Merge branch 'develop' into issue38_irregular_key_event_packets

# Conflicts:
#	src/main/java/seng302/gameServer/GameState.java
#	src/main/java/seng302/gameServer/ServerPacketParser.java
#	src/main/java/seng302/gameServer/ServerToClientThread.java
#	src/main/java/seng302/visualiser/ClientToServerThread.java
#	src/main/java/seng302/visualiser/GameClient.java

.mailmap

@@ -23,5 +23,5 @@ Haoming Yin <hyi25@uclive.ac.nz> <haoming.y@icloud.com>
 Peter Galloway <ptg19@uclive.ac.nz> Peter <ptg19@uclive.ac.nz>
 Zhi You Tan <zyt10@uclive.ac.nz> zyt10 <zyt10@uclive.ac.nz>
 Zhi You Tan <zyt10@uclive.ac.nz> Ryan Tan <ryan_zhiyou@hotmail.com>
-Alistair McIntyre <ajm412@uclive.ac.nz> alistairjmcintyre <alistairjmcintyre@gmail.com>
+Alistair McIntyre <ajm412@uclive.ac.nz> <alistairjmcintyre@gmail.com>
 Calum <cir27@uclive.ac.nz> cir27 <cir27@uclive.ac.nz>

src/main/java/seng302/gameServer/GameState.java

@@ -5,8 +5,12 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 import seng302.gameServer.server.messages.BoatAction;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import seng302.gameServer.server.messages.BoatActionType;
 import seng302.model.Player;
 import seng302.model.Yacht;
+import seng302.model.mark.MarkOrder;
 
 /**
  * A Static class to hold information about the current state of the game (model)
@@ -14,7 +18,10 @@ import seng302.model.Yacht;
  */
 public class GameState implements Runnable {
 
+    private Logger logger = LoggerFactory.getLogger(MarkOrder.class);
+
     private static Integer STATE_UPDATES_PER_SECOND = 60;
+    public static Integer MAX_PLAYERS = 8;
 
     private static Long previousUpdateTime;
     public static Double windDirection;
@@ -25,6 +32,7 @@ public class GameState implements Runnable {
     private static Map<Integer, Yacht> yachts;
     private static Boolean isRaceStarted;
     private static GameStages currentStage;
+    private static MarkOrder markOrder;
     private static long startTime;
 
     private static Map<Player, String> playerStringMap = new HashMap<>();
@@ -51,8 +59,10 @@ public class GameState implements Runnable {
         isRaceStarted = false;
         //set this when game stage changes to prerace
         previousUpdateTime = System.currentTimeMillis();
+        yachts = new HashMap<>();
+        markOrder = new MarkOrder(); //This could be instantiated at some point with a select map?
 
-        new Thread(this).start();
+        new Thread(this).start();   //Run the auto updates on the game state
     }
 
     public static String getHostIpAddress() {
@@ -99,6 +109,10 @@ public class GameState implements Runnable {
         GameState.currentStage = currentStage;
     }
 
+    public static MarkOrder getMarkOrder() {
+        return markOrder;
+    }
+
     public static long getStartTime(){
         return startTime;
     }

src/main/java/seng302/gameServer/ServerPacketParser.java

@@ -1,37 +1,26 @@
 package seng302.gameServer;
 
 import java.util.Arrays;
+
+import seng302.gameServer.server.messages.ClientType;
+import seng302.gameServer.server.messages.Message;
 import seng302.model.stream.packets.StreamPacket;
 import seng302.gameServer.server.messages.BoatAction;
 
 
 public class ServerPacketParser {
 
-
+    public static BoatActionType extractBoatAction(StreamPacket packet) {
-    public static BoatAction extractBoatAction(StreamPacket packet) {
         byte[] payload = packet.getPayload();
         int messageVersionNo = payload[0];
-        long actionTypeValue = bytesToLong(Arrays.copyOfRange(payload, 0, 1));
+        long actionTypeValue = Message.bytesToLong(Arrays.copyOfRange(payload, 0, 1));
-        return BoatAction.getType((int) actionTypeValue);
+        return BoatActionType.getType((int) actionTypeValue);
     }
 
-    /**
+    public static ClientType extractClientType(StreamPacket packet){
-     * takes an array of up to 7 bytes and returns a positive
+        byte[] payload = packet.getPayload();
-     * long constructed from the input bytes
+        long value = Message.bytesToLong(Arrays.copyOfRange(payload, 0, 1));
-     *
+        return ClientType.getClientType((int) value);
-     * @return a positive long if there is less than 7 bytes -1 otherwise
-     */
-    private static long bytesToLong(byte[] bytes) {
-        long partialLong = 0;
-        int index = 0;
-        for (byte b : bytes) {
-            if (index > 6) {
-                return -1;
-            }
-            partialLong = partialLong | (b & 0xFFL) << (index * 8);
-            index++;
-        }
-        return partialLong;
     }
 }
 

src/main/java/seng302/gameServer/ServerToClientThread.java

@@ -1,12 +1,16 @@
 package seng302.gameServer;
 
 
-import java.io.BufferedReader;
+import seng302.gameServer.server.messages.*;
-import java.io.ByteArrayOutputStream;
+import seng302.model.Player;
-import java.io.IOException;
+import seng302.model.Yacht;
-import java.io.InputStream;
+import seng302.model.stream.packets.PacketType;
-import java.io.InputStreamReader;
+import seng302.model.stream.packets.StreamPacket;
-import java.io.OutputStream;
+import seng302.model.stream.xml.generator.Race;
+import seng302.model.stream.xml.generator.Regatta;
+import seng302.utilities.XMLGenerator;
+
+import java.io.*;
 import java.net.Socket;
 import java.net.SocketException;
 import java.time.LocalDateTime;
@@ -62,57 +66,58 @@ public class ServerToClientThread implements Runnable, Observer {
     private Integer seqNo;
     private Integer sourceId;
 
+    private ClientType clientType;
+    private Boolean isRegistered = false;
+
     private XMLGenerator xml;
 
     public ServerToClientThread(Socket socket) {
         this.socket = socket;
+        seqNo = 0;
+
+        try{
+            is = socket.getInputStream();
+            os = socket.getOutputStream();
+        } catch (IOException e) {
+            return;
+        }
+
+        thread = new Thread(this);
+        thread.start();
+    }
+
+    private void setUpYacht(){
         BufferedReader fn;
         String fName = "";
         BufferedReader ln;
         String lName = "";
-        try {
-            is = socket.getInputStream();
-            os = socket.getOutputStream();
-            fn = new BufferedReader(
-                new InputStreamReader(
-                    ServerToClientThread.class.getResourceAsStream(
-                        "/server_config/CSV_Database_of_First_Names.csv"
-                    )
-                )
-            );
-            List<String> all = fn.lines().collect(Collectors.toList());
-            fName = all.get(ThreadLocalRandom.current().nextInt(0, all.size()));
-            ln = new BufferedReader(
-                new InputStreamReader(
-                    ServerToClientThread.class.getResourceAsStream(
-                        "/server_config/CSV_Database_of_Last_Names.csv"
-                    )
-                )
-            );
-            all = ln.lines().collect(Collectors.toList());
-            lName = all.get(ThreadLocalRandom.current().nextInt(0, all.size()));
-        } catch (IOException e) {
-            serverLog("IO error in server thread upon grabbing streams", 1);
-        }
-        //Attempt threeway handshake with connection
-        sourceId = GameState.getUniquePlayerID();
-        if (threeWayHandshake(sourceId)) {
-            serverLog("Successful handshake. Client allocated id: " + sourceId, 0);
-            Yacht yacht = new Yacht(
-                "Yacht", sourceId, sourceId.toString(), fName, fName + " " + lName, "NZ"
-            );
-//        Yacht yacht = new Yacht("Kappa", "Kap", new GeoPoint(57.6708220, 11.8321340), 90.0);
-            GameState.addYacht(sourceId, yacht);
-            GameState.addPlayer(new Player(socket, yacht));
-        } else {
-            serverLog("Unsuccessful handshake. Connection rejected", 1);
-            closeSocket();
-            return;
-        }
 
