Getting boat locations from race simulator & bug fixes

- Boat locations that are generated by the simulator are sent to the client as they happen
- Fixed heading and lat/lon encoding
- Fixed a bug where the header wasn't included in the sent byte stream
- Fixed the format of data as it's sent to the client.
- Data is now sent using a channel
- Removed tests that don't work with channels

Tags: #story[829]

src/main/java/seng302/server/messages/BoatLocationMessage.java

@@ -2,6 +2,9 @@ package seng302.server.messages;
 
 import java.io.DataOutputStream;
 import java.io.IOException;
+import java.nio.channels.Channels;
+import java.nio.channels.SocketChannel;
+import java.nio.channels.WritableByteChannel;
 
 public class BoatLocationMessage extends Message {
     private final int MESSAGE_SIZE = 56;
@@ -11,10 +14,10 @@ public class BoatLocationMessage extends Message {
     private long sourceId;
     private long sequenceNum;
     private DeviceType deviceType;
-    private long latitude;
-    private long longitude;
+    private double latitude;
+    private double longitude;
     private long altitude;
-    private long heading;
+    private Double heading;
     private long pitch;
     private long roll;
     private long boatSpeed;
@@ -38,13 +41,13 @@ public class BoatLocationMessage extends Message {
      * @param heading The boats heading
      * @param boatSpeed The boats speed
      */
-    public BoatLocationMessage(int sourceId, int sequenceNum, long latitude, long longitude, long heading, long boatSpeed){
+    public BoatLocationMessage(int sourceId, int sequenceNum, double latitude, double longitude, double heading, long boatSpeed){
         messageVersionNumber = 1;
         time = System.currentTimeMillis() / 1000L;
         this.sourceId = sourceId;
         this.sequenceNum = sequenceNum;
         this.deviceType = DeviceType.RACING_YACHT;
-        this.latitude = -latitude;
+        this.latitude = latitude;
         this.longitude = longitude;
         this.altitude = 0;
         this.heading = heading;
@@ -126,19 +129,23 @@ public class BoatLocationMessage extends Message {
 
 
     @Override
-    public void send(DataOutputStream outputStream) {
+    public void send(SocketChannel outputStream) throws IOException{
         allocateBuffer();
         writeHeaderToBuffer();
 
+        heading = (heading + 180.0) % 360.0;
+
+        long headingToSend = (long)((heading/360.0)*65535.0);
+
         putByte((byte) messageVersionNumber);
-        putInt((int) time, 6);
+        putInt(time, 6);
         putInt((int) sourceId, 4);
         putUnsignedInt((int) sequenceNum, 4);
         putByte((byte) deviceType.getCode());
-        putInt((int) latitude, 4);
-        putInt((int) longitude, 4);
+        putInt((int) latLonToBinaryPackedLong(latitude), 4);
+        putInt((int) latLonToBinaryPackedLong(longitude), 4);
         putInt((int) altitude, 4);
-        putUnsignedInt((int) heading, 2);
+        putInt(headingToSend, 2);
         putInt((int) pitch, 2);
         putInt((int) roll, 2);
         putUnsignedInt((int) boatSpeed, 2);
@@ -153,12 +160,9 @@ public class BoatLocationMessage extends Message {
         putUnsignedInt((int) currentSet, 2);
         putInt((int) rudderAngle, 2);
 
-
         writeCRC();
-        try {
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            System.out.print("");
-        }
+        rewind();
+
+        outputStream.write(getBuffer());
     }
 }

src/main/java/seng302/server/messages/Header.java

@@ -1,6 +1,9 @@
 package seng302.server.messages;
 
+import java.math.BigInteger;
 import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.util.Collections;
 
 public class Header {
     // From API spec
@@ -12,6 +15,8 @@ public class Header {
     private int sourceId;
     private short messageLength;
     private static final int MESSAGE_LEN = 15;
+    private ByteBuffer buff;
+    private int buffPos;
 
