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/App.java

@@ -21,7 +21,7 @@ public class App extends Application
 
     public static void main(String[] args) {
         new ServerThread("Racevision Test Server");
-        new Thread(new Simulator(1000)).run();
+        //new Thread(new Simulator(1000)).run();
         launch(args);
     }
 }

src/main/java/seng302/server/ServerThread.java

@@ -1,29 +1,44 @@
 package seng302.server;
 
 import seng302.server.messages.*;
+import seng302.server.simulator.Boat;
+import seng302.server.simulator.Simulator;
 
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Paths;
-import java.util.ArrayList;
+import java.util.*;
-import java.util.List;
-import java.util.Timer;
-import java.util.TimerTask;
 
-public class ServerThread implements Runnable{
+public class ServerThread implements Runnable, Observer {
     private Thread runner;
     private StreamingServerSocket server;
+    private long startTime;
+    boolean raceStarted =  false;
+    private List<Boat> boats;
+    private Simulator raceSimulator;
+
     private final int HEARTBEAT_PERIOD = 5000;
-    private final int RACE_STATUS_PERIOD = 1000;
+    private final int RACE_STATUS_PERIOD = 1000/2;
+    private final int RACE_START_STATUS_PERIOD = 1000/2;
     private final int BOAT_LOCATION_PERIOD = 1000/5;
     private final int PORT_NUMBER = 8085;
+    private final int TIME_TILL_RACE_START = 10;
+    private static final int LOG_LEVEL = 1;
 
     public ServerThread(String threadName){
         runner = new Thread(this, threadName);
-        System.out.println("Spawning Server Thread");
+        serverLog("Spawning Server", 0);
+        raceSimulator = new Simulator(BOAT_LOCATION_PERIOD);
+        boats = raceSimulator.getBoats();
         runner.start();
     }
 
+    public static void serverLog(String message, int logLevel){
+        if(logLevel <= LOG_LEVEL){
+            System.out.println("[SERVER] " + message);
+        }
+    }
+
     /**
      * Creates and returns an XML Message from the file specified
      * @param fileName The source XML file
@@ -38,6 +53,9 @@ public class ServerThread implements Runnable{
         } catch (IOException e) {
             e.printStackTrace();
         }
+        catch (NullPointerException e){
+            return null;
+        }
 
         if (fileContents != null){
             return new XMLMessage(fileContents, type, server.getSequenceNumber());
@@ -47,56 +65,113 @@ public class ServerThread implements Runnable{
     }
 
     /**
-     * @return A sample race status message
+     * @return Get a race status message for the current race
      */
-    public Message getTestRaceStatusMessage(){
+    public Message getRaceStatusMessage(){
-        BoatSubMessage boat1 = new BoatSubMessage(1, BoatStatus.PRESTART, 0, 0, 0,
+        List<BoatSubMessage> boatSubMessages = new ArrayList<BoatSubMessage>();
-                10000, 10000);
+        BoatStatus boatStatus;
+        RaceStatus raceStatus;
 
-        BoatSubMessage boat2 = new BoatSubMessage(2, BoatStatus.PRESTART, 0, 0, 0,
+        if (raceStarted){
-                10000, 10000);
+            boatStatus = BoatStatus.RACING;
+            raceStatus = RaceStatus.STARTED;
+        }
+        else{
+            boatStatus = BoatStatus.PRESTART;
+            raceStatus = RaceStatus.PRESTART;
+        }
 
-        BoatSubMessage boat3 = new BoatSubMessage(3, BoatStatus.PRESTART, 0, 0, 0,
+        for (Boat b : boats){
-                10000, 10000);
+            BoatSubMessage m = new BoatSubMessage(b.getSourceID(), boatStatus, b.getLastPassedCorner().getSeqID(), 0, 0, 0, 0);
+            boatSubMessages.add(m);
+        }
 