-        seqNo = 0;
+        fn = new BufferedReader(
-        thread = new Thread(this);
+                new InputStreamReader(
-        thread.start();
+                        ServerToClientThread.class.getResourceAsStream(
+                                "/server_config/CSV_Database_of_First_Names.csv"
+                        )
+                )
+        );
+        List<String> all = fn.lines().collect(Collectors.toList());
+        fName = all.get(ThreadLocalRandom.current().nextInt(0, all.size()));
+        ln = new BufferedReader(
+                new InputStreamReader(
+                        ServerToClientThread.class.getResourceAsStream(
+                                "/server_config/CSV_Database_of_Last_Names.csv"
+                        )
+                )
+        );
+        all = ln.lines().collect(Collectors.toList());
+        lName = all.get(ThreadLocalRandom.current().nextInt(0, all.size()));
+
+
+        Yacht yacht = new Yacht(
+                "Yacht", sourceId, sourceId.toString(), fName, fName + " " + lName, "NZ"
+        );
+
+        GameState.addYacht(sourceId, yacht);
+        GameState.addPlayer(new Player(socket, yacht));
     }
 
     static void serverLog(String message, int logLevel) {
@@ -127,11 +132,39 @@ public class ServerToClientThread implements Runnable, Observer {
         sendSetupMessages();
     }
 
+    private void completeRegistration(ClientType clientType) throws IOException {
+        // Fail if not a player
+        if (!clientType.equals(ClientType.PLAYER)){
+            RegistrationResponseMessage responseMessage = new RegistrationResponseMessage(0, RegistrationResponseStatus.FAILURE_GENERAL);
+            os.write(responseMessage.getBuffer());
+            return;
+        }
+
+        if (GameState.getPlayers().size() >= GameState.MAX_PLAYERS){
+            RegistrationResponseMessage responseMessage = new RegistrationResponseMessage(0, RegistrationResponseStatus.FAILURE_FULL);
+            os.write(responseMessage.getBuffer());
+            return;
+        }
+
+        Integer sourceId = GameState.getUniquePlayerID();
+        RegistrationResponseMessage responseMessage = new RegistrationResponseMessage(sourceId, RegistrationResponseStatus.SUCCESS_PLAYING);
+
+        this.clientType = clientType;
+        this.sourceId = sourceId;
+        setUpYacht();
+
+        isRegistered = true;
+        os.write(responseMessage.getBuffer());
+        sendSetupMessages();
+
+    }
+
     public void run() {
         int sync1;
         int sync2;
         // TODO: 14/07/17 wmu16 - Work out how to fix this while loop
 
+
         while (socket.isConnected()) {
 
             try {
@@ -168,11 +201,18 @@ public class ServerToClientThread implements Runnable, Observer {
                         //System.out.println("RECEIVED A PACKET");
                         switch (PacketType.assignPacketType(type, payload)) {
                             case BOAT_ACTION:
-                                BoatAction actionType = ServerPacketParser
+                                BoatActionType actionType = ServerPacketParser
-                                    .extractBoatAction(
+                                        .extractBoatAction(
-                                        new StreamPacket(type, payloadLength, timeStamp, payload));
+                                                new StreamPacket(type, payloadLength, timeStamp, payload));
                                 GameState.updateBoat(sourceId, actionType);
                                 break;
+
+                            case RACE_REGISTRATION_REQUEST:
+                                ClientType requestedType = ServerPacketParser.extractClientType(
+                                        new StreamPacket(type, payloadLength, timeStamp, payload));
+
+                                completeRegistration(requestedType);
+                                break;
                         }
                     } else {
                         serverLog("Packet has been dropped", 1);
@@ -230,23 +270,6 @@ public class ServerToClientThread implements Runnable, Observer {
      * @return A boolean indicating if it was a successful handshake
      */
     private Boolean threeWayHandshake(Integer id) {
-        Integer confirmationID = null;
-        Integer identificationAttempt = 0;
-        while (!userIdentified) {
-            try {
-                os.write(id);                                         //Send out new ID looking for echo
-                confirmationID = is.read();
-            } catch (IOException e) {
-                serverLog("Three way handshake failed", 1);
-            }
-
-            if (id.equals(confirmationID)) {                          //ID is echoed back. Connection is a client
-                return true;
-            } else if (identificationAttempt > MAX_ID_ATTEMPTS) {     //No response. not a client. tidy up and go home.
-                return false;
-            }
-            identificationAttempt++;
-        }
 
         return true;
     }

src/main/java/seng302/gameServer/server/messages/ClientType.java

@@ -0,0 +1,33 @@
+package seng302.gameServer.server.messages;
+
+public enum ClientType {
+    SPECTATOR(0x00),
+    PLAYER(0x01),
+    CONTROL_TUTORIAL(0x02),
+    GHOST_MODE(0x03);
+
+    private int type;
+
+    ClientType(int type){
+        this.type = type;
+    }
+
+    public int getCode(){
+        return type;
+    }
+
+    public static ClientType getClientType(int typeCode){
+        switch (typeCode){
+            case 0x00:
+                return SPECTATOR;
+            case 0x01:
+                return PLAYER;
+            case 0x02:
+                return CONTROL_TUTORIAL;
+            case 0x03:
+                return GHOST_MODE;
+            default:
+                return PLAYER;
+        }
+    }
+}

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

@@ -17,7 +17,9 @@ public enum MessageType {
     MARK_ROUNDING(38),
     COURSE_WIND(44),
     AVERAGE_WIND(47),
-    BOAT_ACTION(100);
+    BOAT_ACTION(100),
+    REGISTRATION_REQUEST(101),
+    REGISTRATION_RESPONSE(102);
 
     private int code;
 
@@ -32,4 +34,6 @@ public enum MessageType {
     int getCode(){
         return this.code;
     }
+
+
 }

src/main/java/seng302/gameServer/server/messages/RegistrationRequestMessage.java

@@ -0,0 +1,22 @@
+package seng302.gameServer.server.messages;
+
+
+public class RegistrationRequestMessage extends Message {
+    private static int MESSAGE_LENGTH = 2;
+
+    public RegistrationRequestMessage(ClientType type){
+        setHeader(new Header(MessageType.REGISTRATION_REQUEST, 1, (short) getSize()));
+
+        allocateBuffer();
+        writeHeaderToBuffer();
+
+        putInt(type.getCode(), 2);
+
+        writeCRC();
+    }
+
+    @Override
+    public int getSize() {
+        return MESSAGE_LENGTH;
+    }
+}

src/main/java/seng302/gameServer/server/messages/RegistrationResponseMessage.java

