diff --git a/src/main/java/seng302/model/ClientYacht.java b/src/main/java/seng302/model/ClientYacht.java index a0ee906e..7887602d 100644 --- a/src/main/java/seng302/model/ClientYacht.java +++ b/src/main/java/seng302/model/ClientYacht.java @@ -3,9 +3,8 @@ package seng302.model; import java.text.DateFormat; import java.text.SimpleDateFormat; import java.util.ArrayList; +import java.util.HashMap; import java.util.List; -import java.util.Observable; -import java.util.Observer; import javafx.beans.property.ReadOnlyDoubleProperty; import javafx.beans.property.ReadOnlyDoubleWrapper; import javafx.beans.property.ReadOnlyLongProperty; @@ -13,24 +12,31 @@ import javafx.beans.property.ReadOnlyLongWrapper; import javafx.scene.paint.Color; import org.slf4j.Logger; import org.slf4j.LoggerFactory; +import seng302.gameServer.GameState; import seng302.model.mark.CompoundMark; +import seng302.model.mark.Mark; +import seng302.utilities.GeoUtility; /** - * Yacht class for the racing boat.

Class created to store more variables (eg. boat statuses) - * compared to the XMLParser boat class, also done outside Boat class because some old variables are - * not used anymore. + * Yacht class for the racing boat. + * + * Class created to store more variables (eg. boat statuses) compared to the XMLParser boat class, + * also done outside Boat class because some old variables are not used anymore. */ -public class ClientYacht extends Observable { +public class ClientYacht { + @FunctionalInterface public interface YachtLocationListener { - void notifyLocation(ClientYacht clientYacht, double lat, double lon, double heading, - double velocity); + void notifyLocation(ClientYacht yacht, double lat, double lon, double heading, + double velocity, boolean sailIn); } private Logger logger = LoggerFactory.getLogger(ClientYacht.class); + private static final Double ROUNDING_DISTANCE = 50d; // TODO: 3/08/17 wmu16 - Look into this value further + //BOTH AFAIK private String boatType; @@ -43,12 +49,27 @@ public class ClientYacht extends Observable { private Long estimateTimeAtFinish; private Integer currentMarkSeqID = 0; private Long markRoundTime; + private Double distanceToCurrentMark; private Long timeTillNext; private Double heading; private Integer legNumber = 0; + + //SERVER SIDE + public static final Double TURN_STEP = 5.0; //This should be in some utils class somewhere 2bh. Public for tests sake. + private Double lastHeading; + private Boolean sailIn = false; private GeoPoint location; private Integer boatStatus; - private Double currentVelocity; + private Double velocity; + private Boolean isAuto; + private Double autoHeading; + + //MARK ROUNDING INFO + private GeoPoint lastLocation; //For purposes of mark rounding calculations + private Boolean hasEnteredRoundingZone; //The distance that the boat must be from the mark to round + private Boolean hasPassedLine; + private Boolean hasPassedThroughGate; + private Boolean finishedRace; //CLIENT SIDE private List locationListeners = new ArrayList<>(); @@ -58,6 +79,7 @@ public class ClientYacht extends Observable { private CompoundMark lastMarkRounded; private Integer positionInt = 0; private Color colour; + private Boolean clientSailsIn = true; public ClientYacht(String boatType, Integer sourceId, String hullID, String shortName, String boatName, String country) { @@ -67,18 +89,389 @@ public class ClientYacht extends Observable { this.shortName = shortName; this.boatName = boatName; this.country = country; + this.sailIn = false; + this.isAuto = false; this.location = new GeoPoint(57.670341, 11.826856); + this.lastLocation = location; this.heading = 120.0; //In degrees - this.currentVelocity = 0d; + this.velocity = 0d; //in mms-1 + + this.hasEnteredRoundingZone = false; + this.hasPassedLine = false; + this.hasPassedThroughGate = false; + this.finishedRace = false; } /** - * Add ServerToClientThread as the observer, this observer pattern mainly server for the boat - * rounding package. + * @param timeInterval since last update in milliseconds */ - @Override - public void addObserver(Observer o) { - super.addObserver(o); + public void update(Long timeInterval) { + + Double secondsElapsed = timeInterval / 1000000.0; + Double windSpeedKnots = GameState.getWindSpeedKnots(); + Double trueWindAngle = Math.abs(GameState.getWindDirection() - heading); + Double boatSpeedInKnots = PolarTable.getBoatSpeed(windSpeedKnots, trueWindAngle); + Double maxBoatSpeed = boatSpeedInKnots / 1.943844492 * 1000; + if (sailIn && velocity <= maxBoatSpeed && maxBoatSpeed != 0d) { + + if (velocity < maxBoatSpeed) { + velocity += maxBoatSpeed / 15; // Acceleration + } + if (velocity > maxBoatSpeed) { + velocity = maxBoatSpeed; // Prevent the boats from exceeding top speed + } + + } else { // Deceleration + + if (velocity > 0d) { + if (maxBoatSpeed != 0d) { + velocity -= maxBoatSpeed / 600; + } else { + velocity -= velocity / 100; + } + if (velocity < 0) { + velocity = 0d; + } + } + } + + runAutoPilot(); + + //UPDATE BOAT LOCATION + lastLocation = location; + location = GeoUtility.getGeoCoordinate(location, heading, velocity * secondsElapsed); + + //CHECK FOR MARK ROUNDING + if (!finishedRace) { + checkForLegProgression(); + } + + // TODO: 3/08/17 wmu16 - Implement line cross check here + } + + + /** + * Calculates the distance to the next mark (closest of the two if a gate mark). For purposes + * of mark rounding + * + * @return A distance in metres. Returns -1 if there is no next mark + * @throws IndexOutOfBoundsException If the next mark is null (ie the last mark in the race) + * Check first using {@link seng302.model.mark.MarkOrder#isLastMark(Integer)} + */ + public Double calcDistanceToCurrentMark() throws IndexOutOfBoundsException { + CompoundMark nextMark = GameState.getMarkOrder().getCurrentMark(currentMarkSeqID); + + if (nextMark.isGate()) { + Mark sub1 = nextMark.getSubMark(1); + Mark sub2 = nextMark.getSubMark(2); + Double distance1 = GeoUtility.getDistance(location, sub1); + Double distance2 = GeoUtility.getDistance(location, sub2); + return (distance1 < distance2) ? distance1 : distance2; + } else { + return GeoUtility.getDistance(location, nextMark.getSubMark(1)); + } + } + + + /** + * 4 Different cases of progression in the race + * 1 - Passing the start line + * 2 - Passing any in-race Gate + * 3 - Passing any in-race Mark + * 4 - Passing the finish line + */ + private void checkForLegProgression() { + CompoundMark currentMark = GameState.getMarkOrder().getCurrentMark(currentMarkSeqID); + if (currentMarkSeqID == 0) { + checkStartLineCrossing(currentMark); + } else if (GameState.getMarkOrder().isLastMark(currentMarkSeqID)) { + checkFinishLineCrossing(currentMark); + } else if (currentMark.isGate()) { + checkGateRounding(currentMark); + } else { + checkMarkRounding(currentMark); + } + } + + /** + * If we pass the start line gate in the correct direction, progress + * + * @param currentMark The current gate + */ + private void checkStartLineCrossing(CompoundMark currentMark) { + Mark mark1 = currentMark.getSubMark(1); + Mark mark2 = currentMark.getSubMark(2); + CompoundMark nextMark = GameState.getMarkOrder().getNextMark(currentMarkSeqID); + + Integer crossedLine = GeoUtility.checkCrossedLine(mark1, mark2, lastLocation, location); + if (crossedLine > 0) { + Boolean isClockwiseCross = GeoUtility.isClockwise(mark1, mark2, nextMark.getMidPoint()); + if (crossedLine == 2 && isClockwiseCross || crossedLine == 1 && !isClockwiseCross) { + currentMarkSeqID++; + logMarkRounding(currentMark); + } + } + } + + + /** + * This algorithm checks for mark rounding. And increments the currentMarSeqID number attribute + * of the yacht if so. + * A visual representation of this algorithm can be seen on the Wiki under + * 'mark passing algorithm' + */ + private void checkMarkRounding(CompoundMark currentMark) { + distanceToCurrentMark = calcDistanceToCurrentMark(); + GeoPoint nextPoint = GameState.getMarkOrder().getNextMark(currentMarkSeqID).getMidPoint(); + GeoPoint prevPoint = GameState.getMarkOrder().getPreviousMark(currentMarkSeqID) + .getMidPoint(); + GeoPoint midPoint = GeoUtility.getDirtyMidPoint(nextPoint, prevPoint); + + //1 TEST FOR ENTERING THE ROUNDING DISTANCE + if (distanceToCurrentMark < ROUNDING_DISTANCE) { + hasEnteredRoundingZone = true; + } + + //In case current mark is a gate, loop through all marks just in case + for (Mark thisCurrentMark : currentMark.getMarks()) { + if (GeoUtility.isPointInTriangle(lastLocation, location, midPoint, thisCurrentMark)) { + hasPassedLine = true; + } + } + + if (hasPassedLine && hasEnteredRoundingZone) { + currentMarkSeqID++; + hasPassedLine = false; + hasEnteredRoundingZone = false; + hasPassedThroughGate = false; + logMarkRounding(currentMark); + } + } + + + /** + * Checks if a gate line has been crossed and in the correct direction + * + * @param currentMark The current gate + */ + private void checkGateRounding(CompoundMark currentMark) { + Mark mark1 = currentMark.getSubMark(1); + Mark mark2 = currentMark.getSubMark(2); + CompoundMark prevMark = GameState.getMarkOrder().getPreviousMark(currentMarkSeqID); + CompoundMark nextMark = GameState.getMarkOrder().getNextMark(currentMarkSeqID); + + Integer crossedLine = GeoUtility.checkCrossedLine(mark1, mark2, lastLocation, location); + + //We have crossed the line + if (crossedLine > 0) { + Boolean isClockwiseCross = GeoUtility.isClockwise(mark1, mark2, prevMark.getMidPoint()); + + //Check we cross the line in the correct direction + if (crossedLine == 1 && isClockwiseCross || crossedLine == 2 && !isClockwiseCross) { + hasPassedThroughGate = true; + } + } + + Boolean prevMarkSide = GeoUtility.isClockwise(mark1, mark2, prevMark.getMidPoint()); + Boolean nextMarkSide = GeoUtility.isClockwise(mark1, mark2, nextMark.getMidPoint()); + + if (hasPassedThroughGate) { + //Check if we need to round this gate after passing through + if (prevMarkSide == nextMarkSide) { + checkMarkRounding(currentMark); + } else { + currentMarkSeqID++; + logMarkRounding(currentMark); + } + } + } + + /** + * If we pass the finish gate in the correct direction + * + * @param currentMark The current gate + */ + private void