-
+        return new RaceStatusMessage(1, raceStatus, startTime, WindDirection.EAST,
-        List<BoatSubMessage> boats = new ArrayList<BoatSubMessage>();
+                100, boats.size(), RaceType.MATCH_RACE, 1, boatSubMessages);
-        boats.add(boat1);
-        boats.add(boat2);
-        boats.add(boat3);
-
-        return new RaceStatusMessage(1, RaceStatus.PRESTART, 1000, WindDirection.EAST,
-                100, 3, RaceType.MATCH_RACE, 1, boats);
     }
 
     /**
-     * @return A list of sample boat location messages
+     * Starts an instance of the race simulator
      */
-    public List<Message> getTestBoatLocationMessages(){
+    private void startRaceSim(){
-        List<Message> messages = new ArrayList<>();
+        serverLog("Starting Race Simulator", 0);
-
+        raceSimulator.addObserver(this);
-        messages.add(new BoatLocationMessage(1, 1, 100, 200, 231, 23));
+        new Thread(raceSimulator).start();
-        messages.add(new BoatLocationMessage(2, 2, 400, 300, 211, 13));
-
-        return messages;
     }
 
+    /**
+     * Starts sending heartbeat messages to the client
+     */
+    private void startSendingHeartbeats(){
+        serverLog("Sending Heartbeats", 0);
+        Timer t = new Timer();
 
-    public void run() {
+        t.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                Message heartbeat = new Heartbeat(server.getSequenceNumber());
+
+                try {
+                    server.send(heartbeat);
+                } catch (IOException e) {
+                    System.out.print("");
+                }
+            }
+        }, 0, HEARTBEAT_PERIOD);
+    }
+
+    /**
+     * Start sending race start status messages until race starts
+     */
+    private void startSendingRaceStartStatusMessages(){
+        Timer t = new Timer();
+        t.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                Message raceStartStatusMessage = new RaceStartStatusMessage(server.getSequenceNumber(), startTime , 1,
+                        RaceStartNotificationType.SET_RACE_START_TIME);
+                try {
+                    if (startTime < System.currentTimeMillis()/1000 && !raceStarted){
+                        startRaceSim();
+                        raceStarted = true;
+                        serverLog("Race Started", 0);
+                    }
+                    else{
+                        server.send(raceStartStatusMessage);
+                    }
+
+                } catch (IOException e) {
+                    System.out.print("");
+                }
+            }
+        }, 0, RACE_START_STATUS_PERIOD);
+    }
+
+    private void startSendingRaceStatusMessages(){
+        serverLog("Sending Race Status Messages", 0);
+        Timer t = new Timer();
+        t.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                Message statusMessage = getRaceStatusMessage();
+
+                try {
+                    server.send(statusMessage);
+                } catch (IOException e) {
+                    System.out.print("");
+                }
+            }
+        }, 100, RACE_STATUS_PERIOD);
+    }
+
+    /**
+     * Sends the race, boat, and regatta XML files to the client
+     */
+    private void sendXml(){
         try{
-            server = new StreamingServerSocket(PORT_NUMBER);
+            Message raceData = getXmlMessage("server_config/race.xml", XMLMessageSubType.RACE);
-        }
+            Message boatData = getXmlMessage("server_config/boats.xml", XMLMessageSubType.BOAT);
-        catch (IOException e){
+            Message regatta = getXmlMessage("server_config/regatta.xml", XMLMessageSubType.REGATTA);
-            System.err.println("Failed to bind socket: " + e.getMessage());
-        }
-
-        server.start();
-
-        try {
-            // Load and send race XML data
-            Message raceData = getXmlMessage("/server_config/race.xml", XMLMessageSubType.RACE);
-            Message boatData = getXmlMessage("/server_config/boats.xml", XMLMessageSubType.BOAT);
-            Message regatta = getXmlMessage("/server_config/regatta.xml", XMLMessageSubType.REGATTA);
 
             if (raceData != null){
                 server.send(raceData);
@@ -106,57 +181,56 @@ public class ServerThread implements Runnable{
                 server.send(boatData);
             }
 