@@ -0,0 +1,20 @@
+package seng302.gameServer.server.messages;
+
+public class RegistrationResponseMessage extends Message{
+
+    public RegistrationResponseMessage(int clientSourceID, RegistrationResponseStatus status){
+        setHeader(new Header(MessageType.REGISTRATION_RESPONSE, 1, (short) getSize()));
+        allocateBuffer();
+        writeHeaderToBuffer();
+
+        putInt(clientSourceID, 4);
+        putInt(status.getCode(), 1);
+
+        writeCRC();
+    }
+
+    @Override
+    public int getSize() {
+        return 5;
+    }
+}

src/main/java/seng302/gameServer/server/messages/RegistrationResponseStatus.java

@@ -0,0 +1,44 @@
+package seng302.gameServer.server.messages;
+
+public enum RegistrationResponseStatus {
+    SUCCESS_SPECTATING(0x00),
+    SUCCESS_PLAYING(0x01),
+    SUCCESS_TUTORIAL(0x02),
+    SUCCESS_GHOSTING(0x03),
+
+    FAILURE_GENERAL(0x10),
+    FAILURE_FULL(0x11);
+
+    private int code;
+
+    RegistrationResponseStatus(int code){
+        this.code = code;
+    }
+
+    /**
+     * Get the message code (From the API Spec)
+     * @return the message code
+     */
+    int getCode(){
+        return this.code;
+    }
+
+    public static RegistrationResponseStatus getResponseStatus(int typeCode){
+        switch (typeCode){
+            case 0x00:
+                return SUCCESS_SPECTATING;
+            case 0x01:
+                return SUCCESS_PLAYING;
+            case 0x02:
+                return SUCCESS_TUTORIAL;
+            case 0x03:
+                return SUCCESS_GHOSTING;
+            case 0x10:
+                return FAILURE_GENERAL;
+            case 0x11:
+                return FAILURE_FULL;
+            default:
+                return FAILURE_GENERAL;
+        }
+    }
+}

src/main/java/seng302/gameServer/server/simulator/parsers/CourseParser.java

@@ -8,10 +8,10 @@ import org.w3c.dom.Document;
 import org.w3c.dom.Element;
 import org.w3c.dom.Node;
 import org.w3c.dom.NodeList;
-import seng302.model.mark.CompoundMark;
 import seng302.gameServer.server.simulator.Corner;
-import seng302.model.mark.Mark;
 import seng302.gameServer.server.simulator.RoundingType;
+import seng302.model.mark.CompoundMark;
+import seng302.model.mark.Mark;
 
 /**
  * Parses the race xml file to get course details
@@ -79,21 +79,22 @@ public class CourseParser extends FileParser {
 		if (node.getNodeType() == Node.ELEMENT_NODE) {
 			Element e = (Element) node;
 			Integer markID = Integer.valueOf(e.getAttribute("CompoundMarkID"));
-
 			String name = e.getAttribute("Name");
-			CompoundMark cMark = new CompoundMark(markID, name);
 
 			NodeList marks = e.getElementsByTagName("Mark");
-			for (int i = 0; i < marks.getLength(); i++) {
+            List<Mark> subMarks = new ArrayList<>();
-				Mark mark = getMark(marks.item(i));
+            for (int i = 0; i < marks.getLength(); i++) {
-				if (mark != null)
+                Mark mark = getMark(marks.item(i));
-					cMark.addSubMarks(mark);
+                if (mark != null) {
-			}
+                    subMarks.add(mark);
-			return cMark;
+                }
-		}
+            }
-		System.out.println("Failed to create compound mark.");
+
-		return null;
+            return new CompoundMark(markID, name, subMarks);
-	}
+        }
+        System.out.println("Failed to create compound mark.");
+        return null;
+    }
 
 
 	private Mark getMark(Node node) {

src/main/java/seng302/model/Yacht.java

@@ -10,6 +10,8 @@ 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;
@@ -28,7 +30,10 @@ public class Yacht {
         void notifyLocation(Yacht yacht, double lat, double lon, double heading, double velocity);
     }
 
-    private static final Double ROUNDING_DISTANCE = 15d; // TODO: 3/08/17 wmu16 - Look into this value further
+    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;
@@ -39,11 +44,10 @@ public class Yacht {
     private String country;
 
     private Long estimateTimeAtFinish;
-    private Long lastMark;
+    private Integer currentMarkSeqID = 0;
     private Long markRoundTime;
-    private Double distanceToNextMark;
+    private Double distanceToCurrentMark;
     private Long timeTillNext;
-    private CompoundMark nextMark;
     private Double heading;
     private Integer legNumber = 0;
 
@@ -54,11 +58,15 @@ public class Yacht {
     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 hasPassedFirstLine; //The line extrapolated from the next mark to the current mark
+    private Boolean hasPassedLine;
-    private Boolean hasPassedSecondLine; //The line extrapolated from the last mark to the current mark
+    private Boolean hasPassedThroughGate;
+    private Boolean finishedRace;
 
     //CLIENT SIDE
     private List<YachtLocationListener> locationListeners = new ArrayList<>();
@@ -78,14 +86,16 @@ public class Yacht {
         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.hasPassedFirstLine = false;
+        this.hasPassedLine = false;
-        this.hasPassedSecondLine = false;
+        this.hasPassedThroughGate = false;
+        this.finishedRace = false;
     }
 
     /**
@@ -121,13 +131,15 @@ public class Yacht {
             }
         }
 
+        runAutoPilot();
+
         //UPDATE BOAT LOCATION
+        lastLocation = location;
         location = GeoUtility.getGeoCoordinate(location, heading, velocity * secondsElapsed);
 
         //CHECK FOR MARK ROUNDING
-        distanceToNextMark = calcDistanceToNextMark();
+        if (!finishedRace) {
-        if (distanceToNextMark < ROUNDING_DISTANCE) {
+            checkForLegProgression();
-            hasEnteredRoundingZone = true;
         }
 
         // TODO: 3/08/17 wmu16 - Implement line cross check here
@@ -135,14 +147,16 @@ public class Yacht {
 
 
     /**
-     * Calculates the distance to the next mark (closest of the two if a gate mark).
+     * 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 calcDistanceToNextMark() {
+    public Double calcDistanceToCurrentMark() throws IndexOutOfBoundsException {
-        if (nextMark == null) {
+        CompoundMark nextMark = GameState.getMarkOrder().getCurrentMark(currentMarkSeqID);
-            return -1d;
+
-        } else if (nextMark.isGate()) {
+        if (nextMark.isGate()) {
             Mark sub1 = nextMark.getSubMark(1);
             Mark sub2 = nextMark.getSubMark(2);
             Double distance1 = GeoUtility.getDistance(location, sub1);
@@ -153,15 +167,198 @@ public class Yacht {
         }
     }
 
+
+    /**
+     * 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) {
-        Double normalizedHeading = normalizeHeading();
+        if (isAuto) {
-        adjustHeading(-2 * normalizedHeading);
+            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() {
@@ -169,6 +366,7 @@ public class Yacht {
     }
 
     public void turnUpwind() {
+        disableAutoPilot();
         Double normalizedHeading = normalizeHeading();
         if (normalizedHeading == 0) {
             if (lastHeading < 180) {
@@ -190,6 +388,7 @@ public class Yacht {
     }
 
     public void turnDownwind() {
+        disableAutoPilot();
         Double normalizedHeading = normalizeHeading();
         if (normalizedHeading == 0) {
             if (lastHeading < 180) {
@@ -210,39 +409,59 @@ public class Yacht {
         }
     }
 
+    /**
+     * 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() {
-        Double normalizedHeading = normalizeHeading();
+        if (isAuto) {
-        Double optimalHeading;
+            disableAutoPilot();
-        HashMap<Double, Double> optimalPolarMap;
-
-        if (normalizedHeading >= 90 && normalizedHeading <= 270) { // Downwind
-            optimalPolarMap = PolarTable.getOptimalDownwindVMG(GameState.getWindSpeedKnots());
-            optimalHeading = optimalPolarMap.keySet().iterator().next();
         } else {
-            optimalPolarMap = PolarTable.getOptimalUpwindVMG(GameState.getWindSpeedKnots());
+            Double normalizedHeading = normalizeHeading();
-            optimalHeading = optimalPolarMap.keySet().iterator().next();
+            Double optimalHeading;
-        }
+            HashMap<Double, Double> optimalPolarMap;
-        // Take optimal heading and turn into correct
-        optimalHeading =
-            optimalHeading + (double) Math.floorMod(GameState.getWindDirection().longValue(), 360L);
 
