Improvements to wake

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

@@ -10,7 +10,9 @@ import javafx.scene.transform.Rotate;
 import seng302.models.parsers.StreamParser;
 
 /**
- * Created by CJIRWIN on 25/04/2017.
+ * BoatGroup is a javafx group that by default contains a graphical objects for representing a 2 dimensional boat.
+ * It contains a single polygon for the boat, a group of lines to show it's path, a wake object and two text labels to
+ * annotate the boat teams name and the boats velocity.
  */
 public class BoatGroup extends RaceObject{
 
@@ -20,7 +22,7 @@ public class BoatGroup extends RaceObject{
     private static final double VELOCITY_Y_OFFSET = -5d;
     private static final double BOAT_HEIGHT = 15d;
     private static final double BOAT_WIDTH = 10d;
-    private static final int LINE_INTERVAL = 30;
+    private static final int LINE_INTERVAL = 180;
     private static double expectedUpdateInterval = 200;
     private double framesForNewLine = 0;
     private boolean destinationSet;
@@ -34,16 +36,34 @@ public class BoatGroup extends RaceObject{
     private Text velocityObject;
     private Wake wake;
 
+    /**
+     * Creates a BoatGroup with the default triangular boat polygon.
+     * @param boat The boat that the BoatGroup will represent. Must contain an ID which will be used to tell which
+     *             BoatGroup to update.
+     * @param color The colour of the boat polygon and the trailing line.
+     */
     public BoatGroup (Boat boat, Color color){
         this.boat = boat;
         initChildren(color);
     }
 
+    /**
+     * Creates a BoatGroup with the boat being the default polygon. The head of the boat should be at point (0,0).
+     * @param boat The boat that the BoatGroup will represent. Must contain an ID which will be used to tell which
+     *             BoatGroup to update.
+     * @param color The colour of the boat polygon and the trailing line.
+     * @param points An array of co-ordinates x1,y1,x2,y2,x3,y3... that will make up the boat polygon.
+     */
     public BoatGroup (Boat boat, Color color, double... points)
     {
         initChildren(color, points);
     }
 
+    /**
+     * Creates the javafx objects that will be the in the group by default.
+     * @param color The colour of the boat polygon and the trailing line.
+     * @param points An array of co-ordinates x1,y1,x2,y2,x3,y3... that will make up the boat polygon.
+     */
     private void initChildren (Color color, double... points) {
         boatPoly = new Polygon(points);
         boatPoly.setFill(color);
@@ -60,16 +80,20 @@ public class BoatGroup extends RaceObject{
         velocityObject.relocate(velocityObject.getX(), velocityObject.getY());
         destinationSet = false;
 
-        wake = new Wake(0, 0);
+        wake = new Wake(0, -BOAT_HEIGHT);
         wakeGenerationDelay = wake.numWakes;
         super.getChildren().addAll(teamNameObject, velocityObject, boatPoly);
     }
 
+    /**
+     * Creates the javafx objects that will be the in the group by default.
+     * @param color The colour of the boat polygon and the trailing line.
+     */
     private void initChildren (Color color) {
         initChildren(color,
-               -BOAT_WIDTH / 2, BOAT_HEIGHT,
+                -BOAT_WIDTH / 2, BOAT_HEIGHT / 2,
-               0.0, 0.0,
+                0.0, -BOAT_HEIGHT / 2,
-               BOAT_WIDTH / 2, BOAT_HEIGHT);
+                BOAT_WIDTH / 2, BOAT_HEIGHT / 2);
     }
 
     /**
@@ -93,12 +117,18 @@ public class BoatGroup extends RaceObject{
      * Moves the boat and its children annotations to coordinates specified
      * @param x The X coordinate to move the boat to
      * @param y The Y coordinate to move the boat to
+     * @param rotation The heading in degrees from north the boat should rotate to.
      */
     public void moveTo (double x, double y, double rotation) {
         rotateTo(rotation);
         moveTo(x, y);
     }
 