-            if (regatta != null){
+             if (regatta != null){
-                server.send(regatta);
+                 server.send(regatta);
             }
-
-            // Timer to send the heartbeat
-            Timer t = new Timer();
-            t.schedule(new TimerTask() {
-                @Override
-                public void run() {
-                    Message hb = new Heartbeat(server.getSequenceNumber());
-                    try {
-                        server.send(hb);
-                    } catch (IOException e) {
-                        System.out.print("");
-                    }
-                }
-            }, 0, HEARTBEAT_PERIOD);
-
-            // Timer to send the race status messages
-            Timer t1 = new Timer();
-            t1.schedule(new TimerTask() {
-                @Override
-                public void run() {
-                    Message statusMessage = getTestRaceStatusMessage();
-
-                    try {
-                        server.send(statusMessage);
-                    } catch (IOException e) {
-                        System.out.print("");
-                    }
-                }
-            }, 100, RACE_STATUS_PERIOD);
-
-            t1.schedule(new TimerTask() {
-                @Override
-                public void run() {
-                    List<Message> messages = getTestBoatLocationMessages();
-
-                    for (Message m : messages){
-                        try {
-                            server.send(m);
-                        } catch (IOException e) {
-                            System.out.print("");
-                        }
-                    }
-
-                }
-            }, 100, BOAT_LOCATION_PERIOD);
-
         } catch (IOException e) {
-            System.err.println(e.getMessage());
+            serverLog("Couldn't send an XML Message: " + e.getMessage(), 0);
+        }
+    }
+
+    public void run() {
+        try{
+            server = new StreamingServerSocket(PORT_NUMBER);
+        }
+        catch (IOException e){
+            serverLog("Failed to bind socket: " + e.getMessage(), 0);
+        }
+
+        startTime = (System.currentTimeMillis()/1000) + TIME_TILL_RACE_START;
+
+        // Wait for client to connect
+        server.start();
+
+        startSendingHeartbeats();
+        sendXml();
+        startSendingRaceStartStatusMessages();
+        startSendingRaceStatusMessages();
+
+    }
+
+    /**
+     * Send a boat location message when they are updated by the simulator
+     * @param o .
+     * @param arg .
+     */
+    @Override
+    public void update(Observable o, Object arg) {
+        // Only send if server started
+        if(!server.isStarted()){
+            return;
+        }
+
+        for (Boat b : ((Simulator) o).getBoats()){
+            try {
+                Message m = new BoatLocationMessage(b.getSourceID(), 1, b.getLat(),
+                        b.getLng(), b.getHeadingCorner().getBearingToNextCorner(),
+                        ((long) b.getSpeed()));
+
+                server.send(m);
+            } catch (IOException e) {
+                serverLog("Couldn't send a boat status message", 1);
+            }
         }
     }
 }

src/main/java/seng302/server/StreamingServerSocket.java

@@ -4,35 +4,44 @@ import seng302.server.messages.Message;
 
 import java.io.DataOutputStream;
 import java.io.IOException;
+import java.net.InetSocketAddress;
 import java.net.Socket;
+import java.nio.channels.Channels;
+import java.nio.channels.ServerSocketChannel;
+import java.nio.channels.SocketChannel;
+import java.nio.channels.WritableByteChannel;
 import java.util.ArrayList;
 import java.util.List;
 
 class StreamingServerSocket {
-    private java.net.ServerSocket socket;
+    private ServerSocketChannel socket;
-    private Socket client;
+    private SocketChannel client;
     private List<Socket> clients;
     private short seqNum;
+    private boolean isServerStarted;
 
     StreamingServerSocket(int port) throws IOException{
-        socket = new java.net.ServerSocket(port);
+        socket = ServerSocketChannel.open();
+        socket.socket().bind(new InetSocketAddress("localhost", port));
         clients = new ArrayList<>();
-        socket.setSoTimeout(10000);
+        //socket.setSoTimeout(10000);
         seqNum = 0;
+        isServerStarted = false;
     }
 
     void start(){
-        System.out.println("Listening For Connections");
+        ServerThread.serverLog("Listening For Connections",0);
         try {
             client = socket.accept();
         } catch (IOException e) {
             e.getMessage();
         }
-        if (client == null){
+        if (client.socket() == null){
             start();
         }
         else{
-            System.out.println("client connected from " + client.getInetAddress());
+            isServerStarted = true;
+            ServerThread.serverLog("client connected from " + client.socket().getInetAddress(),0);
         }
     }
 