checkFinishLineCrossing(CompoundMark currentMark) { + Mark mark1 = currentMark.getSubMark(1); + Mark mark2 = currentMark.getSubMark(2); + CompoundMark prevMark = GameState.getMarkOrder().getPreviousMark(currentMarkSeqID); + + Integer crossedLine = GeoUtility.checkCrossedLine(mark1, mark2, lastLocation, location); + if (crossedLine > 0) { + Boolean isClockwiseCross = GeoUtility.isClockwise(mark1, mark2, prevMark.getMidPoint()); + if (crossedLine == 1 && isClockwiseCross || crossedLine == 2 && !isClockwiseCross) { + currentMarkSeqID++; + finishedRace = true; + logMarkRounding(currentMark); + logger.debug(sourceId + " finished"); + // TODO: 8/08/17 wmu16 - Do something! + } + } + } + + + /** + * Adjusts the heading of the boat by a given amount, while recording the boats + * last heading. + * + * @param amount the amount by which to adjust the boat heading. + */ + public void adjustHeading(Double amount) { + Double newVal = heading + amount; + lastHeading = heading; + heading = (double) Math.floorMod(newVal.longValue(), 360L); + } + + /** + * Swaps the boats direction from one side of the wind to the other. + */ + public void tackGybe(Double windDirection) { + if (isAuto) { + disableAutoPilot(); + } else { + Double normalizedHeading = normalizeHeading(); + Double newVal = (-2 * normalizedHeading) + heading; + Double newHeading = (double) Math.floorMod(newVal.longValue(), 360L); + setAutoPilot(newHeading); + } + } + + /** + * Enables the boats auto pilot feature, which will move the boat towards a given heading. + * + * @param thisHeading The heading to move the boat towards. + */ + private void setAutoPilot(Double thisHeading) { + isAuto = true; + autoHeading = thisHeading; + } + + /** + * Disables the auto pilot function. + */ + public void disableAutoPilot() { + isAuto = false; + } + + /** + * Moves the boat towards the given heading when the auto pilot was set. Disables the auto pilot + * in the event that the boat is within the range of 1 turn step of its goal. + */ + public void runAutoPilot() { + if (isAuto) { + turnTowardsHeading(autoHeading); + if (Math.abs(heading - autoHeading) + <= TURN_STEP) { //Cancel when within 1 turn step of target. + isAuto = false; + } + } + } + + public void toggleSailIn() { + sailIn = !sailIn; + } + + public void turnUpwind() { + disableAutoPilot(); + Double normalizedHeading = normalizeHeading(); + if (normalizedHeading == 0) { + if (lastHeading < 180) { + adjustHeading(-TURN_STEP); + } else { + adjustHeading(TURN_STEP); + } + } else if (normalizedHeading == 180) { + if (lastHeading < 180) { + adjustHeading(TURN_STEP); + } else { + adjustHeading(-TURN_STEP); + } + } else if (normalizedHeading < 180) { + adjustHeading(-TURN_STEP); + } else { + adjustHeading(TURN_STEP); + } + } + + public void turnDownwind() { + disableAutoPilot(); + Double normalizedHeading = normalizeHeading(); + if (normalizedHeading == 0) { + if (lastHeading < 180) { + adjustHeading(TURN_STEP); + } else { + adjustHeading(-TURN_STEP); + } + } else if (normalizedHeading == 180) { + if (lastHeading < 180) { + adjustHeading(-TURN_STEP); + } else { + adjustHeading(TURN_STEP); + } + } else if (normalizedHeading < 180) { + adjustHeading(TURN_STEP); + } else { + adjustHeading(-TURN_STEP); + } + } + + /** + * Takes the VMG from the polartable for upwind or downwind depending on the boats direction, + * and uses this to calculate a heading to move the yacht towards. + */ + public void turnToVMG() { + if (isAuto) { + disableAutoPilot(); + } else { + Double normalizedHeading = normalizeHeading(); + Double optimalHeading; + HashMap optimalPolarMap; + + if (normalizedHeading >= 90 && normalizedHeading <= 270) { // Downwind + optimalPolarMap = PolarTable.getOptimalDownwindVMG(GameState.getWindSpeedKnots()); + } else { + optimalPolarMap = PolarTable.getOptimalUpwindVMG(GameState.getWindSpeedKnots()); + } + optimalHeading = optimalPolarMap.keySet().iterator().next(); + + if (normalizedHeading > 180) { + optimalHeading = 360 - optimalHeading; + } + + // Take optimal heading and turn into a boat heading rather than a wind heading. + optimalHeading = + optimalHeading + GameState.getWindDirection(); + + setAutoPilot(optimalHeading); + } + } + + /** + * Takes a given heading and rotates the boat towards that heading. + * This does not care about being upwind or downwind, just which direction will reach a given + * heading faster. + * + * @param newHeading The heading to turn the yacht towards. + */ + private void turnTowardsHeading(Double newHeading) { + Double newVal = heading - newHeading; + if (Math.floorMod(newVal.longValue(), 360L) > 180) { + adjustHeading(TURN_STEP / 5); + } else { + adjustHeading(-TURN_STEP / 5); + } + } + + /** + * Returns a heading normalized for the wind direction. Heading direction into the wind is 0, + * directly away is 180. + * + * @return The normalized heading accounting for wind direction. + */ + private Double normalizeHeading() { + Double normalizedHeading = heading - GameState.windDirection; + normalizedHeading = (double) Math.floorMod(normalizedHeading.longValue(), 