From 9d02d2fbea64d465d88ffb301a99647a12624d0b Mon Sep 17 00:00:00 2001
From: alistairjmcintyre <alistairjmcintyre@gmail.com>
Date: Thu, 10 Aug 2017 02:04:51 +1200
Subject: [PATCH] Implemented a fairly simple auto pilot setting for the yacht,
 on update if the boat is set to autopilot it will adjust the heading towards
 the desired heading. Needs some refinement. #story[1105]

---
 .mailmap                               |  2 +-
 src/main/java/seng302/model/Yacht.java | 22 +++++++++++++++++++++-
 2 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/.mailmap b/.mailmap
index cad3a3a8..caf8a624 100644
--- a/.mailmap
+++ b/.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>
\ No newline at end of file
diff --git a/src/main/java/seng302/model/Yacht.java b/src/main/java/seng302/model/Yacht.java
index d7cd1f9e..9804314c 100644
--- a/src/main/java/seng302/model/Yacht.java
+++ b/src/main/java/seng302/model/Yacht.java
@@ -54,6 +54,9 @@ 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
@@ -78,6 +81,7 @@ 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
@@ -121,6 +125,13 @@ public class Yacht {
             }
         }
 
+        if (isAuto) {
+            turnTowardsHeading(autoHeading);
+            if (Math.abs(heading - autoHeading) <= 5) {
+                isAuto = false;
+            }
+        }
+
         //UPDATE BOAT LOCATION
         location = GeoUtility.getGeoCoordinate(location, heading, velocity * secondsElapsed);
 
@@ -159,9 +170,18 @@ public class Yacht {
         heading = (double) Math.floorMod(newVal.longValue(), 360L);
     }
 
+    /**
+     * Should tell boat to auto pilot towards the autopilot heading.
+     */
     public void tackGybe(Double windDirection) {
         Double normalizedHeading = normalizeHeading();
-        adjustHeading(-2 * normalizedHeading);
+        setAutoPilot(-2 * normalizedHeading);
+    }
+
+    private void setAutoPilot(Double thisHeading) {
+        isAuto = true;
+        Double newVal = heading + thisHeading;
+        autoHeading = (double) Math.floorMod(newVal.longValue(), 360L);
     }
 
     public void toggleSailIn() {