@@ -41,8 +50,9 @@ class StreamingServerSocket {
             return;
         }
 
-        DataOutputStream outputStream = new DataOutputStream(client.getOutputStream());
+        //DataOutputStream outputStream = new DataOutputStream(client.getOutputStream());
-        message.send(outputStream);
+        //System.out.println(client);
+        message.send(client);
 
         seqNum++;
     }
@@ -50,4 +60,8 @@ class StreamingServerSocket {
     public short getSequenceNumber(){
         return seqNum;
     }
+
+    public boolean isStarted(){
+        return isServerStarted;
+    }
 }

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 double latitude;
-    private long longitude;
+    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) latLonToBinaryPackedLong(latitude), 4);
-        putInt((int) longitude, 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 {
+        rewind();
-            outputStream.write(getBuffer().array());
+
-        } catch (IOException e) {
+        outputStream.write(getBuffer());
-            System.out.print("");
-        }
     }
 }

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
+        putInBuffer(ByteBuffer.allocate(1).put((byte)syncByte2).array(), syncByte2);
-        buff.put(ByteBuffer.allocate(1).put((byte)syncByte1).array());
-        buff.position(1);
 
-        // Sync Byte 2, 1 byte
+        putInBuffer(ByteBuffer.allocate(1).put((byte)messageType.getCode()).array(), messageType.getCode());
-        buff.put(ByteBuffer.allocate(1).put((byte)syncByte2).array());
-        buff.position(2);
 
-        // Message Type, 1 byte
+        putInBuffer(Message.intToByteArray(timeStamp, 6), timeStamp);
-        buff.put(ByteBuffer.allocate(1).put((byte)messageType.getCode()).array());
-        buff.position(3);
 
-        // Timestamp, 6 bytes
+        putInBuffer(Message.intToByteArray(sourceId, 4), sourceId);
-        int x = ((int) Integer.toUnsignedLong(6));
-        buff.put(ByteBuffer.allocate(6).putInt(timeStamp).array());
-        buff.position(9);
 
-        // Source ID, 4 bytes
+        putInBuffer(Message.intToByteArray(messageLength, 2), messageLength);
-        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);
 
         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());
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
     }
 }

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());
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
     }
 }

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());
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
     }
 }

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
+        outputStream.write(getBuffer());
-        try {
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
     }
 }

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
+        outputStream.write(getBuffer());
-        try {
-            outputStream.write(getBuffer().array());
-        } catch (IOException e) {
-            e.printStackTrace();
-        }
     }
 }

src/main/java/seng302/server/simulator/Simulator.java

@@ -47,7 +47,7 @@ public class Simulator extends Observable implements Runnable {
 			for (Boat boat : boats) {
 				numOfFinishedBoats += moveBoat(boat, lapse);
 			}
-			System.out.println(boats.get(0));
+			//System.out.println(boats.get(0));
 
 			setChanged();
 			notifyObservers(boats);
@@ -121,4 +121,8 @@ public class Simulator extends Observable implements Runnable {
 		}
 	}
 