360L); + return normalizedHeading; } public String getBoatType() { @@ -128,6 +521,9 @@ public class ClientYacht extends Observable { } public void setLegNumber(Integer legNumber) { +// if (colour != null && position != "-" && legNumber != this.legNumber) { +// RaceViewController.updateYachtPositionSparkline(this, legNumber); +// } this.legNumber = legNumber; } @@ -164,10 +560,18 @@ public class ClientYacht extends Observable { return velocityProperty.getReadOnlyProperty(); } + public double getVelocityMMS() { + return velocity; + } + public ReadOnlyLongProperty timeTillNextProperty() { return timeTillNextProperty.getReadOnlyProperty(); } + public Double getVelocityKnots() { + return velocity / 1000 * 1.943844492; // TODO: 26/07/17 cir27 - remove magic number + } + public Long getTimeTillNext() { return timeTillNext; } @@ -195,6 +599,8 @@ public class ClientYacht extends Observable { * @param lng Longitude */ public void setLocation(Double lat, Double lng) { + lastLocation.setLat(location.getLat()); + lastLocation.setLng(location.getLng()); location.setLat(lat); location.setLng(lng); } @@ -207,6 +613,10 @@ public class ClientYacht extends Observable { this.heading = heading; } + public Boolean getSailIn() { + return sailIn; + } + @Override public String toString() { return boatName; @@ -216,7 +626,7 @@ public class ClientYacht extends Observable { this.timeSinceLastMarkProperty.set(timeSinceLastMark); } - public ReadOnlyLongProperty timeSinceLastMarkProperty() { + public ReadOnlyLongProperty timeSinceLastMarkProperty () { return timeSinceLastMarkProperty.getReadOnlyProperty(); } @@ -233,25 +643,50 @@ public class ClientYacht extends Observable { this.colour = colour; } -// public Double getCurrentVelocity() { -// return currentVelocity; -// } -// -// public void setCurrentVelocity(Double currentVelocity) { -// this.currentVelocity = currentVelocity; -// } + public void toggleClientSail() { + clientSailsIn = !clientSailsIn; + } + public Double getVelocity() { + return velocity; + } + + public void setVelocity(Double velocity) { + this.velocity = velocity; + } + + public Double getDistanceToCurrentMark() { + return distanceToCurrentMark; + } + + public Boolean getClientSailsIn() { + return clientSailsIn; + } public void updateLocation(double lat, double lng, double heading, double velocity) { setLocation(lat, lng); this.heading = heading; -// this.currentVelocity = velocity; + this.velocity = velocity; updateVelocityProperty(velocity); for (YachtLocationListener yll : locationListeners) { - yll.notifyLocation(this, lat, lng, heading, velocity); + yll.notifyLocation(this, lat, lng, heading, velocity, clientSailsIn); } } + private void logMarkRounding(CompoundMark currentMark) { + String typeString = "mark"; + if (currentMark.isGate()) { + typeString = "gate"; + } + logger.debug( + String.format("BoatID %d passed %s %s with id %d. Now on leg %d", + sourceId, + typeString, + currentMark.getMarks().get(0).getName(), + currentMark.getId(), + currentMarkSeqID)); + } + public void addLocationListener(YachtLocationListener listener) { locationListeners.add(listener); } diff --git a/src/main/java/seng302/model/Yacht.java b/src/main/java/seng302/model/Yacht.java deleted file mode 100644 index c47abe38..00000000 --- a/src/main/java/seng302/model/Yacht.java +++ /dev/null @@ -1,683 +0,0 @@ -package seng302.model; - -import java.text.DateFormat; -import java.text.SimpleDateFormat; -import java.util.ArrayList; -import java.util.HashMap; -import java.util.List; -import javafx.beans.property.ReadOnlyDoubleProperty; -import javafx.beans.property.ReadOnlyDoubleWrapper; -import javafx.beans.property.ReadOnlyLongProperty; -import javafx.beans.property.ReadOnlyLongWrapper; -import javafx.scene.paint.Color; -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; -import seng302.gameServer.GameState; -import seng302.model.mark.CompoundMark; -import seng302.model.mark.Mark; -import seng302.utilities.GeoUtility; - -/** - * Yacht class for the racing boat. - * - * Class created to store more variables (eg. boat statuses) compared to the XMLParser boat class, - * also done outside Boat class because some old variables are not used anymore. - */ -public class Yacht { - - - @FunctionalInterface - public interface YachtLocationListener { - void notifyLocation(Yacht yacht, double lat, double lon, double heading, double velocity, boolean sailIn); - } - - private Logger logger = LoggerFactory.getLogger(Yacht.class); - - private static final Double ROUNDING_DISTANCE = 50d; // TODO: 3/08/17 wmu16 - Look into this value further - - - //BOTH AFAIK - private String boatType; - private Integer sourceId; - private String hullID; //matches HullNum in the XML spec. - private String shortName; - private String boatName; - private String country; - - private Long estimateTimeAtFinish; - private Integer currentMarkSeqID = 0; - private Long markRoundTime; - private Double distanceToCurrentMark; - private Long timeTillNext; - private Double heading; - private Integer legNumber = 0; - - //SERVER SIDE - public static final Double