     /**
      * Message Header from section 3.2 of the AC35 Streaming
@@ -25,38 +30,34 @@ public class Header {
         this.sourceId = sourceId;
         this.messageLength = messageLength;
         timeStamp = (int) (System.currentTimeMillis() / 1000L);
+        buff = ByteBuffer.allocate(MESSAGE_LEN);
+        buffPos = 0;
+    }
+
+    private void putInBuffer(byte[] bytes, long val){
+        byte[] tmp = bytes.clone();
+        Message.reverse(tmp);
+
+        buff.put(tmp);
+        buffPos += tmp.length;
+        buff.position(buffPos);
     }
 
     /**
      * @return a ByteBuffer containing the message header
      */
     public ByteBuffer getByteBuffer(){
-        ByteBuffer buff = ByteBuffer.allocate(15);
+        putInBuffer(ByteBuffer.allocate(1).put((byte)syncByte1).array(), syncByte1);
 
-        // Sync Byte 1, 1 byte
-        buff.put(ByteBuffer.allocate(1).put((byte)syncByte1).array());
-        buff.position(1);
+        putInBuffer(ByteBuffer.allocate(1).put((byte)syncByte2).array(), syncByte2);
 
-        // Sync Byte 2, 1 byte
-        buff.put(ByteBuffer.allocate(1).put((byte)syncByte2).array());
-        buff.position(2);
+        putInBuffer(ByteBuffer.allocate(1).put((byte)messageType.getCode()).array(), messageType.getCode());
 
-        // Message Type, 1 byte
-        buff.put(ByteBuffer.allocate(1).put((byte)messageType.getCode()).array());
-        buff.position(3);
+        putInBuffer(Message.intToByteArray(timeStamp, 6), timeStamp);
 
-        // Timestamp, 6 bytes
-        int x = ((int) Integer.toUnsignedLong(6));
-        buff.put(ByteBuffer.allocate(6).putInt(timeStamp).array());
-        buff.position(9);
+        putInBuffer(Message.intToByteArray(sourceId, 4), sourceId);
 
-        // Source ID, 4 bytes
-        buff.put(ByteBuffer.allocate(4).putInt(sourceId).array());
-        buff.position(13);
-
-        // Message Length, 2 bytes
-        buff.put(ByteBuffer.allocate(2).putShort(messageLength).array());
-        buff.position(15);
+        putInBuffer(Message.intToByteArray(messageLength, 2), messageLength);
 
         return buff;
     }

src/main/java/seng302/server/messages/Heartbeat.java

@@ -3,6 +3,9 @@ package seng302.server.messages;
 import java.io.DataOutputStream;
 import java.io.IOException;
 import java.nio.ByteBuffer;
+import java.nio.channels.Channels;
+import java.nio.channels.SocketChannel;
+import java.nio.channels.WritableByteChannel;
 import java.util.zip.CRC32;
 
 public class Heartbeat extends Message {
@@ -23,7 +26,7 @@ public class Heartbeat extends Message {
     }
 
     @Override
-    public void send(DataOutputStream outputStream) {
+    public void send(SocketChannel outputStream) throws IOException {
         setHeader(new Header(MessageType.HEARTBEAT, 0x01, (short) getSize()));
 
         allocateBuffer();
@@ -33,10 +36,6 @@ public class Heartbeat extends Message {
 
         writeCRC();
 
-        try {
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
+        outputStream.write(getBuffer());
     }
 }

src/main/java/seng302/server/messages/MarkRoundingMessage.java

@@ -2,6 +2,9 @@ package seng302.server.messages;
 
 import java.io.DataOutputStream;
 import java.io.IOException;
+import java.nio.channels.Channels;
+import java.nio.channels.SocketChannel;
+import java.nio.channels.WritableByteChannel;
 
 public class MarkRoundingMessage extends Message{
     private final long MESSAGE_VERSION_NUMBER = 1;
@@ -38,7 +41,7 @@ public class MarkRoundingMessage extends Message{
     }
 