-        turnTowardsHeading(optimalHeading);
+            if (normalizedHeading >= 90 && normalizedHeading <= 270) { // Downwind
-
+                optimalPolarMap = PolarTable.getOptimalDownwindVMG(GameState.getWindSpeedKnots());
-    }
-
-    private void turnTowardsHeading(Double newHeading) {
-        System.out.println(newHeading);
-        if (heading < 90 && newHeading > 270) {
-            adjustHeading(-TURN_STEP);
-        } else {
-            if (heading < newHeading) {
-                adjustHeading(TURN_STEP);
             } else {
-                adjustHeading(-TURN_STEP);
+                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);
+        } else {
+            adjustHeading(-TURN_STEP);
+        }
+    }
+
+    /**
+     * 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);
@@ -357,14 +576,6 @@ public class Yacht {
         this.lastMarkRounded = lastMarkRounded;
     }
 
-    public void setNextMark(CompoundMark nextMark) {
-        this.nextMark = nextMark;
-    }
-
-    public CompoundMark getNextMark(){
-        return nextMark;
-    }
-
     public GeoPoint getLocation() {
         return location;
     }
@@ -429,8 +640,8 @@ public class Yacht {
         this.velocity = velocity;
     }
 
-    public Double getDistanceToNextMark() {
+    public Double getDistanceToCurrentMark() {
-        return distanceToNextMark;
+        return distanceToCurrentMark;
     }
 
     public void updateLocation(double lat, double lng, double heading, double velocity) {
@@ -443,6 +654,20 @@ public class Yacht {
         }
     }
 
+    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);
     }

src/main/java/seng302/model/mark/CompoundMark.java

@@ -1,8 +1,9 @@
 package seng302.model.mark;
 
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.List;
+import seng302.model.GeoPoint;
+import seng302.utilities.GeoUtility;
 
 public class CompoundMark {
 
@@ -10,18 +11,17 @@ public class CompoundMark {
 	private String name;
 
 	private List<Mark> marks = new ArrayList<>();
+    private GeoPoint midPoint;
 
-	public CompoundMark(int markID, String name) {
+    public CompoundMark(int markID, String name, List<Mark> marks) {
-		this.compoundMarkId = markID;
+        this.compoundMarkId = markID;
-		this.name = name;
+        this.name = name;
-	}
+        this.marks.addAll(marks);
-
+        if (marks.size() > 1) {
-	public void addSubMarks(Mark... marks) {
+            this.midPoint = GeoUtility.getDirtyMidPoint(marks.get(0), marks.get(1));
-		this.marks.addAll(Arrays.asList(marks));
+        } else {
-	}
+            this.midPoint = marks.get(0);
-
+        }
-	public void addSubMarks(List<Mark> marks) {
-	    this.marks.addAll(marks);
     }
 
 	/**
@@ -68,6 +68,16 @@ public class CompoundMark {
         }
     }
 
+    /**
+     * NOTE: This is a 'dirty' mid point as it is simply calculated as an xy point would be.
+     * NO CHECKING FOR LAT / LNG WRAPPING IS DONE IN CREATION OF THIS MIDPOINT
+     *
+     * @return GeoPoint of the midpoint of the two marks, or the one mark if there is only one
+     */
+    public GeoPoint getMidPoint() {
+        return midPoint;
+    }
+
     /**
      * Returns whether or not this CompoundMark is a Gate. It is generally cleaner to program to a
      * specific singleMark or the list of marks.
@@ -87,38 +97,6 @@ public class CompoundMark {
         return marks;
     }
 
-
-//	@Override
-//	public boolean equals(Object other) {
-//		if (other == null) {
-//			return false;
-//		}
-//
-//		if (!(other instanceof Mark)){
-//			return false;
-//		}
-//
-//		Mark otherMark = (Mark) other;
-//
-//		if (otherMark.getLat() != getLat() || otherMark.getLongitude() != getLongitude()) {
-//			return false;
-//		}
-//
-//		if (otherMark.getCompoundMarkID() != getCompoundMarkID()){
-//			return false;
-//		}
-//
-//		if (otherMark.getId() != getId()){
-//			return false;
-//		}
-//
-//		if (!otherMark.getName().equals(name)){
-//			return false;
-//		}
-//
-//		return true;
-//	}
-
 	@Override
 	public int hashCode() {
     	int hash = 0;

src/main/java/seng302/model/mark/MarkOrder.java

@@ -1,5 +1,14 @@
 package seng302.model.mark;
 
+import java.io.IOException;
+import java.io.StringReader;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+import java.util.Map;
+import javax.xml.parsers.DocumentBuilder;
+import javax.xml.parsers.DocumentBuilderFactory;
+import javax.xml.parsers.ParserConfigurationException;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.w3c.dom.Document;
@@ -10,21 +19,12 @@ import seng302.model.stream.xml.parser.RaceXMLData;
 import seng302.utilities.XMLGenerator;
 import seng302.utilities.XMLParser;
 
-import javax.xml.parsers.DocumentBuilder;
-import javax.xml.parsers.DocumentBuilderFactory;
-import javax.xml.parsers.ParserConfigurationException;
-import java.io.IOException;
-import java.io.StringReader;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
-import java.util.Map;
-
 /**
  * Class to hold the order of the marks in the race.
  */
 public class MarkOrder {
-    private List<Mark> raceMarkOrder;
+
+    private List<CompoundMark> raceMarkOrder;
     private Logger logger = LoggerFactory.getLogger(MarkOrder.class);
 
     public MarkOrder(){
@@ -35,7 +35,7 @@ public class MarkOrder {
      * @return An ordered list of marks in the race
      *         OR null if the mark order could not be loaded
      */
-    public List<Mark> getMarkOrder(){
+    public List<CompoundMark> getMarkOrder() {
         if (raceMarkOrder == null){
             logger.warn("Race order accessed but not instantiated");
             return null;
@@ -45,26 +45,34 @@ public class MarkOrder {
     }
 
     /**
-     * Returns the mark in the race after the previous mark
+     * @param seqID The seqID of the current mark the boat is heading to
-     * @param position The current race position
+     * @return A Boolean indicating if this coming mark is the last one (finish line)
-     * @return the next race position
-     *         OR null if there is no position
      */
-    public RacePosition getNextPosition(RacePosition position){
+    public Boolean isLastMark(Integer seqID) {
-        Mark previousMark = position.getNextMark();
+        return seqID == raceMarkOrder.size() - 1;
-        Mark nextMark;
+    }
 
-        if (position.getPositionIndex() + 1 >= raceMarkOrder.size() - 1){
+    /**
-            RacePosition nextRacePosition = new RacePosition(raceMarkOrder.size() - 1, null, previousMark);
+     * @param currentSeqID The seqID of the current mark the boat is heading to
-            nextRacePosition.setFinishingLeg();
+     * @return The mark last passed
+     * @throws IndexOutOfBoundsException if there is no next mark. Check seqID != 0 first
+     */
+    public CompoundMark getPreviousMark(Integer currentSeqID) throws IndexOutOfBoundsException {
+        return raceMarkOrder.get(currentSeqID - 1);
+    }
 
-            return nextRacePosition;
+    public CompoundMark getCurrentMark(Integer currentSeqID) {
-        }
+        return raceMarkOrder.get(currentSeqID);
+    }
 