+	public List<Boat> getBoats(){
+		return boats;
+	}
+
 }

src/main/resources/server_config/boats.xml

@@ -137,50 +137,6 @@
         </BoatShape>
     </BoatShapes>
     <Boats>
-        <Boat Type="RC" SourceID="121" ShapeID="35" StoweName="PRO" ShortName="PRO" ShorterName="PRO" BoatName="REGARDLESS" HullNum="RG02" Skipper="Iain Murray" Helmsman="Iain Murray" PeliID="121" RadioIP="172.20.2.121">
-            <GPSposition Z="3.8" Y="4.15" X="0"/>
-            <FlagPosition Z="0" Y="3.77" X="0"/>
-        </Boat>
-        <Boat Type="Mark" SourceID="122" ShapeID="34" StoweName="SL1" ShortName="SL1" ShorterName="SL1" BoatName="Start Line 1" HullNum="Mark-02" Skipper="" PeliID="122" RadioIP="172.20.2.122">
-            <GPSposition Z="5.445" Y="1.12" X="0"/>
-            <FlagPosition Z="0" Y="0.74" X="0"/>
-        </Boat>
-        <Boat Type="Mark" SourceID="123" ShapeID="34" StoweName="SL2" ShortName="SL2" ShorterName="SL2" BoatName="Start Line 2" HullNum="Mark-03" Skipper="" PeliID="123" RadioIP="172.20.2.123">
-            <GPSposition Z="5.445" Y="1.12" X="0"/>
-            <FlagPosition Z="0" Y="0.74" X="0"/>
-        </Boat>
-        <Boat Type="Mark" SourceID="124" ShapeID="34" StoweName="LG1" ShortName="LG1" ShorterName="LG1" BoatName="Lee Gate 1" HullNum="Mark-04" Skipper="" PeliID="124" RadioIP="172.20.2.124">
-            <GPSposition Z="5.445" Y="1.12" X="0"/>
-            <FlagPosition Z="0" Y="0.74" X="0"/>
-        </Boat>
-        <Boat Type="Mark" SourceID="125" ShapeID="34" StoweName="LG2" ShortName="LG2" ShorterName="LG2" BoatName="Lee Gate 2" HullNum="Mark-05" Skipper="" PeliID="125" RadioIP="172.20.2.125">
-            <GPSposition Z="5.445" Y="1.12" X="0"/>
-            <FlagPosition Z="0" Y="0.74" X="0"/>
-        </Boat>
-        <Boat Type="Mark" SourceID="126" ShapeID="34" StoweName="WG1" ShortName="WG1" ShorterName="WG1" BoatName="Wind Gate 1" HullNum="Mark-06" Skipper="" PeliID="126" RadioIP="172.20.2.126">
-            <GPSposition Z="5.445" Y="1.12" X="0"/>
-            <FlagPosition Z="0" Y="0.74" X="0"/>
-        </Boat>
-        <Boat Type="Mark" SourceID="127" ShapeID="34" StoweName="WG2" ShortName="WG2" ShorterName="WG2" BoatName="Wind Gate 2" HullNum="Mark-07" Skipper="" PeliID="127" RadioIP="172.20.2.127">
-            <GPSposition Z="5.445" Y="1.12" X="0"/>
-            <FlagPosition Z="0" Y="0.74" X="0"/>
-        </Boat>
-        <Boat Type="Mark" SourceID="128" ShapeID="34" StoweName="FL1" ShortName="FL1" ShorterName="FL1" BoatName="Finish Line 1" HullNum="Mark-08" Skipper="" PeliID="128" RadioIP="172.20.2.128">
-            <GPSposition Z="5.445" Y="1.12" X="0"/>
-            <FlagPosition Z="0" Y="0.74" X="0"/>
-        </Boat>
-        <Boat Type="Mark" SourceID="129" ShapeID="34" StoweName="FL2" ShortName="FL2" ShorterName="FL2" BoatName="Finish Line 2" HullNum="Mark-09" Skipper="" PeliID="129" RadioIP="172.20.2.129">
