math.pow(2,31)),(double)heading);
boatPositions.put(boatId, point);
boatSpeeds.put(boatId, groundSpeed);
// boatPositions.replace(boatId, point);
// 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)));
BoatPositionPacket boatPacket = new BoatPositionPacket(boatId, timeValid, lat, lon, heading, groundSpeed);
if (!boatPositions.containsKey(boatId)){
boatPositions.put(boatId, new PriorityBlockingQueue<BoatPositionPacket>(256, new Comparator<BoatPositionPacket>() {
@Override
public int compare(BoatPositionPacket p1, BoatPositionPacket p2) {
return (int) (p1.getTimeValid() - p2.getTimeValid());
}
}));
}
boatPositions.get(boatId).put(boatPacket);
}
}
@@ -447,14 +448,6 @@ public class StreamParser extends Thread{
return boats;
}
public static ConcurrentHashMap<Long, Point3D> getBoatPositions() {
return boatPositions;
}
public static ConcurrentHashMap<Long, Double> getBoatSpeeds() {
return boatSpeeds;
}
public static XMLParser getXmlObject() {
return xmlObject;
}
src/main/java/seng302/models/parsers/StreamReceiver.java
+3 -4
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@@ -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;
@@ -85,9 +87,6 @@ public class StreamReceiver extends Thread {
long computedCrc = checksum.getValue();
long packetCrc = bytesToLong(getBytes(4));
if (computedCrc == packetCrc) {
// System.out.println("message type: " + type);
// System.out.println("timeStamp = " + timeStamp);
// System.out.println("payload length: " + payloadLength);
packetBuffer.add(new StreamPacket(type, payloadLength, timeStamp, payload));
} else {
System.err.println("Packet has been dropped");
@@ -133,7 +132,7 @@ public class StreamReceiver extends Thread {
* takes an array of up to 7 bytes in little endian format and
* returns a positive long constructed from the input bytes
*
* @return a positive long if there is less than 7 bytes -1 otherwise
* @return a positive long if there is less than 8 bytes -1 otherwise
*/
private long bytesToLong(byte[] bytes){
long partialLong = 0;
src/main/java/seng302/models/parsers/packets/BoatPositionPacket.java
+39
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@@ -0,0 +1,39 @@
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;
}
public double getLat() {
return lat;
}
public double getLon() {
return lon;
}
public double getHeading() {
return heading;
}
public double getGroundSpeed() {
return groundSpeed;
}
}
src/main/java/seng302/models/parsers/packets/PacketType.java
+53
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@@ -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
+37
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@@ -0,0 +1,37 @@
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;
public StreamPacket(int type, long messageLength, long timeStamp, byte[] payload) {
this.type = PacketType.assignPacketType(type);
this.messageLength = messageLength;
this.timeStamp = timeStamp;
this.payload = payload;
}
public PacketType getType() {
return type;
}
public long getMessageLength() {
return messageLength;
}
public byte[] getPayload() {
return payload;
}
public long getTimeStamp() {
return timeStamp;
}
}