TURN_STEP = 5.0; //This should be in some utils class somewhere 2bh. Public for tests sake. - private Double lastHeading; - private Boolean sailIn = false; - private GeoPoint location; - private Integer boatStatus; - private Double velocity; - private Boolean isAuto; - private Double autoHeading; - - //MARK ROUNDING INFO - private GeoPoint lastLocation; //For purposes of mark rounding calculations - private Boolean hasEnteredRoundingZone; //The distance that the boat must be from the mark to round - private Boolean hasPassedLine; - private Boolean hasPassedThroughGate; - private Boolean finishedRace; - - //CLIENT SIDE - private List locationListeners = new ArrayList<>(); - private ReadOnlyDoubleWrapper velocityProperty = new ReadOnlyDoubleWrapper(); - private ReadOnlyLongWrapper timeTillNextProperty = new ReadOnlyLongWrapper(); - private ReadOnlyLongWrapper timeSinceLastMarkProperty = new ReadOnlyLongWrapper(); - private CompoundMark lastMarkRounded; - private Integer positionInt = 0; - private Color colour; - private Boolean clientSailsIn = true; - - public Yacht(String boatType, Integer sourceId, String hullID, String shortName, - String boatName, String country) { - this.boatType = boatType; - this.sourceId = sourceId; - this.hullID = hullID; - this.shortName = shortName; - this.boatName = boatName; - this.country = country; - this.sailIn = false; - this.isAuto = false; - this.location = new GeoPoint(57.670341, 11.826856); - this.lastLocation = location; - this.heading = 120.0; //In degrees - this.velocity = 0d; //in mms-1 - - this.hasEnteredRoundingZone = false; - this.hasPassedLine = false; - this.hasPassedThroughGate = false; - this.finishedRace = false; - } - - /** - * @param timeInterval since last update in milliseconds - */ - public void update(Long timeInterval) { - - Double secondsElapsed = timeInterval / 1000000.0; - Double windSpeedKnots = GameState.getWindSpeedKnots(); - Double trueWindAngle = Math.abs(GameState.getWindDirection() - heading); - Double boatSpeedInKnots = PolarTable.getBoatSpeed(windSpeedKnots, trueWindAngle); - Double maxBoatSpeed = boatSpeedInKnots / 1.943844492 * 1000; - if (sailIn && velocity <= maxBoatSpeed && maxBoatSpeed != 0d) { - - if (velocity < maxBoatSpeed) { - velocity += maxBoatSpeed / 15; // Acceleration - } - if (velocity > maxBoatSpeed) { - velocity = maxBoatSpeed; // Prevent the boats from exceeding top speed - } - - } else { // Deceleration - - if (velocity > 0d) { - if (maxBoatSpeed != 0d) { - velocity -= maxBoatSpeed / 600; - } else { - velocity -= velocity / 100; - } - if (velocity < 0) { - velocity = 0d; - } - } - } - - runAutoPilot(); - - //UPDATE BOAT LOCATION - lastLocation = location; - location = GeoUtility.getGeoCoordinate(location, heading, velocity * secondsElapsed); - - //CHECK FOR MARK ROUNDING - if (!finishedRace) { - checkForLegProgression(); - } - - // TODO: 3/08/17 wmu16 - Implement line cross check here - } - - - /** - * Calculates the distance to the next mark (closest of the two if a gate mark). For purposes - * of mark rounding - * @return A distance in metres. Returns -1 if there is no next mark - * @throws IndexOutOfBoundsException If the next mark is null (ie the last mark in the race) - * Check first using {@link seng302.model.mark.MarkOrder#isLastMark(Integer)} - */ - public Double calcDistanceToCurrentMark() throws IndexOutOfBoundsException { - CompoundMark nextMark = GameState.getMarkOrder().getCurrentMark(currentMarkSeqID); - - if (nextMark.isGate()) { - Mark sub1 = nextMark.getSubMark(1); - Mark sub2 = nextMark.getSubMark(2); - Double distance1 = GeoUtility.getDistance(location, sub1); - Double distance2 = GeoUtility.getDistance(location, sub2); - return (distance1 < distance2) ? distance1 : distance2; - } else { - return GeoUtility.getDistance(location, nextMark.getSubMark(1)); - } - } - - - /** - * 4 Different cases of progression in the race - * 1 - Passing the start line - * 2 - Passing any in-race Gate - * 3 - Passing any in-race Mark - * 4 - Passing the finish line - */ - private void checkForLegProgression() { - CompoundMark currentMark = GameState.getMarkOrder().getCurrentMark(currentMarkSeqID); - if (currentMarkSeqID == 0) { - checkStartLineCrossing(currentMark); - } else if (GameState.getMarkOrder().isLastMark(currentMarkSeqID)) { - checkFinishLineCrossing(currentMark); - } else if (currentMark.isGate()) { - checkGateRounding(currentMark); - } else { - checkMarkRounding(currentMark); - } - } - - /** - * If we pass the start line gate in the correct direction, progress - * - * @param currentMark The current gate - */ - private void checkStartLineCrossing(CompoundMark currentMark) { - Mark mark1 = currentMark.getSubMark(1); - Mark mark2 = currentMark.getSubMark(2); - CompoundMark nextMark = GameState.getMarkOrder().getNextMark(currentMarkSeqID); - - Integer crossedLine = GeoUtility.checkCrossedLine(mark1, mark2, lastLocation, location); - if (crossedLine > 0) { - Boolean isClockwiseCross = GeoUtility.isClockwise(mark1, mark2, nextMark.getMidPoint()); - if (crossedLine == 2 && isClockwiseCross || crossedLine == 1 && !isClockwiseCross) { - currentMarkSeqID++; - logMarkRounding(currentMark); - } - } - } - - - /** - * This algorithm checks for mark rounding. And increments the currentMarSeqID number attribute - * of the yacht if so. - * A visual representation of this algorithm can be seen on the Wiki under - * 'mark passing algorithm' - */ - private void checkMarkRounding(CompoundMark currentMark) { - distanceToCurrentMark = calcDistanceToCurrentMark(); - GeoPoint nextPoint = GameState.getMarkOrder().getNextMark(currentMarkSeqID).getMidPoint(); - GeoPoint prevPoint = GameState.getMarkOrder().getPreviousMark(currentMarkSeqID) - .getMidPoint(); - GeoPoint midPoint = GeoUtility.getDirtyMidPoint(nextPoint, prevPoint); - - //1 TEST FOR ENTERING THE ROUNDING DISTANCE - if (distanceToCurrentMark < ROUNDING_DISTANCE) { - hasEnteredRoundingZone = true; - } - - //In case current mark is a gate, loop through all marks just in case - for (Mark thisCurrentMark : currentMark.getMarks()) { - if (GeoUtility.isPointInTriangle(lastLocation, location, midPoint, thisCurrentMark)) { - hasPassedLine = true; - } - } - - if (hasPassedLine && hasEnteredRoundingZone) { - currentMarkSeqID++; - hasPassedLine = false; - hasEnteredRoundingZone = false; - hasPassedThroughGate = false; - logMarkRounding(currentMark); - } - } - - - /** - * Checks if a gate line has been crossed and in the correct direction - * - * @param currentMark The current gate - */ - private void checkGateRounding(CompoundMark currentMark) { - Mark mark1 = currentMark.getSubMark(1); - Mark mark2 = currentMark.getSubMark(2); - CompoundMark prevMark = GameState.getMarkOrder().getPreviousMark(currentMarkSeqID); - CompoundMark nextMark = GameState.getMarkOrder().getNextMark(currentMarkSeqID); - - Integer crossedLine = GeoUtility.checkCrossedLine(mark1, mark2, lastLocation, location); - - //We have crossed the line - if (crossedLine > 0) { - Boolean isClockwiseCross = GeoUtility.isClockwise(mark1, mark2, prevMark.getMidPoint()); - - //Check we cross the line in the correct direction - if (crossedLine == 1 && isClockwiseCross || crossedLine == 2 && !isClockwiseCross) { - hasPassedThroughGate = true; - } - } - - Boolean prevMarkSide = GeoUtility.isClockwise(mark1, mark2, prevMark.getMidPoint()); - Boolean nextMarkSide = GeoUtility.isClockwise(mark1, mark2, nextMark.getMidPoint()); - - if (hasPassedThroughGate) { - //Check if we need to round this gate after passing through - if (prevMarkSide == nextMarkSide) { - checkMarkRounding(currentMark); - } else { - currentMarkSeqID++; - logMarkRounding(currentMark); - } - } - } - - /** - * If we pass the finish gate in the correct direction - * - * @param currentMark The current gate - */ - private void checkFinishLineCrossing(CompoundMark currentMark) { - Mark mark1 = currentMark.getSubMark(1); - Mark mark2 = currentMark.getSubMark(2); - CompoundMark prevMark = GameState.getMarkOrder().getPreviousMark(currentMarkSeqID); - - Integer crossedLine = GeoUtility.checkCrossedLine(mark1, mark2, lastLocation, location); - if (crossedLine > 0) { - Boolean isClockwiseCross = GeoUtility.isClockwise(mark1, mark2, prevMark.getMidPoint()); - if (crossedLine == 1 && isClockwiseCross || crossedLine == 2 && !isClockwiseCross) { - currentMarkSeqID++; - finishedRace = true; - logMarkRounding(currentMark); - logger.debug(sourceId + " finished"); - // TODO: 8/08/17 wmu16 - Do something! - } - } - } - - - /** - * Adjusts the heading of the boat by a given amount, while recording the boats - * last heading. - * - * @param amount the amount by which to adjust the boat heading. - */ - public void adjustHeading(Double amount) { - Double newVal = heading + amount; - lastHeading = heading; - heading = (double) Math.floorMod(newVal.longValue(), 360L); - } - - /** - * Swaps the boats direction from one side of the wind to the other. - */ - public void tackGybe(Double windDirection) { - if (isAuto) { - disableAutoPilot(); - } else { - Double normalizedHeading = normalizeHeading(); - Double newVal = (-2 * normalizedHeading) + heading; - Double newHeading = (double) Math.floorMod(newVal.longValue(), 360L); - setAutoPilot(newHeading); - } - } - - /** - * Enables the boats auto pilot feature, which will move the boat towards a given heading. - * @param thisHeading The heading to move the boat towards. - */ - private void setAutoPilot(Double thisHeading) { - isAuto = true; - autoHeading = thisHeading; - } - - /** - * Disables the auto pilot function. - */ - public void disableAutoPilot() { - isAuto = false; - } - - /** - * Moves the boat towards the given heading when the auto pilot was set. Disables the auto pilot - * in the event that the boat is within the range of 1 turn step of its goal. - */ - public void runAutoPilot() { - if (isAuto) { - turnTowardsHeading(autoHeading); - if (Math.abs(heading - autoHeading) - <= TURN_STEP) { //Cancel when within 1 turn step of target. - isAuto = false; - } - } - } - - public void toggleSailIn() { - sailIn = !sailIn; - } - - public void turnUpwind() { - disableAutoPilot(); - Double normalizedHeading = normalizeHeading(); - if (normalizedHeading == 0) { - if (lastHeading < 180) { - adjustHeading(-TURN_STEP); - } else { - adjustHeading(TURN_STEP); - } - } else if (normalizedHeading == 180) { - if (lastHeading < 180) { - adjustHeading(TURN_STEP); - } else { - adjustHeading(-TURN_STEP); - } - } else if (normalizedHeading < 180) { - adjustHeading(-TURN_STEP); - } else { - adjustHeading(TURN_STEP); - } - } - - public void turnDownwind() { - disableAutoPilot(); - Double normalizedHeading = normalizeHeading(); - if (normalizedHeading == 0) { - if (lastHeading < 180) { - adjustHeading(TURN_STEP); - } else { - adjustHeading(-TURN_STEP); - } - } else if (normalizedHeading == 180) { - if (lastHeading < 180) { - adjustHeading(-TURN_STEP); - } else { - adjustHeading(TURN_STEP); - } - } else if (normalizedHeading < 180) { - adjustHeading(TURN_STEP); - } else { - adjustHeading(-TURN_STEP); - } - } - - /** - * Takes the VMG from the polartable for upwind or downwind depending on the boats direction, - * and uses this to calculate a heading to move the yacht towards. - */ - public void turnToVMG() { - if (isAuto) { - disableAutoPilot(); - } else { - Double normalizedHeading = normalizeHeading(); - Double optimalHeading; - HashMap optimalPolarMap; - - if (normalizedHeading >= 90 && normalizedHeading <= 270) { // Downwind - optimalPolarMap = PolarTable.getOptimalDownwindVMG(GameState.getWindSpeedKnots()); - } else { - optimalPolarMap = PolarTable.getOptimalUpwindVMG(GameState.getWindSpeedKnots()); - } - optimalHeading = optimalPolarMap.keySet().iterator().next(); - - if (normalizedHeading > 180) { - optimalHeading = 360 - optimalHeading; - } - - // Take optimal heading and turn into a boat heading rather than a wind heading. - optimalHeading = - optimalHeading + GameState.getWindDirection(); - - setAutoPilot(optimalHeading); - } - } - - /** - * Takes a given heading and rotates the boat towards that heading. - * This does not care about being upwind or downwind, just which direction will reach a given - * heading faster. - * - * @param newHeading The heading to turn the yacht towards. - */ - private void turnTowardsHeading(Double newHeading) { - Double newVal = heading - newHeading; - if (Math.floorMod(newVal.longValue(), 360L) > 180) { - adjustHeading(TURN_STEP / 5); - } else { - adjustHeading(-TURN_STEP / 5); - } - } - - /** - * Returns a heading normalized for the wind direction. Heading direction into the wind is 0, - * directly away is 180. - * - * @return The normalized heading accounting for wind direction. - */ - private Double normalizeHeading() { - Double normalizedHeading = heading - GameState.windDirection; - normalizedHeading = (double) Math.floorMod(normalizedHeading.longValue(), 360L); - return normalizedHeading; - } - - public String getBoatType() { - return boatType; - } - - public Integer getSourceId() { - //@TODO Remove and merge with Creating Game Loop - if (sourceId == null) return 0; - return sourceId; - } - - public String getHullID() { - if (hullID == null) return ""; - return hullID; - } - - public String getShortName() { - return shortName; - } - - public String getBoatName() { - return boatName; - } - - public String getCountry() { - if (country == null) return ""; - return country; - } - - public Integer getBoatStatus() { - return boatStatus; - } - - public void setBoatStatus(Integer boatStatus) { - this.boatStatus = boatStatus; - } - - public Integer getLegNumber() { - return legNumber; - } - - public void setLegNumber(Integer legNumber) { -// if (colour != null && position != "-" && legNumber != this.legNumber) { -// RaceViewController.updateYachtPositionSparkline(this, legNumber); -// } - this.legNumber = legNumber; - } - - public void setEstimateTimeTillNextMark(Long estimateTimeTillNextMark) { - timeTillNext = estimateTimeTillNextMark; - } - - public String getEstimateTimeAtFinish() { - DateFormat format = new SimpleDateFormat("dd/MM/yyyy HH:mm:ss"); - return format.format(estimateTimeAtFinish); - } - - public void setEstimateTimeAtFinish(Long estimateTimeAtFinish) { - this.estimateTimeAtFinish = estimateTimeAtFinish; - } - - public Integer getPositionInteger() { - return positionInt; - } - - public void setPositionInteger(Integer position) { - this.positionInt = position; - } - - public void updateVelocityProperty(double velocity) { - this.velocityProperty.set(velocity); - } - - public void setMarkRoundingTime(Long markRoundingTime) { - this.markRoundTime = markRoundingTime; - } - - public ReadOnlyDoubleProperty getVelocityProperty() { - return velocityProperty.getReadOnlyProperty(); - } - - public double getVelocityMMS() { - return velocity; - } - - public ReadOnlyLongProperty timeTillNextProperty() { - return timeTillNextProperty.getReadOnlyProperty(); - } - - public Double getVelocityKnots() { - return velocity / 1000 * 1.943844492; // TODO: 26/07/17 cir27 - remove magic number - } - - public Long getTimeTillNext() { - return timeTillNext; - } - - public Long getMarkRoundTime() { - return markRoundTime; - } - - public CompoundMark getLastMarkRounded() { - return