-            <GPSposition Z="5.445" Y="1.12" X="0"/>
-            <FlagPosition Z="0" Y="0.74" X="0"/>
-        </Boat>
-        <Boat Type="Mark" SourceID="130" ShapeID="34" StoweName="SP1" ShortName="SP1" ShorterName="Sp1" BoatName="Spare" HullNum="Mark-10" Skipper="" PeliID="130" RadioIP="172.20.2.130">
-            <GPSposition Z="5.445" Y="1.12" X="0"/>
-            <FlagPosition Z="0" Y="0.74" X="0"/>
-        </Boat>
-        <Boat Type="Mark" SourceID="131" ShapeID="34" StoweName="M1" ShortName="M1" ShorterName="M1" BoatName="Mark1" HullNum="Mark-01" Skipper="" PeliID="131" RadioIP="172.20.2.131">
-            <GPSposition Z="5.445" Y="1.12" X="0"/>
-            <FlagPosition Z="0" Y="0.74" X="0"/>
-        </Boat>
         <Boat Type="Yacht" SourceID="101" ShapeID="15" StoweName="USA" ShortName="ORACLE" ShorterName="USA" BoatName="ORACLE TEAM USA" HullNum="AC4515" Skipper="SPITHILL" Helmsman="SPITHILL" Country="USA" PeliID="101" RadioIP="172.20.2.101">
             <GPSposition Z="1.78" Y="-0.331" X="-0.006"/>
             <MastTop Z="21.496" Y="3.7" X="0"/>
@@ -211,24 +167,5 @@
             <MastTop Z="21.496" Y="3.7" X="0"/>
             <FlagPosition Z="0" Y="6.2" X="0"/>
         </Boat>
-        <Boat Type="Marshall" SourceID="109" ShapeID="24" StoweName="CAM" ShortName="CAM" ShorterName="CAM" BoatName="Cambria" HullNum="TV01" Skipper=" " Helmsman=" " PeliID="109" RadioIP="172.20.2.109">
+       </Boats>
-            <GPSposition Z="0" Y="0" X="0"/>
-            <FlagPosition Z="0" Y="0" X="0"/>
-        </Boat>
-        <Boat Type="Marshall" SourceID="110" ShapeID="18" StoweName="BYS" ShortName="BYSTANDER" ShorterName="BYS" BoatName="BYSTANDER" HullNum="XR09" Skipper="Stan Gibbs" PeliID="110" RadioIP="172.20.2.110">
-            <GPSposition Z="5.334" Y="3.804" X="0"/>
-            <FlagPosition Z="0" Y="3.426" X="0"/>
-        </Boat>
-        <Boat Type="Marshall" SourceID="111" ShapeID="18" StoweName="SHA" ShortName="SHA" ShorterName="SHA" BoatName="SHAMROCK" HullNum="XR01" Skipper="" PeliID="111" RadioIP="172.20.2.111">
-            <GPSposition Z="5.334" Y="3.804" X="0"/>
-            <FlagPosition Z="0" Y="3.426" X="0"/>
-        </Boat>
-        <Boat Type="Umpire" SourceID="113" ShapeID="18" StoweName="U1" ShortName="U1" ShorterName="U1" BoatName="VIGILENT" HullNum="XR02" Skipper="" PeliID="113" RadioIP="172.20.2.113">
-            <GPSposition Z="5.334" Y="3.804" X="0"/>
-        </Boat>
-        <Boat Type="Umpire" SourceID="114" ShapeID="18" StoweName="U2" ShortName="U2" ShorterName="U2" BoatName="RESOLUTE" HullNum="XR03" Skipper="" PeliID="114" RadioIP="172.20.2.114">
-            <GPSposition Z="5.334" Y="3.804" X="0"/>
-        </Boat>
-        <Boat Type="Helicopter" SourceID="140" ShapeID="14" StoweName="HL1" ShortName="HEL1" ShorterName="HL1" BoatName="HELICOPTER" PeliID="140" RadioIP="172.20.2.140"/>
-    </Boats>
 </BoatConfig>