-        Integer nextPositionIndex = position.getPositionIndex() + 1;
+    /**
-        RacePosition nextRacePosition = new RacePosition(nextPositionIndex, raceMarkOrder.get(nextPositionIndex), previousMark);
+     * @param currentSeqID The seqID of the current mark the boat is heading to
-
+     * @return The mark following the mark that the boat is heading to
-        return nextRacePosition;
+     * @throws IndexOutOfBoundsException if there is no next mark. Check using {@link
+     * #isLastMark(Integer)}
+     */
+    public CompoundMark getNextMark(Integer currentSeqID) throws IndexOutOfBoundsException {
+        return raceMarkOrder.get(currentSeqID + 1);
     }
 
     /**
@@ -72,7 +80,7 @@ public class MarkOrder {
      * @param xml An AC35 RaceXML
      * @return An ordered list of marks in the race
      */
-    private List<Mark> loadRaceOrderFromXML(String xml){
+    private List<CompoundMark> loadRaceOrderFromXML(String xml) {
 
         DocumentBuilderFactory dbf = DocumentBuilderFactory.newInstance();
         DocumentBuilder db;
@@ -92,11 +100,11 @@ public class MarkOrder {
             logger.debug("Loaded RaceXML for mark order");
             List<Corner> corners = data.getMarkSequence();
             Map<Integer, CompoundMark> marks = data.getCompoundMarks();
-            List<Mark> course = new ArrayList<>();
+            List<CompoundMark> course = new ArrayList<>();
 
             for (Corner corner : corners){
                 CompoundMark compoundMark = marks.get(corner.getCompoundMarkID());
-                course.add(compoundMark.getMarks().get(0));
+                course.add(compoundMark);
             }
 
             return course;
@@ -105,17 +113,6 @@ public class MarkOrder {
         return null;
     }
 
-    /**
-     * @return The first position in the race
-     */
-    public RacePosition getFirstPosition(){
-        if (raceMarkOrder.size() > 0){
-            return new RacePosition(-1, raceMarkOrder.get(0), null);
-        }
-
-        return null;
-    }
-
     /**
      * Load the raceXML and mark order
      */

src/main/java/seng302/model/mark/RacePosition.java

@@ -1,55 +0,0 @@
-package seng302.model.mark;
-
-/**
- * Represents a boats position between two marks
- */
-public class RacePosition {
-    private Integer positionIndex;
-    private Mark nextMark;
-    private Mark previousMark;
-    private Boolean isFinishingLeg;
-
-    public RacePosition(Integer positionIndex, Mark nextMark, Mark previousMark){
-        this.positionIndex = positionIndex;
-        this.nextMark = nextMark;
-        this.previousMark = previousMark;
-        isFinishingLeg = false;
-    }
-
-    /**
-     * @return The position of the boat (0...number of marks in race - 1)
-     */
-    public Integer getPositionIndex(){
-        return positionIndex;
-    }
-
-    /**
-     * @return The mark the boat is heading to
-     *         will return NULL if this is the finishing legg
-     */
-    public Mark getNextMark(){
-        return nextMark;
-    }
-
-    /**
-     * @return The mark the boat is heading away from,
-     *         Will return NULL if this is the starting leg
-     */
-    public Mark getPreviousMark(){
-        return previousMark;
-    }
-
-    /**
-     * Sets a flag that this is the last leg in the race
-     */
-    public void setFinishingLeg(){
-        isFinishingLeg = true;
-    }
-
-    /**
-     * @return true if this is the last leg in the race
-     */
-    public boolean getIsFinishingLeg() {
-        return isFinishingLeg;
-    }
-}

src/main/java/seng302/model/stream/packets/PacketType.java

@@ -19,7 +19,9 @@ public enum PacketType {
     COURSE_WIND,
     AVG_WIND,
     BOAT_ACTION,
-    OTHER;
+    OTHER,
+    RACE_REGISTRATION_REQUEST,
+    RACE_REGISTRATION_RESPONSE;
 
     public static PacketType assignPacketType(int packetType, byte[] payload){
         switch(packetType){
@@ -56,6 +58,10 @@ public enum PacketType {
                 return AVG_WIND;
             case 100:
                 return BOAT_ACTION;
+            case 101:
+                return RACE_REGISTRATION_REQUEST;
+            case 102:
+                return RACE_REGISTRATION_RESPONSE;
             default:
         }
         return OTHER;

src/main/java/seng302/utilities/GeoUtility.java

@@ -45,6 +45,19 @@ public class GeoUtility {
         return (Math.toDegrees(getBearingRad(p1, p2)) + 360.0) % 360.0;
     }
 
+
+    /**
+     * WARNING: this function DOES NOT account for wrapping around on lats / longs etc.
+     * SO BE CAREFUL IN USING THIS FUNCTION
+     *
+     * @param p1 GeoPoint 1
+     * @param p2 GeoPoint 2
+     * @return GeoPoint midPoint
+     */
+    public static GeoPoint getDirtyMidPoint(GeoPoint p1, GeoPoint p2) {
+        return new GeoPoint((p1.getLat() + p2.getLat()) / 2, (p1.getLng() + p2.getLng()) / 2);
+    }
+
     /**
      * Calculates the angle between to angular co-ordinates on a sphere in radians.
      *
@@ -93,7 +106,6 @@ public class GeoUtility {
         return new GeoPoint(Math.toDegrees(endLat), Math.toDegrees(endLng));
     }
 
-
     /**
      * Performs the line function on two points of a line and a test point to test which side of the
      * line that point is on. If the return value is return  1, then the point is on one side of the
@@ -125,6 +137,31 @@ public class GeoUtility {
         }
     }
 
+    /**
+     * Checks if the line formed by lastLocation and location doesn't intersect the line segment
+     * formed by mark1 and mark2 See the wiki Mark Rounding algorithm for more info
+     *
+     * @param mark1 One mark of the line
+     * @param mark2 The second mark of the line
+     * @param lastLocation The last location of the point crossing this line
+     * @param location The current location of the point crossing this line
+     * @return 0 if two line segment doesn't intersect, otherwise 1 if they intersect and
+     * lastLocation is on RHS of the line segment (mark1 to mark2) or 2 if lastLocation on LHS of
+     * the line segment (mark1 to mark2)
+     */
+    public static Integer checkCrossedLine(GeoPoint mark1, GeoPoint mark2, GeoPoint lastLocation,
+        GeoPoint location) {
+        boolean enteredDirection = isClockwise(mark1, mark2, lastLocation);
+        boolean exitedDirection = isClockwise(mark1, mark2, location);
+        if (enteredDirection != exitedDirection) {
+            if (!isPointInTriangle(mark1, lastLocation, location, mark2)
+                && !isPointInTriangle(mark2, lastLocation, location, mark1)) {
+
+                return enteredDirection ? 1 : 2;
+            }
+        }
+        return 0;
+    }
 
     /**
      * Given a point and a vector (angle and vector length) Will create a new point, that vector
@@ -155,10 +192,24 @@ public class GeoUtility {
      * @param bearing2 the bearing of v2
      * @return the difference of bearing from v1 to v2
      */
-    private static double getBearingDiff(double bearing1, double bearing2) {
+    private static Double getBearingDiff(double bearing1, double bearing2) {
         return ((360 - bearing1) + bearing2) % 360;
     }
 