lastMarkRounded; - } - - public void setLastMarkRounded(CompoundMark lastMarkRounded) { - this.lastMarkRounded = lastMarkRounded; - } - - public GeoPoint getLocation() { - return location; - } - - /** - * Sets the current location of the boat in lat and long whilst preserving the last location - * - * @param lat Latitude - * @param lng Longitude - */ - public void setLocation(Double lat, Double lng) { - lastLocation.setLat(location.getLat()); - lastLocation.setLng(location.getLng()); - location.setLat(lat); - location.setLng(lng); - } - - public Double getHeading() { - return heading; - } - - public void setHeading(Double heading) { - this.heading = heading; - } - - public Boolean getSailIn() { - return sailIn; - } - - @Override - public String toString() { - return boatName; - } - - public void updateTimeSinceLastMarkProperty(long timeSinceLastMark) { - this.timeSinceLastMarkProperty.set(timeSinceLastMark); - } - - public ReadOnlyLongProperty timeSinceLastMarkProperty () { - return timeSinceLastMarkProperty.getReadOnlyProperty(); - } - - public void setTimeTillNext(Long timeTillNext) { - this.timeTillNext = timeTillNext; - } - - - public Color getColour() { - return colour; - } - - public void setColour(Color colour) { - this.colour = colour; - } - - public void toggleClientSail() { - clientSailsIn = !clientSailsIn; - } - - public Double getVelocity() { - return velocity; - } - - public void setVelocity(Double velocity) { - this.velocity = velocity; - } - - public Double getDistanceToCurrentMark() { - return distanceToCurrentMark; - } - - public Boolean getClientSailsIn(){ - return clientSailsIn; - } - - public void updateLocation(double lat, double lng, double heading, double velocity) { - setLocation(lat, lng); - this.heading = heading; - this.velocity = velocity; - updateVelocityProperty(velocity); - for (YachtLocationListener yll : locationListeners) { - yll.notifyLocation(this, lat, lng, heading, velocity, clientSailsIn); - } - } - - private void logMarkRounding(CompoundMark currentMark) { - String typeString = "mark"; - if (currentMark.isGate()) { - typeString = "gate"; - } - logger.debug( - String.format("BoatID %d passed %s %s with id %d. Now on leg %d", - sourceId, - typeString, - currentMark.getMarks().get(0).getName(), - currentMark.getId(), - currentMarkSeqID)); - } - - public void addLocationListener (YachtLocationListener listener) { - locationListeners.add(listener); - } -} diff --git a/src/test/java/seng302/visualiser/map/BoatSailAnimationToggleTest.java b/src/test/java/seng302/visualiser/map/BoatSailAnimationToggleTest.java index cccea5c6..0cd76321 100644 --- a/src/test/java/seng302/visualiser/map/BoatSailAnimationToggleTest.java +++ b/src/test/java/seng302/visualiser/map/BoatSailAnimationToggleTest.java @@ -1,24 +1,21 @@ package seng302.visualiser.map; import static junit.framework.TestCase.assertFalse; -import static junit.framework.TestCase.assertTrue; -import org.junit.Assert; import org.junit.Before; import org.junit.Test; -import seng302.model.Yacht; -import seng302.visualiser.fxObjects.BoatObject; +import seng302.model.ClientYacht; /** * Created by kre39 on 6/08/17. */ public class BoatSailAnimationToggleTest { - private Yacht yacht; + private ClientYacht yacht; @Before public void setup() throws Exception{ - yacht = new Yacht("Yacht", 1, "YACHT", "YAC", "Test Yacht", "NZ"); + yacht = new ClientYacht("Yacht", 1, "YACHT", "YAC", "Test Yacht", "NZ"); } @Test diff --git a/src/test/java/steps/ToggleSailSteps.java b/src/test/java/steps/ToggleSailSteps.java index 5347224d..6cc01b67 100644 --- a/src/test/java/steps/ToggleSailSteps.java +++ b/src/test/java/steps/ToggleSailSteps.java @@ -9,11 +9,9 @@ import seng302.gameServer.GameStages; import seng302.gameServer.GameState; import seng302.gameServer.MainServerThread; import seng302.gameServer.server.messages.BoatAction; -import seng302.model.Yacht; +import seng302.model.ServerYacht; import seng302.visualiser.ClientToServerThread; -import java.util.ArrayList; - /** * Created by kre39 on 7/08/17. */ @@ -24,7 +22,6 @@ public class ToggleSailSteps { ClientToServerThread client; boolean sailsIn = false; long startTime; - private Yacht yacht; @@ -34,7 +31,7 @@ public class ToggleSailSteps { client = new ClientToServerThread("localhost", 4942); GameState.setCurrentStage(GameStages.RACING); Thread.sleep(200); // Sleep needed to help the threads all be up to speed with each other - Yacht yacht = (new ArrayList<>(GameState.getYachts().values())).get(0); + ServerYacht yacht = (new ArrayList<>(GameState.getYachts().values())).get(0); Assert.assertFalse(yacht.getSailIn()); } @@ -50,7 +47,7 @@ public class ToggleSailSteps { @Then("^the sails are \"([^\"]*)\"$") public void the_sails_are(String arg1) throws Throwable { Thread.sleep(200); // Sleep needed to help the threads all be up to speed with each other - Yacht yacht = (new ArrayList<>(GameState.getYachts().values())).get(0); + ServerYacht yacht = (new ArrayList<>(GameState.getYachts().values())).get(0); if (arg1 == "in") { Assert.assertTrue(yacht.getSailIn()); } else {