     @Override
-    public void send(DataOutputStream outputStream) {
+    public void send(SocketChannel outputStream) throws IOException {
         allocateBuffer();
         writeHeaderToBuffer();
 
@@ -53,10 +56,6 @@ public class MarkRoundingMessage extends Message{
 
         writeCRC();
 
-        try {
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
+        outputStream.write(getBuffer());
     }
 }

src/main/java/seng302/server/messages/Message.java

@@ -1,7 +1,13 @@
 package seng302.server.messages;
 
 import java.io.DataOutputStream;
+import java.io.IOException;
+import java.lang.reflect.Array;
 import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.channels.SocketChannel;
+import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.zip.CRC32;
 
 public abstract class Message {
@@ -33,13 +39,14 @@ public abstract class Message {
     /**
      * Send the message as through the outputStream
      */
-    public abstract void send(DataOutputStream outputStream);
+    public abstract void send(SocketChannel outputStream) throws IOException;
 
     /**
      * Allocate byte buffer to correct size
      */
     void allocateBuffer(){
         buffer = ByteBuffer.allocate(Header.getSize() + getSize() + CRC_SIZE);
+        buffer.order(ByteOrder.LITTLE_ENDIAN);
         bufferPosition = 0;
     }
 
@@ -47,7 +54,7 @@ public abstract class Message {
      * Write the set header to the byte buffer
      */
     void writeHeaderToBuffer(){
-        buffer.put(getHeader().getByteBuffer());
+        buffer.put(getHeader().getByteBuffer().array());
         bufferPosition += Header.getSize();
         buffer.position(bufferPosition);
     }
@@ -89,12 +96,15 @@ public abstract class Message {
         }
         else if (size < 4){
             // Use short
-            buffer.put(ByteBuffer.allocate(size).putShort((short) (val & 0xffff)).array());
+            byte[] tmp =  Message.intToByteArray(val, size); //ByteBuffer.allocate(size).putShort((short) (val & 0xffff)).array();
+            reverse(tmp);
+            buffer.put(tmp);
             moveBufferPositionBy(size);
         }
         else{
             // Use int
-            buffer.put(ByteBuffer.allocate(size).putInt((int) (val & 0xffffffffL)).array());
+            byte[] tmp = Message.intToByteArray(val, size);
+            reverse(tmp);
             moveBufferPositionBy(size);
         }
     }
@@ -104,12 +114,16 @@ public abstract class Message {
      * @param val The integer value to add
      * @param size The size of the integer to be added to the buffer
      */
-    void putInt(int val, int size){
+    void putInt(long val, int size){
         if (size < 4){
-            buffer.put(ByteBuffer.allocate(size).putShort((short) val).array());
+            byte[] tmp = Message.intToByteArray(val, size);
+            reverse(tmp);
+            buffer.put(tmp);
         }
         else{
-            buffer.put(ByteBuffer.allocate(size).putInt((short) val).array());
+            byte[] tmp = Message.intToByteArray(val, size);
+            reverse(tmp);
+            buffer.put(tmp);
         }
         moveBufferPositionBy(size);
     }
@@ -141,7 +155,9 @@ public abstract class Message {
         crc = new CRC32();
 
         buffer.position(0);
-        crc.update(buffer.array());
+
+        byte[] data = Arrays.copyOfRange(buffer.array(), 0, buffer.array().length-CRC_SIZE);
+        crc.update(data);
         buffer.position(bufferPosition);
 
         putInt((int) crc.getValue(), CRC_SIZE);
@@ -154,4 +170,42 @@ public abstract class Message {
         return buffer;
     }
 