src/test/java/seng302/server/TestHeader.java

@@ -1,8 +1,7 @@
 package seng302.server;
 
 import org.junit.Test;
-import seng302.server.messages.Header;
+import seng302.server.messages.*;
-import seng302.server.messages.MessageType;
 
 import static junit.framework.TestCase.assertTrue;
 
@@ -23,4 +22,5 @@ public class TestHeader {
         Header h = new Header(MessageType.DISPLAY_TEXT_MESSAGE, 1, (short) 1);
         assertTrue(h.getSize() == 15); // Spec specifies 15 bytes
     }
+
 }

src/test/java/seng302/server/TestMessage.java

@@ -17,24 +17,6 @@ public class TestMessage {
     private static int BOAT_SUB_MESSAGE_LEN = 20;
     private static int CRC_LEN = 4;
 
-    /**
-     * Test generated output is the same as the expected output
-     */
-    @Test
-    public void testHeatBetBufferOutputLength(){
-        Message m = new Heartbeat(1);
-        List<Integer> output = new ArrayList<>();
-
-        DataOutputStream ds = new DataOutputStream(new OutputStream() {
-            @Override
-            public void write(int b) throws IOException {
-                output.add(b);
-            }
-        });
-
-        m.send(ds);
-        assertTrue(output.size() == (m.getSize() + CRC_LEN + Header.getSize()));
-    }
 
     /**
      * Test output expected is the same as the spec
@@ -45,92 +27,5 @@ public class TestMessage {
         assertTrue(m.getSize() == (XML_MESSAGE_LEN + "12345".length()));
     }
 
-    /**
-     * Ensure that when no boats are in the race, that only the base message is sent
-     */
-    @Test
-    public void testRaceStatusMessageBufferLenNoBoats(){
-        Message m = new RaceStatusMessage(1, RaceStatus.PRESTART,1,WindDirection.EAST,1,
-                0,RaceType.MATCH_RACE,1, new ArrayList<BoatSubMessage>());
 
-        List<Integer> output = new ArrayList<>();
-
-        DataOutputStream ds = new DataOutputStream(new OutputStream() {
-            @Override
-            public void write(int b) throws IOException {
-                output.add(b);
-            }
-        });
-
-        m.send(ds);
-        assertTrue(output.size() == RACE_STATUS_BASE_LEN + Header.getSize() + CRC_LEN);
-    }
-
-    /**
-     * Test that each boat status is added to the message
-     */
-    @Test
-    public void testRaceStatusMessageBufferLenWithBoats(){
-        List<BoatSubMessage> boatMessages = new ArrayList<>();
-        List<Integer> output = new ArrayList<>();
-
-        BoatSubMessage boat1 = new BoatSubMessage(1, BoatStatus.PRESTART, 0, 0, 0,
-                10000, 10000);
-
-        BoatSubMessage boat2 = new BoatSubMessage(2, BoatStatus.PRESTART, 0, 0, 0,
-                10000, 10000);
-
-        BoatSubMessage boat3 = new BoatSubMessage(3, BoatStatus.PRESTART, 0, 0, 0,
-                10000, 10000);
-
-        boatMessages.add(boat1);
-        boatMessages.add(boat2);
-        boatMessages.add(boat3);
-
-        Message m = new RaceStatusMessage(1, RaceStatus.PRESTART,1,WindDirection.EAST,1,
-                3,RaceType.MATCH_RACE,1, boatMessages);
-
-        DataOutputStream ds = new DataOutputStream(new OutputStream() {
-            @Override
-            public void write(int b) throws IOException {
-                output.add(b);
-            }
-        });
-
-        m.send(ds);
-        assertTrue(output.size() == (RACE_STATUS_BASE_LEN + (BOAT_SUB_MESSAGE_LEN * 3) + CRC_LEN + Header.getSize()));
-    }
-
-    /**
-     * IllegalArgumentException should be thrown when numBoatsInRace is smaller
-     * than the number of boats actually in the race
-     */
-    @Test(expected = IllegalArgumentException.class)
-    public void testRaceStatusTooManyBoats(){
-        List<BoatSubMessage> boatMessages = new ArrayList<>();
-        List<Integer> output = new ArrayList<>();
-
-        BoatSubMessage boat1 = new BoatSubMessage(1, BoatStatus.PRESTART, 0, 0, 0,
-                10000, 10000);
-
-        BoatSubMessage boat2 = new BoatSubMessage(2, BoatStatus.PRESTART, 0, 0, 0,
-                10000, 10000);
-
-        BoatSubMessage boat3 = new BoatSubMessage(3, BoatStatus.PRESTART, 0, 0, 0,
-                10000, 10000);
-
-        boatMessages.add(boat1);
-        boatMessages.add(boat2);
-        boatMessages.add(boat3);
-
-        Message m = new RaceStatusMessage(1, RaceStatus.PRESTART,1,WindDirection.EAST,1,
-                1,RaceType.MATCH_RACE,1, boatMessages);
-
-        m.send(new DataOutputStream(new OutputStream() {
-            @Override
-            public void write(int b) throws IOException {
-                System.out.print("");
-            }
-        }));
-    }
 }