+    /**
+     * Check if a geo point ins on the right hand side of the line segment, which
+     * formed by two geo points v1 to v2. (Algorithm: point is clockwise to the
+     * line if the bearing difference is less than 180 deg.)
+     *
+     * @param v1 one end of the line segment
+     * @param v2 another end of the line segment
+     * @param point the point to be tested
+     * @return true if the point is on the RHS of the line
+     */
+    public static Boolean isClockwise(GeoPoint v1, GeoPoint v2, GeoPoint point) {
+        return getBearingDiff(getBearing(v1, v2), getBearing(v1, point)) < 180;
+    }
+
     /**
      * Given three geo points to form a triangle, the method returns true if the fourth point is
      * inside the triangle
@@ -169,15 +220,15 @@ public class GeoUtility {
      * @param point the point to be tested
      * @return true if the fourth point is inside the triangle
      */
-    public static boolean isPointInTriangle(GeoPoint v1, GeoPoint v2, GeoPoint v3, GeoPoint point) {
+    public static Boolean isPointInTriangle(GeoPoint v1, GeoPoint v2, GeoPoint v3, GeoPoint point) {
-        // true, if diff of bearing from (v1->v2) to (v1->p) is less than 180 deg
+        // true, if diff of bearing from (v1 to v2) to (v1 to p) is less than 180 deg
-        boolean sideFlag = getBearingDiff(getBearing(v1, v2), getBearing(v1, point)) < 180;
+        boolean isCW = isClockwise(v1, v2, point);
 
-        if ((getBearingDiff(getBearing(v2, v3), getBearing(v2, point)) < 180) != sideFlag) {
+        if (isClockwise(v2, v3, point) != isCW) {
             return false;
         }
 
-        if ((getBearingDiff(getBearing(v3, v1), getBearing(v3, point)) < 180) != sideFlag) {
+        if (isClockwise(v3, v1, point) != isCW) {
             return false;
         }
 

src/main/java/seng302/utilities/XMLParser.java

@@ -256,9 +256,9 @@ public class XMLParser {
             if (cMarkNode.getNodeName().equals("CompoundMark")) {
                 cMark = new CompoundMark(
                     XMLParser.getNodeAttributeInt(cMarkNode, "CompoundMarkID"),
-                    XMLParser.getNodeAttributeString(cMarkNode, "Name")
+                    XMLParser.getNodeAttributeString(cMarkNode, "Name"),
+                    createMarks(cMarkNode)
                 );
-                cMark.addSubMarks(createMarks(cMarkNode));
                 allMarks.add(cMark);
             }
         }

src/main/java/seng302/visualiser/ClientToServerThread.java

@@ -7,6 +7,7 @@ import java.io.OutputStream;
 import java.net.Socket;
 import java.time.LocalDateTime;
 import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.List;
 import java.util.Queue;
 import java.util.Timer;
@@ -17,10 +18,9 @@ import java.util.zip.Checksum;
 import javafx.application.Platform;
 import javafx.scene.control.Alert;
 import javafx.scene.control.Alert.AlertType;
-import seng302.gameServer.server.messages.BoatActionMessage;
-import seng302.gameServer.server.messages.BoatAction;
-import seng302.gameServer.server.messages.Message;
 import seng302.model.stream.packets.StreamPacket;
+import seng302.gameServer.server.messages.BoatActionMessage;
+import seng302.gameServer.server.messages.Message;
 
 /**
  * A class describing a single connection to a Server for the purposes of sending and receiving on
@@ -51,6 +51,8 @@ public class ClientToServerThread implements Runnable {
     private Socket socket;
     private InputStream is;
 
+    private Logger logger = LoggerFactory.getLogger(ClientToServerThread.class);
+
     //Output stream
     private OutputStream os;
     private Timer upWindPacketTimer = new Timer();
@@ -58,7 +60,9 @@ public class ClientToServerThread implements Runnable {
     private boolean upwindTimerFlag = false, downwindTimerFlag = false;
     static public final int PACKET_SENDING_INTERVAL_MS = 100;
 
-    private int clientId;
+    private int clientId = -1;
+
+//    private Boolean updateClient = true;
     private ByteArrayOutputStream crcBuffer;
     private boolean socketOpen = true;
 
@@ -78,15 +82,8 @@ public class ClientToServerThread implements Runnable {
         socket = new Socket(ipAddress, portNumber);
         is = socket.getInputStream();
         os = socket.getOutputStream();
-        Integer allocatedID = threeWayHandshake();
+
-        if (allocatedID != null) {
+        sendRegistrationRequest();
-            clientId = allocatedID;
-            clientLog("Successful handshake. Allocated ID: " + clientId, 1);
-        } else {
-            clientLog("Unsuccessful handshake", 1);
-            closeSocket();
-            return;
-        }
 
         thread = new Thread(this);
         thread.start();
@@ -135,9 +132,15 @@ public class ClientToServerThread implements Runnable {
                         if (streamPackets.size() > 0) {
                             streamPackets.add(new StreamPacket(type, payloadLength, timeStamp, payload));
                         } else {
-                            streamPackets.add(new StreamPacket(type, payloadLength, timeStamp, payload));
+                            if (PacketType.RACE_REGISTRATION_RESPONSE == PacketType.assignPacketType(type, payload)){
-                            for (ClientSocketListener csl : listeners)
+                                processRegistrationResponse(new StreamPacket(type, payloadLength, timeStamp, payload));
-                                csl.newPacket();
+                            }
+                            else {
+                                if (clientId == -1) continue; // Do not continue if not registered
+                                streamPackets.add(new StreamPacket(type, payloadLength, timeStamp, payload));
+                                for (ClientSocketListener csl : listeners)
+                                    csl.newPacket();
+                            }
                         }
                     } else {
                         clientLog("Packet has been dropped", 1);
@@ -161,30 +164,52 @@ public class ClientToServerThread implements Runnable {
 
 
     /**
-     * Listens for an allocated sourceID and returns it to the server
+     * Sends a request to the server asking for a source ID
-     *
-     * @return the sourceID allocated to us by the server
      */
-    private Integer threeWayHandshake() {
+    private void sendRegistrationRequest() {
-        Integer ourSourceID = null;
+        RegistrationRequestMessage requestMessage = new RegistrationRequestMessage(ClientType.PLAYER);
-        while (true) {
+
-            try {
+        try {
-                ourSourceID = is.read();
+            os.write(requestMessage.getBuffer());
-            } catch (IOException e) {
+        } catch (IOException e) {
-                clientLog("Three way handshake failed", 1);
+            logger.error("Could not send registration request. Exiting");
-            }
+            System.exit(1);
-            if (ourSourceID != null) {
-                try {
-                    os.write(ourSourceID);
-                    return ourSourceID;
-                } catch (IOException e) {
-                    clientLog("Three way handshake failed", 1);
-                    return null;
-                }
-            }
         }
     }
 