+    /**
+     * Moves the boat and its children annotations to coordinates specified
+     * @param x The X coordinate to move the boat to
+     * @param y The Y coordinate to move the boat to
+     */
     public void moveTo (double x, double y) {
         boatPoly.setLayoutX(x);
         boatPoly.setLayoutY(y);
@@ -108,13 +138,18 @@ public class BoatGroup extends RaceObject{
         velocityObject.setLayoutY(y);
         wake.setLayoutX(x);
         wake.setLayoutY(y);
-        //wake.rotate(currentRotation);
+        wake.rotate(currentRotation);
     }
 
+    /**
+     * Updates the position of all graphics in the BoatGroup based off of the given time interval.
+     * @param timeInterval The interval, in microseconds, the boat should update it's position based on.
+     */
     public void updatePosition (long timeInterval) {
+        //Calculate the movement of the boat.
         double dx = pixelVelocityX * timeInterval;
         double dy = pixelVelocityY * timeInterval;
-        double rotation = 0d;
+        double rotation = rotationalVelocity * timeInterval;
 
         moveGroupBy(dx, dy, rotation);
 
@@ -134,7 +169,7 @@ public class BoatGroup extends RaceObject{
             if (destinationSet){
                 lastPoint = new Point2D(boatPoly.getLayoutX(), boatPoly.getLayoutY());
             }
-            if (lineGroup.getChildren().size() > 80)
+            if (lineGroup.getChildren().size() > 60)
                 lineGroup.getChildren().remove(0);
         }
         wake.updatePosition(timeInterval);
@@ -143,20 +178,38 @@ public class BoatGroup extends RaceObject{
     public void setDestination (double newXValue, double newYValue, double rotation, int... raceIds) {
         destinationSet = true;
         boat.setVelocity(StreamParser.boatSpeeds.get((long)boat.getId()));
-        velocityObject.setText(String.valueOf(boat.getVelocity()));
         if (hasRaceId(raceIds)) {
-            this.pixelVelocityX = (newXValue - boatPoly.getLayoutX()) / expectedUpdateInterval;
+            double dx = newXValue - boatPoly.getLayoutX();
-            this.pixelVelocityY = (newYValue - boatPoly.getLayoutY()) / expectedUpdateInterval;
+            if ((dx > 0 && pixelVelocityX < 0) || (dx < 0 && pixelVelocityX > 0)) {
-            this.rotationalGoal = rotation;
+                pixelVelocityX = 0;
+            } else {
+                pixelVelocityX = dx / expectedUpdateInterval;
+            }
+            double dy = newYValue - boatPoly.getLayoutY();
+            if ((dy > 0 && pixelVelocityY < 0) || (dy < 0 && pixelVelocityY > 0)) {
+                pixelVelocityY = 0;
+            } else {
+                pixelVelocityY = dy / expectedUpdateInterval;
+            }
+//            this.pixelVelocityX = (newXValue - boatPoly.getLayoutX()) / expectedUpdateInterval;
+//            this.pixelVelocityY = (newYValue - boatPoly.getLayoutY()) / expectedUpdateInterval;
+            rotationalGoal = rotation;
             calculateRotationalVelocity();
-            System.out.println("rotationalVelocity = " + rotationalVelocity);
+            //Sometimes rotations are way too big.
-            rotateTo(rotation);
+            //if (Math.abs(rotationalVelocity) > 0.00003)
-//            if (wakeGenerationDelay > 0) {
+            //    rotationalVelocity = 0;
-//                wake.rotate(rotationalGoal);
+//
-//                wakeGenerationDelay--;
+            if (wakeGenerationDelay > 0) {
-//            } else {
+                wake.rotate(rotationalGoal);
+                wakeGenerationDelay--;
+            } else {
+                if (Math.abs(rotationalVelocity) > 0.1)
+//                    rotationalVelocity = 0;
+//
+                    wake.setRotationalVelocity(0, rotationalGoal, pixelVelocityX, pixelVelocityY);
+                else
                     wake.setRotationalVelocity(rotationalVelocity, rotationalGoal, pixelVelocityX, pixelVelocityY);
-//            }
+            }
         }
     }
 
@@ -181,11 +234,9 @@ public class BoatGroup extends RaceObject{
         boatPoly.getTransforms().add(new Rotate(rotation));
     }
 