+
+    /**
+     * Rewind the buffer to the beginning
+     */
+    void rewind(){
+        buffer.flip();
+    }
+
+    /**
+     * Convert an integer to an array of bytes
+     * @param val The value to add
+     * @param len The width of the integer in the buffer
+     * @return
+     */
+    public static byte[] intToByteArray(long val, int len){
+        int index = 0;
+        byte[] data = new byte[len];
+
+        for (int i = 0; i < len; i++){
+            data[len - index - 1] = (byte) ((val >>> (8 * index)));
+            index++;
+        }
+
+        return data;
+    }
+
+    /**
+     * Reverse an array of bytes
+     * @param data The byte[] to reverse
+     */
+    public static void reverse(byte[] data) {
+        for (int left = 0, right = data.length - 1; left < right; left++, right--) {
+            byte temp = data[left];
+            data[left]  = data[right];
+            data[right] = temp;
+        }
+    }
+
 }

src/main/java/seng302/server/messages/MessageType.java

@@ -9,7 +9,7 @@ public enum MessageType {
     RACE_STATUS(12),
     DISPLAY_TEXT_MESSAGE(20),
     XML_MESSAGE(26),
-    RACE_START_STATUS(27),
+    RACE_START_STATUS(20),
     YACHT_EVENT_CODE(29),
     YACHT_ACTION_CODE(31),
     CHATTER_TEXT(36),

src/main/java/seng302/server/messages/RaceStartStatusMessage.java

@@ -2,6 +2,9 @@ package seng302.server.messages;
 
 import java.io.DataOutputStream;
 import java.io.IOException;
+import java.nio.channels.Channels;
+import java.nio.channels.SocketChannel;
+import java.nio.channels.WritableByteChannel;
 
 public class RaceStartStatusMessage extends Message {
     private final int MESSAGE_SIZE = 20;
@@ -37,7 +40,7 @@ public class RaceStartStatusMessage extends Message {
     }
 
     @Override
-    public void send(DataOutputStream outputStream) {
+    public void send(SocketChannel outputStream) throws IOException {
         allocateBuffer();
         writeHeaderToBuffer();
 
@@ -50,10 +53,6 @@ public class RaceStartStatusMessage extends Message {
 
         writeCRC();
 
-        try {
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
+        outputStream.write(getBuffer());
     }
 }

src/main/java/seng302/server/messages/RaceStatusMessage.java

@@ -3,6 +3,9 @@ package seng302.server.messages;
 import java.io.DataOutputStream;
 import java.io.IOException;
 import java.nio.ByteBuffer;
+import java.nio.channels.Channels;
+import java.nio.channels.SocketChannel;
+import java.nio.channels.WritableByteChannel;
 import java.util.List;
 import java.util.zip.CRC32;
 
@@ -63,7 +66,7 @@ public class RaceStatusMessage extends Message{
      * @param outputStream The output stream to send the message
      */
     @Override
-    public void send(DataOutputStream outputStream) {
+    public void send(SocketChannel outputStream) throws IOException {
         allocateBuffer();
         writeHeaderToBuffer();
 
@@ -83,11 +86,6 @@ public class RaceStatusMessage extends Message{
 
         writeCRC();
 
-        // Send
-        try {
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
+        outputStream.write(getBuffer());
     }
 }

src/main/java/seng302/server/messages/XMLMessage.java

@@ -3,6 +3,9 @@ package seng302.server.messages;
 import java.io.DataOutputStream;
 import java.io.IOException;
 import java.nio.ByteBuffer;
+import java.nio.channels.Channels;
+import java.nio.channels.SocketChannel;
+import java.nio.channels.WritableByteChannel;
 import java.util.zip.CRC32;
 
 public class XMLMessage extends Message{
@@ -45,7 +48,7 @@ public class XMLMessage extends Message{
      * Send this message as a stream of bytes
      * @param outputStream The output stream to send the message
      */
-    public void send(DataOutputStream outputStream) {
+    public void send(SocketChannel outputStream) throws IOException {
         allocateBuffer();
         writeHeaderToBuffer();
 
@@ -60,11 +63,6 @@ public class XMLMessage extends Message{
 
         writeCRC();
 
-        // Send
-        try {
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
+        outputStream.write(getBuffer());
     }
 }