+    /**
+     * Accepts a response to the registration request message, and updates the client OR quits
+     * @param packet The registration requests packet
+     */
+    private void processRegistrationResponse(StreamPacket packet){
+        int sourceId = (int) Message.bytesToLong(Arrays.copyOfRange(packet.getPayload(), 0, 3));
+        int statusCode = (int) Message.bytesToLong(Arrays.copyOfRange(packet.getPayload(), 4,5));
+
+        RegistrationResponseStatus status = RegistrationResponseStatus.getResponseStatus(statusCode);
+
+        if (status.equals(RegistrationResponseStatus.SUCCESS_PLAYING)){
+            clientId = sourceId;
+
+            return;
+        }
+
+        logger.error("Server Denied Connection, Exiting");
+
+        final String alertErrorText;
+
+        if (status.equals(RegistrationResponseStatus.FAILURE_FULL)){
+            alertErrorText = "Server is full";
+        }
+        else{
+            alertErrorText = "Could not connect to server";
+        }
+
+        Platform.runLater(() -> {
+            new Alert(AlertType.ERROR, alertErrorText, ButtonType.OK).showAndWait();
+            System.exit(1);
+        });
+    }
+
     /**
      * Sends packets for the given boat action. Special cases are: \n
      * - DOWNWIND = Packets are sent every ClientToServerThread.PACKET_SENDING_INTERVAL_MS
@@ -252,10 +277,12 @@ public class ClientToServerThread implements Runnable {
      * @param message The given message type.
      */
     private void sendBoatAction(BoatActionMessage message) {
-        try {
+        if (clientId != -1) {
-            os.write(message.getBuffer());
+            try {
-        } catch (IOException e) {
+                os.write(message.getBuffer());
-            clientLog("Could not write to server", 1);
+            } catch (IOException e) {
+                clientLog("Could not write to server", 1);
+            }
         }
     }
 

src/main/java/seng302/visualiser/GameClient.java

@@ -14,6 +14,8 @@ import javafx.scene.input.KeyEvent;
 import javafx.scene.layout.Pane;
 import seng302.gameServer.MainServerThread;
 import seng302.gameServer.server.messages.BoatAction;
+import seng302.gameServer.server.messages.BoatActionMessage;
+import seng302.gameServer.server.messages.BoatActionType;
 import seng302.model.RaceState;
 import seng302.model.Yacht;
 import seng302.model.stream.packets.StreamPacket;
@@ -58,6 +60,7 @@ public class GameClient {
             ioe.printStackTrace();
             System.out.println("Unable to connect to host...");
         }
+
         socketThread.addStreamObserver(this::parsePackets);
         LobbyController lobbyController = loadLobby();
         lobbyController.setPlayerListSource(clientLobbyList);

src/main/java/seng302/visualiser/controllers/RaceViewController.java

@@ -312,7 +312,7 @@ public class RaceViewController extends Thread implements ImportantAnnotationDel
                 updateRaceTime();
                 updateWindDirection();
                 updateOrder();
-                updateSparkLine();
+//                updateSparkLine();
             }
         }, 0, 1000);
     }

src/test/java/seng302/model/YachtTest.java

@@ -1,54 +0,0 @@
-package seng302.model;
-
-import static org.junit.Assert.*;
-
-import org.junit.Before;
-import org.junit.Test;
-import seng302.model.mark.CompoundMark;
-import seng302.model.mark.Mark;
-
-/**
- * Use this link to test geo distances
- * http://www.csgnetwork.com/gpsdistcalc.html
- * Created by wmu16 on 3/08/17.
- */
-public class YachtTest {
-
-    private Yacht yacht;
-    private CompoundMark compoundMark;
-    private Double toleranceRatio = 0.01;
-    private GeoPoint p1 = new GeoPoint(57.670333, 11.827833);
-    private GeoPoint p2 = new GeoPoint(57.671524, 11.844495);
-    private GeoPoint p3 = new GeoPoint(57.670822, 11.843392);
-    private GeoPoint p4 = new GeoPoint(25.694829, 98.392049);
-
-    @Before
-    public void setup() {
-        yacht = new Yacht("Yacht",
-            0,
-            "0",
-            "WillIsCool",
-            "HaomingIsOk",
-            "NZL");
-
-        yacht.setLocation(57.670333, 11.827833);
-
-        compoundMark = new CompoundMark(0, "HaomingsMark");
-        Mark subMark1 = new Mark("H", 57.671524, 11.844495, 0);
-        Mark subMark2 = new Mark("H", 57.670822, 11.843392, 0);
-        compoundMark.addSubMarks(subMark1, subMark2);
-
-        yacht.setNextMark(compoundMark);
-    }
-
-
-    @Test
-    public void testDistanceToNextMark() {
-        Double actual, expected;
-        actual = yacht.calcDistanceToNextMark();
-        expected = 927d;
-        assertEquals(expected, actual, expected * toleranceRatio);
-    }
-
-
-}

src/test/java/seng302/model/mark/CompoundMarkTest.java

@@ -0,0 +1,68 @@
+package seng302.model.mark;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
+
+import java.util.ArrayList;
+import java.util.List;
+import org.junit.Before;
+import org.junit.Test;
+import seng302.model.GeoPoint;
+
+/**
+ * A class to test the compound mark calss
+ * Created by wmu16 on 10/08/17.
+ */
+public class CompoundMarkTest {
+
+    private Mark mark1;
+    private Mark mark2;
+    private CompoundMark gateMark;
+    private CompoundMark singleMark;
+
+    private static Double TOLERANCE_RATIO = 0.01;
+
+
+    @Before
+    public void setUp() throws Exception {
+        mark1 = new Mark("Mark1", 57.670333, 11.842833, 0);
+        mark2 = new Mark("Mark2", 57.671524, 11.844495, 1);
+
+        List<Mark> gateMarks = new ArrayList<Mark>();
+        gateMarks.add(mark1);
+        gateMarks.add(mark2);
+
+        List<Mark> singleMarks = new ArrayList<Mark>();
+        singleMarks.add(mark1);
+
+        gateMark = new CompoundMark(0, "Fun Mark", gateMarks);
+        singleMark = new CompoundMark(1, "Awesome Mark", singleMarks);
+    }
+
+
+    @Test
+    public void getSubMark() throws Exception {
+        assertEquals(mark1, gateMark.getSubMark(1));
+        assertEquals(mark2, gateMark.getSubMark(2));
+
+        assertEquals(mark1, singleMark.getSubMark(1));
+    }
+
+    @Test
+    public void getMidPoint() throws Exception {
+        GeoPoint result = gateMark.getMidPoint();
+        assertEquals(57.6709285, result.getLat(), result.getLat() * TOLERANCE_RATIO);
+        assertEquals(11.843664, result.getLng(), result.getLng() * TOLERANCE_RATIO);
+
+        result = singleMark.getMidPoint();
+        assertEquals(result, mark1);
+    }
+
+    @Test
+    public void isGate() throws Exception {
+        assertTrue(gateMark.isGate());
+        assertFalse(singleMark.isGate());
+    }
+
+}

src/test/java/seng302/models/MarkOrderTest.java

@@ -1,21 +1,23 @@
 package seng302.models;
 
+import static junit.framework.TestCase.assertEquals;
+import static junit.framework.TestCase.assertFalse;
+import static junit.framework.TestCase.assertTrue;
+
 import org.junit.AfterClass;
 import org.junit.BeforeClass;
 import org.junit.Test;
-import seng302.model.mark.Mark;
+import seng302.model.mark.CompoundMark;
 import seng302.model.mark.MarkOrder;
-import seng302.model.mark.RacePosition;
-
-import static junit.framework.TestCase.assertEquals;
-import static junit.framework.TestCase.assertTrue;
 
 public class MarkOrderTest {
     private static MarkOrder markOrder;
+    private static Integer currentSeqID;
 
     @BeforeClass
     public static void setup(){
         markOrder = new MarkOrder();
+        currentSeqID = 0;
     }
 
     /**
@@ -26,54 +28,39 @@ public class MarkOrderTest {
         assertTrue(markOrder != null);
     }
 
-    /**
+
-     * Test if .getNextMark() returns null if it is called with the final mark in the race
-     */
     @Test
-    public void testNextMarkAtEnd(){
+    public void testIsLastMark() {
-        // There are no marks in the XML, therefore this can't be tested
+        currentSeqID = 0;
-        if (markOrder.getMarkOrder().size() == 0){
+        assertFalse(markOrder.isLastMark(currentSeqID));
-            return;
-        }
 