-
-
     public void forceRotation () {
         rotateTo (rotationalGoal);
-        //wake.rotate(rotationalGoal);
+        wake.rotate(rotationalGoal);
     }
 
     public void toggleAnnotations () {

src/main/java/seng302/models/Wake.java

@@ -50,13 +50,10 @@ class Wake extends Group {
     void setRotationalVelocity (double rotationalVelocity, double rotationGoal, double velocityX, double velocityY) {
         sum -= Math.abs(velocities[velocityIndices[0]]);
         sum += Math.abs(rotationalVelocity);
-        if (sum < 0.0001) {
+        if (sum < 0.00002)
-            System.out.println("***************************************************************************");
+            rotate (rotationGoal); //In relatively straight segments the wake snaps to match the boats current position.
-            System.out.println(sum);
-            System.out.println("***************************************************************************");
-            rotate(rotationGoal); //In relatively straight segments the wake snaps to match the boats current position.
         //This stops the wake from eventually becoming out of sync with the boat.
-        }
+
         //Update the index of the array of recent velocities that each wake uses. Each wake is 3 velocities behind the
         //next smallest wake.
         velocityIndices[0] = (13 + (velocityIndices[0] - 1) % 13) % 13;
@@ -66,9 +63,9 @@ class Wake extends Group {
 
         //Scale wakes based on velocity. Assumes boats are always moving at a decent pace.
         double scaleFactor = Math.abs(Math.log10(Math.abs(velocityX) + Math.abs(velocityY)));
-        double baseRad = 30;
+        double baseRad = 25;
         for (Arc arc :arcs) {
-            double rad = Math.min(baseRad + 4 * scaleFactor, baseRad + 12);
+            double rad = Math.min(baseRad + 5 * scaleFactor, baseRad + 15);
             arc.setRadiusX(rad);
             arc.setRadiusY(rad);
             baseRad += 10;
@@ -84,12 +81,6 @@ class Wake extends Group {
             rotations[i] = rotations[i] + velocities[velocityIndices[i]] * timeInterval;
             arcs[i].getTransforms().setAll(new Rotate(rotations[i]));
         }
-        System.out.println("rotations[0] = " + rotations[0]);
-        System.out.println("rotations[1] = " + rotations[1]);
-        System.out.println("rotations[2] = " + rotations[2]);
-        System.out.println("rotations[3] = " + rotations[3]);
-        System.out.println("rotations[4] = " + rotations[4]);
-
     }
 
     /**

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

@@ -4,6 +4,8 @@ import java.io.ByteArrayOutputStream;
 import java.io.IOException;
 import java.io.InputStream;
 import java.net.Socket;
+import java.util.ArrayList;
+import java.util.Collection;
 import java.util.Comparator;
 import java.util.concurrent.PriorityBlockingQueue;
 import java.util.zip.CRC32;
@@ -14,7 +16,7 @@ public class StreamReceiver extends Thread {
     private InputStream stream;
     private Socket host;
     private  ByteArrayOutputStream crcBuffer;
-    private Thread thread;
+    private Thread t;
     private String threadName;
     public static PriorityBlockingQueue<StreamPacket> packetBuffer;
 
@@ -29,20 +31,21 @@ public class StreamReceiver extends Thread {
     }
 
     public void run(){
-        packetBuffer = new PriorityBlockingQueue<>(256, new Comparator<StreamPacket>() {
+        PriorityBlockingQueue<StreamPacket> pq = new PriorityBlockingQueue<>(256, new Comparator<StreamPacket>() {
             @Override
             public int compare(StreamPacket s1, StreamPacket s2) {
                 return (int) (s1.getTimeStamp() - s2.getTimeStamp());
             }
         });
+        packetBuffer = pq;
         connect();
     }
 
     public void start () {
         System.out.println("Starting " +  threadName );
-        if (thread == null) {
+        if (t == null) {
-            thread = new Thread (this, threadName);
+            t = new Thread (this, threadName);
-            thread.start ();
+            t.start ();
         }
     }
 
@@ -138,4 +141,15 @@ public class StreamReceiver extends Thread {
         }
         return partialLong;
     }
+
+
+
+
+    public static void main(String[] args) {
+
+        StreamReceiver sr = new StreamReceiver("csse-s302staff.canterbury.ac.nz", 4941,"TestThread1");
+        //StreamReceiver sr = new StreamReceiver("livedata.americascup.com", 4941, "TestThread2");
+        sr.start();
+
+    }
 }