-        Mark lastMark = markOrder.getMarkOrder().get(markOrder.getMarkOrder().size() - 1);
+        currentSeqID = markOrder.getMarkOrder().size() - 1;
-        Integer lastIndex = markOrder.getMarkOrder().size() - 1;
+        assertTrue(markOrder.isLastMark(currentSeqID));
-
-        RacePosition lastRacePosition = new RacePosition(lastIndex, lastMark, null);
-
-        assertEquals(null, markOrder.getNextPosition(lastRacePosition).getNextMark());
     }
 
-    /**
-     * Test if .getNextMark() method returns the next mark in the race
-     */
     @Test
-    public void testNextMark(){
+    public void testGetNextMark() {
-        // There are not enough marks for this to be tested
+        currentSeqID = 4;
-        if (markOrder.getMarkOrder().size() < 2){
+        CompoundMark nextMark = markOrder.getMarkOrder().get(4 + 1);
-            return;
+        assertEquals(nextMark, markOrder.getNextMark(currentSeqID));
-        }
 
-        RacePosition firstRacePos = new RacePosition(0, markOrder.getMarkOrder().get(0), null);
+        currentSeqID = 3;
-
+        nextMark = markOrder.getMarkOrder().get(3 + 1);
-        assertEquals(markOrder.getMarkOrder().get(1).getName(), markOrder.getNextPosition(firstRacePos).getNextMark().getName());
+        assertEquals(nextMark, markOrder.getNextMark(currentSeqID));
     }
 
-    /**
-     * Test if a whole race can be completed
-     */
     @Test
-    public void testMarkSequence(){
+    public void testGetCurrentMark() {
-        RacePosition current = markOrder.getFirstPosition();
+        currentSeqID = 0;
+        CompoundMark currentMark = markOrder.getMarkOrder().get(0);
+        assertEquals(currentMark, markOrder.getCurrentMark(0));
+    }
 
-        while (!current.getIsFinishingLeg()){
+    @Test
-
+    public void testGetPreviousMark() {
-            current = markOrder.getNextPosition(current);
+        currentSeqID = 1;
-
+        CompoundMark prevMark = markOrder.getMarkOrder().get(0);
-            if (current.getIsFinishingLeg()){
+        assertEquals(prevMark, markOrder.getPreviousMark(currentSeqID));
-                assertEquals(null, current.getNextMark());
-            }
-        }
     }
 
     @AfterClass

src/test/java/seng302/models/YachtTest.java

@@ -0,0 +1,89 @@
+package seng302.models;
+
+import static org.junit.Assert.assertEquals;
+
+import java.util.HashMap;
+import org.junit.AfterClass;
+import org.junit.BeforeClass;
+import org.junit.Test;
+import seng302.gameServer.GameState;
+import seng302.model.PolarTable;
+import seng302.model.Yacht;
+
+
+public class YachtTest {
+
+    private static Yacht y1;
+    //Yacht y2;
+    private static Double windDirection = 180d;
+    private static Double windSpeed = 20d;
+    private static GameState gs;
+
+    @BeforeClass
+    public static void setUp() {
+        y1 = new Yacht("Yacht", 101, "Y1", "Y1", "Yacht 1", "C1");
+        gs = new GameState("localhost");
+    }
+
+    @Test
+    public void tackGybeTest() {
+        HashMap<Double, Double> values = new HashMap<>();
+        values.put(280.0, 80.0);
+        values.put(270.0, 90.0);
+        values.put(359.0, 1.0);
+        values.put(180.0, 180.0);
+        values.put(75.0, 285.0);
+
+        for (Double begin : values.keySet()) {
+            y1.setHeading(begin);
+            y1.tackGybe(windDirection);
+            for (int i = 0; i < 50; i++) {
+                y1.runAutoPilot();
+            }
+            assertEquals(values.get(begin), y1.getHeading(), 5.0);
+        }
+
+    }
+
+    @Test
+    public void vmgTest() {
+
+        PolarTable.parsePolarFile(getClass().getResourceAsStream("/config/acc_polars.csv"));
+        Double upwind = PolarTable.getOptimalUpwindVMG(windSpeed).keySet().iterator().next();
+        Double downwind = PolarTable.getOptimalDownwindVMG(windSpeed).keySet().iterator().next();
+
+        HashMap<Double, Double> values = new HashMap<>();
+
+        upwind = (double) Math.floorMod(upwind.longValue() + windDirection.longValue(), 360L);
+        Double upwindRight = upwind;
+        Double upwindLeft = 360 - upwindRight;
+        downwind = (double) Math.floorMod(downwind.longValue() + windDirection.longValue(), 360L);
+        Double downwindRight = downwind;
+        Double downwindLeft = 360 - downwindRight;
+
+        values.put(190d, upwindRight);
+        values.put(170d, upwindLeft);
+        values.put(10d, downwindLeft);
+        values.put(350d, downwindRight);
+
+        for (Double begin : values.keySet()) {
+            System.out.println(begin);
+            y1.setHeading(begin);
+            y1.turnToVMG();
+            for (int i = 0; i < 50; i++) {
+                y1.runAutoPilot();
+                System.out.println(y1.getHeading());
+            }
+            y1.disableAutoPilot();
+            assertEquals(values.get(begin), y1.getHeading(), 5.0);
+        }
+
+    }
+
+
+    @AfterClass
+    public static void tearDown() {
+        y1 = null;
+    }
+
+}

src/test/java/seng302/utilities/GeoUtilityTest.java

@@ -6,12 +6,11 @@ import static org.junit.Assert.assertNotEquals;
 import static org.junit.Assert.assertTrue;
 
 import javafx.geometry.Point2D;
-import org.junit.Before;
 import org.junit.Test;
 import seng302.model.GeoPoint;
-import seng302.utilities.GeoUtility;
 
 /**
+ * http://www.geoplaner.com/ For plotting geo points for visualisation
  * To test methods in GeoUtility.
  * Use this site to calculate distances
  * https://rechneronline.de/geo-coordinates/#distance
@@ -150,4 +149,32 @@ public class GeoUtilityTest {
         assertFalse(GeoUtility.isPointInTriangle(v1, v2, v3, p2));
 
     }
+
+
+    @Test
+    public void testCheckCrossedGate() {
+        GeoPoint mark1 = new GeoPoint(37.40937, -122.62233);
+        GeoPoint mark2 = new GeoPoint(37.40938, -122.62154);
+        GeoPoint location1 = new GeoPoint(37.40964, -122.62196);
+        GeoPoint location2 = new GeoPoint(37.40910, -122.62189);
+        GeoPoint location3 = new GeoPoint(37.40949, -122.62202);
+        GeoPoint location4 = new GeoPoint(37.40927, -122.62152);
+
+        // M1 -> M3 enters from CCW side
+        assertTrue(GeoUtility.checkCrossedLine(mark1, mark2, location1, location2) == 2);
+        // M1 -> M3 doesn't across
+        assertFalse(GeoUtility.checkCrossedLine(mark1, mark2, location1, location3) > 0);
+        // M2 -> M3 enters from CW side
+        assertTrue(GeoUtility.checkCrossedLine(mark1, mark2, location2, location3) == 1);
+        // order changes intersect direction
+        assertTrue(GeoUtility.checkCrossedLine(mark2, mark1, location2, location3) == 2);
+        assertTrue(GeoUtility.checkCrossedLine(mark1, mark2, location3, location2) == 2);
+    }
+
+    @Test
+    public void testDirtyMiddlePoint() {
+        GeoPoint result = GeoUtility.getDirtyMidPoint(p1, p2);
+        assertEquals(57.6709285, result.getLat(), result.getLat() * toleranceRate);
+        assertEquals(11.836164, result.getLng(), result.getLng() * toleranceRate);
+    }
 }